New branch: what if we combine all raycosts and [R|t] into one opt problem?
Got -nan for residual, need fix
Added code for the combined ray error with manual differentiation. Not tested
Trying to figure out why computing step always fails
Added a synthetic test for ray cost
Debug with synthetic data. One problem is when w is zero, 1/w is nan
Add tracking matlab scripts
Modified gen_ball.m
autodiff raycost is working with synthetic data
Working version of test_2ndpass.cpp
Writing code for kinect error analysis, not yet finished
Summarize work till Aug 8. Results are in Google doc
Set precision to 9 when converting sln to dat
Merge branch 'error_analysis' into raycost
Increase the saving precision to 9 digits
Changed/Fixed for using with swiss rangers
Added a ball-detection-inspection program
Testing single camera view
Swiss ranger has problem, not yet solved
Put all sensor-specific pipeline stuff into one function under the specific sensor