almost done: need to:

- fix jacobian for reprojection error of the spherical camera
- need to improve DLT to fully leverage range of spherical camera

gtsam/geometry/SphericalCamera.cpp

@@ -95,7 +95,7 @@ Unit3 SphericalCamera::project(const Point3& point,
 Vector2 SphericalCamera::reprojectionError(const Point3& point, const Unit3& measured,
                                            OptionalJacobian<2, 6> Dpose,
                                            OptionalJacobian<2, 3> Dpoint) const {
-  // onmanifold version of: camera.project(point) - zi
+  // on-manifold version of: camera.project(point) - zi
   std::cout << "SphericalCam:reprojectionError fix jacobians " << std::endl;
   return measured.localCoordinates( project2(point, Dpose, Dpoint) );
 }

gtsam/geometry/SphericalCamera.h

@@ -30,21 +30,13 @@
 namespace gtsam {
 
 class GTSAM_EXPORT EmptyCal {
- protected:
-  Matrix3 K_;
  public:
-
-  ///< shared pointer to calibration object
-  EmptyCal()
-      : K_(Matrix3::Identity()) {
-  }
-  /// Default destructor
+  EmptyCal(){}
   virtual ~EmptyCal() = default;
   using shared_ptr = boost::shared_ptr<EmptyCal>;
   void print(const std::string& s) const {
     std::cout << "empty calibration: " <<  s << std::endl;
   }
-  Matrix3 K() const {return K_;}
 };
 
 //