{"action":"created","comment":{"url":"https://api.github.com/repos/ethz-asl/maplab_rovio/pulls/comments/156699593","pull_request_review_id":83219588,"id":156699593,"diff_hunk":"@@ -78,13 +78,23 @@ class RovioInterface {\n   virtual bool processImageUpdate(const int camID, const cv::Mat &cv_img,\n                                   const double time_s) = 0;\n \n+  // 6DoF pose-based localization.\n   virtual bool processGroundTruthUpdate(const Eigen::Vector3d &JrJV, const QPD &qJV,\n                                         const double time_s) = 0;\n \n   virtual bool processGroundTruthOdometryUpdate(\n       const Eigen::Vector3d &JrJV, const QPD &qJV,\n       const Eigen::Matrix<double, 6, 6> &measuredCov, const double time_s) = 0;\n \n+  // Localization landmark-based localization.\n+  virtual bool processLocalizationLandmarkUpdates(\n+      const int camID, const Eigen::Matrix2Xd& keypoint_observations,\n+      const Eigen::Matrix3Xd& I_landmarks, const double time_s) = 0;","path":"include/rovio/RovioInterface.hpp","position":15,"original_position":15,"commit_id":"7afaf4395343bcccf3980fab7ea994685ab3693d","original_commit_id":"3d919b907bdaaf95337c54dfbb059106d79c7950","user":{"login":"schneith","id":5337083,"avatar_url":"https://avatars3.githubusercontent.com/u/5337083?v=4","gravatar_id":"","url":"https://api.github.com/users/schneith","html_url":"https://github.com/schneith","followers_url":"https://api.github.com/users/schneith/followers","following_url":"https://api.github.com/users/schneith/following{/other_user}","gists_url":"https://api.github.com/users/schneith/gists{/gist_id}","starred_url":"https://api.github.com/users/schneith/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/schneith/subscriptions","organizations_url":"https://api.github.com/users/schneith/orgs","repos_url":"https://api.github.com/users/schneith/repos","events_url":"https://api.github.com/users/schneith/events{/privacy}","received_events_url":"https://api.github.com/users/schneith/received_events","type":"User","site_admin":false},"body":"discussed offline","created_at":"2017-12-13T15:56:00Z","updated_at":"2017-12-13T15:56:00Z","html_url":"https://github.com/ethz-asl/maplab_rovio/pull/25#discussion_r156699593","pull_request_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/pulls/25","author_association":"OWNER","_links":{"self":{"href":"https://api.github.com/repos/ethz-asl/maplab_rovio/pulls/comments/156699593"},"html":{"href":"https://github.com/ethz-asl/maplab_rovio/pull/25#discussion_r156699593"},"pull_request":{"href":"https://api.github.com/repos/ethz-asl/maplab_rovio/pulls/25"}},"in_reply_to_id":156397871},"pull_request":{"url":"https://api.github.com/repos/ethz-asl/maplab_rovio/pulls/25","id":156275517,"html_url":"https://github.com/ethz-asl/maplab_rovio/pull/25","diff_url":"https://github.com/ethz-asl/maplab_rovio/pull/25.diff","patch_url":"https://github.com/ethz-asl/maplab_rovio/pull/25.patch","issue_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/issues/25","number":25,"state":"open","locked":false,"title":"Implment new constraints to localize from given landmark positions.","user":{"login":"schneith","id":5337083,"avatar_url":"https://avatars3.githubusercontent.com/u/5337083?v=4","gravatar_id":"","url":"https://api.github.com/users/schneith","html_url":"https://github.com/schneith","followers_url":"https://api.github.com/users/schneith/followers","following_url":"https://api.github.com/users/schneith/following{/other_user}","gists_url":"https://api.github.com/users/schneith/gists{/gist_id}","starred_url":"https://api.github.com/users/schneith/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/schneith/subscriptions","organizations_url":"https://api.github.com/users/schneith/orgs","repos_url":"https://api.github.com/users/schneith/repos","events_url":"https://api.github.com/users/schneith/events{/privacy}","received_events_url":"https://api.github.com/users/schneith/received_events","type":"User","site_admin":false},"body":"","created_at":"2017-12-04T18:46:40Z","updated_at":"2017-12-13T15:56:00Z","closed_at":null,"merged_at":null,"merge_commit_sha":"2e543e1b63ae1a9bca81a8f3df8919a083e2db49","assignee":null,"assignees":[],"requested_reviewers":[],"milestone":null,"commits_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/pulls/25/commits","review_comments_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/pulls/25/comments","review_comment_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/pulls/comments{/number}","comments_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/issues/25/comments","statuses_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/statuses/7afaf4395343bcccf3980fab7ea994685ab3693d","head":{"label":"ethz-asl:feature/structure-localization","ref":"feature/structure-localization","sha":"7afaf4395343bcccf3980fab7ea994685ab3693d","user":{"login":"ethz-asl","id":475362,"avatar_url":"https://avatars0.githubusercontent.com/u/475362?v=4","gravatar_id":"","url":"https://api.github.com/users/ethz-asl","html_url":"https://github.com/ethz-asl","followers_url":"https://api.github.com/users/ethz-asl/followers","following_url":"https://api.github.com/users/ethz-asl/following{/other_user}","gists_url":"https://api.github.com/users/ethz-asl/gists{/gist_id}","starred_url":"https://api.github.com/users/ethz-asl/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ethz-asl/subscriptions","organizations_url":"https://api.github.com/users/ethz-asl/orgs","repos_url":"https://api.github.com/users/ethz-asl/repos","events_url":"https://api.github.com/users/ethz-asl/events{/privacy}","received_events_url":"https://api.github.com/users/ethz-asl/received_events","type":"Organization","site_admin":false},"repo":{"id":97939611,"name":"maplab_rovio","full_name":"ethz-asl/maplab_rovio","owner":{"login":"ethz-asl","id":475362,"avatar_url":"https://avatars0.githubusercontent.com/u/475362?v=4","gravatar_id":"","url":"https://api.github.com/users/ethz-asl","html_url":"https://github.com/ethz-asl","followers_url":"https://api.github.com/users/ethz-asl/followers","following_url":"https://api.github.com/users/ethz-asl/following{/other_user}","gists_url":"https://api.github.com/users/ethz-asl/gists{/gist_id}","starred_url":"https://api.github.com/users/ethz-asl/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ethz-asl/subscriptions","organizations_url":"https://api.github.com/users/ethz-asl/orgs","repos_url":"https://api.github.com/users/ethz-asl/repos","events_url":"https://api.github.com/users/ethz-asl/events{/privacy}","received_events_url":"https://api.github.com/users/ethz-asl/received_events","type":"Organization","site_admin":false},"private":false,"html_url":"https://github.com/ethz-asl/maplab_rovio","description":"Hard-fork of ROVIO to integrate localization.","fork":false,"url":"https://api.github.com/repos/ethz-asl/maplab_rovio","forks_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/forks","keys_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/keys{/key_id}","collaborators_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/collaborators{/collaborator}","teams_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/teams","hooks_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/hooks","issue_events_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/issues/events{/number}","events_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/events","assignees_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/assignees{/user}","branches_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/branches{/branch}","tags_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/tags","blobs_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/git/blobs{/sha}","git_tags_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/git/tags{/sha}","git_refs_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/git/refs{/sha}","trees_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/git/trees{/sha}","statuses_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/statuses/{sha}","languages_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/languages","stargazers_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/stargazers","contributors_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/contributors","subscribers_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/subscribers","subscription_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/subscription","commits_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/commits{/sha}","git_commits_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/git/commits{/sha}","comments_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/comments{/number}","issue_comment_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/issues/comments{/number}","contents_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/contents/{+path}","compare_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/compare/{base}...{head}","merges_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/merges","archive_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/{archive_format}{/ref}","downloads_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/downloads","issues_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/issues{/number}","pulls_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/pulls{/number}","milestones_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/milestones{/number}","notifications_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/notifications{?since,all,participating}","labels_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/labels{/name}","releases_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/releases{/id}","deployments_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/deployments","created_at":"2017-07-21T11:12:37Z","updated_at":"2017-12-10T21:44:53Z","pushed_at":"2017-12-13T15:54:18Z","git_url":"git://github.com/ethz-asl/maplab_rovio.git","ssh_url":"git@github.com:ethz-asl/maplab_rovio.git","clone_url":"https://github.com/ethz-asl/maplab_rovio.git","svn_url":"https://github.com/ethz-asl/maplab_rovio","homepage":"","size":1223,"stargazers_count":7,"watchers_count":7,"language":"C++","has_issues":true,"has_projects":true,"has_downloads":true,"has_wiki":true,"has_pages":false,"forks_count":3,"mirror_url":null,"archived":false,"open_issues_count":1,"license":{"key":"other","name":"Other","spdx_id":null,"url":null},"forks":3,"open_issues":1,"watchers":7,"default_branch":"master"}},"base":{"label":"ethz-asl:master","ref":"master","sha":"1c6d05cdc27450a85a2852b59f088789e560cea2","user":{"login":"ethz-asl","id":475362,"avatar_url":"https://avatars0.githubusercontent.com/u/475362?v=4","gravatar_id":"","url":"https://api.github.com/users/ethz-asl","html_url":"https://github.com/ethz-asl","followers_url":"https://api.github.com/users/ethz-asl/followers","following_url":"https://api.github.com/users/ethz-asl/following{/other_user}","gists_url":"https://api.github.com/users/ethz-asl/gists{/gist_id}","starred_url":"https://api.github.com/users/ethz-asl/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ethz-asl/subscriptions","organizations_url":"https://api.github.com/users/ethz-asl/orgs","repos_url":"https://api.github.com/users/ethz-asl/repos","events_url":"https://api.github.com/users/ethz-asl/events{/privacy}","received_events_url":"https://api.github.com/users/ethz-asl/received_events","type":"Organization","site_admin":false},"repo":{"id":97939611,"name":"maplab_rovio","full_name":"ethz-asl/maplab_rovio","owner":{"login":"ethz-asl","id":475362,"avatar_url":"https://avatars0.githubusercontent.com/u/475362?v=4","gravatar_id":"","url":"https://api.github.com/users/ethz-asl","html_url":"https://github.com/ethz-asl","followers_url":"https://api.github.com/users/ethz-asl/followers","following_url":"https://api.github.com/users/ethz-asl/following{/other_user}","gists_url":"https://api.github.com/users/ethz-asl/gists{/gist_id}","starred_url":"https://api.github.com/users/ethz-asl/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ethz-asl/subscriptions","organizations_url":"https://api.github.com/users/ethz-asl/orgs","repos_url":"https://api.github.com/users/ethz-asl/repos","events_url":"https://api.github.com/users/ethz-asl/events{/privacy}","received_events_url":"https://api.github.com/users/ethz-asl/received_events","type":"Organization","site_admin":false},"private":false,"html_url":"https://github.com/ethz-asl/maplab_rovio","description":"Hard-fork of ROVIO to integrate localization.","fork":false,"url":"https://api.github.com/repos/ethz-asl/maplab_rovio","forks_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/forks","keys_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/keys{/key_id}","collaborators_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/collaborators{/collaborator}","teams_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/teams","hooks_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/hooks","issue_events_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/issues/events{/number}","events_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/events","assignees_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/assignees{/user}","branches_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/branches{/branch}","tags_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/tags","blobs_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/git/blobs{/sha}","git_tags_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/git/tags{/sha}","git_refs_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/git/refs{/sha}","trees_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/git/trees{/sha}","statuses_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/statuses/{sha}","languages_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/languages","stargazers_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/stargazers","contributors_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/contributors","subscribers_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/subscribers","subscription_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/subscription","commits_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/commits{/sha}","git_commits_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/git/commits{/sha}","comments_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/comments{/number}","issue_comment_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/issues/comments{/number}","contents_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/contents/{+path}","compare_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/compare/{base}...{head}","merges_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/merges","archive_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/{archive_format}{/ref}","downloads_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/downloads","issues_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/issues{/number}","pulls_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/pulls{/number}","milestones_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/milestones{/number}","notifications_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/notifications{?since,all,participating}","labels_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/labels{/name}","releases_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/releases{/id}","deployments_url":"https://api.github.com/repos/ethz-asl/maplab_rovio/deployments","created_at":"2017-07-21T11:12:37Z","updated_at":"2017-12-10T21:44:53Z","pushed_at":"2017-12-13T15:54:18Z","git_url":"git://github.com/ethz-asl/maplab_rovio.git","ssh_url":"git@github.com:ethz-asl/maplab_rovio.git","clone_url":"https://github.com/ethz-asl/maplab_rovio.git","svn_url":"https://github.com/ethz-asl/maplab_rovio","homepage":"","size":1223,"stargazers_count":7,"watchers_count":7,"language":"C++","has_issues":true,"has_projects":true,"has_downloads":true,"has_wiki":true,"has_pages":false,"forks_count":3,"mirror_url":null,"archived":false,"open_issues_count":1,"license":{"key":"other","name":"Other","spdx_id":null,"url":null},"forks":3,"open_issues":1,"watchers":7,"default_branch":"master"}},"_links":{"self":{"href":"https://api.github.com/repos/ethz-asl/maplab_rovio/pulls/25"},"html":{"href":"https://github.com/ethz-asl/maplab_rovio/pull/25"},"issue":{"href":"https://api.github.com/repos/ethz-asl/maplab_rovio/issues/25"},"comments":{"href":"https://api.github.com/repos/ethz-asl/maplab_rovio/issues/25/comments"},"review_comments":{"href":"https://api.github.com/repos/ethz-asl/maplab_rovio/pulls/25/comments"},"review_comment":{"href":"https://api.github.com/repos/ethz-asl/maplab_rovio/pulls/comments{/number}"},"commits":{"href":"https://api.github.com/repos/ethz-asl/maplab_rovio/pulls/25/commits"},"statuses":{"href":"https://api.github.com/repos/ethz-asl/maplab_rovio/statuses/7afaf4395343bcccf3980fab7ea994685ab3693d"}},"author_association":"OWNER"}}
{"actor":{"display_login":"schneith"}}