Many improvements regarding priori information (to speed up optimization and allow usage of prior estimates) #41
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Signed-off-by: Martin Pecka <peckama2@fel.cvut.cz>
The optimization of nonlinearities will only be enabled in the last batch opt.
If the priors of all extrinsics and time offset are given for a sensor, there is no need to initialize the extrinsics and time offset using visual odometry or other approaches. If you want the priors to be non-absolute (i.e. still allow their optimization), set them as RefImu-Sen2 or Sen1-Sen2 priors. If the priors should be absolute (non-optimizable), set them as Sen1-RefImu.
This speeds up optimization and prevents wrongly estimated visual scale if you know the optimization sometimes tend to squeeze the camera using 0.001 scale.
…lues are forced to be close to the priors.
This can be used e.g. for a multi-stage optimization if you know that adding a sensor will confuse the optimization. You can first optimize with other sensors, save the splines, and then run a second stage with the confusing sensor, fixing the splines so that they cannot be confused.
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This PR adds several improvements. They are mostly independent, but for simplicity, I've chained them all on a single branch. However, each improvement is a separate commit, so it should be easy to cherry pick if you only want some of the improvements.
Improvements:
This PR brings a few changes to the config and spat-temp-priori YAML files. They have all been documented and all YAMLs in this repo were fixed.
It also changes the format of knots.yaml by adding the initial timestamp so that the knots can be successfully merged with different knots (this is mostly needed because of topic alignment).