From e3a681eb6080f98d899f27cea3da9f49f5d1c5e4 Mon Sep 17 00:00:00 2001 From: CompatHelper Julia Date: Sat, 25 May 2024 01:22:24 +0000 Subject: [PATCH 1/8] CompatHelper: add new compat entry for ImageIO in [weakdeps] at version 0.6, (keep existing compat) --- Project.toml | 1 + 1 file changed, 1 insertion(+) diff --git a/Project.toml b/Project.toml index cc7f22f1..42a94147 100644 --- a/Project.toml +++ b/Project.toml @@ -57,6 +57,7 @@ Distributions = "0.24, 0.25" DocStringExtensions = "0.8, 0.9" FileIO = "1" ImageCore = "0.9, 0.10" +ImageIO = "0.6" IncrementalInference = "0.35" Interpolations = "0.14, 0.15" KernelDensityEstimate = "0.5.1, 0.6" From a4d441941dd16fe8d5ac7a64f7ad5f91d816058e Mon Sep 17 00:00:00 2001 From: CompatHelper Julia Date: Sat, 25 May 2024 01:22:27 +0000 Subject: [PATCH 2/8] CompatHelper: add new compat entry for Flux in [weakdeps] at version 0.14, (keep existing compat) --- Project.toml | 1 + 1 file changed, 1 insertion(+) diff --git a/Project.toml b/Project.toml index cc7f22f1..2226b805 100644 --- a/Project.toml +++ b/Project.toml @@ -56,6 +56,7 @@ DistributedFactorGraphs = "0.23" Distributions = "0.24, 0.25" DocStringExtensions = "0.8, 0.9" FileIO = "1" +Flux = "0.14" ImageCore = "0.9, 0.10" IncrementalInference = "0.35" Interpolations = "0.14, 0.15" From 4ad6a0f046d2d70f56ac96aa857af653276a6d0f Mon Sep 17 00:00:00 2001 From: CompatHelper Julia Date: Sat, 25 May 2024 01:22:29 +0000 Subject: [PATCH 3/8] CompatHelper: add new compat entry for CameraModels in [weakdeps] at version 0.2, (keep existing compat) --- Project.toml | 1 + 1 file changed, 1 insertion(+) diff --git a/Project.toml b/Project.toml index cc7f22f1..87bfbbbf 100644 --- a/Project.toml +++ b/Project.toml @@ -48,6 +48,7 @@ RoMEImageIOExt = "ImageIO" [compat] ApproxManifoldProducts = "0.8" +CameraModels = "0.2" CoordinateTransformations = "0.5, 0.6" Dates = "1.10" DelimitedFiles = "1" From 63a8eb4591fea683fa0d27fe5820bb1d68c96f04 Mon Sep 17 00:00:00 2001 From: CompatHelper Julia Date: Sat, 25 May 2024 01:22:31 +0000 Subject: [PATCH 4/8] CompatHelper: add new compat entry for DifferentialEquations in [weakdeps] at version 7, (keep existing compat) --- Project.toml | 1 + 1 file changed, 1 insertion(+) diff --git a/Project.toml b/Project.toml index cc7f22f1..2afaa4c5 100644 --- a/Project.toml +++ b/Project.toml @@ -51,6 +51,7 @@ ApproxManifoldProducts = "0.8" CoordinateTransformations = "0.5, 0.6" Dates = "1.10" DelimitedFiles = "1" +DifferentialEquations = "7" Distributed = "1.10" DistributedFactorGraphs = "0.23" Distributions = "0.24, 0.25" From 90ba16f1ce09db0b615cffb53931d296101ddef7 Mon Sep 17 00:00:00 2001 From: dehann Date: Tue, 4 Jun 2024 13:46:11 -0700 Subject: [PATCH 5/8] several minor comment and code fixes --- ext/RoMEFluxExt.jl | 2 +- ext/RoMEImageIOExt.jl | 2 +- src/RoME.jl | 1 + src/factors/Pose3Pose3.jl | 6 ++++++ 4 files changed, 9 insertions(+), 2 deletions(-) diff --git a/ext/RoMEFluxExt.jl b/ext/RoMEFluxExt.jl index 4cbd3495..3e8a92b5 100644 --- a/ext/RoMEFluxExt.jl +++ b/ext/RoMEFluxExt.jl @@ -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 diff --git a/ext/RoMEImageIOExt.jl b/ext/RoMEImageIOExt.jl index 3fb8d42c..fea062ee 100644 --- a/ext/RoMEImageIOExt.jl +++ b/ext/RoMEImageIOExt.jl @@ -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 diff --git a/src/RoME.jl b/src/RoME.jl index fdeef11c..09571886 100644 --- a/src/RoME.jl +++ b/src/RoME.jl @@ -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 diff --git a/src/factors/Pose3Pose3.jl b/src/factors/Pose3Pose3.jl index 3e807ae2..a7bccb30 100644 --- a/src/factors/Pose3Pose3.jl +++ b/src/factors/Pose3Pose3.jl @@ -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()) From fea9b380204ffc638e3a5b638081f68c44045a9d Mon Sep 17 00:00:00 2001 From: Johannes Terblanche Date: Fri, 7 Jun 2024 19:48:11 -0700 Subject: [PATCH 6/8] Add Pose3Pose3UnitTrans Packing --- src/factors/Pose3Pose3.jl | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/src/factors/Pose3Pose3.jl b/src/factors/Pose3Pose3.jl index a7bccb30..ce864d2d 100644 --- a/src/factors/Pose3Pose3.jl +++ b/src/factors/Pose3Pose3.jl @@ -91,4 +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 \ No newline at end of file From c9deb73736371d2bde6c534f5fa120ec23fc03dd Mon Sep 17 00:00:00 2001 From: Dehann Fourie <6412556+dehann@users.noreply.github.com> Date: Wed, 12 Jun 2024 16:09:23 -0700 Subject: [PATCH 7/8] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 7a6d633f..b8457f8b 100644 --- a/README.md +++ b/README.md @@ -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: From ee81ab90574eb83401ccc71302a5d242b3866a3c Mon Sep 17 00:00:00 2001 From: Johannes Terblanche Date: Fri, 19 Jul 2024 10:53:07 +0200 Subject: [PATCH 8/8] update DFG compat, bump minor --- Project.toml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Project.toml b/Project.toml index 87dc2141..4201dbaa 100644 --- a/Project.toml +++ b/Project.toml @@ -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" @@ -54,7 +54,7 @@ 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"