Re-introduce Dynamic Noise Models

utiasASRL / steam

The Simultaneous Trajectory Estimation and Mapping (STEAM) Engine.

BSD 3-Clause "New" or "Revised" License

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Closed a-krawciw closed 9 months ago

a-krawciw commented 1 year ago

Add support for noise models that change based on the value of state variables.

Additionally, add a noise model for the projected and linearized covariance of landmarks into pixels for stereo cameras.

keenan-burnett commented 1 year ago

Looks good to me. Can you add an example for how to use LandmarkNoiseEvaluator ?

keenan-burnett commented 1 year ago

Also, can you squash your changes into a single commit?

a-krawciw commented 1 year ago

The squash happens when the approved pull request is merged, but I will do that.

keenan-burnett commented 1 year ago

Is this ready to merge yet?