Nick Charron
We want to add constraints between camera keypoints and lidar maps. We can most likely use the singleton LidarMap class in beam_slam_common, but we will likely need a way to...
Right now, the lidar odometry stores all active scans in a list, and then passes them as they come in to the scan matcher class. For the case of the...
Our current map implementatiion is not efficient for doing 3D searches. Since we have to constantly add and remove points from our map, we'd have to also rebuild a kd...
In this paper: https://arxiv.org/pdf/1807.08957.pdf They describe that KB has a singularity at z = 0. In our InProjectionDomain function, we only check that z != 0 See check here: https://github.com/BEAMRobotics/libbeam/blob/4384b414bd30b893b91a17ea29258a0816110d05/beam_calibration/src/KannalaBrandt.cpp#L143...