V1.0

Add Argparse support: argparse

ST_Calib 2023 0824

Minor difference from the previous version:

• arugment tuning for config yaml files

ST_Calib 2023 0729

• Upload config files
• Add a drawing API of objective functions
• Add a python script to generate bounded-range inputs
• Add a cpp program to compute the value loss functions and contraints from a list of inputs in file.

ST_Calib 2023 0719

• Add Edge Aligenment Method in script/
• Add corr_valid_rate constraint in NOMAD
• Handle exceptions when corr_3d_2d ==0 || corr_3d_3d ==0

ST_Calib 2023 0620

Add Alignment Loss to IBA Global
Add point-plane distance to IBA Global.
Fix issues in GPR.hpp, IBACalib2.hpp

ST_Calib 2023 0607

Add Gaussian Process Regression for Local Manifold build

ST_Calib 2023 0530

Change Log:

• IBA Calib: Iterative Bundle Adjustment
• g2o_tools.h: statistic tool for g2o edges
• demo_IBA_FS: python script to test the reasoning of IBA (including cv.Filestorage IO)

ST_Calib v0.0 alpha

• Restore ORB_SLAM System (KeyFrames, Map, KeyFrame-to-KeyFrame Connections, KeyFrame-to-MapPoint Connections) from disk-stored files.
• Refine FLOAM Map using Scancontext and ISAM
• Save ORB Local Map to .pcd, Save Refined FLOAM Map to .pcd
• HE_Calib with regulation
• Yaml-CPP parse args
• BA_Calib (Global and Local)
• ICP_Calib (use initial parameters)