dellaert
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61ba2f080c
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made print virtual
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2015-02-26 15:33:27 +01:00 |
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dellaert
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3b808e644b
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Removed a lot of obsolete code
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2015-02-26 15:01:25 +01:00 |
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dellaert
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0a75da9858
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PinholeSet first draft: a CameraSet that assumes PinholeBase-derived CAMERA: knows how to triangulate. First draft is still imperative, with mutable point_, and that might change.
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2015-02-26 14:50:52 +01:00 |
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dellaert
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b8d39e8aea
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Removed obsolete sharedKs
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2015-02-26 14:19:36 +01:00 |
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dellaert
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be26d99f1e
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Moved to less intrusive spot
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2015-02-26 14:19:22 +01:00 |
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dellaert
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f639ae0d7c
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Ignore generated files
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2015-02-26 13:55:32 +01:00 |
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dellaert
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a375e7b5be
|
RADICAL2: The SmartProjectionPoseFactor (soon to be renamed SmartPinholePoseFactor, if it survives at all) now no longer stores shared calibrations. Values expect to contain PinholePoses not Pose3s now. The current state of affairs was simply a bug: one pose could be optimized for several different calibrations. It relied on the user to make sure all measurements for a specific pose to optimize were all given the same shared calibration, which was then stored *millions of times* in the pose factors. Instead, there is now *one* shared calibration per PinholePose unknown.
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2015-02-26 13:55:16 +01:00 |
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dellaert
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a132d959f5
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RADICAL: Got rid of sensor_pose. In the new PinholePose philosophy, this is entirely the responsibility of the CAMERA. Just like PinholePose, we can have a camera class that has a shared extra transform: it is part of the calibration. PinholePose itself is not able to do this, as the calibration is assumed 2D only, but it's easy to create a class and have the correct derivatives in place.
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2015-02-26 12:06:43 +01:00 |
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dellaert
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0bf95ae7f6
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Removed obsolete code, including slow Schur-complement versions
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2015-02-26 11:44:51 +01:00 |
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dellaert
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fd71974ff3
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Got mostly rid of computeEP: just a call to cameras.project2
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2015-02-25 20:52:16 +01:00 |
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dellaert
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850470ef06
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rename of computeJacobians overloads to better reflect functionality
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2015-02-25 19:30:17 +01:00 |
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dellaert
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c5394da29e
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Better print of isotropic
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2015-02-25 19:29:12 +01:00 |
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dellaert
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3d85bf8e1f
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Removed testSmartProjectionFactor.run target
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2015-02-25 19:28:59 +01:00 |
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dellaert
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f7292488c4
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Made RegularImplicitSchurFactor fully functional, and whitened again.
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2015-02-25 14:00:21 +01:00 |
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dellaert
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d7b5156dcc
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rename to reprojectionErrorAfterTriangulation
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2015-02-25 01:14:36 +01:00 |
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dellaert
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694e6e903c
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Fixed template issue
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2015-02-25 01:00:46 +01:00 |
|
dellaert
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b3d0b1809c
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Fixed some compilation issues
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2015-02-24 21:55:37 +01:00 |
|
dellaert
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c4095d2ed9
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Fixed linking
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2015-02-24 14:44:01 +01:00 |
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dellaert
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301e827454
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Switched back to PinholeCamera (though I'm not thrilled)
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2015-02-24 14:23:44 +01:00 |
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dellaert
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eb28d0ffa8
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Restored reprojectionErrors -> reprojectionError
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2015-02-24 14:09:35 +01:00 |
|
dellaert
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ae1f534e66
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Now second test uses common header as well.
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2015-02-23 23:58:25 +01:00 |
|
dellaert
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06ef84f968
|
Moved more into common scenario header
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2015-02-23 22:33:08 +01:00 |
|
dellaert
|
dff6b22d32
|
redundant header
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2015-02-23 22:32:34 +01:00 |
|
dellaert
|
01dc2c61fa
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MAde it more generic
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2015-02-23 22:32:18 +01:00 |
|
dellaert
|
cd10f9aedc
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Moved scenarios to separate header
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2015-02-23 21:40:44 +01:00 |
|
dellaert
|
a60e13dd09
|
Remove a whole lot of copy/paste
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2015-02-23 20:43:31 +01:00 |
|
dellaert
|
f21ba05679
|
Get Dim from base
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2015-02-23 20:43:10 +01:00 |
|
dellaert
|
d091ed3e83
|
Added reprojectionErrors back in
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2015-02-23 20:42:48 +01:00 |
|
dellaert
|
8e615c0ce7
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Fixed infinite recursion
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2015-02-23 14:45:45 +01:00 |
|
dellaert
|
d6f54475c3
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BIG change: SmartFactorBase and SmartProjectionFactor now templated on CAMERA
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2015-02-23 12:43:43 +01:00 |
|
dellaert
|
d5261e2e8d
|
triangulation targets
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2015-02-23 12:41:45 +01:00 |
|
dellaert
|
59e6a636f2
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Added Measurement type
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2015-02-23 12:41:33 +01:00 |
|
dellaert
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4c7f0eba00
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Added some templates with whole cameras
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2015-02-23 12:41:14 +01:00 |
|
dellaert
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fb47cf8961
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moved projectPointAtInfinity down
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2015-02-23 12:37:55 +01:00 |
|
dellaert
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0fee8f37a6
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Added derivatives to Errors
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2015-02-23 12:37:06 +01:00 |
|
dellaert
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fdbff461f3
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Removed D argument from SmartFactorBase - note, branch does not compile now.
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2015-02-23 00:08:02 +01:00 |
|
dellaert
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2e174bc439
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Merge remote-tracking branch 'origin/feature/StereoCamera_project2' into feature/SmartFactors3
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2015-02-22 23:46:41 +01:00 |
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dellaert
|
8d5e61a1bf
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Deprecated project with three derivatives, it's bogus: StereoCamera holds a pointer to a fixed calibration, and hence is similar to the new "PinholePose".
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2015-02-22 23:29:40 +01:00 |
|
dellaert
|
8619b04cd7
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Now switched to full ZDim*Dim blocks, no more hacky calibration splitting...
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2015-02-22 22:52:31 +01:00 |
|
dellaert
|
bc0bddf7c6
|
Removed whitening in Jacobians (which will move). Also, cheirality no longer caught -> will exit by itself if uncaught.
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2015-02-22 22:50:11 +01:00 |
|
dellaert
|
1e62f31064
|
Now return FBlocks as derivatives
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2015-02-22 22:32:25 +01:00 |
|
dellaert
|
66d12a1c30
|
noiseModel_ is now private -> just call Errors
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2015-02-22 22:05:58 +01:00 |
|
dellaert
|
cdaaee6fce
|
Move Errors to CameraSet
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2015-02-22 22:05:42 +01:00 |
|
dellaert
|
484facef83
|
testCameraSet
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2015-02-22 22:03:45 +01:00 |
|
dellaert
|
c2feb239fb
|
whitenInPlace
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2015-02-22 21:50:58 +01:00 |
|
dellaert
|
81538aac55
|
reprojectionErrors
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2015-02-22 21:48:21 +01:00 |
|
dellaert
|
c9536523bf
|
Some header refactoring
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2015-02-22 20:10:18 +01:00 |
|
dellaert
|
ac16b7e1d4
|
Switched to isotropic
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2015-02-22 17:50:10 +01:00 |
|
dellaert
|
51fc68b4f7
|
Merge branch 'JacobianTest' into feature/SmartFactors3
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2015-02-22 17:32:07 +01:00 |
|
dellaert
|
241366a6e6
|
Check augmented information matrices
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2015-02-22 17:30:08 +01:00 |