Markus Herb

Support state estimation on manifolds (i.e. SO(2) or SO(3))

3

https://arxiv.org/abs/1107.1119 Consider to use https://github.com/artivis/manif

When Model::hasJacobian is called with a wrong state type the trait still returns true. Unit-test in 7d0ebcdecbd67790e352518b2b28ddfef6dccbd8

Use [Eigen AutoDiff](http://eigen.tuxfamily.org/dox/unsupported/group__AutoDiff__Module.html) as default to compute Jacobians in linearized System/Measurement Models. Jacobians should still be overridable by the user. Implementation is likely similar to [AutoDiffJacobian](http://eigen.tuxfamily.org/dox/unsupported/AutoDiffJacobian_8h_source.html). See [Eigen#634](http://eigen.tuxfamily.org/bz/show_bug.cgi?id=634) for AutoDiff...

Add optional argument forwarding to predict/update using variadic templates

1

Example: ``` cpp // Time-step float dt = 0.001; // Pass time-step as optional argument, which is forwarded to sys.f(x,u,dt) filter.predict(sys, u, dt); ``` However, this would require to remove...

pycolmap.Image constructor fails in 0.2.0

1

Hi, I observed an error that occurs for me when constructing an `Image` object manually: import pycolmap points = [pycolmap.Point2D((100, 200))] pts = pycolmap.ListPoint2D(points) image = pycolmap.Image("image.png", pts) In 0.1.0...