WIP: Gnss

b8b61d87...63166529 - 21 commits from branch devel
b3fa7f28 - add eps diagonal to the IMU covariance
2fc49976 - Use EPS and not EPS_SMALL as covariance's minimum singular value
8edb1fcf - Merge branch 'master' into vision_utils
be627b3a - FIX: compute prior orientation error global
f5a1c556 - cosmetics
710748de - FIX: processor IMU YAML parser time tolerance param
3233bfb2 - WIp trifocal test
56a44636 - Merge branch 'master' into vision_utils
7324b46c - WIp trifocal test
507e74bd - WIp
99fecc28 - merge master
285a3c2a - WIp test
c33fdd0c - merge master
d81f5c86 - Merge branch 'master' into vision_utils
8e80ce0c - Merge branch 'master' into vision_utils
713d7600 - Merge branch 'master' into vision_utils
3057bc86 - add cout flags reset into print
e2d8a4c6 - Revert "add cout flags reset into print"
6e009423 - add coutflags reset into print
63181c73 - add reset coutflags
ebcac031 - fix cout issues
04a080ea - WIP
20f622f6 - wip
5bdc02bb - Merge branch 'fix_setfill' into vision_utils
e46fdbfb - Merge branch 'master' into vision_utils
d11fff8e - Merge branch 'devel' into vision_utils
595dda0f - Merge branch 'devel' into vision_utils
5e8fd887 - wip trifocal
38219e20 - remove processor filter using euclidean distance. use vision utils param instead
bbe98032 - Add function to get debug image from outside
f3dc80f4 - New GT images
7a05740f - TEST EXTENDED RESIDUAL [PLP c2Ec1 c3Ec2]
5b4b1bdc - Change sign of essential matrix
13d102da - new test for trifocal info matrix
b3ffb286 - Some tuning
cb4c8bd9 - Revert residual test
e56f04f3 - Merge branch 'vision_utils' of…
b844078a - wip debugging
bfba0217 - Use track's first/mid/last features for each trifocal constraint
28978bb3 - Tuning for better performance
b738f0e6 - Some formatting
5ccbb601 - Doc
e114d3d7 - Use distance constraint for scale. Set 1mm dist error
11ff07ae - Format for easier reading
90a12205 - Tuning
5de22ef0 - Some handy changes
d18b4f42 - Small tunings
2f9d4836 - Add getters for some results in solver_manager
f7d93198 - cosmetics
0072075c - gitignore
943b18ae - Rename some variables and accessor functions. Document constraint trifocal
f2ab4402 - Add forgotten constraint->setFeature(ftr)
b09fa833 - Tune debug info
f9b0705f - new TrackMatrix::feature( trk_id , TimeStamp)
faef5b26 - Select middle feature of constraint by average time stamp
196b9b97 - Add forgotten override keyworkds
793e2831 - Add convenient asserts for a nicer future
933cc448 - Complete track matrix test for feature(trk,ts)
eba3ccb1 - Merge branch 'vision_utils' of…
3c58f494 - Merge branch 'devel' into vision_utils
d510eb09 - wip before merge
1e85c82e - Merge branch 'vision_utils' of…
561c6af4 - Select a mid feature that has keyframe
e47dc8d9 - fix conflicts
fe3b05e5 - fix conflicts
23d507fb - fix conflicts
05204226 - Add assert for nullptrs
106d3152 - wip debuggin
f8574e9b - Merge branch 'vision_utils' of ssh://gitlab.iri.upc.edu:2202/mobile_robotics/wolf into vision_utils
3bf26926 - Remove debug traces
4fa07ecd - New method tracks() gets all tracks
9745fa88 - New method track(id) returns one track
776ba7a2 - Remove ! marks in debug info
d2b37e34 - Simplify code and vars, same functionality
b12fb5b0 - Print processor tracks
59555ee6 - Comment out _eventually add more features_
2ed89809 - Add debug info for knowing WTF with the processor
b8748921 - Tune test to be more representative
06d404c8 - cosmetics
851a8fcb - cosmetics
b9b1cb3c - cosmetics
2330986c - Fix rename features list name in detectNewFeatures
bdfc8d9b - Rename variables
6e957ce0 - wip
671ebfb5 - Merge branch 'vision_utils' of…
b8e5d3f7 - wip debugging. tracker seems to work but convergence problems
c521c36d - pixel covariance
fe6eba7b - Merge branch 'vision_utils' of ssh://gitlab.iri.upc.edu:2202/mobile_robotics/wolf into vision_utils
a4acdf8e - Merge branch 'vision_utils' of ssh://gitlab.iri.upc.edu:2202/mobile_robotics/wolf into vision_utils
ef9d0d92 - Revert "Add debug info for knowing WTF with the processor"
9bb10eab - Revert "Revert "Add debug info for knowing WTF with the processor""
87ce3c44 - COde alternative cov calculation, then comment it
0d3b75ed - Add forgotten parameters leading to null covariance and assert violation
e27e8bbd - implement q2v with q being a 4-vector
bd1eaacf - Add debug spies, not visible in release mode
5a6afc2c - Small fixes
fa53b988 - Merge branch 'devel' into vision_utils
af7eac7b - Merge branch 'vision_utils' of ssh://gitlab.iri.upc.edu:2202/mobile_robotics/wolf into vision_utils
9bd7b75f - Do not always create keyframe
d5e2fdfa - Merge branch 'devel' into vision_utils
d6412ab6 - remove wrong pointer assignation
1da3109b - Merge branch 'vision_utils' of…
c04f5bb4 - Format and cleanup
ca2399d0 - WIP add member track_kf_ for storing the tracks only at KF times
8711e12f - Track in keyframes WIP not tested
0df60e55 - simplified & fixed constriant_block_absolute
fa93c139 - WIP
7d65d474 - Analytic and allow constraint of only segment
809540cf - improved (not so much) documentation
8b800d41 - improvements and a bug fixed in ctr_analytic
7df16333 - More tests in gtest_constraint_absolute
c88ef75c - bug fixed and documentation fixed
bfa40d32 - Added precomputed Jacobian
8f68f2ff - new function addFeaturePrior, TODO
7c54c88c - merged checks and solves in the same tests
df464589 - taking the corresponding stateblock->getState in assertions
14616cf9 - fixed test of constraining segment
57d5fe8d - removed debug lines
f7749697 - fixed evaluation in assertion
317fca21 - added implementation of addParameterPrior()
fe8e637c - removed SensorBase::remove(), forbiden
bca1a75a - documented addParameterPrior()
1375b42c - setting state when adding parameter prior
0996f6d6 - minor changes
c8515eda - minor changes
9173e7c0 - Added gtest for param prior
1ce45abd - Allowing overwritting priors (only one prior per state block)
c1b00d8d - working gtest_param_prior
90d5d2ee - Merge branch 'devel' into feature/constraint_sensor_params
1008b7af - Merge branch 'vision_utils' into test
f7b3f886 - Merge branch 'devel' into gnss
ffbbd623 - Merge remote-tracking branch 'origin/feature/constraint_sensor_params' into gnss

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marked as a Work In Progress from 3233bfb2

added 20 commits

7c4ee857 - Little formatting
ad705126 - Small doc fix
0057dd8a - debug print
7f529bea - Added isDynamic functions
f117b641 - specialized addPrior functions
3e428a80 - changed isDynamic for isStateBlockDynamic
2eaa908e - changed getStateBlockPtrDynamic by getStateBlockPtr
568a89bf - Implementation TODO of addPriorParameterDynamic
87e7a2bd - changed map of priors, now indexed by state block idx
eeda1f6a - Changed function names
790806d3 - add prior in dynamic parameters not allowed
193657ce - changed map of priors
82f73ee9 - added assertion in setStateBlockPtrStatic out of range
4ff9b4fa - space
f2d70881 - fixed problem to new function name
229516a2 - updated to new function names
8a9c9ac0 - ups!
dd9ed552 - for now not possible to set as const the isStateBlockDynamic functions
017ab7db - Merge branch 'feature/constraint_sensor_params' of…
cf052bc0 - Merge remote-tracking branch 'origin/feature/constraint_sensor_params' into gnss

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added 1 commit

30129c93 - updated to new function name

Compare with previous version

added 8 commits

30129c93...a3ad1a3e - 7 commits from branch devel
a176036f - Merge branch 'devel' into gnss

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assigned to @joanvallve

added 31 commits

a176036f...3ac8340e - 19 commits from branch devel
8b1a76ea - Gnss refactor
7e0e3f80 - added CaptureLaser2D.cpp
834dff63 - added processor polyline
430d45aa - Fixed Polyline includes
913b26d6 - Merge branch 'gnss_refactor' of https://gitlab.iri.upc.edu/mobile_robotics/wolf into gnss_refactor
3914fcc8 - fixed include processor_factory
46c359d9 - assertions for strange bug
782708e1 - added assertions for param blocks in ceres
334e4820 - Required for testing
bac5a67e - new gtest for gnss fix 2D debugging strange ceres bug
454e0301 - ceres bug investigation
27d088c2 - more tests to find out what's wrong with ceres...