Calib jacobians #293
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Calib jacobians #293
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added 7 commits
October 16, 2025 19:05
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@SeaOtocinclus has imported this pull request. If you are a Meta employee, you can view this in D85353427. |
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Add Jacobians wrt the calibration parameters.
This is required to make VI-BA work.
This diff also changes some return types to const references, as it is better practice to avoid creating temporary objects with dynamic allocation, and allows Mut fields so that the CameraCalibration type can be used in optimization.