Nbuono/sfm/attempt 1#445
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…andmark not in camera error
…d some refactoring, debugged some Backend issues. Next step: properly put cameras in graph in the world frame.
…ranlsation scaling next.
…rms. Next: map lmk_symbols to landmarks to handle more than 2 images properly.
…sam graph. TODO: Transforms seem off.
… East, Up frame with translation at boat0
…at refactoring feature handling in SFM, SFM is currently broken.
… testing spatial pipeline components (gtsam stuff). Feature manager implementation and incorporation in StructureFromMotion still needs work.
…second match. working on filtering spatial points, pipeline currently broken
…cloud seemed decent
…rroneous. final optimization isn't quite there yet.
…d to also implement initial rotation alignment.
…ort of incremental initialization and incremental optimization(s)
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This SFM pipeline sort of works on short sequences (about a dozen or so) whose images have overlapping views. The SFM pipeline needs another overhaul to fix a host of issues, namely including the pipeline's inability to handle large collections of images. While this will be overhauled, I see this implementation as a good checkpoint to keep around since the codebase is decent and far more easy to navigate than before