Frank Dellaert
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43fe036c32
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Made more efficient by adding errors -> Jacobians back to 1*3, always. This is big savings if a landmark is seen from many poses.
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2013-06-24 15:57:03 +00:00 |
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Frank Dellaert
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aea4f31096
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Fixed Jacobians, optimization works
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2013-06-24 15:31:13 +00:00 |
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Frank Dellaert
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b7dbcefa8b
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simplified measurements_ to vector
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2013-06-24 12:15:01 +00:00 |
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Frank Dellaert
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4b412b0a4b
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keys and Jacobians
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2013-06-24 12:07:21 +00:00 |
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Frank Dellaert
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d041c5b8a8
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Split up circle intersection code into three routines that are used in SmartRangeFactor
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2013-06-24 08:24:56 +00:00 |