12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Merge branch 'develop' into fix-verbosityLMTranslator

release/4.3a0
Varun Agrawal 2021-03-18 16:19:24 -04:00
parent 43078f7cb8 8fcfb4fe30
commit 9dbb47fced
9 changed files with 101 additions and 56 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
.github/scripts/boost.sh vendored Normal file
View File

@ -0,0 +1,18 @@
### Script to install Boost
BOOST_FOLDER=boost_${BOOST_VERSION//./_}
# Download Boost
wget https://dl.bintray.com/boostorg/release/${BOOST_VERSION}/source/${BOOST_FOLDER}.tar.gz
# Unzip
tar -zxf ${BOOST_FOLDER}.tar.gz
# Bootstrap
cd ${BOOST_FOLDER}/
./bootstrap.sh
# Build and install
sudo ./b2 install
# Rebuild ld cache
sudo ldconfig

10
.github/scripts/python.sh vendored
View File

@ -65,21 +65,23 @@ sudo $PYTHON -m pip install -r $GITHUB_WORKSPACE/python/requirements.txt
mkdir $GITHUB_WORKSPACE/build
cd $GITHUB_WORKSPACE/build
cmake $GITHUB_WORKSPACE -DCMAKE_BUILD_TYPE=Release \
-DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_UNSTABLE=ON \
cmake $GITHUB_WORKSPACE -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} \
-DGTSAM_BUILD_TESTS=OFF \
-DGTSAM_BUILD_UNSTABLE=${GTSAM_BUILD_UNSTABLE:-ON} \
-DGTSAM_USE_QUATERNIONS=OFF \
-DGTSAM_WITH_TBB=${GTSAM_WITH_TBB:-OFF} \
-DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
-DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
-DGTSAM_BUILD_PYTHON=${BUILD_PYBIND} \
-DGTSAM_TYPEDEF_POINTS_TO_VECTORS=${TYPEDEF_POINTS_TO_VECTORS} \
-DGTSAM_UNSTABLE_BUILD_PYTHON=${GTSAM_BUILD_UNSTABLE:-ON} \
-DGTSAM_PYTHON_VERSION=$PYTHON_VERSION \
-DPYTHON_EXECUTABLE:FILEPATH=$(which $PYTHON) \
-DGTSAM_ALLOW_DEPRECATED_SINCE_V41=OFF \
-DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/gtsam_install
make -j$(nproc) install
# Set to 2 cores so that Actions does not error out during resource provisioning.
make -j2 install
cd $GITHUB_WORKSPACE/build/python
$PYTHON setup.py install --user --prefix=

18
.github/workflows/build-linux.yml vendored
View File

@ -12,6 +12,7 @@ jobs:
CTEST_PARALLEL_LEVEL: 2
CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
GTSAM_BUILD_UNSTABLE: ${{ matrix.build_unstable }}
BOOST_VERSION: 1.67.0
strategy:
fail-fast: false
@ -44,7 +45,8 @@ jobs:
steps:
- name: Checkout
uses: actions/checkout@master
uses: actions/checkout@v2
- name: Install (Linux)
if: runner.os == 'Linux'
run: |
@ -61,11 +63,8 @@ jobs:
fi
sudo apt-get -y update
sudo apt install cmake build-essential pkg-config libpython-dev python-numpy
echo "BOOST_ROOT=$(echo $BOOST_ROOT_1_72_0)" >> $GITHUB_ENV
echo "LD_LIBRARY_PATH=$(echo $BOOST_ROOT_1_72_0/lib)" >> $GITHUB_ENV
sudo apt-get install cmake build-essential pkg-config libpython-dev python-numpy libicu-dev
if [ "${{ matrix.compiler }}" = "gcc" ]; then
sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV
@ -75,10 +74,11 @@ jobs:
echo "CC=clang-${{ matrix.version }}" >> $GITHUB_ENV
echo "CXX=clang++-${{ matrix.version }}" >> $GITHUB_ENV
fi
- name: Check Boost version
if: runner.os == 'Linux'
- name: Install Boost
run: |
echo "BOOST_ROOT = $BOOST_ROOT"
bash .github/scripts/boost.sh
- name: Build and Test (Linux)
if: runner.os == 'Linux'
run: |

4
.github/workflows/build-macos.yml vendored
View File

@ -12,6 +12,7 @@ jobs:
CTEST_PARALLEL_LEVEL: 2
CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
GTSAM_BUILD_UNSTABLE: ${{ matrix.build_unstable }}
strategy:
fail-fast: false
matrix:
@ -31,7 +32,8 @@ jobs:
steps:
- name: Checkout
uses: actions/checkout@master
uses: actions/checkout@v2
- name: Install (macOS)
if: runner.os == 'macOS'
run: |

27
.github/workflows/build-python.yml vendored
View File

@ -12,6 +12,7 @@ jobs:
CTEST_PARALLEL_LEVEL: 2
CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
PYTHON_VERSION: ${{ matrix.python_version }}
strategy:
fail-fast: false
matrix:
@ -22,10 +23,12 @@ jobs:
ubuntu-18.04-gcc-9,
ubuntu-18.04-clang-9,
macOS-10.15-xcode-11.3.1,
#ubuntu-18.04-gcc-5-tbb,
# ubuntu-18.04-gcc-5-tbb,
]
build_type: [Debug, Release]
#TODO update wrapper to prevent OOM
# build_type: [Debug, Release]
build_type: [Release]
python_version: [3]
include:
- name: ubuntu-18.04-gcc-5
@ -43,20 +46,28 @@ jobs:
compiler: clang
version: "9"
#NOTE temporarily added this as it is a required check.
- name: ubuntu-18.04-clang-9
os: ubuntu-18.04
compiler: clang
version: "9"
build_type: Debug
python_version: "3"
- name: macOS-10.15-xcode-11.3.1
os: macOS-10.15
compiler: xcode
version: "11.3.1"
# - name: ubuntu-18.04-gcc-5-tbb
# os: ubuntu-18.04
# compiler: gcc
# version: "5"
# flag: tbb
# - name: ubuntu-18.04-gcc-5-tbb
# os: ubuntu-18.04
# compiler: gcc
# version: "5"
# flag: tbb
steps:
- name: Checkout
uses: actions/checkout@master
uses: actions/checkout@v2
- name: Install (Linux)
if: runner.os == 'Linux'
run: |

13
.github/workflows/build-special.yml vendored
View File

@ -12,6 +12,7 @@ jobs:
CTEST_PARALLEL_LEVEL: 2
CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
GTSAM_BUILD_UNSTABLE: ON
BOOST_VERSION: 1.67.0
strategy:
fail-fast: false
@ -56,7 +57,7 @@ jobs:
steps:
- name: Checkout
uses: actions/checkout@master
uses: actions/checkout@v2
- name: Install (Linux)
if: runner.os == 'Linux'
@ -69,10 +70,7 @@ jobs:
fi
sudo apt-get -y update
sudo apt install cmake build-essential pkg-config libpython-dev python-numpy
echo "BOOST_ROOT=$(echo $BOOST_ROOT_1_72_0)" >> $GITHUB_ENV
echo "LD_LIBRARY_PATH=$(echo $BOOST_ROOT_1_72_0/lib)" >> $GITHUB_ENV
sudo apt install cmake build-essential pkg-config libpython-dev python-numpy libicu-dev
if [ "${{ matrix.compiler }}" = "gcc" ]; then
sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
@ -84,6 +82,11 @@ jobs:
echo "CXX=clang++-${{ matrix.version }}" >> $GITHUB_ENV
fi
- name: Install Boost
if: runner.os == 'Linux'
run: |
bash .github/scripts/boost.sh
- name: Install (macOS)
if: runner.os == 'macOS'
run: |

15
.github/workflows/build-windows.yml vendored
View File

@ -38,7 +38,7 @@ jobs:
steps:
- name: Checkout
uses: actions/checkout@master
uses: actions/checkout@v2
- name: Install (Windows)
if: runner.os == 'Windows'
shell: powershell
@ -64,12 +64,21 @@ jobs:
}
# Scoop modifies the PATH so we make the modified PATH global.
echo "$env:PATH" >> $GITHUB_PATH
- name: Download and install Boost
uses: MarkusJx/install-boost@v1.0.1
id: install-boost
with:
boost_version: 1.72.0
toolset: msvc14.2
- name: Build (Windows)
if: runner.os == 'Windows'
env:
BOOST_ROOT: ${{ steps.install-boost.outputs.BOOST_ROOT }}
run: |
cmake -E remove_directory build
echo "BOOST_ROOT_1_72_0: ${env:BOOST_ROOT_1_72_0}"
cmake -B build -S . -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DBOOST_ROOT="${env:BOOST_ROOT_1_72_0}" -DBOOST_INCLUDEDIR="${env:BOOST_ROOT_1_72_0}\boost\include" -DBOOST_LIBRARYDIR="${env:BOOST_ROOT_1_72_0}\lib"
cmake -B build -S . -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DBOOST_ROOT="${env:BOOST_ROOT}" -DBOOST_INCLUDEDIR="${env:BOOST_ROOT}\boost\include" -DBOOST_LIBRARYDIR="${env:BOOST_ROOT}\lib"
cmake --build build --config ${{ matrix.build_type }} --target gtsam
cmake --build build --config ${{ matrix.build_type }} --target gtsam_unstable
cmake --build build --config ${{ matrix.build_type }} --target wrap

48
gtsam/geometry/Similarity3.h
View File

@ -23,7 +23,7 @@
#include <gtsam/geometry/Pose3.h>
#include <gtsam/base/Lie.h>
#include <gtsam/base/Manifold.h>
#include <gtsam_unstable/dllexport.h>
#include <gtsam/dllexport.h>
namespace gtsam {
@ -53,54 +53,54 @@ public:
/// @{
/// Default constructor
GTSAM_UNSTABLE_EXPORT Similarity3();
GTSAM_EXPORT Similarity3();
/// Construct pure scaling
GTSAM_UNSTABLE_EXPORT Similarity3(double s);
GTSAM_EXPORT Similarity3(double s);
/// Construct from GTSAM types
GTSAM_UNSTABLE_EXPORT Similarity3(const Rot3& R, const Point3& t, double s);
GTSAM_EXPORT Similarity3(const Rot3& R, const Point3& t, double s);
/// Construct from Eigen types
GTSAM_UNSTABLE_EXPORT Similarity3(const Matrix3& R, const Vector3& t, double s);
GTSAM_EXPORT Similarity3(const Matrix3& R, const Vector3& t, double s);
/// Construct from matrix [R t; 0 s^-1]
GTSAM_UNSTABLE_EXPORT Similarity3(const Matrix4& T);
GTSAM_EXPORT Similarity3(const Matrix4& T);
/// @}
/// @name Testable
/// @{
/// Compare with tolerance
GTSAM_UNSTABLE_EXPORT bool equals(const Similarity3& sim, double tol) const;
GTSAM_EXPORT bool equals(const Similarity3& sim, double tol) const;
/// Exact equality
GTSAM_UNSTABLE_EXPORT bool operator==(const Similarity3& other) const;
GTSAM_EXPORT bool operator==(const Similarity3& other) const;
/// Print with optional string
GTSAM_UNSTABLE_EXPORT void print(const std::string& s) const;
GTSAM_EXPORT void print(const std::string& s) const;
GTSAM_UNSTABLE_EXPORT friend std::ostream &operator<<(std::ostream &os, const Similarity3& p);
GTSAM_EXPORT friend std::ostream &operator<<(std::ostream &os, const Similarity3& p);
/// @}
/// @name Group
/// @{
/// Return an identity transform
GTSAM_UNSTABLE_EXPORT static Similarity3 identity();
GTSAM_EXPORT static Similarity3 identity();
/// Composition
GTSAM_UNSTABLE_EXPORT Similarity3 operator*(const Similarity3& S) const;
GTSAM_EXPORT Similarity3 operator*(const Similarity3& S) const;
/// Return the inverse
GTSAM_UNSTABLE_EXPORT Similarity3 inverse() const;
GTSAM_EXPORT Similarity3 inverse() const;
/// @}
/// @name Group action on Point3
/// @{
/// Action on a point p is s*(R*p+t)
GTSAM_UNSTABLE_EXPORT Point3 transformFrom(const Point3& p, //
GTSAM_EXPORT Point3 transformFrom(const Point3& p, //
OptionalJacobian<3, 7> H1 = boost::none, //
OptionalJacobian<3, 3> H2 = boost::none) const;
@ -115,15 +115,15 @@ public:
* This group action satisfies the compatibility condition.
* For more details, refer to: https://en.wikipedia.org/wiki/Group_action
*/
GTSAM_UNSTABLE_EXPORT Pose3 transformFrom(const Pose3& T) const;
GTSAM_EXPORT Pose3 transformFrom(const Pose3& T) const;
/** syntactic sugar for transformFrom */
GTSAM_UNSTABLE_EXPORT Point3 operator*(const Point3& p) const;
GTSAM_EXPORT Point3 operator*(const Point3& p) const;
/**
* Create Similarity3 by aligning at least three point pairs
*/
GTSAM_UNSTABLE_EXPORT static Similarity3 Align(const std::vector<Point3Pair>& abPointPairs);
GTSAM_EXPORT static Similarity3 Align(const std::vector<Point3Pair>& abPointPairs);
/**
* Create the Similarity3 object that aligns at least two pose pairs.
@ -135,7 +135,7 @@ public:
* using the algorithm described here:
* http://www5.informatik.uni-erlangen.de/Forschung/Publikationen/2005/Zinsser05-PSR.pdf
*/
GTSAM_UNSTABLE_EXPORT static Similarity3 Align(const std::vector<Pose3Pair>& abPosePairs);
GTSAM_EXPORT static Similarity3 Align(const std::vector<Pose3Pair>& abPosePairs);
/// @}
/// @name Lie Group
@ -144,12 +144,12 @@ public:
/** Log map at the identity
* \f$ [R_x,R_y,R_z, t_x, t_y, t_z, \lambda] \f$
*/
GTSAM_UNSTABLE_EXPORT static Vector7 Logmap(const Similarity3& s, //
GTSAM_EXPORT static Vector7 Logmap(const Similarity3& s, //
OptionalJacobian<7, 7> Hm = boost::none);
/** Exponential map at the identity
*/
GTSAM_UNSTABLE_EXPORT static Similarity3 Expmap(const Vector7& v, //
GTSAM_EXPORT static Similarity3 Expmap(const Vector7& v, //
OptionalJacobian<7, 7> Hm = boost::none);
/// Chart at the origin
@ -170,17 +170,17 @@ public:
* @return 4*4 element of Lie algebra that can be exponentiated
* TODO(frank): rename to Hat, make part of traits
*/
GTSAM_UNSTABLE_EXPORT static Matrix4 wedge(const Vector7& xi);
GTSAM_EXPORT static Matrix4 wedge(const Vector7& xi);
/// Project from one tangent space to another
GTSAM_UNSTABLE_EXPORT Matrix7 AdjointMap() const;
GTSAM_EXPORT Matrix7 AdjointMap() const;
/// @}
/// @name Standard interface
/// @{
/// Calculate 4*4 matrix group equivalent
GTSAM_UNSTABLE_EXPORT const Matrix4 matrix() const;
GTSAM_EXPORT const Matrix4 matrix() const;
/// Return a GTSAM rotation
const Rot3& rotation() const {
@ -199,7 +199,7 @@ public:
/// Convert to a rigid body pose (R, s*t)
/// TODO(frank): why is this here? Red flag! Definitely don't have it as a cast.
GTSAM_UNSTABLE_EXPORT operator Pose3() const;
GTSAM_EXPORT operator Pose3() const;
/// Dimensionality of tangent space = 7 DOF - used to autodetect sizes
inline static size_t Dim() {

4
gtsam/gtsam.i
View File

@ -1037,8 +1037,8 @@ class Similarity3 {
Similarity3(const Matrix& T);
gtsam::Pose3 transformFrom(const gtsam::Pose3& T);
static Similarity3 Align(const gtsam::Point3Pairs & abPointPairs);
static Similarity3 Align(const gtsam::Pose3Pairs & abPosePairs);
static gtsam::Similarity3 Align(const gtsam::Point3Pairs & abPointPairs);
static gtsam::Similarity3 Align(const gtsam::Pose3Pairs & abPosePairs);
// Standard Interface
const Matrix matrix() const;