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Fixed issue #9 by updating gtsam repo with newer commits as suggested #73

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Fixed issue #9 by updating gtsam repo with newer commits as suggested #73

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82c5ef1
Fixed issue #9 by updating gtsam repo with newer commits as suggested
RyanAshbaugh Mar 18, 2024
84a068a
fixed changes gtsam naming conventions
RyanAshbaugh Mar 18, 2024
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3 changes: 2 additions & 1 deletion slam/vio_slam.py
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Original file line number Diff line number Diff line change
Expand Up @@ -62,7 +62,8 @@ def initial_state():
gtsam.Point3(0.878612, 2.142470, 0.947262))
true_vel = np.array([0.009474,-0.014009,-0.002145])
true_bias = gtsam.imuBias.ConstantBias(np.array([-0.012492,0.547666,0.069073]), np.array([-0.002229,0.020700,0.076350]))
naive_pose = gtsam.Pose3.identity()
# naive_pose = gtsam.Pose3.identity()
naive_pose = gtsam.Pose3.Identity()
naive_vel = np.zeros(3)
naive_bias = gtsam.imuBias.ConstantBias()
initial_pose = true_world_T_imu_t0
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4 changes: 2 additions & 2 deletions slam/visual_frontends/visual_frontend.py
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Expand Up @@ -45,8 +45,8 @@ def lietorch_pose_to_gtsam(pose : lietorch.SE3):

def gtsam_pose_to_torch(pose: gtsam.Pose3, device, dtype):
t = pose.translation()
q = pose.rotation().quaternion()
return torch.tensor([t[0], t[1], t[2], q[1], q[2], q[3], q[0]], device=device, dtype=dtype)
q = pose.rotation().toQuaternion()
return torch.tensor([t[0], t[1], t[2], q.x(), q.y(), q.z(), q.w()], device=device, dtype=dtype)

class VisualFrontend(nn.Module):
def __init__(self):
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2 changes: 1 addition & 1 deletion thirdparty/gtsam
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Submodule gtsam updated 4 files
+8 −19 gtsam/linear/linear.i
+0 −2 gtsam/navigation/navigation.i
+0 −10 gtsam/nonlinear/nonlinear.i
+1 −20 gtsam_unstable/gtsam_unstable.i