Messing around with speed/rotation measurement hueristics
Added class for trajectory input and output
Think I have data in the same way kitti needs it
Think I have the correct output, still need to transform things correctly
Sequential tracker now has a reference to sequential mapmaker
Initialisation temporarily fixed
Transformation for kitti needs to be corrected
Have output in line with what Kitti uses. Still need to figure out what I've done though
Cleaning up code
Some keyframes are used for creating new map points, others are not
Stopped tracker from adding extra frame after init. Cleaned up the tracker stages a bit
Cleaning code
Added object detector class, reading from files
Clearing up some issues with opencv
Added new object tracker class, that does sequential tracking with the objects
Adding structres required for object tracking
Added matcher. Takes too long in mapmaker thread, need to add it to its own
Figured that I would add object additions and data association to the object mapmaker class. Additions of points to the map and bundle adjustment will be done by the sequential mapmaker from now on
Seem to have object additions working
Added slam camera to the project, projecting objects by calculating projections of their corners for now