Switch to Eigen and remove dependence on TooN

[stevenwaslander]

No description provided.

[SabaAflaki]

Should I use Eigen in EKF code?

[stevenwaslander]

Yes, that would be good, assuming it has everything we need? The key would be to properly handle rotation matrices and homogeneous transforms. We want to work in SE(3). Is that possible? TooN was very nice for this, and in the MCPTAM code, it worked well with g2o as a result. I noticed that GTSAM also does SE(3) well, so if Eigen can do that for us, then we are in good shape. If not, you could suggest something else.

[StanJBrown]

Eigen does not support SE3 calculations out of the box. However there are repos that people have made such as this one that add the support for SE3. https://github.com/strasdat/Sophus

[stevenwaslander]

That could work, code hasn't been touched in three years, so we could pull a copy in as part of mcptam and freeze it. Only issue is that it is not very standard, I don't think. It would remove TooN as a dependency, but require documentation of this SE(3) class. No license issue either.

[StanJBrown]

Oh I was meaning more of we probably would have to write our own code to do it. We could use this as an example of how to do with Eigen, but ultimately write our own stuff so we know how it works.

[SabaAflaki]

This looks good too:
https://www.sofa-framework.org/api/Compliant/struct_s_e3.html