Split Localizer Open Tasks

[rsoussan]

Open Tasks on a per package basis, identified by L/M/H (low/med/high priority) and I if the task is an issue/bug
Depth Odometry:

• [IL] Frame change covariance target_T_source covariance after multiplying by initial estimate
• [L] Pass iterations limit in essential matrix calculation if OpenCV version upgraded
  Factor Adders:
  -[L] Unify node adders in tests
  -[L] Enable removing measurements and keys in VO smart factors
  -[L] Delete or attempt to make replacement VO factor if can't fix them
  Graph Factors:
• [L] Avoid matrix copies in pose_rotation_factor jacobian and try to use blocks instead
• [L] Add fix to gtsam for serialization bug for points, update robust_smart_factor after doing this
• [L] Profile robust weighting in robust_smart_factor
• [L] Replace pinholecamera with pinholepose in loc proj factor error calculation
  Graph Optimizer:
• [L] Return number of factors added by node adders in AddFactors call?
  Imu Integration:
  -[L] Add debug warning if too large of time gap has elapsed between adding measurements
  -[L] Remove angular velocity bias before integrating angular velocities in test
  Localization Common:
  -[L] Optionally store value in timestamped value as a reference?
  -[M] Add fallback covariance (other than first order approx) if correlation covariance not available in marginals covariance interpolator
  -[M] Add proper covariance inverting in utilities
  -[M] Add proper covariance interpolation in utilities
  Localization Measurements:
  -[L] Move point cloud msg creation somewhere else
  -[L] Make global_T_cam pose in matched projections measurement optional? Move somewhere else?
  -[L] Clean up static int image_id in feature point measurement creation
  -[L] Add functions for image and point cloud creation, unify between conversion functions
  Node Adders:
  -[L] Rename states to nodes in params
  -[IL] Fix crash when serializing node adder model params
  -[L] Add constructor and template for timestampednodeaddermodel params
  -[L] Add seperate marginals sigmas instead of using starting sigmas as fallback
  -[L] Print upper and lower bound times when fail to get them
• [L] Ensure symbols for between factors not used by other node adders
• [L] Update pose node adder tests when interpolated for covariances added
• [L] Test slide window with marginal factors in pose node adder test
  Nodes:
  -[L] Add unit test for remove function
  Optimizers
  -[L] Add more params for ISAM2
  -[L] Add unit tests for ISAM2 optimizer
  RosPoseExtrapolator
  -[L] Remove angular vel bias from measurement in test
  -[L] Incorporate covariance compounding more accurately
  Sliding Window Optimizer:
  -[L] Unify getting params and node adders with other tests
  -[L] Test adding marginal factors
  -[L] Add function to generate factor from cumulative factor's removed keys and values
  -[L] -Add param to set window size if slide window after optimization?
  Localization Analysis
  -[L] Load more data in graph vio state msg
  -[L] Integrate angular velocities and plot
  -[L] Use central diff for velocity integration?
  -[L] Unify plot poses with other functions
• [L] Define csv results format
  -[L] Add relative calcs for orientations
  -[L] Clean up passing use bag image features when running offline replay
  -[L] Add delay when passing graph vio msgs to graph loc
  -[L] Add more results to bag_sweeper.py
  -[L] Fix depth odom param sweeper