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
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: