WIP: Apriltag

MR open while Gitflow transition

It can stay open until big merge in the future

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• 10728286 - Added contrast increase in test apriltag

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• 3957b540 - Add map corresponding to logitech dataset

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• 44bf0d8a - Choose to use map and fix landmarks if so

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• f08e767e - Camera logitech yaml

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• 9ebc36fd - Fix bug with provided map...

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• 9ebc36fd...6270c258 - 2 commits from branch devel
• 2ba12ab1 - Merge branch 'devel' into Apriltag

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• d7d845f1 - Covariance of the tag position estimation due to pixel noise computed using Lie…
• 079bf027 - Added parameter for standard variation in pixels. Tests on dataset give bad results.

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• d95fbd70 - Attempt to use perspective n point of Opencv instead of apriltag implementation,…
• 31a6525d - Implemented pose estimation using opencv solvePnP (that has been shown to have…

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• 5f02ff6b - FeatureBase constructor accepts InfoMatrix as uncertainty spec

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• 03792713 - Implemented Infinitesimal Plane-based Pose Estimation as an alternative to…
• 0bcb7940 - Merge branch 'Apriltag' of https://gitlab.iri.upc.edu/mobile_robotics/wolf into Apriltag
• 96d63048 - Processor apriltag adapted to feature taking information matrix instead of covariance

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added 12 commits

• 96d63048...5b1f59da - 7 commits from branch devel
• 9c6b6aab - Merge branch 'devel' into Apriltag
• 087f62ee - Rationalize the usage of the intrinsic params with matrix K
• c318529d - Debug info
• 94d1064b - Format for better readability
• a8bb0f95 - Tuning

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• 8a7fb302 - Add keyword override

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• 51cc3e61 - Renamed yaml camera file Dinesh LAAS
• e7ff2f26 - BUG fixed in constraint apriltag: the rotation error was computed in the…
• bbf1211f - Variables renamed

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• dcd272f3 - Added parameters for disambiguation using IPPE reprojection error

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• c14f214a - Added parameters for disambiguation using IPPE reprojection error

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added 2 commits

• dcd272f3 - Added parameters for disambiguation using IPPE reprojection error
• 285af44b - Merge branch 'Apriltag' of ssh://gitlab.iri.upc.edu:2202/mobile_robotics/wolf into Apriltag

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• 5a713917 - Update processor_tracker_landmark_apriltag.cpp

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• 2f091fd5 - Relative path from features and processors folder to find includes when using wolf as a library
• f596a379 - Optimize parameters for speed -> barely under 1/30 s for detection of quads on macbook 8 threads
• 827343a7 - Changed vote for keyframe policy from fixed time to number of features tracked

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• fa200b83 - Minor

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added 76 commits

• fa200b83...a3ad1a3e - 75 commits from branch devel
• 14967b94 - Merge branch 'devel' into Apriltag

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