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Merge branch 'develop' into model-selection-bayestree

release/4.3a0
Varun Agrawal 2024-03-18 07:50:47 -04:00
parent f69891895a acf457e32f
commit 3cc03af855
9 changed files with 85 additions and 27 deletions
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24
.github/workflows/build-python.yml vendored
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@ -29,10 +29,10 @@ jobs:
name:
[
ubuntu-20.04-gcc-9,
ubuntu-22.04-gcc-9-tbb,
ubuntu-20.04-gcc-9-tbb,
ubuntu-20.04-clang-9,
macOS-11-xcode-13.4.1,
windows-2019-msbuild,
windows-2022-msbuild,
]
build_type: [Release]
@ -43,8 +43,8 @@ jobs:
compiler: gcc
version: "9"
- name: ubuntu-22.04-gcc-9-tbb
os: ubuntu-22.04
- name: ubuntu-20.04-gcc-9-tbb
os: ubuntu-20.04
compiler: gcc
version: "9"
flag: tbb
@ -59,8 +59,8 @@ jobs:
compiler: xcode
version: "13.4.1"
- name: windows-2019-msbuild
os: windows-2019
- name: windows-2022-msbuild
os: windows-2022
platform: 64
steps:
@ -109,6 +109,12 @@ jobs:
uses: ilammy/msvc-dev-cmd@v1
with:
arch: x${{matrix.platform}}
toolset: 14.38
- name: cl version (Windows)
if: runner.os == 'Windows'
shell: cmd
run: cl
- name: Setup python (Windows)
uses: actions/setup-python@v4
@ -145,6 +151,12 @@ jobs:
echo "GTSAM_WITH_TBB=ON" >> $GITHUB_ENV
echo "GTSAM Uses TBB"
- name: Set Swap Space (Linux)
if: runner.os == 'Linux'
uses: pierotofy/set-swap-space@master
with:
swap-size-gb: 6
- name: Install System Dependencies (Linux, macOS)
if: runner.os != 'Windows'
run: |

27
.github/workflows/build-windows.yml vendored
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@ -27,7 +27,7 @@ jobs:
# Github Actions requires a single row to be added to the build matrix.
# See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
name: [
windows-2019-cl,
windows-2022-cl,
]
build_type: [
@ -37,12 +37,25 @@ jobs:
build_unstable: [ON]
include:
- name: windows-2019-cl
os: windows-2019
- name: windows-2022-cl
os: windows-2022
compiler: cl
platform: 64
steps:
- name: Checkout
uses: actions/checkout@v3
- name: Setup msbuild
uses: ilammy/msvc-dev-cmd@v1
with:
arch: x${{ matrix.platform }}
toolset: 14.38
- name: cl version
shell: cmd
run: cl
- name: Install Dependencies
shell: powershell
run: |
@ -91,14 +104,6 @@ jobs:
# Set the BOOST_ROOT variable
echo "BOOST_ROOT=$BOOST_PATH" >> $env:GITHUB_ENV
- name: Checkout
uses: actions/checkout@v3
- name: Setup msbuild
uses: ilammy/msvc-dev-cmd@v1
with:
arch: x${{ matrix.platform }}
- name: Configuration
shell: bash
run: |

17
gtsam/base/std_optional_serialization.h
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@ -8,10 +8,10 @@
* Functionality to serialize std::optional<T> to boost::archive
* Inspired from this PR: https://github.com/boostorg/serialization/pull/163
* ---------------------------------------------------------------------------- */
#pragma once
// Defined only if boost serialization is enabled
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
#pragma once
#include <optional>
#include <boost/config.hpp>
@ -55,9 +55,14 @@ namespace std { template<> struct is_trivially_move_constructible<boost::seriali
#endif
#endif
// Only for old boost
#if BOOST_VERSION < 108000
/*
* PR https://github.com/boostorg/serialization/pull/163 was merged
* on September 3rd 2023,
* and so the below code is now a part of Boost 1.84.
* We include it for posterity, hence the check for BOOST_VERSION being less
* than 1.84.
*/
#if BOOST_VERSION < 108400
// function specializations must be defined in the appropriate
// namespace - boost::serialization
namespace boost {
@ -100,5 +105,5 @@ void serialize(Archive& ar, std::optional<T>& t, const unsigned int version) {
} // namespace serialization
} // namespace boost
#endif
#endif
#endif // BOOST_VERSION < 108400
#endif // GTSAM_ENABLE_BOOST_SERIALIZATION

4
gtsam/geometry/CameraSet.h
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@ -327,12 +327,16 @@ class CameraSet : public std::vector<CAMERA, Eigen::aligned_allocator<CAMERA>> {
* g = F' * (b - E * P * E' * b)
* Fixed size version
*/
#ifdef _WIN32
#if _MSC_VER < 1937
template <int N> // N = 2 or 3
static SymmetricBlockMatrix SchurComplement(
const FBlocks& Fs, const Matrix& E, const Eigen::Matrix<double, N, N>& P,
const Vector& b) {
return SchurComplement<N, D>(Fs, E, P, b);
}
#endif
#endif
/// Computes Point Covariance P, with lambda parameter
template <int N> // N = 2 or 3 (point dimension)

12
gtsam/geometry/Similarity3.h
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@ -202,6 +202,18 @@ class GTSAM_EXPORT Similarity3 : public LieGroup<Similarity3, 7> {
/// @{
private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class Archive>
void serialize(Archive & ar, const unsigned int /*version*/) {
ar & BOOST_SERIALIZATION_NVP(R_);
ar & BOOST_SERIALIZATION_NVP(t_);
ar & BOOST_SERIALIZATION_NVP(s_);
}
#endif
/// Calculate expmap and logmap coefficients.
static Matrix3 GetV(Vector3 w, double lambda);

2
gtsam/navigation/BarometricFactor.h
View File

@ -91,7 +91,7 @@ class GTSAM_EXPORT BarometricFactor : public NoiseModelFactorN<Pose3, double> {
-0.00649;
}
inline double baroOut(const double& meters) {
inline double baroOut(const double& meters) const {
double temp = 15.04 - 0.00649 * meters;
return 101.29 * std::pow(((temp + 273.1) / 288.08), 5.256);
}

21
gtsam/navigation/navigation.i
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@ -294,7 +294,7 @@ virtual class GPSFactor : gtsam::NonlinearFactor{
// Testable
void print(string s = "", const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::GPSFactor& expected, double tol);
bool equals(const gtsam::NonlinearFactor& expected, double tol);
// Standard Interface
gtsam::Point3 measurementIn() const;
@ -307,12 +307,29 @@ virtual class GPSFactor2 : gtsam::NonlinearFactor {
// Testable
void print(string s = "", const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::GPSFactor2& expected, double tol);
bool equals(const gtsam::NonlinearFactor& expected, double tol);
// Standard Interface
gtsam::Point3 measurementIn() const;
};
#include <gtsam/navigation/BarometricFactor.h>
virtual class BarometricFactor : gtsam::NonlinearFactor {
BarometricFactor();
BarometricFactor(size_t key, size_t baroKey, const double& baroIn,
const gtsam::noiseModel::Base* model);
// Testable
void print(string s = "", const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::NonlinearFactor& expected, double tol);
// Standard Interface
const double& measurementIn() const;
double heightOut(double n) const;
double baroOut(const double& meters) const;
};
#include <gtsam/navigation/Scenario.h>
virtual class Scenario {
gtsam::Pose3 pose(double t) const;

2
gtsam/nonlinear/Values-inl.h
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@ -200,6 +200,7 @@ namespace gtsam {
// Added this section for compile gtsam python on windows.
// msvc don't deduct the template arguments correctly, due possible bug in msvc.
#ifdef _WIN32
#if _MSC_VER < 1937
// Handle dynamic matrices
template <int M, int N>
struct handle_matrix<Eigen::Matrix<double, M, N, 0, M, N>, true> {
@ -250,6 +251,7 @@ namespace gtsam {
(M == Eigen::Dynamic || N == Eigen::Dynamic)>()(j, pointer);
}
};
#endif // #if _MSC_VER < 1937
#endif // #ifdef _WIN32
} // internal

3
gtsam/slam/slam.i
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@ -7,12 +7,13 @@ namespace gtsam {
#include <gtsam/geometry/Cal3DS2.h>
#include <gtsam/geometry/SO4.h>
#include <gtsam/navigation/ImuBias.h>
#include <gtsam/geometry/Similarity3.h>
// ######
#include <gtsam/slam/BetweenFactor.h>
template <T = {double, Vector, gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::SO3,
gtsam::SO4, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3,
gtsam::SO4, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Similarity3,
gtsam::imuBias::ConstantBias}>
virtual class BetweenFactor : gtsam::NoiseModelFactor {
BetweenFactor(size_t key1, size_t key2, const T& relativePose,