ChangeLog

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Repository tagged as release-20090724
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Wed 15 Jul, 2009 18:38:14 author: edrosten
    File: src/polynomial.cc (Rev. 1.3)

Replace pair<A, B> with tuple<A, B> so that tie() works with older
standard libraries.

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Sun 12 Jul, 2009 13:28:32 author: gerhard (Concatenated 2 entries at 10s)
    File: tag/five_point.h (Rev. 1.10)
    File: src/five_point.cpp (Rev. 1.20)

fixes for MS VC 2008 (VC9).
Yes, it supports TR1, and but the headers are not in <tr1/...> ???

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Fri 15 May, 2009 15:54:31 author: edrosten (Concatenated 2 entries at 10s)
    File: tag/five_point.h (Rev. 1.9)
    File: src/solve.h (Rev. 1.2)
    File: src/sturm.c (Rev. 1.3)

4x speedup to five_point. The new code will give slightly different results
to the old code, due to differences in numerics, tolerances and etc.

The nullspace is now found using Gauss-Jordan, instead of SVD (for a speedup
of about 30x for this particular part).

New hand written polynomial root finder, for a speedup of 4x and improved
reliability (the old one would occasionally expect -1 roots due to numerical
instabilities and fail with an alloc_error).

The new root-finder will not attempt to find roots of p(x) for |x|>100, since
it is not possible to find these root to high enough accuracy.

Roots are bracketed using Sturm sequences (as before) but using the resursive
implementation which is more efficient.

The root polishing uses a hybrid Newton-Raphson/bisection rootfinder which
usually gets roots to higher accuracy than the old bisection solver and almost
always converges in < 8 iterations, and often in 4. It will give up after 10
iterations.

A new tolerance feps is introduced, so that for a numerical root at x, if
|p(x)| > feps, the root will not be recorded.

The other tolerances (eps and zeps) follow the convention of NR in C.

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Fri 15 May, 2009 15:54:29 author: edrosten
    File: Makefile.in (Rev. 1.15)

4x speedup to five_point. The new code will give slightly different results
to the old code, due to differences in numerics, tolerances and etc.

The nullspace is now found using Gauss-Jordan, instead of SVD (for a speedup
of about 30x for this particular part).

New hand written polynomial root finder, for a speedup of 4x and improved
reliability (the old one would occasionally expect -1 roots due to numerical
instabilities and fail with an alloc_error).

The new root-finder will not attempt to find roots of p(x) for |x|>100, since
it is not possible to find these root to high enough accuracy.

Roots are bracketed using Sturm sequences (as before) but using the resursive
implementation which is more efficient.

The root polishing uses a hybrid Newton-Raphson/bisection rootfinder which
usually gets roots to higher accuracy than the old bisection solver and almost
always converges in < 8 iterations, and often in 4. It will give up after 10
iterations.

A new tolerance feps is introduced, so that for a numerical root at x, if
|p(x)| > feps, the root will not be recorded.

The other tolerances (eps and zeps) follow the convention of NR in C.

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Mon 11 May, 2009 20:56:53 author: edrosten
    File: src/five_point.cpp (Rev. 1.18)

Fixed a very silly bug.

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Mon 11 May, 2009 18:54:40 author: edrosten (Concatenated 2 entries at 10s)
    File: tag/five_point.h (Rev. 1.8)
    File: Doxyfile (Rev. 1.6)

Doc punt.

Make essential_reprojection_errors_squared consistent wuith five_point
in the argument ordering.

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Mon 11 May, 2009 18:43:29 author: edrosten
    File: tag/five_point.h (Rev. 1.7)

Doc fix

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Mon 11 May, 2009 18:32:31 author: edrosten
    File: tag/five_point.h (Rev. 1.6)

Reprojection error for the essential matrix.

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Fri  8 May, 2009 13:25:13 author: gerhard
    File: tag/ransac_estimators.h (Rev. 1.11)

more TooN2 cleanup

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Fri  8 May, 2009 13:08:11 author: gerhard
    File: src/absorient.cpp (Rev. 1.9)

more robust

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Wed  6 May, 2009 13:52:20 author: gerhard
    File: src/absorient.cpp (Rev. 1.8)

make robust

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Thu 30 Apr, 2009 18:52:20 author: gerhard
    File: src/five_point.cpp (Rev. 1.15)

use SO3 from vectors constructor

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Wed 29 Apr, 2009 19:58:39 author: gerhard
    File: doc/tag.h (Rev. 1.2)

more doc polishing

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Wed 29 Apr, 2009 19:48:58 author: gerhard (Concatenated 2 entries at 10s)
    File: tag/threepointpose.h (Rev. 1.3)
    File: src/threepointpose.cpp (Rev. 1.3)

documentation updates to have a main page

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Wed 29 Apr, 2009 19:48:55 author: gerhard
    File: Doxyfile (Rev. 1.5)

documentation updates to have a main page

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Tue 28 Apr, 2009 15:27:43 author: gerhard
    File: src/five_point.cpp (Rev. 1.14)

generator fields give slight speed improvement

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Tue 28 Apr, 2009 11:40:10 author: gerhard
    File: tag/five_point.h (Rev. 1.5)

small doc updates

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Tue 28 Apr, 2009 11:36:41 author: gerhard
    File: test/fivepoint.cpp (Rev. 1.2)

essential matrix optimization code for more then 5 measurements

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Mon 27 Apr, 2009 14:45:43 author: gerhard
    File: src/five_point.cpp (Rev. 1.12)
    File: src/handeye.cpp (Rev. 1.3)

updates for Zeros

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Thu 23 Apr, 2009 19:06:28 author: gerhard
    File: test/handeye.cpp (Rev. 1.1)

handeye calibration test code

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Thu 23 Apr, 2009 18:42:42 author: gerhard
    File: Makefile.in (Rev. 1.14)

added warning and optimization flags

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Thu 23 Apr, 2009 18:20:27 author: gerhard
    File: src/util.c (Rev. 1.2)

stop root finding from mindless iterations... big performance gain

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Thu 23 Apr, 2009 16:50:55 author: gerhard
    File: src/five_point.cpp (Rev. 1.11)

fixed crash on OSX

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Thu 23 Apr, 2009 16:13:15 author: gerhard
    File: src/five_point.cpp (Rev. 1.10)

some fixes

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Thu 23 Apr, 2009 16:07:38 author: edrosten
    File: src/sturm.c (Rev. 1.2)

Added missing void

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Thu 23 Apr, 2009 16:06:49 author: edrosten
    File: tag/helpers.h (Rev. 1.6)

Missing include

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Thu 23 Apr, 2009 16:06:21 author: gerhard
    File: test/fivepoint.cpp (Rev. 1.1)

added fivepoint test program

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Thu 23 Apr, 2009 14:26:10 author: gerhard
    File: doc/five_point.mws (Rev. 1.1)
    File: doc/five_point.pdf (Rev. 1.1)

maple file for five point algorithm code generation and print out for documentation

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Thu 23 Apr, 2009 13:07:45 author: gerhard
    File: tag/helpers.h (Rev. 1.5)

doc updates, created an essential matrix tools group

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Thu 23 Apr, 2009 12:54:48 author: gerhard
    File: src/five_point.cpp (Rev. 1.9)

removed non working E->(R,t)

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Thu 23 Apr, 2009 12:54:05 author: gerhard
    File: tag/five_point.h (Rev. 1.2)

reconstructing R,T from E, a working implementation based on Horn and a non-working one based on Nister

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Thu 23 Apr, 2009 10:49:28 author: edrosten
    File: src/five_point.cpp (Rev. 1.7)

Doc fix.

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Thu 23 Apr, 2009 10:22:49 author: edrosten
    File: src/five_point.cpp (Rev. 1.6)

Minor clean up + comments.

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Thu 23 Apr, 2009 10:02:42 author: gerhard
    File: tag/five_point.h (Rev. 1.1)

generation of data matrix flipped order to be correct, added missing header file

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Thu 23 Apr, 2009 09:55:53 author: edrosten
    File: tag/handeye.h (Rev. 1.3)

Case sensitive filesystem fix.

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Thu 23 Apr, 2009 00:36:05 author: gerhard
    File: tag/helpers.h (Rev. 1.4)

fixes for TooN2

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Thu 23 Apr, 2009 00:23:12 author: gerhard (Concatenated 2 entries at 10s)
    File: src/solve.h (Rev. 1.1)
    File: src/sturm.c (Rev. 1.1)
    File: src/util.c (Rev. 1.1)
    File: libtool (Rev. 1.17)

replaced polynomial root solver with sturm chain-based one from Graphic Gems 1 -> works

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Wed 22 Apr, 2009 21:47:47 author: gerhard
    File: src/five_point_buildmatrix.cpp (Rev. 1.2)

working five point, needs polynomial solver

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Wed 22 Apr, 2009 20:59:37 author: gerhard (Concatenated 2 entries at 10s)
    File: tag/helpers.h (Rev. 1.3)
    File: src/five_point.cpp (Rev. 1.2)

tag five point hacking

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Wed 22 Apr, 2009 18:05:25 author: edrosten
    File: src/ccmcomplex.h (Rev. 1.1)
    File: src/five_point.cpp (Rev. 1.1)
    File: src/five_point_buildmatrix.cpp (Rev. 1.1)
    File: src/plrt.c (Rev. 1.1)

Initial stab at 5 point pose

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Mon 20 Apr, 2009 13:27:53 author: gerhard
    File: src/absorient.cpp (Rev. 1.5)

save a couple of normalisations

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==========================================
Repository tagged as SNAPSHOT_20090420
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Mon 20 Apr, 2009 11:02:35 author: gerhard (Concatenated 2 entries at 10s)
    File: tag/fourpointpose.h (Rev. 1.9)
    File: tag/threepointpose.h (Rev. 1.2)
    File: Makefile.in (Rev. 1.11)

made tag work with TooN2, deprecated four point pose - use three point instread, much better

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==========================================
Repository tagged as BEFORE_TOON2
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Thu  2 Apr, 2009 15:20:14 author: gerhard
    File: tag/constantvelocity.h (Rev. 1.4)

minimal cleanup

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Wed  1 Apr, 2009 17:33:36 author: gerhard
    File: build/vc2008/tag.sln (Rev. 1.1)
    File: build/vc2008/tag.vcproj (Rev. 1.1)

added VC2008 project files

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Thu 29 Jan, 2009 08:00:59 author: gerhard
    File: tag/ransac_estimators.h (Rev. 1.9)

fixed access to correspondence data in exxential_matrix estimator

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Mon  5 Jan, 2009 15:25:33 author: edrosten
    File: tag/fn.h (Rev. 1.7)

Make member_iterator non-const. Add member_const_iterator

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Tue  9 Dec, 2008 20:37:57 author: gerhard
    File: tag/ransac_estimators.h (Rev. 1.8)

missing ransac estimator for camera rotation

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Tue  9 Dec, 2008 20:33:42 author: gerhard (Concatenated 2 entries at 10s)
    File: tag/kalmanfilter.h (Rev. 1.9)
    File: src/absorient.cpp (Rev. 1.3)

fast rotation from rays

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Repository tagged as SNAPSHOT_20081127
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Wed 20 Aug, 2008 14:14:13 author: gerhard
    File: build/vc2005/tag.vcproj (Rev. 1.2)

added missing file for handeye calibration

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Mon 18 Aug, 2008 18:36:28 author: edrosten (Concatenated 2 entries at 10s)
    File: tag/printf.h (Rev. 1.9)
    File: libtool (Rev. 1.12)

Fix in printf

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Fri 15 Aug, 2008 14:24:49 author: gerhard (Concatenated 2 entries at 10s)
    File: src/handeye.cpp (Rev. 1.1)
    File: tag/handeye.h (Rev. 1.1)
    File: libtool (Rev. 1.11)

added hand eye calibration routines

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Thu 10 Jul, 2008 11:56:56 author: gerhard
    File: Makefile.in (Rev. 1.9)

update for change in Makefile.am (long ago :)

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Thu 29 May, 2008 17:36:23 author: gerhard
    File: src/quartic.cpp (Rev. 1.3)

build files and some fixes for Visual Studio 2005

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Tue 20 May, 2008 03:15:30 author: edrosten (Concatenated 2 entries at 10s)
    File: tag/printf.h (Rev. 1.8)
    File: libtool (Rev. 1.10)

64bit fix

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Tue  1 Apr, 2008 03:40:52 author: ethaneade
    File: src/quartic.cpp (Rev. 1.2)

Addressed unlikely but possible boundary case in quartic solver.

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Mon 31 Mar, 2008 17:35:42 author: ethaneade (Concatenated 2 entries at 10s)
    File: src/threepointpose.cpp (Rev. 1.1)
    File: src/quartic.cpp (Rev. 1.1)
    File: tag/quartic.h (Rev. 1.1)
    File: tag/threepointpose.h (Rev. 1.1)

An efficient implementation of the perspective three point pose algorithm
given by Fischer and Bolles, 1980.  The quartic solver uses a careful
implementation of the quartic formula, and the resulting roots are refined
using Newton's method.  On my hardware, the implementation takes about 3
microseconds to run in the average case.

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Tue 25 Mar, 2008 23:44:51 author: edrosten
    File: tag/tuple.h (Rev. 1.6)

Indexing for all tuple types

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Mon 18 Feb, 2008 17:30:01 author: gerhard
    File: tag/ransac.h (Rev. 1.10)

use erase instead of resize to avoid the need for copy constructor

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Tue 11 Dec, 2007 15:41:07 author: gerhard
    File: tag/unscented.h (Rev. 1.2)

made Sqrt versions accessible, removed some dependencies

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Mon  3 Dec, 2007 17:39:31 author: gerhard (Concatenated 2 entries at 10s)
    File: tag/unscented.h (Rev. 1.1)
    File: libtool (Rev. 1.9)

unscented transform implementations by Ethan Eade

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Wed 31 Oct, 2007 10:26:50 author: gerhard
    File: README (Rev. 1.2)

documentation fixes

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Wed 31 Oct, 2007 10:26:22 author: gerhard (Concatenated 2 entries at 10s)
    File: tag/ransac_estimators.h (Rev. 1.7)
    File: libtool (Rev. 1.8)

updated ransac interfaces to get minimal hypothesis size directly from estimators. backwards compatibility functions are still provided. also added helpers refactoring and adding some common code

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Tue 30 Oct, 2007 18:56:38 author: gerhard
    File: tag/ransac.h (Rev. 1.8)

64bit compatibility (size of size_t type)

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Thu 25 Oct, 2007 21:33:21 author: edrosten
    File: tag/array.h (Rev. 1.2)

Remove some compile warnings.

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Tue 28 Aug, 2007 17:39:14 author: edrosten
    File: tag/printf.h (Rev. 1.7)

Fixed warning.

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Mon 27 Aug, 2007 12:30:28 author: gerhard
    File: tag/fourpointpose.h (Rev. 1.7)

refactored

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Fri 17 Aug, 2007 17:06:28 author: gerhard
    File: tag/ransac_estimators.h (Rev. 1.6)

homography estimator and some optimisations and fixes

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Mon 23 Jul, 2007 18:51:51 author: gerhard
    File: tag/fourpointpose.h (Rev. 1.6)

add score function for likelihood-based ransac scoring

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Tue 17 Jul, 2007 00:13:49 author: edrosten
    File: tag/fn.h (Rev. 1.6)

Make member_iterator work with pointers (which are valud iterators) by using
the std::iterator_traits class.

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Tue 12 Jun, 2007 21:05:08 author: gerhard
    File: tag/ransac_estimators.h (Rev. 1.5)

added plane estimation

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Wed 14 Feb, 2007 15:31:28 author: gerhard
    File: tag/measurements.h (Rev. 1.4)

corrected WorldPose and WorldPosition measurements

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Wed 24 Jan, 2007 03:10:02 author: edrosten
    File: tag/fn.h (Rev. 1.5)

Removed extre qualifiers which cause errors in gcc 4.1.0

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Thu 14 Dec, 2006 14:00:46 author: gerhard
    File: tag/kalmanfilter.h (Rev. 1.8)

optimizations through returning references instead of temporary return values and using reference variables in the filter

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Tue  5 Dec, 2006 17:43:10 author: gerhard
    File: tag/kalmanfilter.h (Rev. 1.7)

traits for kalman filter template

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Mon 25 Sep, 2006 22:29:14 author: edrosten
    File: tag/tuple.h (Rev. 1.5)

Added missing const to avoid some strange compile errors in some
cases.

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Mon 11 Sep, 2006 17:12:23 author: gerhard
    File: tag/fn.h (Rev. 1.4)

moved binary_function specialization to std namespace where it belongs

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Mon  4 Sep, 2006 17:24:27 author: gerhard
    File: tag/fn.h (Rev. 1.3)

added a binary_function traits class for functional header

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Mon  4 Sep, 2006 17:23:01 author: gerhard
    File: src/fourpointpose.cpp (Rev. 1.6)

refactored checks, avoids unnecessary use of acos, asin

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Mon  4 Sep, 2006 16:50:04 author: jjneubert
    File: src/fourpointpose.cpp (Rev. 1.5)

fixed floating point error in fourPointPose

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Wed 26 Jul, 2006 18:08:07 author: gerhard
    File: tag/fourpointpose.h (Rev. 1.5)

added a tolerance value to four point pose estimation to come up with an estimation under measurement errors

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Fri 21 Jul, 2006 11:45:04 author: gerhard
    File: tag/intersection.h (Rev. 1.2)

fixed triangle-triangle intersection

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Wed 19 Jul, 2006 17:20:48 author: gerhard
    File: tag/fn.h (Rev. 1.2)

fixed member_iterator_t to work correct with constness and make it much cleaner

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Wed 19 Jul, 2006 09:53:56 author: gerhard
    File: tag/intersection.h (Rev. 1.1)

added intersection functions

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Fri 14 Jul, 2006 23:02:35 author: edrosten
    File: tag/tuple.h (Rev. 1.4)

Added more tuple functionality. Value and non-const reference lists also
exist. These do not have most of the functionality of T_list, they are
designed for multiple return vaules from functions. See the docs.

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Wed 12 Jul, 2006 01:26:37 author: edrosten
    File: tag/stdpp.h (Rev. 1.6)

Utility function for std::pair, so that multiple values can be returned from
functions directly in to two variables, eg:
float f;
int i;
rpair(f, i) = make_pair(2.2f, 7);

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Tue 11 Jul, 2006 19:00:43 author: edrosten
    File: tag/tuple.h (Rev. 1.3)

Namespace related fix

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Thu  6 Jul, 2006 23:31:57 author: edrosten
    File: tag/array.h (Rev. 1.1)

I hate forgetting to add files.

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Wed  5 Jul, 2006 21:43:55 author: edrosten
    File: libtool (Rev. 1.4)

Checked in an array type with a sequence constructor (using tuples).

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Mon 19 Jun, 2006 11:55:07 author: gerhard
    File: tag/fn.h (Rev. 1.1)

added header for std functional and iterator add ons

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Tue 13 Jun, 2006 18:19:27 author: gerhard
    File: tag/ransac.h (Rev. 1.6)

some fixes after ransac update:
namespace qualifiers in ransac.h and kalmanfilter.h
interface update for fourpointpose.h ransac estimator

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Tue 13 Jun, 2006 03:37:32 author: ethaneade
    File: tag/ransac_estimators.h (Rev. 1.4)

More fixes, mostly namespace qualification issues.

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Tue 13 Jun, 2006 03:00:21 author: ethaneade
    File: tag/ransac.h (Rev. 1.5)

Small fix to find_RANSAC_inliers.

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Tue 13 Jun, 2006 02:55:46 author: ethaneade
    File: tag/ransac.h (Rev. 1.4)

Small fix to find_RANSAC_inliers_guided_breadth_first.

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Tue 13 Jun, 2006 02:50:44 author: ethaneade
    File: tag/ransac_estimators.h (Rev. 1.3)

Updated RANSAC algorithms and estimators to fix bugs and improve efficiency.
There are now (only) two estimators defined:

- EssentialMatrix estimates the essential matrix given at least 8
  correspondences (using the Torr-Fitzgibbon algorithm) and gives
  decomposition into SE(3)
- AffineHomography estimates a transformation of the form Ax+T given at least 4 correspondences

More estimators will be added as they are tested.  The required interface is
straightforward.

There are three RANSAC algorithms defined:

- find_RANSAC_inliers is classic RANSAC
- find_RANSAC_inliers_breadth_first is preemptive RANSAC
- find_RANSAC_inliers_guided_breadth_first is preemptive RANSAC with a non-uniform sampling density

The interfaces of estimators and correspondences are slightly changed; see
the doxygen for details.

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Mon  5 Jun, 2006 23:29:50 author: edrosten
    File: tag/printf.h (Rev. 1.6)

Mistake in macros

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Mon  5 Jun, 2006 19:04:57 author: gerhard
    File: tag/kalmanfilter.h (Rev. 1.5)

using optimized transformCovariance from TooN

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Mon  5 Jun, 2006 16:19:30 author: gerhard
    File: tag/kalmanfilter.h (Rev. 1.4)
    File: tag/measurements.h (Rev. 1.3)

various fixes to make kalman filter stuff actually compile :)

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Sun  4 Jun, 2006 13:21:09 author: gerhard
    File: src/fourpointpose.cpp (Rev. 1.3)

refactored common code to helper function

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Sun  4 Jun, 2006 13:09:19 author: gerhard
    File: tag/fourpointpose.h (Rev. 1.3)

fixed four point pose estimation

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Sun  4 Jun, 2006 13:08:49 author: gerhard
    File: tag/measurements.h (Rev. 1.2)

added convenience function

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Sun  4 Jun, 2006 13:08:35 author: gerhard
    File: tag/stdpp.h (Rev. 1.5)

more constraint template parameters to avoid conflicts

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Wed 31 May, 2006 17:46:20 author: gerhard
    File: tag/stdpp.h (Rev. 1.4)

- added Kalman filter models and measurement classes, some refactoring,
  still need to fix a number of things
- some doc fixes and proper include guards

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Wed 31 May, 2006 01:09:48 author: edrosten
    File: tag/tuple.h (Rev. 1.2)

Fixed guards and include

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Wed 31 May, 2006 01:08:29 author: edrosten
    File: tag/printf.h (Rev. 1.3)

Fixed guards

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Wed 31 May, 2006 01:07:56 author: edrosten
    File: tag/printf.h (Rev. 1.2)

Fixed namespace

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Wed 31 May, 2006 00:00:33 author: edrosten
    File: libtool (Rev. 1.2)

Added files to Makefile.am

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Tue 30 May, 2006 23:59:51 author: edrosten
    File: tag/printf.h (Rev. 1.1)
    File: tag/tuple.h (Rev. 1.1)

Added typesafe printf and tuple types.

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Tue 30 May, 2006 20:53:22 author: gerhard
    File: tag/stdpp.h (Rev. 1.3)

documentation fixes

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Tue 30 May, 2006 19:47:46 author: edrosten
    File: tag/stdpp.h (Rev. 1.2)

Added add_fill, print and no_space ostream modifiers for use with
operator<<. For some reason documentation doesn't work.

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Mon 29 May, 2006 18:31:57 author: gerhard
    File: tag/stdpp.h (Rev. 1.1)

documentation updates and stdpp header with , op for streams

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Mon 29 May, 2006 15:00:25 author: gerhard
    File: config.guess (Rev. 1.1)
    File: config.sub (Rev. 1.1)
    File: depcomp (Rev. 1.1)
    File: missing (Rev. 1.1)

added missing build files

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Mon 29 May, 2006 14:54:03 author: gerhard
    File: AUTHORS (Rev. 1.1)
    File: COPYING (Rev. 1.1)
    File: ChangeLog (Rev. 1.1)
    File: Doxyfile (Rev. 1.1)
    File: INSTALL (Rev. 1.1)
    File: Makefile.am (Rev. 1.1)
    File: Makefile.in (Rev. 1.1)
    File: NEWS (Rev. 1.1)
    File: README (Rev. 1.1)
    File: aclocal.m4 (Rev. 1.1)
    File: configure (Rev. 1.1)
    File: configure.in (Rev. 1.1)
    File: install-sh (Rev. 1.1)
    File: libtool (Rev. 1.1)
    File: ltmain.sh (Rev. 1.1)
    File: src/absorient.cpp (Rev. 1.1)
    File: src/fourpointpose.cpp (Rev. 1.1)
    File: tag/absorient.h (Rev. 1.1)
    File: tag/fourpointpose.h (Rev. 1.1)
    File: tag/kalmanfilter.h (Rev. 1.1)
    File: tag/ransac.h (Rev. 1.1)
    File: tag/ransac_estimators.h (Rev. 1.1)

uploaded initial version to tag repository

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