Abel Gawel

Descriptor for noisy data

3

Hello all, First of all thank you very much for open sourcing your work! I am having trouble getting an alignment between 2 pointclouds. I am trying to globally localize...

For efficiency sake can we write some template structure to bypass virtual functions in this class - esp. for retract and localCorrdinates which will be frequently called by GTSAM.

Add curve specific priors (see CubicHermiteSE3Curve)

1

To correctly fix a curve at a given time. However, as in the HermiteCurve this introduces ExpressionFactors to curves. Do we want that?

We'll require further functions to do all the fancy things with curves, such es extracting pieces of curves and composing several curves into one. Proposed functinos would be (shifted from...

Coefficients falling on keys

1

Optimize for coefficients that fall directly on keys (e.g. alpha == 0)--> no interploation is required in this case and expressions do not need to be evaluated.

devel Noetic

7

Minor adjustments to build and run on Ubuntu 20.04 and ros noetic. Could be maintained on a separate noetic branch to support different system configurations.