Commit Graph

3 Commits (35327d0d561b786b8263235f6d1e48199e378aba)

Author SHA1 Message Date
Zsolt Kira 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
Luca Carlone 633220a9dd degenerate case in SmartProjectionFactor 2013-08-28 16:07:56 +00:00
Zsolt Kira 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