Added Calibration Support, Nonlinear Smoothing Path, and Fly Dataset #56
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Collaborator
|
thanks @keeminlee!! I'll take a look at this when I have a chance, might not be until thursday |
themattinthehatt
requested changes
Nov 13, 2025
Collaborator
themattinthehatt
left a comment
themattinthehatt
left a comment
There was a problem hiding this comment.
looks good! minor changes requested
… into calibration-aware
themattinthehatt
requested changes
Nov 20, 2025
Collaborator
themattinthehatt
left a comment
themattinthehatt
left a comment
There was a problem hiding this comment.
please add nonlinear tests using fly data to tests/scripts/test_multicam_example.py
themattinthehatt
approved these changes
Nov 20, 2025
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This update introduces full support for calibration-based nonlinear EKS smoothing.
Key changes:
--calibration argument now accepts a .toml file to load camera parameters and automatically trigger the nonlinear (calibrated) smoothing path. This replaces the linear PCA emission model with a JAX-compatible multi-view projection function (h_fn) built from camera intrinsics/extrinsics.
Added a multi-view fly toy dataset with calibration.toml for testing nonlinear smoothing and triangulation consistency.
Implemented JAX-based reimplementations of OpenCV triangulation and projection functions, ensuring differentiable and JIT-compatible observation models for the EKF.
Added pytests to validate numerical parity between JAX and OpenCV triangulation/projection outputs.