Code

PnP update#64

Code

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marip8 merged 17 commits intoJmeyer1292:masterJmeyer1292/robot_cal_tools:masterfrom marip8:update/pnp_utestmarip8/robot_cal_tools:update/pnp_utestCopy head branch name to clipboardJul 13, 2020

+244-132

Commits

Commits on Jun 29, 2020

• Made covariance functions take const inputs

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  5e07397

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• Added function for getting full covariance matrix between two parameters

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  8cceb6b

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• Added covariance to PnP calibration

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  8c3b53a

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• Added print of covariance to unit test

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  48a21bf

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• Updated printing of covariance matrices

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  911fadc

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• Updated cost function to use unnormalized axis angle

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  7cd3e87

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• Updated unit test to check covariance

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  2fe62fa

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• Reduced residual expectation for perturbed case

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• Revised PnP unit test with test fixture

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• Updated CI YAML to print CTest details on test failure

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• Corrected 3D PnP optimization; added covariance calculation

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• Updated PnP 3D unit tests

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Commits on Jun 30, 2020

• Updated CI config

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  f7b343a

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• CI fixup

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  7f4c0c6

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• Modified expectation for final cost per observation for perturbed initial condition

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Commits on Jul 10, 2020

• Updated names of variables

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  657e51a

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• Updated unit test to have expectations on mean and variance of optimization results for perturbed tests

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