fwcore

Hi all, I tried this PR in a Ubuntu 22.04 docker with X11. HelloPangolin works as expected. This PR helps me to solve my issue (libtorch+Pangolin segfault, see #884). Thank...

`SOPHUS_ENSURE` can be turned off by setting `SOPHUS_DISABLE_ENSURES`, see https://github.com/strasdat/Sophus/blob/d270df2be6e46501b1e7efc09b107517e0be0645/sophus/common.hpp#L101 In principle, one can enable `SOPHUS_ENSURE` in debug mode for safety and turn it off in release mode for performance...

@TLescoatTFX Thanks for your suggestions. After checking openCV, I think your suggestion is quite reasonable. Here is what openCV do: https://github.com/opencv/opencv/blob/853e5dfcdf091023b78283d6dc03d91fd6763495/modules/core/doc/intro.markdown?plain=1#L296-L298 > #CV_Assert(condition) macro that checks the condition and throws...

Converting from rotation matrix to `Sophus::SO3` subjects to checking whether the matrix is orthogonal by computing norm(R*R^T - I) < epsilon. See https://github.com/strasdat/Sophus/blob/d270df2be6e46501b1e7efc09b107517e0be0645/sophus/so3.hpp#L511-L521 and https://github.com/strasdat/Sophus/blob/d270df2be6e46501b1e7efc09b107517e0be0645/sophus/rotation_matrix.hpp#L16-L26 This checking is affected by...

Two possible workarounds (use either one): * use the ONNX provided in the [google drive link in README.md](https://drive.google.com/file/d/1jYNvnseTL49SNRx9PDcbkZ9DwsY8up7n/view?usp=drive_link) * use [`polygraphy`](https://github.com/NVIDIA/TensorRT/tree/main/tools/Polygraphy/examples/cli/surgeon/02_folding_constants) tool to fold constant before sending into `trtexec`: ```...

> > Two possible workarounds (use either one): > > > > * Use torch==2.0.1, the latest torch version will export `OneHot` op in the output ONNX file, which can...