b04d2f1512
ICRA version of Kitti dataset processing
2013-09-26 20:36:57 +00:00
73e72a98bd
Selective relinearization
2013-09-26 01:06:55 +00:00
c310bafc8a
ISAM2 option, increased num poses
2013-09-14 03:10:10 +00:00
7413b50da1
Support for running on entire kitti dataset.
...
Cleaned up prints, added gathering of statistics (# variables, triangulation failures, etc.)
2013-09-13 13:22:43 +00:00
35327d0d56
Added incremental version using the normal Projection Factor.
...
Supports initialization both using read-in landmark poses or triangulation.
2013-09-11 14:02:41 +00:00
633220a9dd
degenerate case in SmartProjectionFactor
2013-08-28 16:07:56 +00:00
bf8621aa3a
Added some state that is returned/passed in to smart projection factor to support smart re-linearization
...
Fixed bug in batch example that did not add last set of measurements in file
Created incremental version that reads measurements as they come, associates with a smart factor (or creates new one), and optimizes.
Last example achieves same results on 200-pose example as batch example.
2013-08-28 12:31:56 +00:00
Zsolt Kira
Luca Carlone