Commit Graph

4 Commits (8d9dcfbfc2049f560a0c2c74bae74fcfd0cae76c)

Author SHA1 Message Date
Zsolt Kira 8d9dcfbfc2 Fixed problem with pixel_sigma (2-dimensional only)
Added switch to determine if normal GenericProjectionFactor or SmartProjectionFactor is used
2013-08-09 14:52:26 +00:00
Zsolt Kira 5af82c4042 SmartProjectionFactor example: Cleaned up some code, added comments,
changed some of the LM parameters.  Switched to use smaller kitti
dataset for now.
2013-08-08 17:16:23 +00:00
Zsolt Kira 6dd67a13fd Changed to optimize entire graph instead of sub-graphs 2013-08-08 14:20:08 +00:00
Zsolt Kira 159f9eee1e Added SmartProjectionFactorExample_kitti.cpp.
Currently loads kitti dataset after processing by VO code (stereo_factors.txt and camera_poses.txt)
Creates graph after N landmarks have been seen, runs it through SmartProjectionFactor
Verification of output is still needed; LM seems to optimize but poses don't seem to change.
2013-08-08 03:11:42 +00:00