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locusrobotics / fuse

The fuse stack provides a general architecture for performing sensor fusion live on a robot. Some possible applications include state estimation, localization, mapping, and calibration.
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Vision constraints #349

Closed oscarmendezm closed 11 months ago

oscarmendezm commented 12 months ago

I added the variables necessary to represent a pinhole camera, along with constraints for fixed landmarks to optimize over the cameras 6-dof position using reprojection error, and optionally optimize for intrinsics. Use cases are represented in the unit tests. We can formalize a marker as a 6-dof pose and turn it into an arbitrary set of points in the marker coordinate frame.

oscarmendezm commented 12 months ago

The errors shown here are fixed by #348

ayrton04 commented 11 months ago

@oscarmendezm is this ready for review? Do you want to tag any reviewers?