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10 Commits
Author SHA1 Message Date
Borong Yuanandmatlabbe ebba7e4878 Correct the Jacobian calculation of GravityFactor (#1692) 
* correct the Jacobian calculation of GravityFactor

* reimplement GravityFactor's analytical Jacobian

* adopt some minor changes from the GTSAM mainline

* use GTSAM's native AttitudeFactor instead of GravityFactor

* add missing header file and namespace prefix

* Removed GravityFactor. Fixed build with latest GTSAM version from source. Require c++17 when building with GTSAM>=4.3.0.

* Fixed cmake error when gtsam is not installed

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Co-authored-by: matlabbe <[email protected]>
 2026-04-26 15:33:05 -07:00
matlabbe 72bd453078 Fixing build with gtsam 4.3 binaries 2025-12-20 14:48:09 -08:00
v4hn 1e7ad82af6 support gtsam 4.3 header migration 
as currently in their development branch
 2025-12-06 01:46:08 +01:00
matlabbe e5655b0b96 Fixed #1549 2025-07-06 23:08:47 +00:00
Borong Yuan f0ba56bf5e fix ros gtsam 4.2a9 build (#1108) 2023-08-07 07:33:23 -07:00
matlabbe 682d54725a Fixed build with gtsam 4.3.0 (#1033) 2023-05-14 13:14:53 -07:00
matlabbe b646c5e1db Marker priors (#859) 
* Added MarkerPriors parameter

* Fixed Marker/Priors format to use '|' instead ';'. Fixed landmark priors not used.

* Marker: added priors variance parameters

* g2o: refactored backward compatibility includes

* fixed build with old g2o
 2022-04-28 09:18:30 -04:00
matlabbe 21dbeed4b7 Odom sensor option (#726) 
* Added Odom Sensor option

* Odom Sensor: Added pose time offset parameter

* Gui: fixed odom cloud not shown when rgb/depth doesn't have same size. Odom sensor: fixed rawImages set on non-stereo camera (because stereoRectify wrongly set to all cameras)

* Calibration: fixed rgb and depth suffixes not correctly set. OpenNI2: horizontal and vertical shifts can be also set for default calib.

* Fixed a warning

* OdomSensor: added option to use odom sensor output as ground truth (for comparison between odom sensor and rtabmap odom). Added scale factor option.

* FindG2O.cmake: updated path suffixes to find EXTERNAL csparse

* Pose3GravityFactor: fixed dllimport error on windows

* UI: Statistics panel not updated if not visible and keep stats in cache is unchecked. Added description to some timing debug logs in processStatistics().

* Removed vtkOutputWindow on Windows

* Odom Sensor: added zed sdk support

* bump version 0.20.11
 2021-05-23 17:21:12 -04:00
matlabbe 77ae8e108a 0.19.2: Refactored SensorData interface. DBReader: Fixed GPS not published. #345: both g2o and gtsam working with GPS. g2o: added gravity edges. 2019-04-09 20:05:24 -04:00
matlabbe fc9c762516 Added Optimizer/GravitySigma parameter (with GTSAM support). 2019-03-31 15:51:50 -04:00