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Python fisheye interface #811

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Jul 14, 2021
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9967c59
Forward declaration for Set of Fisheye Cameras
roderick-koehle Jul 8, 2021
dfd50f9
Extend python wrapper to include fisheye models.
roderick-koehle Jul 8, 2021
03e2744
Merge pull request #1 from roderick-koehle/patch-3
roderick-koehle Jul 8, 2021
73d40a5
Merge pull request #2 from roderick-koehle/patch-2
roderick-koehle Jul 8, 2021
55c1274
Forward declaration of fisheye camera.
roderick-koehle Jul 8, 2021
c8fc3cd
Unit test for equidistant fisheye
roderick-koehle Jul 8, 2021
19e8cde
Extend unit testing of omnidirectional projection
roderick-koehle Jul 8, 2021
bdeb606
Introduce setUpClass, python snake_case variables
roderick-koehle Jul 9, 2021
6205057
Use of common setUpClass method
roderick-koehle Jul 9, 2021
a411b66
Correct tab to spaces to fix formatting
roderick-koehle Jul 9, 2021
66af007
Improved accuracy for analytic undistortion
roderick-koehle Jul 9, 2021
0304992
Add comment about initial guess in undistortion
roderick-koehle Jul 10, 2021
d54e234
Add ambiguous calibrate/uncalibrate declarations.
roderick-koehle Jul 10, 2021
3118fde
Missing CameraSet binding specialisations
roderick-koehle Jul 10, 2021
0a73961
Update ignore list in CMakeFile
roderick-koehle Jul 10, 2021
941594c
Testing CameraSet and triangulatePoint3
roderick-koehle Jul 11, 2021
c595767
Unittest, triangulation for Cal3Unified
roderick-koehle Jul 11, 2021
f53f5db
Merge branch 'borglab:develop' into python-fisheye-interface
roderick-koehle Jul 13, 2021
3402e46
Shared data for triangulation unit tests
roderick-koehle Jul 13, 2021
17c37de
Shared setup triangulation unit test
roderick-koehle Jul 13, 2021
3e41ece
Minor fix test_Cal3Unified
roderick-koehle Jul 13, 2021
d130387
Minor fix test_Cal3Fisheye
roderick-koehle Jul 13, 2021
305521e
Merge branch 'borglab:develop' into python-fisheye-interface
roderick-koehle Jul 14, 2021
16cfc7f
Remove commented out line
roderick-koehle Jul 14, 2021
c2bbe78
Remove comment
roderick-koehle Jul 14, 2021
a115788
Remove spaces in empty line
roderick-koehle Jul 14, 2021
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Minor fix test_Cal3Fisheye
roderick-koehle authored Jul 13, 2021

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commit d130387a7db0b52080905c15ddcebfa22484d0de
2 changes: 0 additions & 2 deletions python/gtsam/tests/test_Cal3Fisheye.py
Original file line number Diff line number Diff line change
@@ -110,15 +110,13 @@ def test_sfm_factor2(self):
def test_triangulation_skipped(self):
"""Estimate spatial point from image measurements"""
triangulated = gtsam.triangulatePoint3(self.cameras, self.measurements, rank_tol=1e-9, optimize=True)
self.gtsamAssertEquals(measurements[0], self.img_point)
self.gtsamAssertEquals(triangulated, self.origin)

def test_triangulation_rectify(self):
"""Estimate spatial point from image measurements using rectification"""
rectified = gtsam.Point2Vector([k.calibration().calibrate(pt) for k, pt in zip(self.cameras, self.measurements)])
shared_cal = gtsam.Cal3_S2()
triangulated = gtsam.triangulatePoint3(self.poses, shared_cal, rectified, rank_tol=1e-9, optimize=False)
self.gtsamAssertEquals(measurements[0], self.img_point)
self.gtsamAssertEquals(triangulated, self.origin)

def test_retract(self):