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Merged
Affie merged 3 commits into from
Nov 21, 2024
Merged

v0.2.3 RC1 #33

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0177462
CompatHelper: bump compat for Manifolds to 0.10, (keep existing compat)
Sep 13, 2024
955c336
Merge pull request #31 from JuliaRobotics/compathelper/new_version/20…
Affie Sep 13, 2024
1107f06
fix RAT dependency (#32)
Affie Sep 13, 2024
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4 changes: 2 additions & 2 deletions .github/workflows/ci.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -15,8 +15,8 @@ jobs:
fail-fast: false
matrix:
version:
- '1.6'
- '~1.9.0-0'
- '1.10'
- '~1.11.0-0'
- 'nightly'
os:
- ubuntu-latest
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1 change: 1 addition & 0 deletions .gitignore
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@@ -0,0 +1 @@
Manifest.toml
8 changes: 5 additions & 3 deletions Project.toml
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Original file line number Diff line number Diff line change
@@ -1,21 +1,23 @@
name = "CameraModels"
uuid = "0d57b887-6120-40e6-8b8c-29d3116bc0c1"
keywords = ["camera", "model", "pinhole", "distortion", "robotics", "images"]
version = "0.2.2"
version = "0.2.3"

[deps]
DocStringExtensions = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"
LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
Manifolds = "1cead3c2-87b3-11e9-0ccd-23c62b72b94e"
RecursiveArrayTools = "731186ca-8d62-57ce-b412-fbd966d074cd"
Rotations = "6038ab10-8711-5258-84ad-4b1120ba62dc"
StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"

[compat]
DocStringExtensions = "0.8, 0.9"
Manifolds = "0.8, 0.9"
Manifolds = "0.8, 0.9, 0.10"
RecursiveArrayTools = "3.27.0"
Rotations = "1"
StaticArrays = "1"
julia = "1.6"
julia = "1.10"

[extras]
Optim = "429524aa-4258-5aef-a3af-852621145aeb"
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2 changes: 1 addition & 1 deletion src/CameraModels.jl
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Expand Up @@ -6,7 +6,7 @@ using DocStringExtensions
using StaticArrays
import Rotations as Rot_
import Base: getindex, getproperty, show

using RecursiveArrayTools: ArrayPartition

# exports
include("ExportAPI.jl")
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1 change: 1 addition & 0 deletions test/runtests.jl
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@@ -1,6 +1,7 @@
using CameraModels
using Test
using StaticArrays
using RecursiveArrayTools: ArrayPartition

import CameraModels: height, width

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6 changes: 3 additions & 3 deletions test/testutils.jl
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Expand Up @@ -35,8 +35,8 @@ l_nFL = [0; -0.05; 1.]
l_FL = [0; 0; -2.]

# local level to body to extrinsic transform
l_T_b = MJL.ArrayPartition([0;0;0.], R0)
b_T_ex = MJL.ArrayPartition([0;0;0.], MJL.exp_lie(Mr, MJL.hat(Mr, R0, [0;0.2;0.2])))
l_T_b = ArrayPartition([0;0;0.], R0)
b_T_ex = ArrayPartition([0;0;0.], MJL.exp_lie(Mr, MJL.hat(Mr, R0, [0;0.2;0.2])))
l_T_ex = MJL.compose(M, l_T_b, b_T_ex)

# Ray trace
Expand All @@ -50,7 +50,7 @@ l_Forb = intersectRayToPlane(


## Place the body somewhere in the world
w_T_b = MJL.ArrayPartition([0.;0.;2.], MJL.exp_lie(Mr, MJL.hat(Mr, R0, [0;0;0.])))
w_T_b = ArrayPartition([0.;0.;2.], MJL.exp_lie(Mr, MJL.hat(Mr, R0, [0;0;0.])))
# find feature points in the world frame
_w_Forb = MJL.affine_matrix(M, w_T_b)*[l_Forb; 1.]

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