first pass on rewrite
work on the map class
doesnt compile milddle of rewrite
first rewrite of matching with pre-filtering based on bearing vector thresholds. This can later be used to massively reduce the number of matches, especially when matching against a map
second pass on matching. All low level functions are finished. Need to do the higher level ones
initial rewrite of the odometry state machine
first pass on using state machine/matcher
super ugly hacked in ground truth...
fixed all stupid matlab - ros - eigen - tf rotation bugs
little bug fixes, fixed bug in setting angular thresholds, added track and map output to rviz, added initialisation code - works perfectly with synthetic data
copy paste error fixed
first pass on doing absolute position estimation vs a keyframes landmarks
ready to add a kf based on rotated dispartiy
added additional view output, fixed bugs, addeding map matching. g2o fails for now
fixed bundle adjustment
added looping mode for send synth - want to test with circles to detect loop closure
refactoring, ready to a dd ransac filtering to kf2map matching
minor changes, tested ransac after match kf2map, works
first pass on introducting new points. something not working, probably messed up a transform or angle check
fixed triangulation bug (did it in the wrong frame). Introducing new points now works, bug g2o segfaults after reaching the max nr of kfs