Split Localizer Open Tasks

[rsoussan]

Open Tasks on a per package basis, identified by L/M/H (low/med/high priority) and I if the task is an issue/bug Depth Odometry:

• [IL] Frame change covariance target_T_source covariance after multiplying by initial estimate
• [L] Pass iterations limit in essential matrix calculation if OpenCV version upgraded Factor Adders: -[L] Unify node adders in tests -[L] Enable removing measurements and keys in VO smart factors -[L] Delete or attempt to make replacement VO factor if can't fix them Graph Factors:
• [L] Avoid matrix copies in pose_rotation_factor jacobian and try to use blocks instead
• [L] Add fix to gtsam for serialization bug for points, update robust_smart_factor after doing this
• [L] Profile robust weighting in robust_smart_factor
• [L] Replace pinholecamera with pinholepose in loc proj factor error calculation Graph Optimizer:
• [L] Return number of factors added by node adders in AddFactors call? Imu Integration: -[L] Add debug warning if too large of time gap has elapsed between adding measurements -[L] Remove angular velocity bias before integrating angular velocities in test Localization Common: -[L] Optionally store value in timestamped value as a reference? -[M] Add fallback covariance (other than first order approx) if correlation covariance not available in marginals covariance interpolator -[M] Add proper covariance inverting in utilities -[M] Add proper covariance interpolation in utilities Localization Measurements: -[L] Move point cloud msg creation somewhere else -[L] Make global_T_cam pose in matched projections measurement optional? Move somewhere else? -[L] Clean up static int image_id in feature point measurement creation -[L] Add functions for image and point cloud creation, unify between conversion functions Node Adders: -[L] Rename states to nodes in params -[IL] Fix crash when serializing node adder model params -[L] Add constructor and template for timestampednodeaddermodel params -[L] Add seperate marginals sigmas instead of using starting sigmas as fallback -[L] Print upper and lower bound times when fail to get them
• [L] Ensure symbols for between factors not used by other node adders
• [L] Update pose node adder tests when interpolated for covariances added
• [L] Test slide window with marginal factors in pose node adder test Nodes: -[L] Add unit test for remove function Optimizers -[L] Add more params for ISAM2 -[L] Add unit tests for ISAM2 optimizer RosPoseExtrapolator -[L] Remove angular vel bias from measurement in test -[L] Incorporate covariance compounding more accurately Sliding Window Optimizer: -[L] Unify getting params and node adders with other tests -[L] Test adding marginal factors -[L] Add function to generate factor from cumulative factor's removed keys and values -[L] -Add param to set window size if slide window after optimization? Localization Analysis -[L] Load more data in graph vio state msg -[L] Integrate angular velocities and plot -[L] Use central diff for velocity integration? -[L] Unify plot poses with other functions
• [L] Define csv results format -[L] Add relative calcs for orientations -[L] Clean up passing use bag image features when running offline replay -[L] Add delay when passing graph vio msgs to graph loc -[L] Add more results to bag_sweeper.py -[L] Fix depth odom param sweeper