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
Unfortunately, libc++'s 3-argument std::hypot implementation is
numerically unstable until LLVM 19.x. Therefore, checking the arguments
for zeros is insufficient since an underflow can still occur resulting
in a zero norm which requires another check. As such, division by zero
cannot be reliably avoided.
Change-Id: I189c8dc722aaec1ebc3ec8b1a177e1d8ac3b36db
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
In https://ceres-solver-review.git.corp.google.com/c/ceres-solver/+/23802
the computation of the norm of a quaternion
scale = 1/sqrt(q[0] * q[0] + q[1] * q[1] + q[2] * q[2] + q[3] * q[3]);
was replaced by
scale = 1/hypot(q[0], q[1], hypot(q[2], q[3]));
while this appear to be a more accurate computation because of the
use of hypot which can handle over and underflow it introduces a
bug for the case where q[2] = q[3] = 0.
While the hypot(q[2], q[3]) == 0 as scalars, if q[2] and q[3] are
jets, then the derivative will be NaN. Which means that even though
q[0] or q[1] is non-zero and the norm of the quaternion is non-zero,
and the resulting derivative is finite, this way of computing the
scale will produce nans in the derivative of scale.
The following quaternion will replicate the problem described above.
using Jet = ceres::Jet<double, 4>;
std::array<Jet, 4> quaternion = {Jet(1.0, 0), Jet(0.0, 1), Jet(0.0, 2), Jet(0.0, 3)};
This CL reverts the change to QuaternionRotatePoint and
adds a test for it.
Thanks to Jonathan Taylor for reproducing this bug.
Change-Id: I0fbbcc77d6945a38563d82efba4429f4b5278cd5
Conversions function include Euler Angles to / from Rotation Matrices
and Quaternions. They are generalized for any Euler convention that can
be specified in the arguments. Algorithm is from "Euler angle
conversion", Ken Shoemake, Graphics Gems IV
Change-Id: I7f9ddc0b8d686efca16299d2ba374295744376ce
1. ProblemEvaluateResidualTest was leaking the loss_function in cases
where it was not being used.
2. Fix a grammo in rotation.h
Change-Id: If94ae1624033c8f6d1934dc2f40fa0dfe4e025c3
Some rotation functions like UnitQuaternionRotatePoint,
QuaternionRotatePoint, etc. will calculate bad results if the input
point and output point points to the same memory (inplace operation).
This CL adds checks in debug mode to guard against it.
Change-Id: Id0a30e9a0286b340757f0790d417d9f9a3409810
Since Ceres is moving to using GitHub for issues, and the Google
Code URL in the current copyright header will soon become invalid,
update all the headers.
Change-Id: I1fce70375d1bcf098591f07b4d8f01a5c1e0789c
For historical reasons we had a "using namespace std;" in port.h. This
is generally a bad idea. So removing it and along the way doing a bunch
of cpplint cleanup.
Change-Id: Ia125601a55ae62695e247fb0250df4c6f86c46c6
Use this function to implement RotationMatrixToAngleAxis.
This simplifies the implementation of RotationMatrixToAngleAxis,
just like Eigen does. It is also autodiff compatible, unlike the
Eigen based version.
Also significantly improve the test coverage of
RotationMatrixToAngleAxis.
Change-Id: Ic192a12fb5de952197ee24b0deedc45f195477f1
Use Eigen's much more complicated conversion routine
when we encounter cases where the angle of rotation is
close to Pi.
Along the way also fix the way angle_axis vectors are
compared by making the matcher more robust.
Thanks to Tobias Strauss for reporting this.
Change-Id: Ia7e65dafad92c48d29d5f3cd22c4d6534789c183
The Taylor series approximation had its sign flipped and the
tests did not catch it since we were switching exactly at zero,
which was not getting triggered.
This changes modifies the tolerance, adds a test that triggers
and fixes the bug.
Thanks to Michael Samples for reporting this.
Change-Id: I6f92f6348e5d4421ffe194fba92c04285449484c
This patch introduces a matrix wrapper (MatrixAdapter) that allows to
transparently pass pointers to row-major or column-major matrices
to the conversion functions.
Change-Id: I7f1683a8722088cffcc542f593ce7eb46fca109b
This is a preliminary, but full, port of Ceres to Windows.
Currently all tests compile and run, with only system_test
failing to work correctly due to a path issue.
Change-Id: I4152c1588bf51ffd7f4d9401ef9759f5d28c299c
Sergiu Deitsch