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
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
1. Add a version history
2. Update copyright years across the code base
3. Run format_all.sh
4. Update version strings from 2.1.0 to 2.2.0 in the docs and
elsewhere.
Change-Id: I46d8d479d54bd6002d532785e67342106e73c9ac
This PR changes the Sphere and Line Manifold formulations so that their
tangent spaces represent traveled angles (for the sphere and the line
direction vector) and traveled distance (for the line origin). These
magnitudes were previously halved according to "Hartley & Zisserman
(2nd Edition)", but in the majority of the state of the art this is not
done, following the convention that magnitudes in the tangent space of
the unit sphere represent geodesic distances traveled on that manifold.
The same scale factor appears in the Quaternion Manifold implementation
and will be studied in a further PR.
This PR also adds an additional case in the Sphere Minus operator when
hy_norm == 0. The value of y_minus_x was fixed to 0 but actually its
last term can also be Pi depending on y_last.
Finally, new unit tests for the Plus and Minus operator are added, along
with new tests for the 2D Sphere (a.k.a. Circle) Manifold.
Change-Id: I9456f1675b20da49bede5d6759aabf3cdfb26eae
In many cases, manifolds stored in ProductManifold have a default
constructor which can simplify ProductManifold initialization even
further. Allow default construction of ProductManifold in this case.
Change-Id: I29b2612870c02232556688019a77049709684a55
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
Previously they were defined in manifold.h but their implementations
were in the internal directory and to prevent circular dependencies
the implementation headers were pushed to the bottom of manifold.h
This started out as one header and has become progressively worse
as more manifolds are templated.
This change moves the two manifolds into their own headers which
also contain their implementations.
Change-Id: I671da0279a47cd2ff1f52c69a1d159426f55bd80
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
Enabling the AVX2 instruction set causes a segmentation fault in mocked
manifold tests. This is due to Eigen vectors stored in a std::shared_ptr
for which the memory allocated by gmock is not aligned even though it is
expected to be by Eigen for correct use of packet math.
The problem does not occur if Ceres is compiled with C++17 (or later)
enabled due to the support for aligned new allocations.
Change-Id: I711abe9439cc411bd7a8b4936f3b93af07b7fbd6
This MR ports the LineParameterization of manifolds. The unit test are
rewritten to use the manifold test facilities.
The LineManifold is extended so that it can also handle dynamic size
ambient space dimensions.
Change-Id: I1fe3cd34b56f74b72ca028c34f5368e9df9fe4d7
This MR adds SphereManifold ported from
HomogeneousVectorParameterization. Additionally the minus operator
and jacobian evaluation was implemented.
The unit tests were almost completly reimplemented and uses the
test facilities provided for manifolds.
Change-Id: Iccf72a2333bc921ff24c4d831db35020c653ee86
1. Increase number of trials.
2. Make all the matchers per point.
3. Add matchers for delta = 0.
4. Add a macro which invokes all the matchers, reducing boilerplate
Change-Id: Ia1bf110323c5877a1b92aef34c12c39008256f05
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