Integrate 3D models #5
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
* Update to C++17 for use with Ubuntu Jammy * Include Rviz and Eigen as system includes, which supresses warnings within the included libraries * use pluginlib and class_list_macros .hpp include instead of deprecated .h From: Lucas Walter <[email protected]>
* Use fuse_macros.h instead of deprecated macros.h * Add missed header * Sort headers
* Add geometry_msgs as a test_depend. * Make geometry_msgs includable. --------- Co-authored-by: Ivor Wanders <[email protected]>
…d at +PI (locusrobotics#334) * Add some unit tests for the 2D orientation constraints; Create getters/setters for the 2D orientation variable is preparation for a fix. * Force the 2D orientation value to be is minimum phase
* Add ROS1 CI * Don't fail fast
* FIrst commit for pose estimation from fixed 3D landmarks. Includes a pinhole camera model (no distortion), along with a fixed version and unit tests. Also includes a fixed landmark constraint which optimizes for pose and optionally calibration, along with unit tests. * Updating camera variables, tests and constraints to allow initialisation from a set of 3D points to support multi-marker configurations. * Fixes from PR review. * Adding validations for pts3d_ in cost functor.
…lisher), and ignition (Unicycle3DIgnition)
…for 3D; extend relative and absolute pose constraints with Euler orientation and add option to use only subset of linear and angular indices; fix linter errors at fuse_core/util.h
…fully implement fuse_models::common::processDifferentialPose3DWithCovariance(...))
…ecessary util functions); fix outdated and clarify existing comments
|
@cmuehlbacher I finally managed to finish all the necessary parts to support 3D models in fuse for ROS1. Please have a look on on it and provide feedback if necessary. |
cmuehlbacher
requested changes
Sep 30, 2024
fuse_constraints/include/fuse_constraints/normal_delta_orientation_3d_euler_cost_functor.h
Outdated
Show resolved
Hide resolved
fuse_constraints/include/fuse_constraints/normal_delta_orientation_3d_euler_cost_functor.h
Outdated
Show resolved
Hide resolved
fuse_constraints/include/fuse_constraints/normal_delta_pose_3d_euler_cost_functor.h
Outdated
Show resolved
Hide resolved
fuse_constraints/include/fuse_constraints/normal_delta_orientation_3d_euler_cost_functor.h
Show resolved
Hide resolved
fuse_constraints/include/fuse_constraints/normal_prior_pose_3d_euler_cost_functor.h
Show resolved
Hide resolved
cmuehlbacher
requested changes
Sep 30, 2024
fuse_models/include/fuse_models/parameters/odometry_3d_params.h
Outdated
Show resolved
Hide resolved
cmuehlbacher
requested changes
Sep 30, 2024
…stFunctor: add runtime check for size of the residual weighting matrix A and set the measured change b to a constant size (was effectively already anyway expected and the case); only NormalDeltaOrientation3DEulerCostFunctor: split definition and implementation in separate parts; clarify comments; fix typos in comments; fuse_models::common::processAbsolutePose3DWithCovariance: remove unnecessary code; AbsolutePose3DStampedEulerConstraint and RelativePose3DStampedEulerConstraint: set variables to const which do not change
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
add 3D variants for sensor models, motion model, publisher, and ignition