Bundle adjustment implementation #13
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This implementation works with the formulation described in exercise 9. In my laptop it takes a couple of seconds to solve the BA problem for 4 poses.
Plots in (more or less) same format as example GUI from project PDF. imshow() will probably need to be replaced with something else once we know how we'd like to integrate the keypoints to the current frame; additionally, the top view will need a new data structure, since it should only be holding the points from the previous 20 frames, and Im not sure how to do that efficiently off the top of my head
Big ol commit which adds images with point annotation, two sets of points for the top view plot (since it needs vehicle position and 3D landmark location), titles (mostly, see TODO in createFigure.m), and rebuids testPlotting.m to test all this
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This implementation works with the formulation described in exercise 9.
In my laptop it takes a couple of seconds to solve the BA problem for 4
poses.
I didn't write any tests because this code gives roughly the same results as seen in the
exercise9.pdf. But I am planning on testing it when we are done debugging the current pipeline.