Add check for key frame detection and a check for marginalization#7
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Add check for key frame detection and a check for marginalization#7
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as821
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… support intermediate keyframe marginalization
as821
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as821
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Dec 8, 2022
* use custom D3VO edge (copy of EdgeProjectPSI2UV) * bring over simple optimizer changes from optimizer branch * move d3vo class into separate file, silence verbose warnings * custom d3vo point depth vertex * move d3vo python binding into separate file * cache * fix d3vo types, python bindings functional now * placeholder frame type * Frame type now has pixel intensities, incorporate pybind numpy types * fix frame shape * edge error calculation works! pixel intensity in C++ matches python values so indexing is working * start on jacobian for edge, calculated image gradient * jacobians propagate to the correct objects * depth jacobian * pose jacobians calculated, not clear if poses being updated correctly though * clean up jacobian calculation * clean up more * minor clean up of optimizer * make feature extractor work again, optimization disabled * fix issues with frame/image dimensions and associated problems with invalid reprojections and feature matching problems * switch to exponential map (SE3Quat) rather than Isometry3D for frame pose vertex, better theoretical support and more stable optimization * cache mid-debugging attempt to incorporate 8-pixel pattern. Python component is correct, but C++ side fails silently during first optimizer() call * only use 8d in error calculation, 1d for estimate and jacobian * use depth initializations, but still 1d jacobian * remove sparse optimizer debug output * use 8-dim jacobian, add global pose evaluation * cache changes * remove global evaluation, have been evaluating global this whole time * revert to single point version, commit 8290d55 * fix read/write error * switching host adjoint to identity helps drastically * uncertainty weighting * basic, inefficient keyframe processing + marginalization * kitti evaluation scripts from Huangying-Zhan/kitti-odom-eval * fix evaluation code, add trajectory plotting from third party library * evaluation * recompute poses for evaluation every iteration. allows bundle adjustment changes to propagate through * use global poses for optimization and evaluation, falls apart around frame 300 * global pose evaluation of relative pose d3vo * clean up evaluation code, recompute global pose before every evaluation * oops, remove debug * incorporate keyframe selection from PR #7, backend needs some work to support intermediate keyframe marginalization * fix pose/intrinsic dimension mix up * bring over changes from PR #7 * compute global poses for keyframe selection, fails after a few frames due to marginalization limitations of backend * remove points from marginalized frames * clean up, documentation for python code * comments for C++ code * clean up
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