SmartProjectionFactor inconsistency #101
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Currently, the
As in, a non-trivial
Would that be precluded with what you are thinking? |
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@mikesheffler |
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Ooooookay. I misunderstood (reading here, through the issues) what you were trying to do. I think now that I might have misunderstood what Nikolaus Mitchell wanted in his bug report, as well. Now that I've looked at #105 , I get it. I agree with your statement about how the transform doesn't make sense at I think your change makes sense. I'll comment more over on the PR itself. |
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Fixed in PR #105 |
varunagrawal
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07330d100 Merge pull request #113 from borglab/fix/reserved-keywords ec6b8f037 update test f022ba516 update and ignore reserved keywords for both functions and methods 4f988e5ad Merge pull request #112 from borglab/fix/cleanup 55bba2e6d fix variable annotations 61720ca0b support python 3.5 in the CI 0975d6529 version bump e8109917c use args.list() instead of args.args_list 6d0a91d7d renames args_names to names 4ce060b44 Merge pull request #111 from borglab/fix/default-bug ce7eea318 updated tests to capture bug b7650ec07 Fix bug for default in methods 4108854c7 Merge pull request #107 from borglab/feature/print 528ee64ce Merge pull request #110 from borglab/fix/variable-annotation e069f8bfc use old style variable annotation 5fd300116 update test fixture a25c2df0f use separate function to wrap global functions 58499a74b Merge pull request #106 from borglab/feature/consistent_names 2fe92b693 rename from cpp_class to to_cpp 3a3ba5963 Merge pull request #105 from borglab/cleanup e27a7b833 unskip tests 0db1839c4 Merge pull request #104 from borglab/feature/forward-class-declaration e3e7fbb27 remove unused imports a3c125065 encapsulate parsing and instantiation within wrap method in a functional way 69bbbe992 wrap instantiated declaration dbc44e7d5 added test for forward declaration typedef 6bec3cb8b add template instantation for typedefs of forward declarations 8d70c15ed updated Declaration to allow for wrapping 0637c2b3f remove print debugging statement deb8291ac allow forward declarations to be used for typedefs 69d660899 Merge pull request #101 from borglab/feature/object-default-parameters ec5555e56 formatting and docs cdaabc043 Merge branch 'feature/object-default-parameters' of github.com:borglab/wrap into feature/object-default-parameters 8ab0b0fa7 new parsing rule 0638a1937 update DEFAULT_ARG rule to support vector initializer list 83d2b761c update tests 7bb8c5494 more tests 1eaf6ba4a refactor default arg feature and add more tests 94f373ca9 tests 534e8a6dd support object types as default arguments 05e8ea855 Merge pull request #99 from borglab/fix/default_arg_0 1fdfeae6a address review comments 25b109c3f fix matlab unit test 6bb1b0c46 fix declaration order in unit test "expected" 7ee2d5fa4 don't unquote QuotedStrings that way we don't have to deal with strings manually. c915f4963 failing unit test : literals are not wrapped properly d47b6e8be default arg of 0 - interface_parser unit test ccf693641 fix for allow default arg of 0 3534c06e9 unit tests for default arg of 0 git-subtree-dir: wrap git-subtree-split: 07330d10022130e4284743341ac9d54a0dcb3d9f
gchenfc
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Squashed commit of the following: commit 158d279 Merge: 5bb69f7 d4951f0 Author: Akshay Krishnan <akshay.krishnan.30@gmail.com> Date: Sun Jul 25 11:33:33 2021 -0700 Merge pull request #828 from borglab/feature/wrap-triangulate-nonlinear Wrapping triangulateNonlinear from triangulation.h commit 5bb69f7 Merge: 2b02cad 117b401 Author: Varun Agrawal <varagrawal@gmail.com> Date: Sat Jul 24 07:54:14 2021 -0700 Merge pull request #830 from borglab/feature/wrap-update Wrap Update commit d4951f0 Author: akrishnan86 <akrishnan86@gatech.edu> Date: Fri Jul 23 00:09:47 2021 -0700 adding gtsam scope commit 2b02cad Merge: 838e74d 28ecc33 Author: John Lambert <johnlambert@gatech.edu> Date: Thu Jul 22 13:40:08 2021 -0600 Merge pull request #829 from borglab/shonan-covariance-fixes ShonanAveraging Covariance fixes commit 117b401 Merge: 838e74d 3a5e715 Author: Varun Agrawal <varagrawal@gmail.com> Date: Thu Jul 22 11:51:22 2021 -0400 Merging 'master' into 'wrap' commit 3a5e715 Author: Varun Agrawal <varagrawal@gmail.com> Date: Thu Jul 22 11:51:22 2021 -0400 Squashed 'wrap/' changes from d9ae5ce03..571c23952 571c23952 Merge pull request #119 from borglab/feature/remove-loguru 0e5178251 remove loguru as a dependency 5b76595cf fix type info and do some refactoring git-subtree-dir: wrap git-subtree-split: 571c2395242e33dfd0596a240fbcb87775b9ba0c commit 28ecc33 Author: John Lambert <johnlambert@gatech.edu> Date: Wed Jul 21 10:27:31 2021 -0600 add comments about tangent space and covariance matrix ordering commit 5fee983 Author: John Lambert <johnlambert@gatech.edu> Date: Wed Jul 21 10:04:05 2021 -0600 use upper 3x3 sub-block of covariance matrix for converting BetweenFactor to BinaryMeasurement, and use Isotropic in ShonanAveraging2 commit bd994d0 Merge: 15c29ca 838e74d Author: akrishnan86 <akrishnan86@gatech.edu> Date: Tue Jul 20 23:37:23 2021 -0700 merged from develop commit 15c29ca Author: Akshay Krishnan <akshay.krishnan.30@gmail.com> Date: Wed Jul 21 05:14:58 2021 +0000 wrapping triangulate nonlinear commit 838e74d Merge: 4cd3eae de68189 Author: Fan Jiang <ProfFan@users.noreply.github.com> Date: Mon Jul 19 11:51:53 2021 -0400 Merge pull request #766 from borglab/refactor/ExpressionTests refactor Expression tests and add comments commit 4cd3eae Merge: fda6596 1d75a07 Author: Fan Jiang <ProfFan@users.noreply.github.com> Date: Mon Jul 19 10:44:51 2021 -0400 Merge pull request #816 from ScottMcMichael/fix/isam2-serialize Fix serialization of ISAM2 class commit de68189 Merge: 0fe12ec fda6596 Author: Jose Luis Blanco Claraco <joseluisblancoc@gmail.com> Date: Mon Jul 19 11:56:58 2021 +0200 Merge branch 'develop' into refactor/ExpressionTests commit 1d75a07 Author: Scott <scott.t.mcmichael@nasa.gov> Date: Sat Jul 17 18:35:58 2021 -0700 Try macOS fix commit fda6596 Merge: 3ab3f46 f819b1a Author: Fan Jiang <ProfFan@users.noreply.github.com> Date: Sat Jul 17 14:06:30 2021 -0400 Merge pull request #823 from acxz/revert-800-fix/tbb-deprecation Revert "replace deprecated tbb functionality" commit f819b1a Author: Akash Patel <17132214+acxz@users.noreply.github.com> Date: Thu Jul 15 15:01:56 2021 -0400 Revert "replace deprecated tbb functionality" commit 3ab3f46 Merge: 740c9c6 6db646d Author: Varun Agrawal <varagrawal@gmail.com> Date: Thu Jul 15 08:02:17 2021 -0700 Merge pull request #822 from borglab/feature/wrap-multiple-interfaces Break interface file into multiple files commit 6db646d Author: Varun Agrawal <varagrawal@gmail.com> Date: Thu Jul 15 00:25:40 2021 -0400 remove extraneous file commit 2dd22c6 Merge: 6919ad9 740c9c6 Author: Varun Agrawal <varagrawal@gmail.com> Date: Wed Jul 14 21:56:09 2021 -0400 Merge branch 'develop' into feature/wrap-multiple-interfaces commit 6919ad9 Author: Varun Agrawal <varagrawal@gmail.com> Date: Wed Jul 14 21:53:20 2021 -0400 update interface files with latest develop commit 740c9c6 Merge: fa42d96 a115788 Author: Fan Jiang <ProfFan@users.noreply.github.com> Date: Wed Jul 14 17:48:44 2021 -0400 Merge pull request #811 from roderick-koehle/python-fisheye-interface Python fisheye interface commit a115788 Author: roderick-koehle <50633232+roderick-koehle@users.noreply.github.com> Date: Wed Jul 14 11:53:31 2021 +0200 Remove spaces in empty line commit c2bbe78 Author: roderick-koehle <50633232+roderick-koehle@users.noreply.github.com> Date: Wed Jul 14 11:16:00 2021 +0200 Remove comment commit 16cfc7f Author: roderick-koehle <50633232+roderick-koehle@users.noreply.github.com> Date: Wed Jul 14 11:15:10 2021 +0200 Remove commented out line commit 305521e Merge: d130387 fa42d96 Author: roderick-koehle <50633232+roderick-koehle@users.noreply.github.com> Date: Wed Jul 14 09:37:32 2021 +0200 Merge branch 'borglab:develop' into python-fisheye-interface commit d130387 Author: roderick-koehle <50633232+roderick-koehle@users.noreply.github.com> Date: Tue Jul 13 22:12:14 2021 +0200 Minor fix test_Cal3Fisheye commit 3e41ece Author: roderick-koehle <50633232+roderick-koehle@users.noreply.github.com> Date: Tue Jul 13 22:10:38 2021 +0200 Minor fix test_Cal3Unified commit 17c37de Author: roderick-koehle <50633232+roderick-koehle@users.noreply.github.com> Date: Tue Jul 13 22:07:19 2021 +0200 Shared setup triangulation unit test commit 3402e46 Author: roderick-koehle <50633232+roderick-koehle@users.noreply.github.com> Date: Tue Jul 13 22:00:21 2021 +0200 Shared data for triangulation unit tests commit fa42d96 Merge: 39b1b15 54d3471 Author: John Lambert <johnlambert@gatech.edu> Date: Tue Jul 13 13:37:34 2021 -0600 Merge pull request #817 from borglab/wrapper-shonan-averaging-2 Add ShonanAveraging2 interface to wrapper with BetweenFactorPose2s, that does not require g2o files commit 54d3471 Author: John Lambert <johnlambert@gatech.edu> Date: Tue Jul 13 08:18:45 2021 -0600 update logic in angular error comparison commit f53f5db Merge: c595767 39b1b15 Author: roderick-koehle <50633232+roderick-koehle@users.noreply.github.com> Date: Tue Jul 13 12:03:10 2021 +0200 Merge branch 'borglab:develop' into python-fisheye-interface commit c4a4e13 Author: John Lambert <johnlambert@gatech.edu> Date: Tue Jul 13 00:16:24 2021 -0600 fix assert on angles commit d7151ed Author: John Lambert <johnlambert@gatech.edu> Date: Mon Jul 12 20:52:36 2021 -0400 use mod when comparing angles commit cce952f Author: John Lambert <johnlambert@gatech.edu> Date: Mon Jul 12 19:35:34 2021 -0400 use simple example for unit test commit 36c2aa1 Author: Varun Agrawal <varagrawal@gmail.com> Date: Mon Jul 12 11:46:31 2021 -0400 matlab wrapper header update commit 6903001 Author: John Lambert <johnlambert@gatech.edu> Date: Sun Jul 11 22:47:14 2021 -0400 fix typo commit 61c5e89 Author: John Lambert <johnlambert@gatech.edu> Date: Sun Jul 11 22:46:54 2021 -0400 try increasing pmax to pass test commit 4c410fc Author: Varun Agrawal <varagrawal@gmail.com> Date: Sun Jul 11 08:10:35 2021 -0700 Squashed 'wrap/' changes from 07330d100..d9ae5ce03 d9ae5ce03 Merge pull request #118 from borglab/feature/matlab-multi-files 9adddf7dd update the main script for matlab wrapping 0b0398d46 remove debug statements since they aren't needed for now df064a364 support for parsing mutiple interface files for Matlab wrapping 1929e197c add test for parsing multiple interface files bac442056 Merge pull request #117 from borglab/fix/matlab-refactor 331f4a8ce update tests to remove redundant code 5426e3af4 generate all content from within the wrap function f78612bf9 make directory check common b7acd7a1f fixed import and test setup 88007b153 Merge pull request #116 from borglab/feature/matlab-refactor a074896e6 utils -> mixins 414557e00 structure 187100439 update gitignore adbc55aea don't use class attributes in matlab wrapper f45ba5b2d broke down some large functions into smaller ones 7756f0548 add mixin for checks and call method to wrap global functions a318e2a67 Merge pull request #115 from borglab/feature/multiple-modules b02b74c3d convert matlab_wrapper to a submodule be8641e83 improved function naming in tests 02ddbfbb0 update tests and docs dfbded2c7 small fixes e9ec5af07 update docs d124e2cfb wrap multiple files 7c7342f86 update cmake to take in new changes for multiple modules 54850f724 Merge pull request #114 from borglab/fix/remove-py35 71ee98321 add mypy annotations ccaea6294 remove support for python 3.5 git-subtree-dir: wrap git-subtree-split: d9ae5ce036c4315db3c28b12db9c73eae246f314 commit 7b9928d Merge: 17842dc 4c410fc Author: Varun Agrawal <varagrawal@gmail.com> Date: Sun Jul 11 08:10:35 2021 -0700 Merging 'master' into 'wrap' commit 17842dc Author: Varun Agrawal <varagrawal@gmail.com> Date: Sun Jul 11 08:10:11 2021 -0700 fixes commit 0989aed Author: Varun Agrawal <varagrawal@gmail.com> Date: Sun Jul 11 08:10:10 2021 -0700 enable CI builds commit fe95b8b Author: Varun Agrawal <varagrawal@gmail.com> Date: Sun Jul 11 08:10:09 2021 -0700 wrapper updates commit e8e3094 Author: Varun Agrawal <varagrawal@gmail.com> Date: Sun Jul 11 08:10:09 2021 -0700 update CMake commit 86c47d5 Author: Varun Agrawal <varagrawal@gmail.com> Date: Sun Jul 11 08:10:08 2021 -0700 move RedirectCout to base/utilities.h commit 5406393 Author: Varun Agrawal <varagrawal@gmail.com> Date: Sun Jul 11 08:10:06 2021 -0700 update template for wrapper commit f33e6a8 Author: Varun Agrawal <varagrawal@gmail.com> Date: Sun Jul 11 08:10:05 2021 -0700 break up preamble and specializations so there are no duplicate includes commit 9bafebb Author: Varun Agrawal <varagrawal@gmail.com> Date: Sun Jul 11 08:09:59 2021 -0700 break interface file into multiple files commit 39b1b15 Merge: dfc77f0 d5890a2 Author: Varun Agrawal <varagrawal@gmail.com> Date: Sun Jul 11 07:33:32 2021 -0700 Merge pull request #819 from borglab/feature/std-bind-placeholders commit c595767 Author: roderick-koehle <50633232+roderick-koehle@users.noreply.github.com> Date: Sun Jul 11 14:14:08 2021 +0200 Unittest, triangulation for Cal3Unified commit 941594c Author: roderick-koehle <50633232+roderick-koehle@users.noreply.github.com> Date: Sun Jul 11 14:11:40 2021 +0200 Testing CameraSet and triangulatePoint3 Currently triangulatePoint3 returns wrong results for fisheye models. The template for PinholePose may be implemented for a fixed size of variable dimensions. commit ddfb45e Author: John Lambert <johnlambert@gatech.edu> Date: Sun Jul 11 01:02:36 2021 -0600 fix typo in block indexing, 3x3 covariance for Pose2 should have just 1x1 block for theta commit dfc77f0 Merge: 4ac4302 63236cf Author: Varun Agrawal <varagrawal@gmail.com> Date: Sat Jul 10 21:07:15 2021 -0400 Merge pull request #818 from borglab/tbb-disabling-instructions commit d5890a2 Author: Varun Agrawal <varagrawal@gmail.com> Date: Sat Jul 10 21:03:15 2021 -0400 update all the tests commit dc8b5e5 Author: Varun Agrawal <varagrawal@gmail.com> Date: Sat Jul 10 21:01:20 2021 -0400 replaced boost with std for placeholders, bind and function commit 0a73961 Author: roderick-koehle <50633232+roderick-koehle@users.noreply.github.com> Date: Sat Jul 10 23:05:53 2021 +0200 Update ignore list in CMakeFile commit 3118fde Author: roderick-koehle <50633232+roderick-koehle@users.noreply.github.com> Date: Sat Jul 10 23:00:24 2021 +0200 Missing CameraSet binding specialisations Add pybind specialisations for CameraSetCal3Unified and CameraSetCal3Fisheye. commit d54e234 Author: roderick-koehle <50633232+roderick-koehle@users.noreply.github.com> Date: Sat Jul 10 22:03:17 2021 +0200 Add ambiguous calibrate/uncalibrate declarations. Without declaring calibrate / uncalibrated in the interface specification, the functions of the Base class Cal3DS2_Base is called. The layout of the optional Jacobian matrix is 2x10 in Cal3Unified and 2x9 in Cal3DS2_Base, so this are different function calls. commit aebb905 Author: John Lambert <johnlambert@gatech.edu> Date: Sat Jul 10 11:41:46 2021 -0400 set pmin and pmax in unit test commit 63236cf Author: John Lambert <johnlambert@gatech.edu> Date: Sat Jul 10 11:37:59 2021 -0400 improve wrapper compilation instructions, when TBB not installed commit 8b86d7a Author: John Lambert <johnlambert@gatech.edu> Date: Sat Jul 10 11:36:36 2021 -0400 improve docs about compiling without TBB commit db801f1 Author: John Lambert <johnlambert@gatech.edu> Date: Sat Jul 10 10:31:27 2021 -0400 add missing import to python unit test commit 0304992 Author: roderick-koehle <50633232+roderick-koehle@users.noreply.github.com> Date: Sat Jul 10 15:21:22 2021 +0200 Add comment about initial guess in undistortion For the equidistant fisheye model, r/f = tan(theta), the Gauss-Newton search to model radial distortion is expected to converge faster by mapping the angular coordinate space into the respective tangent space of the perspective plane. This is consistent to the nPlaneToSpace initial projection used in the calibrate() function of the omnidirectional model (Cal3Unified). commit 6451438 Author: John Lambert <johnlambert@gatech.edu> Date: Sat Jul 10 00:57:01 2021 -0400 check in python unit test for new functionality commit 7fc8f23 Author: John Lambert <johnlambert@gatech.edu> Date: Fri Jul 9 23:34:55 2021 -0400 use default parameters if none provided, and remove gtsam namespace prefix in .h file commit 8c68e21 Author: Scott <scott.t.mcmichael@nasa.gov> Date: Fri Jul 9 18:30:39 2021 -0700 Added ISAM2 serialize test commit 4ac4302 Merge: 4fc6859 2e40169 Author: Varun Agrawal <varagrawal@gmail.com> Date: Fri Jul 9 18:19:29 2021 -0400 Merge pull request #813 from borglab/feature/between-factor-tests commit 4fc6859 Merge: cd3854a d7d9ac0 Author: Varun Agrawal <varagrawal@gmail.com> Date: Fri Jul 9 18:19:03 2021 -0400 Merge pull request #814 from borglab/fix/misc commit 641a01c Author: John Lambert <johnlambert@gatech.edu> Date: Fri Jul 9 17:54:14 2021 -0400 fix typo on 3x3 matrix def commit 4bf2308 Author: John Lambert <johnlambert@gatech.edu> Date: Fri Jul 9 17:48:26 2021 -0400 add conversion function for Pose2 -> BinaryMeasurement<Rot2> commit 3c8cdb4 Author: John Lambert <johnlambert@gatech.edu> Date: Fri Jul 9 17:42:59 2021 -0400 add ShonanAveraging2 constructor to wrapper, that accepts BetweenFactorPose2s as input commit 0e0d630 Author: John Lambert <johnlambert@gatech.edu> Date: Fri Jul 9 17:39:38 2021 -0400 fix typo commit 3c18233 Author: John Lambert <johnlambert@gatech.edu> Date: Fri Jul 9 17:38:10 2021 -0400 add interface in C++, and helper extractRot2Measurements() commit 15478bf Author: John Lambert <johnlambert@gatech.edu> Date: Fri Jul 9 17:33:33 2021 -0400 Update ShonanAveraging.h commit df579ec Author: Scott <scott.t.mcmichael@nasa.gov> Date: Fri Jul 9 13:07:08 2021 -0700 Fix serialization of ISAM2 class commit 2e40169 Author: Varun Agrawal <varagrawal@gmail.com> Date: Fri Jul 9 14:07:19 2021 -0400 fix dimension for Pose3 test commit 8b9e601 Author: Varun Agrawal <varagrawal@gmail.com> Date: Fri Jul 9 14:06:59 2021 -0400 cleaner variables commit 66af007 Author: roderick-koehle <50633232+roderick-koehle@users.noreply.github.com> Date: Fri Jul 9 12:39:31 2021 +0200 Improved accuracy for analytic undistortion commit a411b66 Author: roderick-koehle <50633232+roderick-koehle@users.noreply.github.com> Date: Fri Jul 9 11:25:18 2021 +0200 Correct tab to spaces to fix formatting commit 6205057 Author: roderick-koehle <50633232+roderick-koehle@users.noreply.github.com> Date: Fri Jul 9 11:17:38 2021 +0200 Use of common setUpClass method commit bdeb606 Author: roderick-koehle <50633232+roderick-koehle@users.noreply.github.com> Date: Fri Jul 9 11:14:10 2021 +0200 Introduce setUpClass, python snake_case variables Test case fails if object depth z is not equal 1. commit d7d9ac0 Author: Varun Agrawal <varagrawal@gmail.com> Date: Thu Jul 8 19:43:25 2021 -0400 typo fix commit a12b49d Author: Varun Agrawal <varagrawal@gmail.com> Date: Thu Jul 8 19:43:09 2021 -0400 add Pose3 expmap to wrapper commit 2ecad47 Author: Varun Agrawal <varagrawal@gmail.com> Date: Thu Jul 8 19:41:01 2021 -0400 Added lots of tests for BetweenFactor commit 19e8cde Author: roderick-koehle <50633232+roderick-koehle@users.noreply.github.com> Date: Thu Jul 8 19:59:56 2021 +0200 Extend unit testing of omnidirectional projection Test projection function and factors using a stereoscopic (xi=1) reference model, i.e the image height is given by y = 2 f tan(theta/2). commit c8fc3cd Author: roderick-koehle <50633232+roderick-koehle@users.noreply.github.com> Date: Thu Jul 8 19:53:41 2021 +0200 Unit test for equidistant fisheye commit 55c1274 Author: roderick-koehle <50633232+roderick-koehle@users.noreply.github.com> Date: Thu Jul 8 15:45:11 2021 +0200 Forward declaration of fisheye camera. Forward declaration of PinholeCal3Fisheye needed by Python wrapper. commit 73d40a5 Merge: 03e2744 9967c59 Author: roderick-koehle <50633232+roderick-koehle@users.noreply.github.com> Date: Thu Jul 8 15:39:10 2021 +0200 Merge pull request #2 from roderick-koehle/patch-2 Forward declaration for Set of Fisheye Cameras commit 03e2744 Merge: cd3854a dfd50f9 Author: roderick-koehle <50633232+roderick-koehle@users.noreply.github.com> Date: Thu Jul 8 15:37:39 2021 +0200 Merge pull request #1 from roderick-koehle/patch-3 Extend python wrapper to include fisheye models. commit dfd50f9 Author: roderick-koehle <50633232+roderick-koehle@users.noreply.github.com> Date: Thu Jul 8 15:13:29 2021 +0200 Extend python wrapper to include fisheye models. Extend python wrapper to include fisheye camera models Cal3Fisheye and Cal3Unified. commit 9967c59 Author: roderick-koehle <50633232+roderick-koehle@users.noreply.github.com> Date: Thu Jul 8 14:30:16 2021 +0200 Forward declaration for Set of Fisheye Cameras Forward declaration of camera vector for PinholeCamera<Cal3Fisheye> and PinholeCamera<Cal3Unified>. commit cd3854a Merge: 6d6d129 5a2ff19 Author: Varun Agrawal <varagrawal@gmail.com> Date: Wed Jul 7 10:34:54 2021 -0400 Merge pull request #796 from acxz/boost-bind-warn commit 6d6d129 Merge: 6ee17c2 7c358aa Author: Frank Dellaert <dellaert@users.noreply.github.com> Date: Wed Jun 30 14:41:40 2021 -0400 Merge pull request #806 from jaelrod/fix/rot2-copy-ctor Add user-defined copy constructor for Rot2 commit 7c358aa Author: Jay Elrod <jaelrod@microsoft.com> Date: Tue Jun 29 17:07:15 2021 -0400 Add user-defined copy constructor for Rot2 commit 5a2ff19 Merge: 944b3ae 6ee17c2 Author: Akash Patel <17132214+acxz@users.noreply.github.com> Date: Mon Jun 28 10:54:48 2021 -0400 Merge branch 'develop' into boost-bind-warn commit 6ee17c2 Merge: 91674c8 e57fe4a Author: Varun Agrawal <varagrawal@gmail.com> Date: Wed Jun 23 13:21:15 2021 -0400 Merge pull request #800 from acxz/fix/tbb-deprecation commit 91674c8 Merge: aec2cf0 04621b0 Author: Varun Agrawal <varagrawal@gmail.com> Date: Tue Jun 22 13:50:30 2021 -0400 Merge pull request #802 from borglab/fix/llvm-gpg-key commit 04621b0 Author: Varun Agrawal <varagrawal@gmail.com> Date: Tue Jun 22 07:50:54 2021 -0400 update key server in other workflow files commit 3244679 Author: Varun Agrawal <varagrawal@gmail.com> Date: Mon Jun 21 23:25:03 2021 -0400 update the pgp servers to get the LLVM GPG key commit aec2cf0 Merge: 3b4eeeb 01561bc Author: Akshay Krishnan <akshay.krishnan.30@gmail.com> Date: Mon Jun 21 09:14:06 2021 -0700 Merge pull request #753 from borglab/feature/essential-mat-with-approx-k Adding factor which considers the essential matrix and camera calibration as variable commit 01561bc Author: akrishnan86 <akrishnan86@gatech.edu> Date: Sun Jun 20 22:26:19 2021 -0700 formatting example commit 119e43a Author: Akshay Krishnan <akshay.krishnan.30@gmail.com> Date: Mon Jun 21 05:21:19 2021 +0000 all jacobian tests for essential matrix use macro commit a69f9e5 Author: Akshay Krishnan <akshay.krishnan.30@gmail.com> Date: Mon Jun 21 03:47:44 2021 +0000 changing to macro EssenstialMatrixfactor4 commit e3b6c83 Author: Akshay Krishnan <akshay.krishnan.30@gmail.com> Date: Mon Jun 21 03:47:10 2021 +0000 updating points name, constexpr commit 944b3ae Author: acxz <17132214+acxz@users.noreply.github.com> Date: Sun Jun 20 19:29:27 2021 -0400 formatting commit e57fe4a Author: acxz <17132214+acxz@users.noreply.github.com> Date: Sun Jun 20 19:03:33 2021 -0400 add comment for purpose of variable commit 155fafa Author: acxz <17132214+acxz@users.noreply.github.com> Date: Sun Jun 20 18:38:52 2021 -0400 using using for boost placeholders in tests commit 42c0eb6 Author: acxz <17132214+acxz@users.noreply.github.com> Date: Sun Jun 20 18:31:07 2021 -0400 formatting commit 7aeb386 Author: Akash Patel <17132214+acxz@users.noreply.github.com> Date: Sun Jun 20 18:04:28 2021 -0400 formatting remove extraneous `using` commit 18c068d Author: acxz <17132214+acxz@users.noreply.github.com> Date: Sat Oct 31 10:00:52 2020 -0400 replace deprecated tbb functionality Useful tbb migration guide: https://docs.oneapi.com/versions/latest/onetbb/tbb_userguide/Migration_Guide/Task_API.html add mutable keyward to isPostOrderPhase as that is a variable we change in the const operator function commit 6dea866 Author: acxz <17132214+acxz@users.noreply.github.com> Date: Fri Jun 18 13:45:59 2021 -0400 explicitly use boost::placeholders:_X for compilers that do not respect function scope commit 3b4eeeb Merge: ddbe62e 7bdaff3 Author: Varun Agrawal <varagrawal@gmail.com> Date: Wed Jun 16 23:32:05 2021 -0400 Merge pull request #797 from acxz/timing-fix commit 47f9f30 Author: akrishnan86 <akrishnan86@gatech.edu> Date: Wed Jun 16 19:08:43 2021 -0700 updating documentation for factor commit d9a8111 Merge: 545dfd0 c458294 Author: Akshay Krishnan <akshay.krishnan.30@gmail.com> Date: Thu Jun 17 01:42:51 2021 +0000 resolving merge conflict commit 545dfd0 Author: Akshay Krishnan <akshay.krishnan.30@gmail.com> Date: Thu Jun 17 01:36:57 2021 +0000 removing failing test and unused data commit ddbe62e Merge: ce1c73e 87a04f9 Author: Varun Agrawal <varagrawal@gmail.com> Date: Wed Jun 16 18:08:12 2021 -0400 Merge pull request #799 from borglab/feature/wrap-update commit 56bede0 Author: Varun Agrawal <varagrawal@gmail.com> Date: Wed Jun 16 13:51:43 2021 -0400 Squashed 'wrap/' changes from 0124bcc45..07330d100 07330d100 Merge pull request #113 from borglab/fix/reserved-keywords ec6b8f037 update test f022ba516 update and ignore reserved keywords for both functions and methods 4f988e5ad Merge pull request #112 from borglab/fix/cleanup 55bba2e6d fix variable annotations 61720ca0b support python 3.5 in the CI 0975d6529 version bump e8109917c use args.list() instead of args.args_list 6d0a91d7d renames args_names to names 4ce060b44 Merge pull request #111 from borglab/fix/default-bug ce7eea318 updated tests to capture bug b7650ec07 Fix bug for default in methods 4108854c7 Merge pull request #107 from borglab/feature/print 528ee64ce Merge pull request #110 from borglab/fix/variable-annotation e069f8bfc use old style variable annotation 5fd300116 update test fixture a25c2df0f use separate function to wrap global functions 58499a74b Merge pull request #106 from borglab/feature/consistent_names 2fe92b693 rename from cpp_class to to_cpp 3a3ba5963 Merge pull request #105 from borglab/cleanup e27a7b833 unskip tests 0db1839c4 Merge pull request #104 from borglab/feature/forward-class-declaration e3e7fbb27 remove unused imports a3c125065 encapsulate parsing and instantiation within wrap method in a functional way 69bbbe992 wrap instantiated declaration dbc44e7d5 added test for forward declaration typedef 6bec3cb8b add template instantation for typedefs of forward declarations 8d70c15ed updated Declaration to allow for wrapping 0637c2b3f remove print debugging statement deb8291ac allow forward declarations to be used for typedefs 69d660899 Merge pull request #101 from borglab/feature/object-default-parameters ec5555e56 formatting and docs cdaabc043 Merge branch 'feature/object-default-parameters' of github.com:borglab/wrap into feature/object-default-parameters 8ab0b0fa7 new parsing rule 0638a1937 update DEFAULT_ARG rule to support vector initializer list 83d2b761c update tests 7bb8c5494 more tests 1eaf6ba4a refactor default arg feature and add more tests 94f373ca9 tests 534e8a6dd support object types as default arguments 05e8ea855 Merge pull request #99 from borglab/fix/default_arg_0 1fdfeae6a address review comments 25b109c3f fix matlab unit test 6bb1b0c46 fix declaration order in unit test "expected" 7ee2d5fa4 don't unquote QuotedStrings that way we don't have to deal with strings manually. c915f4963 failing unit test : literals are not wrapped properly d47b6e8be default arg of 0 - interface_parser unit test ccf693641 fix for allow default arg of 0 3534c06e9 unit tests for default arg of 0 git-subtree-dir: wrap git-subtree-split: 07330d10022130e4284743341ac9d54a0dcb3d9f commit 87a04f9 Merge: ce1c73e 56bede0 Author: Varun Agrawal <varagrawal@gmail.com> Date: Wed Jun 16 13:51:43 2021 -0400 Merging 'master' into 'wrap' commit ce1c73e Merge: 57453a5 52bf1cd Author: Varun Agrawal <varagrawal@gmail.com> Date: Wed Jun 16 03:01:08 2021 -0400 Merge pull request #794 from borglab/feature/values-double Remove separate function for double in wrapper commit 650e432 Author: acxz <17132214+acxz@users.noreply.github.com> Date: Tue Jun 15 13:07:08 2021 -0400 update boost::bind usage use <boost/bind/bind.hpp> instead of deprecated <boost/bind.hpp> use boost::placeholders:: scope in appropriate files remove and add <boost/bind/bind.hpp> in appropriate files commit 57453a5 Merge: 9430807 ad7d8f1 Author: Varun Agrawal <varagrawal@gmail.com> Date: Tue Jun 15 00:00:26 2021 -0400 Merge pull request #798 from acxz/timing-warn commit ad7d8f1 Author: acxz <17132214+acxz@users.noreply.github.com> Date: Mon Jun 14 16:25:15 2021 -0400 use size_t variable type commit 7bdaff3 Author: acxz <17132214+acxz@users.noreply.github.com> Date: Mon Jun 14 15:33:17 2021 -0400 update timeLago.cpp with newer Sampler interface commit 9430807 Merge: 4b76601 a60bac2 Author: Fan Jiang <ProfFan@users.noreply.github.com> Date: Mon Jun 14 14:22:11 2021 -0400 Merge pull request #795 from acxz/warning-int use size_t variable type commit a60bac2 Author: acxz <17132214+acxz@users.noreply.github.com> Date: Mon Jun 14 02:31:35 2021 -0400 use size_t variable type commit c458294 Author: akrishnan86 <akrishnan86@gatech.edu> Date: Sun Jun 13 20:33:37 2021 -0700 removing duplicate data file commit 01515d1 Author: akrishnan86 <akrishnan86@gatech.edu> Date: Sun Jun 13 20:30:04 2021 -0700 formatting changes commit 373b109 Author: Akshay Krishnan <akshay.krishnan.30@gmail.com> Date: Mon Jun 14 02:02:01 2021 +0000 small covariance change commit 285f041 Author: Akshay Krishnan <akshay.krishnan.30@gmail.com> Date: Mon Jun 14 01:57:59 2021 +0000 increasing calibrate() tolerance commit 14f8b8a Author: Akshay Krishnan <akshay.krishnan.30@gmail.com> Date: Mon Jun 14 01:30:00 2021 +0000 removing Sampson error + some tests cleanup commit 52bf1cd Author: Varun Agrawal <varagrawal@gmail.com> Date: Sun Jun 13 10:24:15 2021 -0400 add cmake command to run GTSAM python tests commit 342ab73 Author: Varun Agrawal <varagrawal@gmail.com> Date: Sun Jun 13 10:22:51 2021 -0400 merge double into Values templates commit f1ea57a Merge: bf93f17 620bcf7 Author: Akshay Krishnan <akshay.krishnan.30@gmail.com> Date: Sat Jun 12 20:38:49 2021 +0000 Merge branch 'feature/essential-mat-with-approx-k' of github.com:borglab/gtsam into feature/essential-mat-with-approx-k commit 4b76601 Merge: 19d3fe0 2827584 Author: Frank Dellaert <dellaert@users.noreply.github.com> Date: Fri Jun 11 08:25:27 2021 -0400 Merge pull request #793 from borglab/feature/more-expressions add expressions for cross() and dot() commit 2827584 Author: Jose Luis Blanco Claraco <joseluisblancoc@gmail.com> Date: Fri Jun 11 09:41:26 2021 +0200 add expressions for cross() and dot() commit 19d3fe0 Merge: f77af12 658ebd3 Author: John Lambert <johnlambert@gatech.edu> Date: Thu Jun 10 18:57:24 2021 -0400 Merge pull request #791 from borglab/add-sim3-point-transformFrom Add transformFrom() to wrapper, for Point3 in Similarity3 commit 620bcf7 Author: Ayush Baid <ayushrakeshbaid@gmail.com> Date: Thu Jun 10 14:51:41 2021 -0700 fixing test cases commit bce9050 Author: Ayush Baid <ayushrakeshbaid@gmail.com> Date: Thu Jun 10 14:47:43 2021 -0700 adding 11 point example for cal3bundler commit 658ebd3 Author: John Lambert <johnlambert@gatech.edu> Date: Thu Jun 10 16:01:44 2021 -0400 add transformFrom() for Point3 in Similarity3 commit 91e58f5 Author: Ayush Baid <ayushrakeshbaid@gmail.com> Date: Thu Jun 10 12:21:44 2021 -0700 fixing unit tests commit 2e8bfd6 Author: Ayush Baid <ayushrakeshbaid@gmail.com> Date: Thu Jun 10 12:21:32 2021 -0700 using correct jacobian computation for calibration commit f77af12 Merge: b582b5b a55e474 Author: Varun Agrawal <varagrawal@gmail.com> Date: Wed Jun 9 22:47:08 2021 -0400 Merge pull request #774 from borglab/fix/nonlinearequality commit b582b5b Merge: 6f02ebd 1744eaf Author: Varun Agrawal <varagrawal@gmail.com> Date: Wed Jun 9 22:46:15 2021 -0400 Merge pull request #771 from HMellor/develop Correct ImuFactorExamples frame description commit 6f02ebd Merge: 3fe9ca1 c7dd909 Author: Varun Agrawal <varagrawal@gmail.com> Date: Wed Jun 9 22:45:51 2021 -0400 Merge pull request #781 from danbarla/danbarla_dev commit 2e69d09 Merge: 15f8b41 65211f8 Author: Ayush Baid <ayushrakeshbaid@gmail.com> Date: Wed Jun 9 16:31:05 2021 -0700 Merge branch 'feature/sampson-epipolar-error' into feature/essential-mat-with-approx-k commit 65211f8 Author: Ayush Baid <ayushrakeshbaid@gmail.com> Date: Wed Jun 9 16:18:14 2021 -0700 moving to squared sampson error commit e9738c7 Author: Ayush Baid <ayushrakeshbaid@gmail.com> Date: Wed Jun 9 15:22:08 2021 -0700 adding jacobians on input points commit 15f8b41 Author: Ayush Baid <ayushrakeshbaid@gmail.com> Date: Wed Jun 9 15:22:08 2021 -0700 adding jacobians on input points commit 3fe9ca1 Merge: 4270399 9392bfd Author: Frank Dellaert <dellaert@users.noreply.github.com> Date: Wed Jun 9 13:11:25 2021 -0400 Merge pull request #788 from miloknowles/milo/move_mag_pose_factor Move MagPoseFactor into gtsam commit 582afe1 Merge: 4fbd98d ae69e5f Author: Ayush Baid <ayushrakeshbaid@gmail.com> Date: Wed Jun 9 10:03:59 2021 -0700 Merge branch 'feature/sampson-epipolar-error' into feature/essential-mat-with-approx-k commit ae69e5f Author: Ayush Baid <ayushrakeshbaid@gmail.com> Date: Wed Jun 9 10:02:39 2021 -0700 changing error values in test commit 0ecd8ab Author: Ayush Baid <ayushrakeshbaid@gmail.com> Date: Wed Jun 9 09:49:32 2021 -0700 fixing jacobians and reformatting commit 8a2ce7e Author: Ayush Baid <ayushrakeshbaid@gmail.com> Date: Tue Jun 8 21:42:14 2021 -0700 switching to sampson point line error commit 9392bfd Author: Milo Knowles <mknowles@mit.edu> Date: Tue Jun 8 18:25:33 2021 -0400 Move MagPoseFactor to gtsam commit 4fbd98d Author: Ayush Baid <ayushrakeshbaid@gmail.com> Date: Tue Jun 8 13:14:56 2021 -0700 creating 18 point example commit b3601ef Author: Ayush Baid <ayushrakeshbaid@gmail.com> Date: Tue Jun 8 13:14:29 2021 -0700 updating tests commit bf93f17 Merge: 71b9004 4270399 Author: Akshay Krishnan <akshay.krishnan.30@gmail.com> Date: Tue Jun 8 05:11:56 2021 +0000 Merge branch 'develop' of github.com:borglab/gtsam into feature/essential-mat-with-approx-k commit c7dd909 Author: Dan Barladeanu <barla4114@gmail.com> Date: Thu Jun 3 23:17:35 2021 +0300 fix comment to docstring commit 47b89dd Merge: fcd3169 26356db Author: Dan Barladeanu <barla4114@gmail.com> Date: Thu Jun 3 22:27:34 2021 +0300 Merge branch 'develop' into danbarla_dev commit fcd3169 Author: Dan Barladeanu <barla4114@gmail.com> Date: Thu Jun 3 21:54:38 2021 +0300 Comments Only. Added Kalman Filter definitions in test_KalmanFilter.py commit a55e474 Author: Varun Agrawal <varagrawal@gmail.com> Date: Sat May 29 21:47:13 2021 -0400 update docstrings and format commit 1744eaf Author: HMellor <hej.mellor@gmail.com> Date: Fri May 28 21:00:34 2021 +0100 Correct ImuFactorExamples frame description commit 71b9004 Merge: 4572282 ab92779 Author: Ayush Baid <ayushrakeshbaid@gmail.com> Date: Tue May 25 15:36:52 2021 -0700 Merge branch 'develop' into feature/essential-mat-with-approx-k commit 0fe12ec Author: yetongumich <yetong@umich.edu> Date: Wed May 12 16:57:27 2021 -0400 resolve some nits commit a637737 Author: yetongumich <yetong@umich.edu> Date: Wed May 12 15:36:12 2021 -0400 refactor tests and add comments commit 4572282 Author: Ayush Baid <ayushrakeshbaid@gmail.com> Date: Wed Apr 28 18:49:07 2021 -0400 adding prior on calibrations commit 2cf76da Author: Ayush Baid <ayushrakeshbaid@gmail.com> Date: Tue Apr 27 00:44:15 2021 -0400 reverting jacobian computation from homogeneous function commit bd0838c Author: Ayush Baid <ayushrakeshbaid@gmail.com> Date: Mon Apr 26 20:55:25 2021 -0400 fixing docstring commit b0fb6a3 Author: Ayush Baid <ayushrakeshbaid@gmail.com> Date: Mon Apr 26 20:52:17 2021 -0400 renaming key variable commit b00046c Merge: 64ff24b 32acaec Author: Ayush Baid <ayushrakeshbaid@gmail.com> Date: Mon Apr 26 20:50:34 2021 -0400 Merge branch 'develop' into feature/essential-mat-with-approx-k commit 64ff24b Author: Ayush Baid <ayushrakeshbaid@gmail.com> Date: Mon Apr 26 20:50:22 2021 -0400 using fixed size matrix, and adding jacobian in homogeneous conversion commit f60e9e9 Author: Ayush Baid <ayushrakeshbaid@gmail.com> Date: Sat Apr 24 10:57:28 2021 -0400 fixing tests by moving to Cal3_S2 commit 8ca7f1f Author: Ayush Baid <ayushrakeshbaid@gmail.com> Date: Fri Apr 23 16:29:03 2021 -0400 Adding factor with shared calibration as a variable
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Description
Back in December, Nikolaus Mitchell (@mitch2na ??) ran into issues with the
SmartProjectionFactor. The bug report is here: https://bitbucket.org/gtborg/gtsam/issues/411/smartposeprojfactor-error-with-sensorI started looking into it but then got side-tracked. I have now come back to it and I feel that giving a sensor offset
body_P_sensorto theSmartProjectionFactordoes not make sense, and I think the current constructor should be deprecated to prevent confusion. Indeed, It does not make sense to optimize for a camera where the pose would not be the actual pose of the camera. An unfortunate consequence of deprecating this constructor means that we cannot optimize for individually varying camera calibrations when the camera is offset from the body pose. That would need a new factor with (body) pose and calibration as variables. However, that use case is unlikely: when a global offset is know, calibration is typically known.Proposed remedy
Deprecate the constructor
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