Merge pull request #417 from borglab/feature/new_expmap_default

Bump version and switch Pose3 expmap default

CMakeLists.txt

@@ -10,7 +10,7 @@ endif()
 # Set the version number for the library
 set (GTSAM_VERSION_MAJOR 4)
 set (GTSAM_VERSION_MINOR 0)
-set (GTSAM_VERSION_PATCH 2)
+set (GTSAM_VERSION_PATCH 3)
 math (EXPR GTSAM_VERSION_NUMERIC "10000 * ${GTSAM_VERSION_MAJOR} + 100 * ${GTSAM_VERSION_MINOR} + ${GTSAM_VERSION_PATCH}")
 set (GTSAM_VERSION_STRING "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}")
 
@@ -68,8 +68,8 @@ if(GTSAM_UNSTABLE_AVAILABLE)
 endif()
 option(BUILD_SHARED_LIBS                 "Build shared gtsam library, instead of static" ON)
 option(GTSAM_USE_QUATERNIONS             "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices. If enable, Rot3::EXPMAP is enforced by default." OFF)
-option(GTSAM_POSE3_EXPMAP 			 	 "Enable/Disable using Pose3::EXPMAP as the default mode. If disabled, Pose3::FIRST_ORDER will be used." OFF)
-option(GTSAM_ROT3_EXPMAP 			 	 "Ignore if GTSAM_USE_QUATERNIONS is OFF (Rot3::EXPMAP by default). Otherwise, enable Rot3::EXPMAP, or if disabled, use Rot3::CAYLEY." OFF)
+option(GTSAM_POSE3_EXPMAP 			 	 "Enable/Disable using Pose3::EXPMAP as the default mode. If disabled, Pose3::FIRST_ORDER will be used." ON)
+option(GTSAM_ROT3_EXPMAP 			 	 "Ignore if GTSAM_USE_QUATERNIONS is OFF (Rot3::EXPMAP by default). Otherwise, enable Rot3::EXPMAP, or if disabled, use Rot3::CAYLEY." ON)
 option(GTSAM_ENABLE_CONSISTENCY_CHECKS   "Enable/Disable expensive consistency checks"       OFF)
 option(GTSAM_WITH_TBB                    "Use Intel Threaded Building Blocks (TBB) if available" ON)
 option(GTSAM_WITH_EIGEN_MKL              "Eigen will use Intel MKL if available" OFF)

appveyor.yml

@@ -1,5 +1,5 @@
 # version format
-version: 4.0.2-{branch}-build{build}
+version: 4.0.3-{branch}-build{build}
 
 os: Visual Studio 2019
 

gtsam/nonlinear/tests/testAdaptAutoDiff.cpp

@@ -168,7 +168,11 @@ Camera camera(Pose3(Rot3().retract(Vector3(0.1, 0.2, 0.3)), Point3(0, 5, 0)),
 Point3 point(10, 0, -5);  // negative Z-axis convention of Snavely!
 Vector9 P = Camera().localCoordinates(camera);
 Vector3 X = point;
+#ifdef GTSAM_POSE3_EXPMAP
+Vector2 expectedMeasurement(1.3124675, 1.2057287);
+#else
 Vector2 expectedMeasurement(1.2431567, 1.2525694);
+#endif
 Matrix E1 = numericalDerivative21<Vector2, Vector9, Vector3>(adapted, P, X);
 Matrix E2 = numericalDerivative22<Vector2, Vector9, Vector3>(adapted, P, X);
 }
@@ -177,7 +181,11 @@ Matrix E2 = numericalDerivative22<Vector2, Vector9, Vector3>(adapted, P, X);
 // Check that Local worked as expected
 TEST(AdaptAutoDiff, Local) {
   using namespace example;
+#ifdef GTSAM_POSE3_EXPMAP
+  Vector9 expectedP = (Vector9() << 0.1, 0.2, 0.3, 0.7583528428, 4.9582357859, -0.224941471539, 1, 0, 0).finished();
+#else
   Vector9 expectedP = (Vector9() << 0.1, 0.2, 0.3, 0, 5, 0, 1, 0, 0).finished();
+#endif
   EXPECT(equal_with_abs_tol(expectedP, P));
   Vector3 expectedX(10, 0, -5);  // negative Z-axis convention of Snavely!
   EXPECT(equal_with_abs_tol(expectedX, X));