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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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1
cmake/HandleGeneralOptions.cmake
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@ -28,6 +28,7 @@ option(GTSAM_INSTALL_MATLAB_TOOLBOX "Enable/Disable installation of matlab
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_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)
option(GTSAM_BUILD_WITH_CCACHE "Use ccache compiler cache" ON)
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
#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 {
T hx = traits<T>::Between(p1, p2, H1, H2); // 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;
Vector rval = traits<T>::Local(measured_, hx, boost::none, (H1 || H2) ? &Hlocal : 0);
if (H1) *H1 = Hlocal * (*H1);