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Commits on Jan 21, 2018

• visualize fast relocalization

  qintonguav

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• add fast relocalization function; save feature id in pose graph; change tr from line readout time into frame readout time

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  f63e769

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Commits on Jan 3, 2018

• fix loading rolling shutter read out time bugs; change physical meaning of read out time (per line)

  qintonguav

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Commits on Dec 29, 2017

• 2017-12-29 New features: Add map merge, pose graph reuse, online temporal calibration function, and support rolling shutter camera

  qintonguav

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Commits on Aug 22, 2017

• add loitor config

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Commits on Jun 19, 2017

• finish two step RANSAC in loop detection:2d-2d fundmental matrix RANSAC; 2d-3d PnP RANSAC;

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Commits on Jun 11, 2017

• add relocalize: relocalize happens immediately; pose graph optimize every few seconds

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Commits on May 23, 2017

• add extrinsic parameter examples; modify README.md

  qintonguav

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Commits on May 22, 2017

• modify README

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Commits on May 20, 2017

• add code

  qintonguav

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