replace M_SQRT1_2 with M_PI_4

Using TooN::normalize() (helpers.h) with a const Vector does not make sense but will compile fine, however the compiler will select the "other" TooN::normalize() that's supposed to only work on vector slices. Since that normalize() uses a by-value argument, no normalization takes place.

Using TooN::normalize() with a const Vector should have the compiler complain instead.

I use windows 8 - 64 bit machine. You said that "this code should work on unix or non-unix system". On unix, we should use ./configure;make; make install. But on windows, what can I use to install?

Are these files missing in https://github.com/edrosten/TooN/blob/master/TooN.h
Lines 39-40

include TooN/internal/config.hh

include TooN/internal/typeof.hh

?

As shown below:

"probablu ysing -llapack and perhaps -lblas."

thanks

Hello Sir when I try to compile using Toon I get the error

1>E:\PTAMM\include\TooN/SymEigen.h(186): error C3861: 'swap': identifier not found
1>E:\PTAMM\include\TooN/SymEigen.h(188): error C3861: 'swap': identifier not found

How do I resolve this problem cause it not highlighted as an error in red but during compile time in release mode it shows an error

One of the SO3 constructors takes a pair of vectors as input and computes a matrix that rotates the first vector into the direction of the second vector. The function constructs two intermediate rotation matrices which are combined to form the result.

It looks like the two intermediate matrices are not actually valid rotation matrices, since their determinants are -1. Performing the operation 'my_matrix = my_matrix * R1.T()' does result in a valid (and correct) rotation matrix because the two bugs cancel each other out.

I've submitted a pull request to address this issue.

In SE3 generator_field function :

if(i < 3){
result[i]=pos[3];

-> I guess this is a typo and it should be : "result[i]=pos[i];"