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Merge pull request #745 from JuliaRobotics/master
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v0.24.4 RC1
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@Affie
Affie authored Jul 19, 2024
2 parents e7207f5 + ee81ab9 commit dfee38f
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8 changes: 6 additions & 2 deletions Project.toml
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Expand Up @@ -2,7 +2,7 @@ name = "RoME"
uuid = "91fb55c2-4c03-5a59-ba21-f4ea956187b8"
keywords = ["SLAM", "state-estimation", "MM-iSAM", "MM-iSAMv2", "inference", "robotics"]
desc = "Non-Gaussian simultaneous localization and mapping"
version = "0.24.3"
version = "0.24.4"

[deps]
ApproxManifoldProducts = "9bbbb610-88a1-53cd-9763-118ce10c1f89"
Expand Down Expand Up @@ -48,15 +48,19 @@ RoMEImageIOExt = "ImageIO"

[compat]
ApproxManifoldProducts = "0.8"
CameraModels = "0.2"
CoordinateTransformations = "0.5, 0.6"
Dates = "1.10"
DelimitedFiles = "1"
DifferentialEquations = "7"
Distributed = "1.10"
DistributedFactorGraphs = "0.23"
DistributedFactorGraphs = "0.23, 0.24"
Distributions = "0.24, 0.25"
DocStringExtensions = "0.8, 0.9"
FileIO = "1"
Flux = "0.14"
ImageCore = "0.9, 0.10"
ImageIO = "0.6"
IncrementalInference = "0.35"
Interpolations = "0.14, 0.15"
KernelDensityEstimate = "0.5.1, 0.6"
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2 changes: 1 addition & 1 deletion README.md
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Expand Up @@ -9,7 +9,7 @@

Robot Motion Estimate (RoME.jl) is part of the overall [Caesar.jl][cjl-url] and provides a set of graph variables, factors, and utility features for robotics-related navigation, tracking, and mapping (i.e. SLAM). RoME.jl helps build front-ends using the [Multi-modal iSAM] backend solver which is implemented over at [IncrementalInference.jl][iif-url]. See [the related references of interest here](http://www.juliarobotics.org/Caesar.jl/latest/refs/literature/). Most notably, this package provides common navigation-type variables and factors to be included in more general [DistributedFactorGraphs.jl](https://github.com/JuliaRobotics/DistributedFactorGraphs.jl) graph objects.

[NavAbility.io](http://www.navability.io) helps the with administration and support of the Caesar.jl community, please reach out for any additional information (info@navability.io) or via the caesarjl Slack badge-link above.
[NavAbility(TM) by WhereWhen.ai](http://www.wherewhen.ai) helps the with administration and support of the Caesar.jl community, please reach out for any additional information (info@wherewhen.ai) or via the caesarjl Slack badge-link above.
## Installation

You can directly install with:
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2 changes: 1 addition & 1 deletion ext/RoMEFluxExt.jl
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@@ -1,6 +1,6 @@
module RoMEFluxExt

@info "RoME.jl is loading extension functionality related to Flux.jl."
# @info "RoME.jl is loading extension functionality related to Flux.jl."

using Flux

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2 changes: 1 addition & 1 deletion ext/RoMEImageIOExt.jl
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Expand Up @@ -2,7 +2,7 @@ module RoMEImageIOExt

# ScalarField functions related to Images.jl

@info "RoME.jl is loading extension functionality related ImageCore.jl and ImageIO.jl"
# @info "RoME.jl is loading extension functionality related ImageCore.jl and ImageIO.jl"

using ImageIO
using ImageCore
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1 change: 1 addition & 0 deletions src/RoME.jl
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Expand Up @@ -32,6 +32,7 @@ using Manifolds: hat, ProductGroup, ProductManifold, SpecialEuclidean, SpecialOr
import Manifolds: project, project!, identity_element

import Rotations as _Rot
import Rotations: ⊕, ⊖ # TODO deprecate

export SpecialOrthogonal, SpecialEuclidean
export submanifold_component
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16 changes: 16 additions & 0 deletions src/factors/Pose3Pose3.jl
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Expand Up @@ -16,6 +16,12 @@ Pose3Pose3(::UniformScaling) = Pose3Pose3()

function (cf::CalcFactor{<:Pose3Pose3})(X, p::ArrayPartition{T}, q) where T
M = getManifold(Pose3)
# X: p_Xq̂
# p: w_H_p
# q: w_H_q
# ̂q: w_H_̂q = w_H_p * exp_0(p_Xq̂)
# w_H_̂q = Manifolds.compose(M, w_H_p, exp(M, getPointIdentity(M), p_Xq̂))

q̂ = Manifolds.compose(M, p, exp(M, getPointIdentity(M), X))

Xc::SVector{6,T} = get_coordinates(M, q, log(M, q, q̂), DefaultOrthogonalBasis())
Expand Down Expand Up @@ -85,4 +91,14 @@ function (cf::CalcFactor{<:Pose3Pose3UnitTrans})(X, p::ArrayPartition{T}, q) whe
q̂ = Manifolds.compose(M, p, exp(M, getPointIdentity(M), X))
Xc::SVector{6,T} = get_coordinates(M, q, log(M, q, q̂), DefaultOrthogonalBasis())
return SVector{6,T}(normalize(Xc[1:3])..., Xc[4:6]...)
end

Base.@kwdef struct PackedPose3Pose3UnitTrans <: AbstractPackedFactor
Z::PackedSamplableBelief
end
function convert(::Type{Pose3Pose3UnitTrans}, packed::PackedPose3Pose3UnitTrans)
return Pose3Pose3UnitTrans( convert(SamplableBelief, packed.Z) )
end
function convert(::Type{PackedPose3Pose3UnitTrans}, obj::Pose3Pose3UnitTrans)
return PackedPose3Pose3UnitTrans( convert(PackedSamplableBelief, obj.Z) )
end

2 comments on commit dfee38f

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@Affie Affie commented on dfee38f Jul 19, 2024

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@JuliaRegistrator register branch=release/v0.24

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Registration pull request created: JuliaRegistries/General/111340

Tip: Release Notes

Did you know you can add release notes too? Just add markdown formatted text underneath the comment after the text
"Release notes:" and it will be added to the registry PR, and if TagBot is installed it will also be added to the
release that TagBot creates. i.e.

@JuliaRegistrator register

Release notes:

## Breaking changes

- blah

To add them here just re-invoke and the PR will be updated.

Tagging

After the above pull request is merged, it is recommended that a tag is created on this repository for the registered package version.

This will be done automatically if the Julia TagBot GitHub Action is installed, or can be done manually through the github interface, or via:

git tag -a v0.24.4 -m "<description of version>" dfee38ffeaef93b91dd1c4fabb3293b7c6744da2
git push origin v0.24.4

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