First commit for CurvePoint project
Added point features class
Fixed up pointFeatures and added some other code; still unfinished
pointFeatures done and reasonably well-tuned; uses BOW instead of orig patch; stereo matching good; DA could be better
Uses GoodFeatures for all frames
Changed to Junho method; still needs debugging and correspondences vars
Junho method working with correspondences; needs fine tuning
Minor changes
Halfway through chaning KalmanClass for points
AddNewPoints function written; no runtime errors. Still need to debug calcs and update functions (UpdatePtsAndCurves,AddNewCurves)
Added points-curves cross terms in Add New Curves; fixed matrix sizes in Update.
Still has segfault issues, but in display_GUI!
Fixed display; Weird DLASCL LAPACK error; goes away when Update is commented
Need to fix matrix inversion in Update
I think CV_LU fixed it ??!?
Fixed one bug; need to add 'existing curves'-'existing points' cross-terms in AddCurve
Fixed issues with Add Curves
Wrote all the code for Update, still need to debug!
Added z error for points!!! Still need to debug; math checks out but still diverging
Tried debugging; need to fix up point tracking
Tested Jacobians and fixed issues; still need to test for AddCurves