Added Calibration Support, Nonlinear Smoothing Path, and Fly Dataset#56
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themattinthehatt merged 19 commits intomainfrom Nov 20, 2025
Merged
Added Calibration Support, Nonlinear Smoothing Path, and Fly Dataset#56themattinthehatt merged 19 commits intomainfrom
themattinthehatt merged 19 commits intomainfrom
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thanks @keeminlee!! I'll take a look at this when I have a chance, might not be until thursday |
themattinthehatt
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Nov 13, 2025
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looks good! minor changes requested
… into calibration-aware
themattinthehatt
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Nov 20, 2025
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please add nonlinear tests using fly data to tests/scripts/test_multicam_example.py
themattinthehatt
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Nov 20, 2025
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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.