Smart Factors for arbitrary cameras

[lucacarlone]

Smart Factors that can deal with arbitrary cameras.

@dellaert : I suggest merging the PR "feature/rollingShutterSmartFactors" first. If possible, can you also add my student Marcus Abate mabate@mit.edu to GTSAM and add as reviewer here?

[dellaert]

I will add mailto:mabate@mit.edu. I would rather not have @varunagrawal soend time reviewing this as he should be focusing on ICRA.

[lucacarlone]

I will add mailto:mabate@mit.edu. I would rather not have @varunagrawal soend time reviewing this as he should be focusing on ICRA.

perfect!

[varunagrawal]

Yeah I wasn't going to look at this until after September 15th.

[lucacarlone]

Yeah I wasn't going to look at this until after September 15th.

up to you and @dellaert : not urgent, but ready to go.

[lucacarlone]

@dellaert : I applied the changes we discussed. I think this is ready to go (after all CI is done). Please double-check the formatting for the factors if you can: I still don't trust my eclipse style settings :-(

[lucacarlone]

@dellaert : I applied the changes we discussed. I think this is ready to go.

[dellaert]

Some more comments, but I won't review again. Please address and merge at will :-)

Yay !!!!

[lucacarlone]

@dellaert : FYI: I plan to merge this to develop as soon as the status check passes: keeping this in sync with develop and my other branches has been time-consuming and we can address the 2 concerns above (shared ptrs for camera rig and constructor with single camera) in a separate PR.

[dellaert]

@dellaert : FYI: I plan to merge this to develop as soon as the status check passes: keeping this in sync with develop and my other branches has been time-consuming and we can address the 2 concerns above (shared ptrs for camera rig and constructor with single camera) in a separate PR.

Sounds like a plan. I seem to have missed your replies on my shared pointer comments. Did you end up using the shared pointers?

[lucacarlone]

@dellaert : FYI: I plan to merge this to develop as soon as the status check passes: keeping this in sync with develop and my other branches has been time-consuming and we can address the 2 concerns above (shared ptrs for camera rig and constructor with single camera) in a separate PR.

Sounds like a plan. I seem to have missed your replies on my shared pointer comments. Did you end up using the shared pointers?

thanks! I did not, since I was not sure if you wanted a shared pointer to CameraSet, or a vector of shared pointers to cameras. Also, I was not sure about which copy constructors may benefit from this (I do not see many in the code, and I was curious about which ones you were looking at).