spherical camera

[lucacarlone]

Added spherical camera to model generic wide-field of view cameras.
Generalized triangulation functions to allow the development of arbitrary cameras.
Adjusted smart factors to remove pinhole assumption.

@dellaert : I suggest merging the PR "smart factors for arbitrary cameras" first. If possible, can you also add my student Marcus Abate [email protected] to GTSAM and add as reviewer here?

[varunagrawal]

Awesome. I was hoping to add spherical camera support in the future (did a lot of learning about rectification and the double sphere model this past summer).

@lucacarlone Would it be possible to reduce the noise by not having the extra unrelated commits?

[lucacarlone]

Awesome. I was hoping to add spherical camera support in the future (did a lot of learning about rectification and the double sphere model this past summer).

@lucacarlone Would it be possible to reduce the noise by not having the extra unrelated commits?

thanks @varunagrawal ! I suggest reviewing PRs in this order:

• Feature/rolling shutter smart factors feature Feature/rolling shutter smart factors #827
• Smart Factors for arbitrary cameras Smart Factors for arbitrary cameras #862
• spherical camera spherical camera #861
  which will highlight what each PR adds.
  Let me know if that makes sense.

[dellaert]

I'll take a look at #827, which seems to be blocked on my templating comment. I'll check it out on my side and then merge if I can't fix it.

[lucacarlone]

I'll take a look at #827, which seems to be blocked on my templating comment. I'll check it out on my side and then merge if I can't fix it.

perfect- thanks!

[dellaert]

I removed @varunagrawal as reviewer. He (should have) no free cycles :-)

[ProfFan]

@lucacarlone The CI error seems to be a missing typedef Measurement in Cal3Bundler

[lucacarlone]

@lucacarlone The CI error seems to be a missing typedef Measurement in Cal3Bundler

woohoo! this helps a lot!! Feel free to push the fix if you want (I may not be able to get to this before the weekend)

[dellaert]

@ProfFan could you help out with CI?

[lucacarlone]

@ProfFan : I feel the problem is that there is a missing template in some function call that gets misinterpreted during compilation: If you look at the log, the error refers to using "[with CAMERA = gtsam::Cal3_S2]" which does not make sense since gtsam::Cal3_S2 is a CALIBRATION, not a CAMERA.

[ProfFan]

@lucacarlone Let me take a look :)

[dellaert]

@lucacarlone , @ProfFan and I diagnosed and fixed the template substitution issue. Now there is only one remaining failing test:

 57/264 Test  #58: testTriangulation .............................***Failed    0.07 sec
Not equal:
expected:
[
	0.00180422;
	0.00180422
]
actual:
[
	-0.00180422;
	0.00180421
]
/home/runner/work/gtsam/gtsam/gtsam/geometry/tests/testTriangulation.cpp:605: Failure: "assert_equal(expectedErrorSpherical, actualErrorSpherical, 1e-7)" 
There were 1 failures

on some platforms. Maybe two solutions are possible but the choice is not deterministic?

[lucacarlone]

thanks for doing that @dellaert and @ProfFan ! I'll take a look at the test between tonight and tomorrow night.

[dellaert]

Some small nits left, otherwise: amazing!

[lucacarlone]

@dellaert @ProfFan : this seems to be all set (thanks for your help!!). I'll take a final look and then merge to develop. thanks!