Deprecated several Point3 methods

examples/SFMExample.cpp

@@ -99,7 +99,7 @@ int main(int argc, char* argv[]) {
   for (size_t i = 0; i < poses.size(); ++i)
     initialEstimate.insert(Symbol('x', i), poses[i].compose(Pose3(Rot3::Rodrigues(-0.1, 0.2, 0.25), Point3(0.05, -0.10, 0.20))));
   for (size_t j = 0; j < points.size(); ++j)
-    initialEstimate.insert(Symbol('l', j), points[j].compose(Point3(-0.25, 0.20, 0.15)));
+    initialEstimate.insert(Symbol('l', j), points[j] + Point3(-0.25, 0.20, 0.15));
   initialEstimate.print("Initial Estimates:\n");
 
   /* Optimize the graph and print results */

examples/SFMExampleExpressions.cpp

@@ -88,7 +88,7 @@ int main(int argc, char* argv[]) {
   for (size_t i = 0; i < poses.size(); ++i)
     initial.insert(Symbol('x', i), poses[i].compose(delta));
   for (size_t j = 0; j < points.size(); ++j)
-    initial.insert(Symbol('l', j), points[j].compose(Point3(-0.25, 0.20, 0.15)));
+    initial.insert(Symbol('l', j), points[j] + Point3(-0.25, 0.20, 0.15));
   cout << "initial error = " << graph.error(initial) << endl;
 
   /* Optimize the graph and print results */

examples/SelfCalibrationExample.cpp

@@ -84,7 +84,7 @@ int main(int argc, char* argv[]) {
   for (size_t i = 0; i < poses.size(); ++i)
     initialEstimate.insert(Symbol('x', i), poses[i].compose(Pose3(Rot3::Rodrigues(-0.1, 0.2, 0.25), Point3(0.05, -0.10, 0.20))));
   for (size_t j = 0; j < points.size(); ++j)
-    initialEstimate.insert(Symbol('l', j), points[j].compose(Point3(-0.25, 0.20, 0.15)));
+    initialEstimate.insert(Symbol('l', j), points[j] + Point3(-0.25, 0.20, 0.15));
 
   /* Optimize the graph and print results */
   Values result = DoglegOptimizer(graph, initialEstimate).optimize();

examples/VisualISAM2Example.cpp

@@ -113,7 +113,7 @@ int main(int argc, char* argv[]) {
       // Add initial guesses to all observed landmarks
       // Intentionally initialize the variables off from the ground truth
       for (size_t j = 0; j < points.size(); ++j)
-        initialEstimate.insert(Symbol('l', j), points[j].compose(Point3(-0.25, 0.20, 0.15)));
+        initialEstimate.insert(Symbol('l', j), points[j] +Point3(-0.25, 0.20, 0.15));
 
     } else {
       // Update iSAM with the new factors

examples/VisualISAMExample.cpp

@@ -120,7 +120,7 @@ int main(int argc, char* argv[]) {
       Point3 noise(-0.25, 0.20, 0.15);
       for (size_t j = 0; j < points.size(); ++j) {
         // Intentionally initialize the variables off from the ground truth
-        Point3 initial_lj = points[j].compose(noise);
+        Point3 initial_lj = points[j] + noise;
         initialEstimate.insert(Symbol('l', j), initial_lj);
       }
 

gtsam/geometry/Point3.h

@@ -1,6 +1,6 @@
 /* ----------------------------------------------------------------------------
 
- * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
  * Atlanta, Georgia 30332-0415
  * All Rights Reserved
  * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
@@ -158,6 +158,7 @@ namespace gtsam {
     /// Output stream operator
     GTSAM_EXPORT friend std::ostream &operator<<(std::ostream &os, const Point3& p);
 
+#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
     /// @name Deprecated
     /// @{
     Point3 inverse() const { return -(*this);}
@@ -168,6 +169,7 @@ namespace gtsam {
     static Vector3 Logmap(const Point3& p) { return p.vector();}
     static Point3 Expmap(const Vector3& v) { return Point3(v);}
     /// @}
+#endif
 
   private:
 

gtsam/geometry/tests/testPoint3.cpp

@@ -1,6 +1,6 @@
 /* ----------------------------------------------------------------------------
 
- * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
  * Atlanta, Georgia 30332-0415
  * All Rights Reserved
  * Authors: Frank Dellaert, et al. (see THANKS for the full author list)

gtsam/nonlinear/tests/testAdaptAutoDiff.cpp

@@ -167,7 +167,7 @@ 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 = Point3::Logmap(point);
+Vector3 X = point.vector();
 Vector2 expectedMeasurement(1.2431567, 1.2525694);
 Matrix E1 = numericalDerivative21<Vector2, Vector9, Vector3>(adapted, P, X);
 Matrix E2 = numericalDerivative22<Vector2, Vector9, Vector3>(adapted, P, X);

gtsam_unstable/dynamics/PoseRTV.cpp

@@ -161,7 +161,7 @@ Vector6 PoseRTV::imuPrediction(const PoseRTV& x2, double dt) const {
 Point3 PoseRTV::translationIntegration(const Rot3& r2, const Velocity3& v2, double dt) const {
   // predict point for constraint
   // NOTE: uses simple Euler approach for prediction
-  Point3 pred_t2 = t().retract(v2 * dt);
+  Point3 pred_t2 = t() + Point3(v2 * dt);
   return pred_t2;
 }
 

gtsam_unstable/dynamics/VelocityConstraint.h

@@ -110,9 +110,9 @@ private:
     const Point3& p1 = x1.t(), p2 = x2.t();
     Point3 hx;
     switch(mode) {
-    case dynamics::TRAPEZOIDAL: hx = p1.retract((v1 + v2) * dt *0.5); break;
+    case dynamics::TRAPEZOIDAL: hx = p1 + Point3((v1 + v2) * dt *0.5); break;
-    case dynamics::EULER_START: hx = p1.retract(v1 * dt); break;
+    case dynamics::EULER_START: hx = p1 + Point3(v1 * dt); break;
-    case dynamics::EULER_END  : hx = p1.retract(v2 * dt); break;
+    case dynamics::EULER_END  : hx = p1 + Point3(v2 * dt); break;
     default: assert(false); break;
     }
     return (p2 - hx).vector();

gtsam_unstable/geometry/Event.h

@@ -1,6 +1,6 @@
 /* ----------------------------------------------------------------------------
 
- * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
  * Atlanta, Georgia 30332-0415
  * All Rights Reserved
  * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
@@ -72,7 +72,7 @@ public:
 
   /// Updates a with tangent space delta
   inline Event retract(const Vector4& v) const {
-    return Event(time_ + v[0], location_.retract(v.tail(3)));
+    return Event(time_ + v[0], location_ + Point3(v.tail<3>()));
   }
 
   /// Returns inverse retraction