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Merge pull request #867 from borglab/feature/between-factor-cmake-flag 

BetweenFactor Jacobian CMake flag
release/4.3a0
Frank Dellaert 2021-10-21 08:00:21 -04:00 committed by GitHub
parent 6eb01aa5ac f9703e9cb1
commit 0a6a6b00b8
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 19 additions and 15 deletions
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29
cmake/HandleGeneralOptions.cmake
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@ -14,20 +14,21 @@ if(GTSAM_UNSTABLE_AVAILABLE)
option(GTSAM_UNSTABLE_BUILD_PYTHON "Enable/Disable Python wrapper for libgtsam_unstable" ON) option(GTSAM_UNSTABLE_BUILD_PYTHON "Enable/Disable Python wrapper for libgtsam_unstable" ON)
option(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX "Enable/Disable MATLAB wrapper for libgtsam_unstable" OFF) option(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX "Enable/Disable MATLAB wrapper for libgtsam_unstable" OFF)
endif() endif()
option(BUILD_SHARED_LIBS "Build shared gtsam library, instead of static" ON) 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_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." ON) 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_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_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_TBB "Use Intel Threaded Building Blocks (TBB) if available" ON)
option(GTSAM_WITH_EIGEN_MKL "Eigen will use Intel MKL if available" OFF) option(GTSAM_WITH_EIGEN_MKL "Eigen will use Intel MKL if available" OFF)
option(GTSAM_WITH_EIGEN_MKL_OPENMP "Eigen, when using Intel MKL, will also use OpenMP for multithreading if available" OFF) option(GTSAM_WITH_EIGEN_MKL_OPENMP "Eigen, when using Intel MKL, will also use OpenMP for multithreading if available" OFF)
option(GTSAM_THROW_CHEIRALITY_EXCEPTION "Throw exception when a triangulated point is behind a camera" ON) option(GTSAM_THROW_CHEIRALITY_EXCEPTION "Throw exception when a triangulated point is behind a camera" ON)
option(GTSAM_BUILD_PYTHON "Enable/Disable building & installation of Python module with pybind11" OFF) option(GTSAM_BUILD_PYTHON "Enable/Disable building & installation of Python module with pybind11" OFF)
option(GTSAM_INSTALL_MATLAB_TOOLBOX "Enable/Disable installation of matlab toolbox" OFF) option(GTSAM_INSTALL_MATLAB_TOOLBOX "Enable/Disable installation of matlab toolbox" OFF)
option(GTSAM_ALLOW_DEPRECATED_SINCE_V41 "Allow use of methods/functions deprecated in GTSAM 4.1" ON) option(GTSAM_ALLOW_DEPRECATED_SINCE_V41 "Allow use of methods/functions deprecated in GTSAM 4.1" ON)
option(GTSAM_SUPPORT_NESTED_DISSECTION "Support Metis-based nested dissection" ON) option(GTSAM_SUPPORT_NESTED_DISSECTION "Support Metis-based nested dissection" ON)
option(GTSAM_TANGENT_PREINTEGRATION "Use new ImuFactor with integration on tangent space" ON) option(GTSAM_TANGENT_PREINTEGRATION "Use new ImuFactor with integration on tangent space" ON)
option(GTSAM_SLOW_BUT_CORRECT_BETWEENFACTOR "Use the slower but correct version of BetweenFactor" OFF)
if(NOT MSVC AND NOT XCODE_VERSION) if(NOT MSVC AND NOT XCODE_VERSION)
option(GTSAM_BUILD_WITH_CCACHE "Use ccache compiler cache" ON) option(GTSAM_BUILD_WITH_CCACHE "Use ccache compiler cache" ON)
endif() endif()

3
gtsam/config.h.in
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@ -80,3 +80,6 @@
// Whether to use the system installed Metis instead of the provided one // Whether to use the system installed Metis instead of the provided one
#cmakedefine GTSAM_USE_SYSTEM_METIS #cmakedefine GTSAM_USE_SYSTEM_METIS
// Toggle switch for BetweenFactor jacobian computation
#cmakedefine GTSAM_SLOW_BUT_CORRECT_BETWEENFACTOR

2
gtsam/slam/BetweenFactor.h
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@ -103,7 +103,7 @@ namespace gtsam {
boost::none, boost::optional<Matrix&> H2 = boost::none) const override { boost::none, boost::optional<Matrix&> H2 = boost::none) const override {
T hx = traits<T>::Between(p1, p2, H1, H2); // h(x) T hx = traits<T>::Between(p1, p2, H1, H2); // h(x)
// manifold equivalent of h(x)-z -> log(z,h(x)) // manifold equivalent of h(x)-z -> log(z,h(x))
#ifdef SLOW_BUT_CORRECT_BETWEENFACTOR #ifdef GTSAM_SLOW_BUT_CORRECT_BETWEENFACTOR
typename traits<T>::ChartJacobian::Jacobian Hlocal; typename traits<T>::ChartJacobian::Jacobian Hlocal;
Vector rval = traits<T>::Local(measured_, hx, boost::none, (H1 || H2) ? &Hlocal : 0); Vector rval = traits<T>::Local(measured_, hx, boost::none, (H1 || H2) ? &Hlocal : 0);
if (H1) *H1 = Hlocal * (*H1); if (H1) *H1 = Hlocal * (*H1);