Commit 370631f01f rescaled the quaternion
manifold's group action so the tangent vector norm matches the full
rotation angle, addressing issue #941. While both conventions are
mathematically valid, issue #311 already concluded that the half-angle
one should be kept because too much code depends on it. The rescaling
effectively broke that expectation for existing callers.
Restore the pre-370631f01f71db36b580e5a65790b2a8d9559821 scaling, keep
the rest of that commit's cleanup, and update the documentation and
tests to match.
Fixes#1190
Change-Id: I1dd189c51153ed62cc8c871472aacb87673ec351
Allow to specify the memory layout of quaternion coefficients using a
template parameter which defaults to Ceres coefficients order.
The changes are, for the most part, backwards compatible unless the
floating-point type is explicitly specified, e.g., as
&ceres::QuaternionToAngleAxis<double> to obtain a pointer to the
corresponding function. In such rare use cases, the coefficients order
must be given explicitly first as
ceres::QuaternionToAngleAxis<ceres::CeresQuaternionOrder>. In normal
situations, however, this should not be needed.
Change-Id: I05dd80f0593672dec656cc785cf06fe5268aee74
Define the relation between the axis-angle representation of a rotation
and the corresponding unit quaternion as
q(𝐞) = cos(𝜃/2) + sin(𝜃/2)/𝜃·𝐞
where 𝐞 = 𝜃𝛚 is the rotation vector given by the rotation angle 𝜃 and
the unit axis of rotation 𝛚 instead of
q(𝐞) = cos(𝜃) + sin(𝜃)/𝜃·𝐞 .
This brings the former relation closer to the available functionality
provided by ceres/rotation.h.
Fixes#941
Change-Id: Id40c065f78593887ecc52e67a068737d7eb5bda6
Ceres Solver was using an old forked version of FixedArray,
now that we are using absl, we can use the official version
that ships with it.
Change-Id: Ic88d7f6e8a49b928d611f7cbb04172452b322b01
1. Add abseil-cpp as a submodule. We are tracking the latest LTS
release, which is lts_2024_01_16.
2. Replace glog/gflags with absl::log and absl::flags.
3. Remove miniglog
4. Also take a whack at making the bazel build work with
abseil-cpp and gtest.
There are a number of TODOs in this CL that still need to be resolved.
Change-Id: I39355ed7d61375be4ebcbc8596d9cc70acc1c678
Since the number of manifolds used to initialize ProductManifold and
their types are known at compile-time, it is possible to avoid storing
pointers to the base class as required by a homogeneous, currently
dynamically sized container. Instead, we can use std::tuple<> as a
heterogenous container with the number of elements fixed at compile-time
that allows us to store the concrete manifold realizations.
The advantage of this approach is that we can bypass the vtable when
iterating over each manifold within ProductManifold. The indirection is
invoked only once while accessing the ProductManifoldImpl members.
Additionally, potential dynamic memory allocations by a std::vector can
be completely avoided. This makes the ProductManifold implementation
more efficient both in memory and runtime.
Change-Id: Ic71b0c175ab726f8992e9703f7666bca477baf19
This brings it in line with other manifolds like SphereManifold
and LineManifold, where the user has the choice to specify the size
of the manifold at compile time or runtime.
Most of the time the size is known at compile time so this will
speed up the common case.
Change-Id: I0c7ff8b7a9a64a81203eb11afc074874e208815a
Disable the definition of `min`/`max` macros by defining `NOMINMAX`
and prevent macro substitution in the public interface.
Also, quiet floating-point comparisons are defined as template functions
by the MSVC STL which causes compilation errors due to ambiguities in
resolving the template parameter types.
Fixes#668Fixes#716Fixes#718
Change-Id: I5fe7832a6a3a7ad0421a2557527528c34b88e9c7
Do not define trivial constructors or destructors unless necessary
(e.g., for implementing pimpl) following the rule of zero. Define
virtual base class destructors out-of-line to avoid emitting vtables in
every translation unit.
Change-Id: Iea2d8978e62a8ee5a97b86cbb4e858d56e0fb274
This is the first in a series of changes that will eventually
replace the LocalParameterization interface with the richer
Manifold interface.
1. Add the Manifold interface.
2. Add implementations and test for:
a. EuclideanManifold (formerly the IdentityParameterization)
b. SubsetManifold (formerly the SubsetParameterization)
c. ProductManifold (formerly the ProductParameterization)
The testing has been completely re-done, where instead of adhoc
testing, we now define a number of matchers which explicitly
enforce the invariants demanded by the Manifold interface.
Change-Id: I3f296d0964388d52b027c99dc86b7730d24d55fa
Sergiu Deitsch