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Add node marginalization support #468

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Add node marginalization support #468

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Commits on Mar 25, 2022

  1. Add node marginalization support. 

    Based on a Chow-Liu tree approximation to Karto's graph
upon marginalization, using Karto's solver estimate of
the full joint information matrix to build new nonlinear
constraints.

Signed-off-by: Michel Hidalgo <[email protected]>
    @hidmic
    hidmic committed Mar 25, 2022
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  2. Use LGPL 2.1 in lieu of LGPL 3 

    Signed-off-by: Michel Hidalgo <[email protected]>
    @hidmic
    hidmic committed Mar 25, 2022
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  3. Delete CeresSolver allocations upon destruction/reset 

    Signed-off-by: Michel Hidalgo <[email protected]>
    @hidmic
    hidmic committed Mar 25, 2022
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  4. Drop duplicate edge checks from karto::Mapper 

    Signed-off-by: Michel Hidalgo <[email protected]>
    @hidmic
    hidmic committed Mar 25, 2022
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Commits on Apr 4, 2022

  1. Rework parameter/residual block handling in Ceres solver 

    - Use a boost::bimap for node id <-> parameter block lookup
- Use a boost::pool for parameter block allocation
- Change Karto::Solver graph getter signature

Signed-off-by: Michel Hidalgo <[email protected]>
    @hidmic
    hidmic committed Apr 4, 2022
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  2. Null edge pointer after delete 

    Signed-off-by: Michel Hidalgo <[email protected]>
    @hidmic
    hidmic committed Apr 4, 2022
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