Bump version and switch Pose3 expmap default

[ProfFan]

This PR will:

1. Bump version to 4.0.3
2. Switch default Pose3 expmap to full, and Rot3 to full, for consistency.

@dellaert @varunagrawal

#412

[ProfFan]

After this PR we will merge current develop to release/4.0.3.

[ProfFan]

Also note that there will be one unit test failure in AdaptAutoDiff, which should be dealt with first before merging.

[varunagrawal]

LGTM

[dellaert]

Also note that there will be one unit test failure in AdaptAutoDiff, which should be dealt with first before merging.

How/a add it to tracking issue... do you have a solution?

[dellaert]

Approved, but please explain, for the record, why the unit test had to be changed and why you think it’s correct.

[ProfFan]

@dellaert Because the localCoordinates of a Camera is a the (6+3=9) dim vector <pose.local, cal.local>, so after the expmap change the local coordinate of the pose difference changed (P in code). Because P changed, the result of Snavely also changed, thus the #ifdefs are required and correct.

Proof:

>>> import gtsam as g
>>> import numpy as np
>>> p1=g.Pose3.Expmap(np.array([0.1, 0.2, 0.3, 0.7583528428, 4.9582357859, -0.224941471539]))
>>> r1=p1.rotation()
>>> g.Rot3.Logmap(r1)
array([0.1, 0.2, 0.3])
>>> t1=p1.translation()
>>> t1
[-1.99681e-11, 5, 2.22441e-12]'

Quote:

namespace example {
Camera camera(Pose3(Rot3().retract(Vector3(0.1, 0.2, 0.3)), Point3(0, 5, 0)),
              Cal3Bundler0(1, 0, 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);
}

/* ************************************************************************* */
// 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));
}

[ProfFan]

Since there is no objection, I will merge this and checkout 4.0.3 release :)

[dellaert]

Since there is no objection, I will merge this and checkout 4.0.3 release :)

By "checkout" you mean merge in develop and release it?

[ProfFan]

@dellaert Yes