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Merge Between and VariableDiff with RelativePoseError and PosePriorError #136

Merged
merged 9 commits into from
Apr 4, 2022
Merged

Merge Between and VariableDiff with RelativePoseError and PosePriorError #136

merged 9 commits into from
Apr 4, 2022

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fantaosha
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Motivation and Context

How Has This Been Tested

Types of changes

  • Docs change / refactoring / dependency upgrade
  • Bug fix (non-breaking change which fixes an issue)
  • New feature (non-breaking change which adds functionality)
  • Breaking change (fix or feature that would cause existing functionality to change)

Checklist

  • My code follows the code style of this project.
  • My change requires a change to the documentation.
  • I have updated the documentation accordingly.
  • I have read the CONTRIBUTING document.
  • I have completed my CLA (see CONTRIBUTING)
  • I have added tests to cover my changes.
  • All new and existing tests passed.

@facebook-github-bot facebook-github-bot added the CLA Signed This label is managed by the Facebook bot. Authors need to sign the CLA before a PR can be reviewed. label Mar 29, 2022
@fantaosha fantaosha requested review from luisenp and mhmukadam March 30, 2022 17:30
@fantaosha fantaosha linked an issue Mar 30, 2022 that may be closed by this pull request
Merge RelativePoseError with Between and PosePrior with VarDiff #126
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mhmukadam
mhmukadam reviewed Mar 30, 2022
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Looks good, only one comment.

@fantaosha
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@luisenp Do you know why the unit tests for cuda fail?

luisenp
luisenp reviewed Mar 30, 2022
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Looks good! Just left a few comments and a question.

examples/pose_graph.py Show resolved Hide resolved
theseus/utils/examples/pose_graph/dataset.py Show resolved Hide resolved
theseus/utils/examples/pose_graph/dataset.py Show resolved Hide resolved
theseus/utils/examples/pose_graph/dataset.py Show resolved Hide resolved
theseus/utils/examples/pose_graph/dataset.py Show resolved Hide resolved
theseus/utils/examples/pose_graph/dataset.py Show resolved Hide resolved
theseus/utils/examples/pose_graph/dataset.py Show resolved Hide resolved
@fantaosha fantaosha merged commit a69a0c1 into main Apr 4, 2022
@fantaosha fantaosha deleted the taoshaf.merge_between branch April 4, 2022 14:27
suddhu pushed a commit to suddhu/theseus that referenced this pull request Jan 21, 2023
@fantaosha
Merge Between and VariableDiff with RelativePoseError and `Pose…
afad8c2 
…PriorError` (facebookresearch#136)

* update jacobians for embodied.measurements.Between

* between factor works and tested

* update variable_diff.py

* between factor tests rebased

* fixed typo

* Update pose_graph using Between and VariableDiff

* float32 works for pose graph

* change dytpe to torch.float64 in pose_graph

* fixed a bug in dataset
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@luisenp luisenp luisenp left review comments

@mhmukadam mhmukadam mhmukadam approved these changes

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Merge RelativePoseError with Between and PosePrior with VarDiff
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