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Merge Between and VariableDiff with RelativePoseError and PosePriorError #136

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merged 9 commits into from
Apr 4, 2022
Merged

Merge Between and VariableDiff with RelativePoseError and PosePriorError #136

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a0f5588
update jacobians for embodied.measurements.Between
fantaosha Mar 28, 2022
f0f8ee4
between factor works and tested
fantaosha Mar 28, 2022
f8442b2
update variable_diff.py
fantaosha Mar 28, 2022
8d6b8ba
between factor tests rebased
fantaosha Mar 29, 2022
96c0fe6
fixed typo
fantaosha Mar 29, 2022
63618c1
Update pose_graph using Between and VariableDiff
fantaosha Mar 29, 2022
bed363f
float32 works for pose graph
fantaosha Mar 30, 2022
ae75ae1
change dytpe to torch.float64 in pose_graph
fantaosha Apr 3, 2022
6a45a8d
fixed a bug in dataset
fantaosha Apr 3, 2022
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Update pose_graph using Between and VariableDiff
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@fantaosha
fantaosha committed Mar 29, 2022
commit 63618c1f302abc8dd670ab45aed0f78299ba4309
17 changes: 9 additions & 8 deletions examples/pose_graph.py
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Expand Up @@ -17,8 +17,8 @@
objective = th.Objective(torch.float64)

for edge in edges:
cost_function = theg.RelativePoseError(
verts[edge.i], verts[edge.j], edge.relative_pose, edge.weight
cost_function = th.eb.Between(
verts[edge.i], verts[edge.j], edge.weight, edge.relative_pose
)
objective.add(cost_function)

Expand All @@ -33,16 +33,17 @@
objective = th.Objective(torch.float64)

for edge in edges:
cost_func = theg.RelativePoseError(
verts[edge.i], verts[edge.j], edge.relative_pose, edge.weight
cost_func = th.eb.Between(
verts[edge.i], verts[edge.j], edge.weight, edge.relative_pose
)
objective.add(cost_func)

objective.add(
theg.PosePriorError(
pose=verts[0], pose_prior=verts[0].copy(new_name=verts[0].name + "PRIOR")
)
pose_prior = th.eb.VariableDifference(
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var=verts[0],
cost_weight=th.ScaleCostWeight(torch.tensor(1e-6, dtype=torch.float64)),
target=verts[0].copy(new_name=verts[0].name + "PRIOR"),
)
objective.add(pose_prior)

optimizer = th.LevenbergMarquardt( # GaussNewton(
objective,
Expand Down