Perturbations and covariance sampling #4
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… the prior transform. The cost function is sampled for selected frame numbers and saved in /tmp
…_code_public.git into perturbations_and_covariance_sampling
…arodometry_code_public.git into perturbations_and_covariance_sampling
dan11003
reviewed
Nov 22, 2022
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This branch adds the cost function sampling for better covar estimation. By default, the sampling is off, since it increases the computational load. BUT, BEWARE: It looks like the implementation used up to now was adding unit matrices for covariance into the simple_graph, not the ceres-based result (which goes into the odom messages etc.). Therefore, running cfear even with the new sampling off, the results may change