Defining residuals for joint calibration in a better way

[miguelriemoliveira]

Right now all joints affect all residuals. That could be improved.

[manuelgitgomes]

I purpose that we should check the path of all atomic transformations between every sensor and the pattern. For each sensor, if this path crosses a joint to be estimated, add these sensors residuals to the joint estimation. Does this make sense?

[miguelriemoliveira]

Right, that's exactly it. Did not implement for lack of time.

[miguelriemoliveira]

This is old. Joint calibration is now running well.

[miguelriemoliveira]

Actually, this was not addressed yet. Reopening.