Release 4.2

This is the long-awaited release 4.2. Develop has been in pre-4.3 for a while now, but 4.2 kept evolving alongside it (mostly with cherry-picks) as roboticsbook.org uses it and we wanted to wait another semester of teaching it to make sure it was very stable.

The biggest changes are:

• hybrid factor graph inference
• much more extensive python and Matlab wrappers
• Shonan averaging

GTSAM 4.2 can be used from python using pip install gtsam. All available wheels can be found on pypi.

Detailed changes below:

What's Changed (Since 4.1.1)

• API improvements for discrete by @dellaert in #990
• Finish release branch by @dellaert in #992
• Two small fixes by @dellaert in #996
• Force nonnegative scale for Sim(3) by @johnwlambert in #997
• Moved empty to Factor base class. by @dellaert in #998
• Fix documentation on ProjectionFactorPPPC by @dwisth in #1004
• Minor changes to LocalPlaneFactor by @dwisth in #1003
• DecisionTree Improvements by @varunagrawal in #1002
• Spring cleaning: deprecate -> 4.2 by @dellaert in #999
• DecisionTree refactor by @dellaert in #1000
• render values in markdown by @dellaert in #1001
• More DecisionTree improvements by @dellaert in #1005

What's Changed (Since 4.2a1)

• Remove Potentials by @ProfFan in #1013
• fail fast in linux matrix by @dellaert in #1017
• html renderers in discrete by @dellaert in #1022

What's Changed (Since 4.2a2)

• FG print(): fix empty lines on nullptr; avoid endl by @jlblancoc in #1030
• Fix probPrime by @varunagrawal in #1034
• Add python unit test for triangulation with robust noise model by @johnwlambert in #1031
• Better DiscreteConditional by @dellaert in #1037
• Rename DiscretePrior -> DiscreteDistribution by @dellaert in #1039

What's Changed (Since 4.2a3)

• Robust triangulation by @lucacarlone in #1020
• DiscreteBayesNet sample/optimize variants by @dellaert in #1043
• Added a convenience function for plotting 2D points. by @magicbycalvin in #1042
• Some discrete improvements by @dellaert in #1045
• Subgraph API change by @dellaert in #1010
• Update python install in CI by @varunagrawal in #1054
• Fix DiscreteFactorGraph::optimize to return MPE by @dellaert in #1050
• Changes in gtsam to support hybrid branches by @dellaert in #1055
• Threshold Example + linting by @dellaert in #1056
• Expose GraphvizFormatting and test in python by @senselessDev in #1059
• Add position to Point2 nodes in GraphViz by @senselessDev in #1058
• Fix docs by @dellaert in #1064
• Added sumProduct as a convenient alias by @dellaert in #1066
• Added inference module by @dellaert in #1068
• Added support for positioning in BayesNet plotting by @dellaert in #1070

What's Changed (Since 4.2a4)

• Wrap FindKarcherMean for Rot3 by @johnwlambert in #1069
• Wrapped more things by @dellaert in #1077
• Moved Sfm classes to their own files by @dellaert in #1078
• Expose some iSAM2/FixedLagSmoothing functionality for the bindings by @senselessDev in #1053
• Cleaned up loading SfmData by @dellaert in #1082
• Fixes to get matlab wrapper working properly by @varunagrawal in #1083
• Wrapper Update by @varunagrawal in #1084
• Add default constructor to PoseRotationPrior to fix serialization by @ScottMcMichael in #1086
• Add shared_ptr definition for remainder of camera objects by @dwisth in #1088
• Fix DotWriter wrapping by @dellaert in #1089
• Get Sim2 working by @varunagrawal in #1090
• Improvements in linear by @dellaert in #1091
• Frobenius Factor Eigen Fix by @varunagrawal in #1096
• New functionality in linear by @dellaert in #1095
• EXPORT statements to help Windows build. In Constraint.h, there was a… by @mikesheffler in #1097

What's Changed (Since 4.2a5)

• Fix MSVC / Windows Build of GTSAM_UNSTABLE by @mikesheffler in #1102
• Fix issues with grouped tests by @dellaert in #1107
• Header discipline in base by @dellaert in #1108
• fix: typo by @andre-nguyen in #1111
• correctly parse optimizer params for base optimizer in gnc by @yunzc in #1085
• Add missing header for timing target by @dellaert in #1112
• replace ifndefs with pragma once by @acxz in #1113
• CMake Warning Fixes by @varunagrawal in #1115
• Windows Tests by @varunagrawal in #1109
• Include guards by @acxz in #1116
• filename in repo is w10000 not w10000-odom by @acxz in #1123
• Added more tests for basis by @dellaert in #1121
• Using a random number generator in translation averaging by @akshay-krishnan in #1120
• A bunch of minor fixes by @varunagrawal in #1132
• fix triangulatePoint3 for calibrations with distortion by @thomassm in #1128
• Fix visitWith for Pruned Tree by @varunagrawal in #1135
• Wrap ParameterMatrix as argument for Values by @varunagrawal in #1136
• Apply DecisionTree op with Assignment by @varunagrawal in #1137
• Various Fixes by @varunagrawal in #1138
• Fix initialization in range iSAM example by @dellaert in #1131
• Fix Matlab Wrapper by @varunagrawal in #1140
• Print parents when printing GaussianConditional by @varunagrawal in #1143
• DecisionTree Improvements by @varunagrawal in #1144
• Fixed custom factors in doc/gtsam.lyx/pdf by @dellaert in #1139
• Fix python-install by @varunagrawal in #1145
• Wrapping Updates by @varunagrawal in #1146
• Allow more functionality through system METIS by @acxz in #1117
• Pose3 improvements by @dellaert in #1148
• DecisionTreeFactor prune method by @varunagrawal in #1151
• Update Wrapper by @varunagrawal in #1149
• Improve Gaussian Conditional printing by @varunagrawal in #1147
• Pose2::Align by @dellaert in #1150
• Record number of assignments for each leaf by @varunagrawal in #1154
• added wrapper for ProjectionFactorRollingShutter by @shteren1 in #1159
• Fix the race! by @ProfFan in #1158
• InvDepthFactor3: Fix wrong derivative H3 by @d-vo in #1157
• Updated scaling factors for proper geometric representation of uncertainty ellipses by @magicbycalvin in #1067

What's Changed (Since 4.2a6)

• DecisionTree Refactor by @varunagrawal in #1155
• New maxNrAssignment scheme for pruning by @varunagrawal in #1156
• Fix slow dynamic cast for Point3 and Point2 by @ProfFan in #1168
• Fix robust deserialization by @ProfFan in #1169
• Add camera and Calibration Jacobians in Python by @ProfFan in #1171
• Regenerate python utils files upon edit by @gchenfc in #1176
• noise models: Add getters for all model parameters by @jlblancoc in #1175
• Add Similarity(2) support in gtsam/geometry by @johnwlambert in #918
• Fix warnings and docs by @varunagrawal in #1181
• Added some utilities for better using the SfM parts of GTSAM in Python by @ProfFan in #1185
• Some fixes by @varunagrawal in #1187
• Fix uncertainty ellipses in python helpers by @senselessDev in #1177
• Adding options to translation averaging to support betweenfactor translation priors by @akshay-krishnan in #1190
• All uncertainty ellipses now contain 95% by @dellaert in #1193
• Remove user flag for pip install by @varunagrawal in #1195
• Wrap triangulateSafe by @dellaert in #1194
• Python optimizer iteration hook by @gchenfc in #1127

What's Changed (Since 4.2a7)

• fix typo issue in comment by @huanglilong in #1206
• Fix templated type declaration in geometry.i by @varunagrawal in #1205
• Hybrid Factor Graph Implementation by @ProfFan in #1203
• Fix / Move Rot3::quaternion to deprecated block by @HViktorTsoi in #1219
• Add various tests for Hybrid by @varunagrawal in #1220
• Address matplotlib deprecation warnings for fig.gca() and window.set_title() by @vik748 in #1225
• Fix the failure in TA when adding betweenTranslations without any measurements. by @akshay-krishnan in #1224
• Improvements by @varunagrawal in #1217
• FIX: Robust loss error calculation by @ProfFan in #1161
• Add this-> to fix ROS compile issue by @varunagrawal in #1230
• Replace boost::function with std::function by @varunagrawal in #1232
• Fix CombinedImuFactor by @varunagrawal in #882
• Wrapper Update by @varunagrawal in #1235
• added jacobians for all pose3 methods in python wrappers by @shteren1 in #1234
• Fix/gnc optimizer by @lucacarlone in #1035
• Wrap BearingRange Factors by @varunagrawal in #1240
• Implementation of the LOST triangulation algorithm by @akshay-krishnan in #1241
• Clear ConcurrentMap before loading archive data by @ScottMcMichael in #1248
• Fix Preintegration Covariance of CombinedImuFactor by @varunagrawal in #879
• Fix Python CI: More swap space by @gchenfc in #1250
• Update macos CI env by @varunagrawal in #1251
• replace addtogroup with ingroup for the SLAM group by @agilemapper in #1252
• Break up Python CI steps so reading logs is easier by @varunagrawal in #1254
• Expose GNC params to python by @amadoantonini in #1239
• Fix exports on Windows by @Tobias-Fischer in #1257
• Delete FindBoost.cmake by @Tobias-Fischer in #1260
• Link to interface library in case system metis is used by @Tobias-Fischer in #1258
• Fix matlab toolbox compilation by @varunagrawal in #1262
• Add Zenodo for citations by @varunagrawal in #1265
• Hybrid Incremental Inference by @varunagrawal in #1267
• Update README.md by @pglira in #1268
• Capitalize Identity trait by @varunagrawal in #1238
• Nonlinear Hybrid by @varunagrawal in #1263
• Jose's updates by @varunagrawal in #1237
• CombinedImuFactor: Add bias effect on position jacobian by @varunagrawal in #874
• Linear HybridBayesNet optimization by @xsj01 in #1270
• Hybrid Incremental by @varunagrawal in #1271
• Hybrid ISAM by @varunagrawal in #1273
• Upgrade from ubuntu 18.04 to 20.04 by @varunagrawal in #1276
• Additional Nonlinear Hybrid by @varunagrawal in #1277
• Hybrid Pruning by @varunagrawal in #1215
• HybridFactorGraph base class and other niceties by @varunagrawal in #1221
• Add wrapping for hybrid nonlinear by @ProfFan in #1281
• Hybrid Bayes Net/Tree Optimize by @varunagrawal in #1280
• Hybrid Bayes Tree Optimize by @varunagrawal in #1282
• Various updates for Hybrid by @varunagrawal in #1284
• Hybrid Serialization by @varunagrawal in #1286
• Rewrap KeyVector for Matlab wrapper by @varunagrawal in #1285
• Fix HybridBayesTree Optimize by @varunagrawal in #1287
• Various Fixes by @varunagrawal in #1288
• MixtureFactor continuous keys check by @varunagrawal in #1289
• Hybrid Improvements - II by @varunagrawal in #1294
• Hybrid Improvements by @varunagrawal in #1290
• Hybrid Bayes Net pruning by @varunagrawal in #1300
• Hybrid Gaussian Conditional Elimination by @varunagrawal in #1301
• Improved BayesTree pruning by @varunagrawal in #1293
• Hybrid Updates by @varunagrawal in #1306
• Dsf-gtsfm-refactor by @dellaert in #1312
• Use eigen3 config.cmake by @OznOg in #1304
• Fix CMake so that Eigen discovery and linking is consistent by @varunagrawal in #1314
• Hybrid ISAM GetOrdering method by @varunagrawal in #1315
• Doxygen Updates by @varunagrawal in #1255
• fix typo in g2o file format parsing for the information matrix by @mauricefallon in #1310
• Fix for matlab wrapper in sfm.i by @akshay-krishnan in #1316
• Wrapper Update by @varunagrawal in #1317
• Update Switching fixture to be 0 indexed by @varunagrawal in #1311
• Hybrid Pruning by @varunagrawal in #1309
• Housekeeping Updates by @varunagrawal in #1321
• Remove unnecessary functions in ImuFactorsExample.cpp by @Taeyoung96 in #1324
• Fix GaussianBayesTree logDeterminant bug by @varunagrawal in #1327
• add workflow to trigger ubuntu packaging by @berndpfrommer in #1328

What's Changed (Since 4.2a8)

• Add an expression for normalize() by @nkhedekar in #1330
• Update README.md by @MigVega in #1331
• Hybrid Elimination by @varunagrawal in #1339
• Fixed Jacobian in python CustomFactorExample by @ulterzlw in #1340
• Hybrid Mixture Error by @varunagrawal in #1318
• Hybrid Multifrontal by @varunagrawal in #1323
• NoiseModelFactorN - fixed-number of variables >6 by @gchenfc in #947
• GaussianConditional logDeterminant by @varunagrawal in #1345
• Replace NoiseModelFactor1 in with NoiseModelFactorN in pre-made factors by @gchenfc in #1344
• Hybrid Bayes Net sampling by @varunagrawal in #1347
• Fix wrapper warnings by @varunagrawal in #1348
• Update geometry.i : wrap multiplication of Rot3 and Unit3 by @akshay-krishnan in #1302
• Sampling test for Hybrid Posterior by @varunagrawal in #1346
• Some refactoring and new test by @dellaert in #1349
• Add logDensity and evaluate to GaussianBN and HybridBN by @dellaert in #1352
• Added convenience constructors and python wrappers by @dellaert in #1353
• Wrap constructors for PreintegratedAhrsMeasurements by @varunagrawal in #1354
• HybridValues specify continuous then discrete by @varunagrawal in #1355
• Likelihoods and other improvements by @dellaert in #1356
• Proper Hybrid Elimination by @varunagrawal in #1319
• Test on ratio by @dellaert in #1357
• Hybrid Improvements by @varunagrawal in #1343
• Fix HybridGaussianFactorGraph error by @varunagrawal in #1358
• Initializer list and insert/update chaining by @dellaert in #1359
• Slightly expand Python API by @jrpowers in #1361
• Check for native architecture and set GTSAM_COMPILE_OPTIONS_PUBLIC accordingly by @stefangachter in #1296
• Fix hybrid tests by @varunagrawal in #1363
• Fixed a few small issues... by @dellaert in #1367
• Switch to EliminateDiscrete for max-product by @dellaert in #1362
• Hybrid Serialization by @varunagrawal in #1368
• Various fixes for Hybrid by @varunagrawal in #1369
• Hybrid Elimination with Normalization Constant by @varunagrawal in #1360
• Added *.bib file and started adding citations to README.md by @njayakumar3 in #789
• Un-deprecate NoiseModelFactor1-6 and move X1 and key1-6 shortcuts to NoiseModelFactorN by @gchenfc in #1370
• Two new tests, one with 5 modes by @dellaert in #1371
• Simplified AP for HybridBayesNet by @dellaert in #1372
• DefaultOrderingFunc in EliminationTraits by @varunagrawal in #1373
• Big Re-"Factor" of Hybrid by @dellaert in #1374
• More Expression wrappers by @BrettRD in #1376
• Get rid of boost::assign by @dellaert in #1375
• replace list_of with initializer list in TimeTBB.cpp by @kartikarcot in #1379
• Harmonized error/logProbability in entire Factor/Conditional hierarchy by @dellaert in #1380
• BatchFixedLagSmoother: add ability to limit warning debug prints by @acowley in #1381
• Test and fix all conditionals by @dellaert in #1386
• Some Hybrid Improvements by @varunagrawal in #1387
• Hybrid/simplify by @dellaert in #1388
• Correction to docs and lambdas by @varunagrawal in #1390
• Switch pruning test to probabilities. by @dellaert in #1394
• Deprecate filter by @dellaert in #1397
• Fix examples that were using filter by @dellaert in #1402
• Deprecated boost transform_iterators by @dellaert in #1407
• Iterator for 4.2 by @dellaert in #1417
• Fix (issue #1336) dangling pointer access violation. by @oicchris in #1423
• Fix version... by @dellaert in #1424
• 4.2 fixes by @varunagrawal in #1425
• Patch ros package (branch: release/4.2) by @jlblancoc in #1427
• Add missing header to fix gtbook by @dellaert in #1429

What's Changed (Since 4.2a9)

• Better Hybrid support by @varunagrawal in #1466
• 4.2: Fix an invalid include, restore C++11 compatibility by @valgur in #1545
• Improved documentation, wrapper, and tests by @dellaert in #1574
• Cherrypick commits for release/4.2, that include transitivity fix for DsfTrackGenerator by @johnwlambert in #1616

New Contributors

• @magicbycalvin made their first contribution in #1042
• @senselessDev made their first contribution in #1059
• @andre-nguyen made their first contribution in #1111
• @yunzc made their first contribution in #1085
• @thomassm made their first contribution in #1128
• @d-vo made their first contribution in #1157
• @huanglilong made their first contribution in #1206
• @HViktorTsoi made their first contribution in #1219
• @vik748 made their first contribution in #1225
• @agilemapper made their first contribution in #1252
• @amadoantonini made their first contribution in #1239
• @Tobias-Fischer made their first contribution in #1257
• @pglira made their first contribution in #1268
• @xsj01 made their first contribution in #1270
• @OznOg made their first contribution in #1304
• @mauricefallon made their first contribution in #1310
• @Taeyoung96 made their first contribution in #1324
• @nkhedekar made their first contribution in #1330
• @MigVega made their first contribution in #1331
• @ulterzlw made their first contribution in #1340
• @jrpowers made their first contribution in #1361
• @stefangachter made their first contribution in #1296
• @njayakumar3 made their first contribution in #789
• @BrettRD made their first contribution in #1376
• @acowley made their first contribution in #1381
• @valgur made their first contribution in #1545

Full Changelog: 4.1.1...4.2