v0.24.6-rc1

.github/workflows/ci.yml

@@ -78,7 +78,7 @@ jobs:
 
       - name: Run tests on Upstream Dev
         run: |
-          julia --project=@. --check-bounds=yes -e 'using Pkg; Pkg.add(PackageSpec(name="IncrementalInference",rev="master"));'
+          julia --project=@. --check-bounds=yes -e 'using Pkg; Pkg.add(PackageSpec(name="IncrementalInference",rev="develop"));'
           julia --project=@. --check-bounds=yes -e 'using Pkg; Pkg.add(PackageSpec(name="ApproxManifoldProducts",rev="master"));'
           julia --project=@. --check-bounds=yes -e 'using Pkg; Pkg.add(PackageSpec(name="DistributedFactorGraphs",rev="master"));'
           julia --project=@. --check-bounds=yes -e 'using Pkg; Pkg.test("RoME"; coverage=false)'

Project.toml

@@ -2,7 +2,7 @@ name = "RoME"
 uuid = "91fb55c2-4c03-5a59-ba21-f4ea956187b8"
 keywords = ["SLAM", "state-estimation", "MM-iSAM", "MM-iSAMv2", "inference", "robotics"]
 desc = "Non-Gaussian simultaneous localization and mapping"
-version = "0.24.5"
+version = "0.24.6"
 
 [deps]
 ApproxManifoldProducts = "9bbbb610-88a1-53cd-9763-118ce10c1f89"
@@ -26,6 +26,7 @@ OrderedCollections = "bac558e1-5e72-5ebc-8fee-abe8a469f55d"
 PrecompileTools = "aea7be01-6a6a-4083-8856-8a6e6704d82a"
 ProgressMeter = "92933f4c-e287-5a05-a399-4b506db050ca"
 Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
+RecursiveArrayTools = "731186ca-8d62-57ce-b412-fbd966d074cd"
 Reexport = "189a3867-3050-52da-a836-e630ba90ab69"
 Rotations = "6038ab10-8711-5258-84ad-4b1120ba62dc"
 StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
@@ -47,14 +48,14 @@ RoMEFluxExt = "Flux"
 RoMEImageIOExt = "ImageIO"
 
 [compat]
-ApproxManifoldProducts = "0.8.5"
+ApproxManifoldProducts = "0.9"
 CameraModels = "0.2"
 CoordinateTransformations = "0.5, 0.6"
 Dates = "1.10"
 DelimitedFiles = "1"
 DifferentialEquations = "7"
 Distributed = "1.10"
-DistributedFactorGraphs = "0.23, 0.24"
+DistributedFactorGraphs = "0.25"
 Distributions = "0.24, 0.25"
 DocStringExtensions = "0.8, 0.9"
 FileIO = "1"
@@ -65,13 +66,14 @@ IncrementalInference = "0.35"
 Interpolations = "0.14, 0.15"
 KernelDensityEstimate = "0.5.1, 0.6"
 LinearAlgebra = "1.10"
-Manifolds = "0.9"
+Manifolds = "0.10.1"
 ManifoldsBase = "0.15"
 Optim = "0.22, 1"
 OrderedCollections = "1"
 PrecompileTools = "1"
 ProgressMeter = "1"
 Random = "1.10"
+RecursiveArrayTools = "3"
 Reexport = "1"
 Rotations = "1.1"
 StaticArrays = "1"

README.md

@@ -37,7 +37,7 @@ Please don't hesitate to open issues or suggestions in line with [JuliaRobotics
 [rjl-cov-img]: https://codecov.io/github/JuliaRobotics/RoME.jl/coverage.svg?branch=master
 [rjl-cov-url]: https://codecov.io/github/JuliaRobotics/RoME.jl?branch=master
 [rjl-ci-dev-img]: https://github.com/JuliaRobotics/RoME.jl/actions/workflows/ci.yml/badge.svg
-[rjl-ci-dev-url]: https://github.com/JuliaRobotics/RoME.jl/actions/workflows/ci.yml
+[rjl-ci-dev-url]: https://github.com/JuliaRobotics/RoME.jl/actions/workflows/ci.yml?query=branch%3Amaster
 [rjl-ver-img]: https://juliahub.com/docs/RoME/version.svg
 [rjl-milestones]: https://github.com/JuliaRobotics/RoME.jl/milestones
 [rjl-releases]: https://github.com/JuliaRobotics/RoME.jl/releases

ext/RoMECameraModelsExt.jl

@@ -7,6 +7,7 @@ using StaticArrays
 using Manifolds
 using DocStringExtensions
 using Optim
+using RecursiveArrayTools: ArrayPartition
 
 import Base: convert
 import IncrementalInference: AbstractDFG, getFactorType, getVariable, getSolverData, CalcFactor, ls

src/Deprecated.jl

@@ -64,8 +64,13 @@ Base.convert(
 Base.convert(::Type{<:Tuple}, ::IIF.InstanceType{typeof(AMP.SE2_Manifold)}) = (:Euclid, :Euclid, :Circular)
 Base.convert(::Type{<:Tuple}, ::IIF.InstanceType{typeof(SE2E2_Manifold)}) = (:Euclid,:Euclid,:Circular,:Euclid,:Euclid)
 Base.convert(::Type{<:Tuple}, ::IIF.InstanceType{typeof(BearingRange_Manifold)}) = (:Circular,:Euclid)
+Base.convert(::Type{<:Tuple}, ::IIF.InstanceType{typeof(getManifold(DynPose2))}) = (:Euclid,:Euclid,:Circular,:Euclid,:Euclid)
 
-Base.convert(::Type{<:Tuple}, ::IIF.InstanceType{typeof(Manifolds.ProductGroup(ProductManifold(SpecialEuclidean(2), TranslationGroup(2))))}) = (:Euclid,:Euclid,:Circular,:Euclid,:Euclid)
+
+Base.convert(
+  ::Type{<:Tuple},
+  ::IIF.InstanceType{typeof(Manifolds.ProductGroup(ProductManifold(SpecialEuclidean(2), TranslationGroup(2)), LeftInvariantRepresentation()))}
+) = (:Euclid,:Euclid,:Circular,:Euclid,:Euclid)
 
 
 # Base.convert(::Type{<:ManifoldsBase.AbstractManifold}, ::IIF.InstanceType{Point2Point2}) = AMP.Euclid2
@@ -77,8 +82,8 @@ Base.convert(::Type{<:Tuple}, ::IIF.InstanceType{typeof(Manifolds.ProductGroup(P
 # Base.convert(::Type{<:ManifoldsBase.AbstractManifold}, ::IIF.InstanceType{Pose2Pose2}) = AMP.SE2_Manifold
 # Base.convert(::Type{<:ManifoldsBase.AbstractManifold}, ::IIF.InstanceType{Pose3Pose3}) = AMP.SE3_Manifold
 Base.convert(::Type{<:ManifoldsBase.AbstractManifold}, ::IIF.InstanceType{DynPoint2DynPoint2}) = AMP.Euclid4
-Base.convert(::Type{<:ManifoldsBase.AbstractManifold}, ::IIF.InstanceType{DynPose2DynPose2}) = SE2E2_Manifold
-Base.convert(::Type{<:ManifoldsBase.AbstractManifold}, ::IIF.InstanceType{VelPose2VelPose2}) = SE2E2_Manifold
+Base.convert(::Type{<:ManifoldsBase.AbstractManifold}, ::IIF.InstanceType{DynPose2DynPose2}) = begin @warn("FIXME"); SE2E2_Manifold end
+Base.convert(::Type{<:ManifoldsBase.AbstractManifold}, ::IIF.InstanceType{VelPose2VelPose2}) = begin @warn("FIXME"); SE2E2_Manifold end
 
 
 

src/RoME.jl

@@ -20,11 +20,12 @@ using
   DocStringExtensions,
   DistributedFactorGraphs,
   TensorCast,
-  ManifoldsBase
+  ManifoldsBase,
+  Manifolds
 
 using StaticArrays
 using PrecompileTools
-
+using RecursiveArrayTools
 # to avoid name conflicts
 import Manifolds
 using Manifolds: hat, ProductGroup, ProductManifold, SpecialEuclidean, SpecialOrthogonal, TranslationGroup, identity_element, submanifold_component, Identity, affine_matrix

src/factors/BearingRange2D.jl

@@ -12,7 +12,7 @@ mutable struct Pose2Point2BearingRange{B <: IIF.SamplableBelief, R <: IIF.Sampla
   range::R
 end
 
-getManifold(::IIF.InstanceType{<:Pose2Point2BearingRange}) = ProductGroup(ProductManifold(SpecialOrthogonal(2), TranslationGroup(1)))
+getManifold(::IIF.InstanceType{<:Pose2Point2BearingRange}) = ProductGroup(ProductManifold(SpecialOrthogonal(2), TranslationGroup(1)), LeftInvariantRepresentation())
 
 function getSample(cfo::CalcFactor{<:Pose2Point2BearingRange})
   # defaults, TODO better reuse

src/factors/DynPose2D.jl

@@ -147,7 +147,7 @@ end
 preambleCache(::AbstractDFG, ::AbstractVector{<:DFGVariable}, ::DynPose2DynPose2) = zeros(5)
 
 # FIXME ON FIRE, must update to new Manifolds style factors
-getManifold(::DynPose2DynPose2) = SE2E2_Manifold # not fully impl manifold yet
+getManifold(::DynPose2DynPose2) = getManifold(DynPose2)
 # FIXME, should produce tangents, not coordinates.
 getSample(cf::CalcFactor{<:DynPose2DynPose2}) = rand(cf.factor.Z)
 function (cf::CalcFactor{<:DynPose2DynPose2})(meas,