Release/4.2 python ctor wrapper stereo

[zygfrydw]

This MR exposes body_P_sensor parameter in Python wrapper for GenericStereoFactor3D.

I am working on a stereo vision application for a robot where the camera frame differs from the body link. I cannot prototype in Python because the body_P_sensor parameter for GenericStereoFactor3D constructor is not exposed.

After the MR:

graph.push_back(GenericStereoFactor3D(
    StereoPoint2(uL, uR, v), noise_model, 1, 3, K, body_to_camera)

[dellaert]

Awesome! After CI succeeds, let’s merge (whoever gets to it first).

[dellaert]

Oopsies. Build fails on Linux. Something with FindBoost. Ideas anyone?

[zygfrydw]

The "Install Boost" CI step fails due to gzip: stdin: not in gzip format after wget.

[dellaert]

Oh, I see, you’re targeting the release branch. That requires a bit of care, actually. We are gearing up to release 4.3, so could you please target develop? I will close this PR as I think if you’re starting from 4.2 the PR will be problematic. Better to check out develop, patch slam.i, and PR to develop.

[zygfrydw]

I have investigated the boost problem and the CI failed because the archive used for the CI does not exist any more.
The command wget https://boostorg.jfrog.io/artifactory/main/release/1.67.0/source/boost_1_67_0.tar.gz returns a HTML with an error instead of tar.gz.

I will port this MR to the develop branch for community, but for the project I am working on, we are using GTSAM 4.2. Due to a limited time schedule, I don't think we can switch to 4.3 in the foreseeable future, so we will continue with the fork.

[zygfrydw]

I checked the develop branch, and the changes I propose are already there slam.i.

[dellaert]

That sounds like a plan :-)