Feature/bundle adjustment

We add a full bundle adjustment implementation.

Landmarks are homogeneous 3D points.

Factors are a new class called FactorPixelHP, which associates a pixel to one homogeneous point (HP).

The processor uses OpenCV with detector/descriptor/matcher configurable via YAML.

added 1 commit

• 83f75cf9 - add test to gtest factor_pixelHP

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added 1 commit

• 2d153257 - yaml bundle adjustment update

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added 7 commits

• 2d153257...04028e8b - 6 commits from branch devel
• 92684819 - Merge remote-tracking branch 'origin/devel' into feature/bundle_adjustment

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added 3 commits

• fbd98643 - Added config file for vision plugin
• 841275b5 - Merging old local commit
• f5d469b1 - Fixes after merging from devel

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added 1 commit

• 63aa5e78 - Fix pinhole_tools.h include and organize includes

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added 3 commits

• 160d8113 - Use prefix 'vision_utils' in includes
• 34096663 - Organize includes
• 114f5ca7 - Remove file that is already in plugin 'apriltag'

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added 1 commit

• 2f5a01fc - Export pinhole_tools.h when installing

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added 1 commit

• fdfe144c - Fix cmake creating folder 'vision' instead of 'plugin_vision'

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added 1 commit

• eadb7a97 - replace Affine --> Isometry

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added 11 commits

• 222cb3b6 - Add demo bundle adjustment
• ef211f70 - params for demo bundle adjustment
• ebbe4c1d - Add demo bundle adjustment
• 740f7343 - Suggest (commented) alternative correction model. Keep original one.
• 9bc84c48 - Improve processor bundle adj.
• 3c7d08ce - fix int type
• e00aa392 - use correction model 1 unit larger than distortion model
• a6dcb696 - Add test for complete BA
• ac08feed - Update test processor BA
• e6a6e9fe - Add opencv libs to demo BA
• 0bdf4b49 - Merge branch 'feature/bundle_adjustment' of...

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added 1 commit

• 5c68270f - Fix test processor BA (emplace related issue)

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added 1 commit

• c45703ab - Fix test processor BA

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added 6 commits

• c45703ab...b5db7ffd - 5 commits from branch devel
• 734ad85e - Merge branch 'devel' into feature/bundle_adjustment

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added 2 commits

• 45b1c903 - delete test processVideo from processor BA (should be a demo)
• 0da12f41 - resize processor BA debug view

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added 1 commit

• c6640856 - Add function isInlier to processor BA

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added 2 commits

• b684f837 - Add grid features to processor BA
• 9d3a326e - Update demo processor BA

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added 12 commits

• 9d3a326e...1eba1a69 - 2 commits from branch devel
• 9fa07437 - Merge branch '4-adapt-to-new-emplace-api' into adapt-emplace-BA
• 0e23bf8a - opencv error in gtest_bundle_adjustment
• 1ea5c365 - Detect all good kp in a cell
• ba0224bd - Emplace factors and landmarks depending on the track length
• 2a3a644b - Do not delete landmarks at post process
• 98bed310 - Debugging processor BA
• f44db5c7 - Add lmk id to 2D visualization
• 94048885 - Remove lmks from lost tracks with only one factor
• c456222f - Change demo BA parametrers
• db8e857a - Adapt changes in process()

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added 6 commits

• db8e857a...f08b8fbc - 5 commits from branch devel
• e3144bce - after merge

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added 2 commits

• 5f49dfa6 - Add global_descriptor_ field to CaptureImage
• 679b8c89 - ProcessorBundleAdjustment : add methods to get des_ptr_, det_ptr_ and mat_ptr

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added 8 commits

• 679b8c89...0f9c01d7 - 3 commits from branch devel
• 21d41a6e - Merge branch 'devel' into feature/bundle_adjustment
• 187a7a92 - Resolve includes conflict
• b0b8951b - Add const keyword to list getter
• 2890964a - Add override keyword
• 09852dda - cosmetics

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