Allow for n distortion params

[ToniRV]

[violetteavi]

@ToniRV Is this ready to pull? My review will be to build and use it lol

[ToniRV]

Ready yes! Let me know how it goes!

[violetteavi]

@ToniRV When I build it with current Kimera-VIO-ROS master , I get the following error:

/home/andrew/catkin_ws/src/Kimera-VIO-ROS/src/utils/UtilsRos.cpp:84:58: error: ‘class VIO::CameraParams’ has no member named ‘calibration_’; did you mean ‘camera_id_’?
                                             &cam_params->calibration_);

Do you have a pair of Kimera-VIO and Kimera-VIO-ROS branches that compile here?

[violetteavi]

It looks like Kimera-VIO-ROS has a stubbed method for mapping coefficients to gtsam calibration functions. Because the calibration_ field appears to have been removed in the refactor, I assume this stubbed method is no longer necessary-- I'm going to remove it and see if it compiles.

  VIO::CameraParams::createGtsamCalibration(cam_params->distortion_coeff_,
                                            cam_params->intrinsics_,
                                            &cam_params->calibration_);

[violetteavi]

Fixed Kimera-VIO-ROS branch fix/distortion. It compiles-- going to test the five-parameter distortion models now.