Merge pull request #535 from JuliaRobotics/master

v0.16.1-rc1
JuliaRobotics · Oct 22, 2021 · eb301e1 · eb301e1
2 parents 8eeed01 + 875fe3f
commit eb301e1
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diff --git a/Project.toml b/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 = "0.16.0"
+version = "0.16.1"
 
 [deps]
 ApproxManifoldProducts = "9bbbb610-88a1-53cd-9763-118ce10c1f89"
@@ -32,16 +32,16 @@ TensorCast = "02d47bb6-7ce6-556a-be16-bb1710789e2b"
 TransformUtils = "9b8138ad-1b09-5408-aa39-e87ed6d21b63"
 
 [compat]
-ApproxManifoldProducts = "0.3.3, 0.4"
+ApproxManifoldProducts = "0.4.15"
 CoordinateTransformations = "0.5, 0.6"
-DistributedFactorGraphs = "0.15, 0.16"
-Distributions = "0.23, 0.24, 0.25"
-DocStringExtensions = "0.7, 0.8"
+DistributedFactorGraphs = "0.16.2"
+Distributions = "0.24, 0.25"
+DocStringExtensions = "0.8"
 FileIO = "1"
-IncrementalInference = "0.25"
+IncrementalInference = "0.25.5"
 JLD2 = "0.3, 0.4"
 KernelDensityEstimate = "0.5.1, 0.6"
-Manifolds = "0.6.3"
+Manifolds = "0.6.3, 0.7"
 ManifoldsBase = "0.12.6"
 Optim = "0.22, 1.0"
 ProgressMeter = "1"
@@ -51,7 +51,7 @@ Rotations = "0.13, 1"
 StaticArrays = "1"
 TensorCast = "0.3.3, 0.4"
 TransformUtils = "0.2.11"
-julia = "1.4"
+julia = "1.6"
 
 [extras]
 Flux = "587475ba-b771-5e3f-ad9e-33799f191a9c"

diff --git a/README.md b/README.md
@@ -2,12 +2,12 @@
 
 | Stable | Dev | Coverage | Docs |
 |--------|-----|----------|------|
-| [![version][rjl-stable]][rjl-releases] | [![CI][rjl-ci-img]][rjl-ci-url] | [![codecov.io][rjl-cov-img]][rjl-cov-url] | [![docs][docs-shield]][caesar-docs] <br> [![][caesar-slack-badge]][caesar-slack] |
+| [![version][rjl-ver-img]][rjl-releases] | [![CI][rjl-ci-dev-img]][rjl-ci-dev-url] | [![codecov.io][rjl-cov-img]][rjl-cov-url] | [![docs][cjl-docs-img]][cjl-docs-url] <br> [![][caesar-slack-badge]][caesar-slack] |
 
 
 ## Introduction
 
-Robot Motion Estimate (RoME.jl) is part of the overall [Caesar.jl](https://www.github.com/JuliaRobotics/Caesar.jl) and provides a set of graph variables, factors, and utility features for robotics-related navigation, tracking, and mapping (i.e. SLAM).  RoME.jl helps build front-ends using the [Multi-modal iSAM] backend solver which is implemented over at [IncrementalInference.jl](https://github.com/JuliaRobotics/IncrementalInference.jl).  See [the related references of interest here](http://www.juliarobotics.org/Caesar.jl/latest/refs/literature/).  Most notably, this package provides common navigation-type variables and factors to be included in more general [DistributedFactorGraphs.jl](https://github.com/JuliaRobotics/DistributedFactorGraphs.jl) graph objects.
+Robot Motion Estimate (RoME.jl) is part of the overall [Caesar.jl][cjl-url] and provides a set of graph variables, factors, and utility features for robotics-related navigation, tracking, and mapping (i.e. SLAM).  RoME.jl helps build front-ends using the [Multi-modal iSAM] backend solver which is implemented over at [IncrementalInference.jl][iif-url].  See [the related references of interest here](http://www.juliarobotics.org/Caesar.jl/latest/refs/literature/).  Most notably, this package provides common navigation-type variables and factors to be included in more general [DistributedFactorGraphs.jl](https://github.com/JuliaRobotics/DistributedFactorGraphs.jl) graph objects.
 
 [NavAbility.io](http://www.navability.io) helps the with administration and support of the Caesar.jl community, please reach out for any additional information (info@navability.io) or via the caesarjl Slack badge-link above.
 ## Installation
@@ -19,36 +19,34 @@ using Pkg
 Pkg.add("RoME")
 ```
 
-If you are interested in a broader toolkit, which includes a visualizer and database interaction, please see [Caesar.jl](https://github.com/dehann/Caesar.jl).
-
-## Consider Citing
-
-Consider citing our work using the common reference at [Caesar.jl Citation with IncrementalInference.jl DOI](https://github.com/JuliaRobotics/Caesar.jl#contributors).  We are grateful for many, many contributions within the Julia package ecosystem -- see the [Juliahub.com](https://juliahub.com/ui/Packages/RoME/VVxXB) page for dependencies.
+If you are interested in a broader toolkit, which includes a visualizer and database interaction, please see [Caesar.jl][cjl-url].
 
 ## Examples
 
-[![docs][docs-shield]][caesar-docs]
-See project wide Caesar.jl documentation for more details (click on badge).
+See the common Caesar.jl documenation for more details [![cjl-docs-img]][cjl-docs-url].  Further examples can be found in the examples and test folders.
+## Consider Citing
 
-<a href="https://vimeo.com/190052649" target="_blank"><img src="https://raw.githubusercontent.com/JuliaRobotics/IncrementalInference.jl/master/doc/images/mmisamvid01.gif" alt="IMAGE ALT TEXT HERE" width="480" border="10" /></a>
+Consider citing our work using the common reference at [Caesar.jl Citation with IncrementalInference.jl DOI](https://github.com/JuliaRobotics/Caesar.jl#contributors).  We are grateful for many, many contributions within the Julia package ecosystem -- see the [Juliahub.com](https://juliahub.com/ui/Packages/RoME/VVxXB) page for dependencies.
 
 ## Comments and Issues Welcome
 
 Please don't hesitate to open issues or suggestions in line with [JuliaRobotics code of conduct](https://github.com/JuliaRobotics/administration/blob/master/code_of_conduct.md).  Find [the Gist here](https://gist.github.com/dehann/5f943d833f5fb06f4e00a2f4fb9f945a).
 
-
+<!-- md variables duplicated in Caesar.jl README -->
 [rjl-url]: http://www.github.com/JuliaRobotics/RoME.jl
 [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-img]: https://github.com/JuliaRobotics/RoME.jl/actions/workflows/ci.yml/badge.svg
-[rjl-ci-url]: https://github.com/JuliaRobotics/RoME.jl/actions/workflows/ci.yml
-[rjl-stable]: https://juliahub.com/docs/RoME/version.svg
+[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-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
 [rjl-juliahub]: https://juliahub.com/ui/Packages/RoME/VVxXB
 
+[iif-url]: https://github.com/JuliaRobotics/IncrementalInference.jl
 
-[docs-shield]: https://img.shields.io/badge/docs-latest-blue.svg
-[caesar-docs]: http://juliarobotics.github.io/Caesar.jl/latest/
+[cjl-url]: https://github.com/JuliaRobotics/Caesar.jl
+[cjl-docs-img]: https://img.shields.io/badge/docs-latest-blue.svg
+[cjl-docs-url]: http://juliarobotics.github.io/Caesar.jl/latest/
 [caesar-slack-badge]: https://img.shields.io/badge/Caesarjl-Slack-green.svg?style=popout
 [caesar-slack]: https://join.slack.com/t/caesarjl/shared_invite/zt-ucs06bwg-y2tEbddwX1vR18MASnOLsw
diff --git a/src/Deprecated.jl b/src/Deprecated.jl
@@ -1,7 +1,19 @@
+
+##==============================================================================
+## Remove before RoME v0.18
+##==============================================================================
+
+## Serialization helpers -- moved to DFG v0.16.1
+
+# getVariableType(M::typeof(SpecialEuclidean(2))) = Pose2()
+# getVariableType(M::typeof(SpecialEuclidean(3))) = Pose3()
+
+
 ##==============================================================================
 ## Remove before RoME v0.17
 ##==============================================================================
-  # Deprecated a while ago, finalise with a message
+
+# Deprecated a while ago, finalise with a message
 export PartialPriorRollPitchZ, PackedPartialPriorRollPitchZ, PartialPose3XYYaw, PackedPartialPose3XYYaw
 PartialPose3XYYaw(args...) = error("PartialPose3XYYaw is deprecated, use Pose3Pose3XYYaw")
 PackedPartialPose3XYYaw(args...) = error("PackedPartialPose3XYYaw is deprecated, use PackedPose3Pose3XYYaw")

diff --git a/src/RoME.jl b/src/RoME.jl
@@ -29,6 +29,8 @@ using StaticArrays
 import Manifolds
 using Manifolds: hat, ProductGroup, ProductManifold, SpecialEuclidean, ProductRepr, SpecialOrthogonal, TranslationGroup, identity_element
 
+import Manifolds: project, project!
+
 export SpecialOrthogonal, SpecialEuclidean
 
 # using Graphs,  # TODO determine how many parts still require Graphs still directly

diff --git a/src/RobotUtils.jl b/src/RobotUtils.jl
@@ -381,8 +381,8 @@ end
 
 
 
-function get2DSamples(fg::G; #::Union{Symbol, S};
-                      from::Int=0, to::Int=999999999,
+function get2DSamples(fg::G;
+                      from::Int=0, to::Int=(2^(Sys.WORD_SIZE-1)-1),
                       minnei::Int=0,
                       regexKey::Regex=r"x") where {G <: AbstractDFG, S <: AbstractString}
   #
@@ -398,7 +398,6 @@ function get2DSamples(fg::G; #::Union{Symbol, S};
     # if vertlbl[1] == sym
       val = parse(Int,split(vertlbl[2:end],'_')[1])
       if from <= val && val <= to
-        # if length( getOutNeighbors(fg, vertlbl[2] , needdata=true ) ) >= minnei
         if length( DFG.getNeighbors(fg, id ) ) >= minnei
           # if length(out_neighbors(fg.v[id[2]],fg.g)) >= minnei
           X=[X; vec(getVal(fg,id)[1,:]) ]
@@ -421,7 +420,7 @@ DFG.getVariableLabelNumber, DFT.findFactorsBetweenNaive
 """
 function listVariablesLabelsWithinRange(fg::AbstractDFG,
                                         regexKey::Regex=r"x";
-                                        from::Int=0, to::Int=9999999999,
+                                        from::Int=0, to::Int=(2^(Sys.WORD_SIZE-1)-1),
                                         minnei::Int=0)
   #
 
@@ -436,7 +435,7 @@ function listVariablesLabelsWithinRange(fg::AbstractDFG,
     if length( DFG.getNeighbors(fg, id) ) >= minnei
       mask[count] = true
     end
-    if occursin(regexKey, string(id)) && (from != 0 || to != 9999999999)
+    if occursin(regexKey, string(id)) && (from != 0 || to != (2^(Sys.WORD_SIZE-1)-1))
       vertlbl = string(id)
         # TODO won't work with nested labels
         m = match(r"\d+", string(id))
@@ -452,11 +451,11 @@ function listVariablesLabelsWithinRange(fg::AbstractDFG,
   saids[mask]
 end
 
-@deprecate getVariablesLabelsWithinRange(fg::AbstractDFG,regexKey::Regex=r"x";from::Int=0, to::Int=9999999999,minnei::Int=0) listVariablesLabelsWithinRange(fg,regexKey,from=from,to=to,minnei=minnei)
+@deprecate getVariablesLabelsWithinRange(fg::AbstractDFG,regexKey::Regex=r"x";from::Int=0, to::Int=(2^(Sys.WORD_SIZE-1)-1),minnei::Int=0) listVariablesLabelsWithinRange(fg,regexKey,from=from,to=to,minnei=minnei)
 
 function get2DSampleMeans(fg::AbstractDFG,
                           regexKey::Regex=r"x";
-                          from::Int=0, to::Int=9999999999,
+                          from::Int=0, to::Int=(2^(Sys.WORD_SIZE-1)-1),
                           minnei::Int=0)
   #
   X = Array{Float64,1}()
@@ -487,18 +486,18 @@ function getAll2DPoses(fg::G; regexKey=r"x") where G <: AbstractDFG
     return getAll2DSamples(fg, regexKey=regexKey )
 end
 
-function get2DPoseSamples(fg::G; from::Int=0, to::Int=999999999, regexKey=r"x") where G <: AbstractDFG
+function get2DPoseSamples(fg::G; from::Int=0, to::Int=(2^(Sys.WORD_SIZE-1)-1), regexKey=r"x") where G <: AbstractDFG
   return get2DSamples(fg, regexKey=regexKey, from=from, to=to )
 end
 
-function get2DPoseMeans(fg::G; from::Int=0, to::Int=999999999, regexKey=r"x") where G <: AbstractDFG
+function get2DPoseMeans(fg::G; from::Int=0, to::Int=(2^(Sys.WORD_SIZE-1)-1), regexKey=r"x") where G <: AbstractDFG
   return get2DSampleMeans(fg, regexKey, from=from, to=to )
 end
 
 
 function get2DPoseMax(fgl::G;
 					  regexKey::Regex=r"x",
-                      from::Int=-99999999999, to::Int=9999999999 ) where G <: AbstractDFG
+                      from::Int=-(2^(Sys.WORD_SIZE-1)-1), to::Int=(2^(Sys.WORD_SIZE-1)-1) ) where G <: AbstractDFG
   #
   # xLB,ll = ls(fgl) # TODO add: from, to, special option 'x'
   xLB = DFG.getVariableIds(fgl, regexKey)
@@ -523,14 +522,14 @@ end
 
 function get2DLandmSamples(fg::G;
                            from::Int=0,
-                           to::Int=999999999,
+                           to::Int=(2^(Sys.WORD_SIZE-1)-1),
                            minnei::Int=0 ) where G <: AbstractDFG
   #
   return get2DSamples(fg, regexKey=r"l", from=from, to=to, minnei=minnei )
 end
 
 function get2DLandmMeans(fg::G;
-                         from::Int=0, to::Int=999999999,
+                         from::Int=0, to::Int=(2^(Sys.WORD_SIZE-1)-1),
                          minnei::Int=0,
                          landmarkRegex::Regex=r"l" ) where G <: AbstractDFG
   #
@@ -560,8 +559,8 @@ function removeKeysFromArr(fgl::G,
 end
 
 function get2DLandmMax(fgl::G;
-                       from::Int=-99999999999,
-                       to::Int=9999999999,
+                       from::Int=-(2^(Sys.WORD_SIZE-1)-1),
+                       to::Int=(2^(Sys.WORD_SIZE-1)-1),
                        showmm=false, MM::Dict{Int,T}=Dict{Int,Int}(),
                        regexLandmark::Regex=r"l"  ) where {G <: AbstractDFG, T}
   #