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4 Commits (7413b50da134c06479af62327afe74cc6746f79d)

Author SHA1 Message Date
Zsolt Kira 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
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