Merge branch 'develop' into fix-verbosityLMTranslator

.github/scripts/boost.sh

@@ -0,0 +1,18 @@
+### Script to install Boost
+BOOST_FOLDER=boost_${BOOST_VERSION//./_}
+
+# Download Boost
+wget https://dl.bintray.com/boostorg/release/${BOOST_VERSION}/source/${BOOST_FOLDER}.tar.gz
+
+# Unzip
+tar -zxf ${BOOST_FOLDER}.tar.gz
+
+# Bootstrap
+cd ${BOOST_FOLDER}/
+./bootstrap.sh
+
+# Build and install
+sudo ./b2 install
+
+# Rebuild ld cache
+sudo ldconfig

.github/scripts/python.sh

@@ -65,21 +65,23 @@ sudo $PYTHON -m pip install -r $GITHUB_WORKSPACE/python/requirements.txt
 mkdir $GITHUB_WORKSPACE/build
 cd $GITHUB_WORKSPACE/build
 
-cmake $GITHUB_WORKSPACE -DCMAKE_BUILD_TYPE=Release \
+cmake $GITHUB_WORKSPACE -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} \
-    -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_UNSTABLE=ON \
+    -DGTSAM_BUILD_TESTS=OFF \
+    -DGTSAM_BUILD_UNSTABLE=${GTSAM_BUILD_UNSTABLE:-ON} \
     -DGTSAM_USE_QUATERNIONS=OFF \
     -DGTSAM_WITH_TBB=${GTSAM_WITH_TBB:-OFF} \
     -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
     -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
     -DGTSAM_BUILD_PYTHON=${BUILD_PYBIND} \
-    -DGTSAM_TYPEDEF_POINTS_TO_VECTORS=${TYPEDEF_POINTS_TO_VECTORS} \
+    -DGTSAM_UNSTABLE_BUILD_PYTHON=${GTSAM_BUILD_UNSTABLE:-ON} \
     -DGTSAM_PYTHON_VERSION=$PYTHON_VERSION \
     -DPYTHON_EXECUTABLE:FILEPATH=$(which $PYTHON) \
     -DGTSAM_ALLOW_DEPRECATED_SINCE_V41=OFF \
     -DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/gtsam_install
 
-make -j$(nproc) install
 
+# Set to 2 cores so that Actions does not error out during resource provisioning.
+make -j2 install
 
 cd $GITHUB_WORKSPACE/build/python
 $PYTHON setup.py install --user --prefix=

.github/workflows/build-linux.yml

@@ -12,6 +12,7 @@ jobs:
       CTEST_PARALLEL_LEVEL: 2
       CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
       GTSAM_BUILD_UNSTABLE: ${{ matrix.build_unstable }}
+      BOOST_VERSION: 1.67.0
 
     strategy:
       fail-fast: false
@@ -44,7 +45,8 @@ jobs:
 
     steps:
       - name: Checkout
-        uses: actions/checkout@master
+        uses: actions/checkout@v2
+
       - name: Install (Linux)
         if: runner.os == 'Linux'
         run: |
@@ -61,11 +63,8 @@ jobs:
           fi
           sudo apt-get -y update
 
-          sudo apt install cmake build-essential pkg-config libpython-dev python-numpy
+          sudo apt-get install cmake build-essential pkg-config libpython-dev python-numpy libicu-dev
-          
+
-          echo "BOOST_ROOT=$(echo $BOOST_ROOT_1_72_0)" >> $GITHUB_ENV
-          echo "LD_LIBRARY_PATH=$(echo $BOOST_ROOT_1_72_0/lib)" >> $GITHUB_ENV
-          
           if [ "${{ matrix.compiler }}" = "gcc" ]; then
             sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
             echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV
@@ -75,10 +74,11 @@ jobs:
             echo "CC=clang-${{ matrix.version }}" >> $GITHUB_ENV
             echo "CXX=clang++-${{ matrix.version }}" >> $GITHUB_ENV
           fi
-      - name: Check Boost version
+
-        if: runner.os == 'Linux'
+      - name: Install Boost
         run: |
-          echo "BOOST_ROOT = $BOOST_ROOT"
+          bash .github/scripts/boost.sh
+
       - name: Build and Test (Linux)
         if: runner.os == 'Linux'
         run: |

.github/workflows/build-macos.yml

@@ -12,6 +12,7 @@ jobs:
       CTEST_PARALLEL_LEVEL: 2
       CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
       GTSAM_BUILD_UNSTABLE: ${{ matrix.build_unstable }}
+
     strategy:
       fail-fast: false
       matrix:
@@ -31,7 +32,8 @@ jobs:
 
     steps:
       - name: Checkout
-        uses: actions/checkout@master
+        uses: actions/checkout@v2
+
       - name: Install (macOS)
         if: runner.os == 'macOS'
         run: |

.github/workflows/build-python.yml

@@ -12,6 +12,7 @@ jobs:
       CTEST_PARALLEL_LEVEL: 2
       CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
       PYTHON_VERSION: ${{ matrix.python_version }}
+
     strategy:
       fail-fast: false
       matrix:
@@ -22,10 +23,12 @@ jobs:
           ubuntu-18.04-gcc-9,
           ubuntu-18.04-clang-9,
           macOS-10.15-xcode-11.3.1,
-          #ubuntu-18.04-gcc-5-tbb,
+          # ubuntu-18.04-gcc-5-tbb,
         ]
 
-        build_type: [Debug, Release]
+        #TODO update wrapper to prevent OOM
+        # build_type: [Debug, Release]
+        build_type: [Release]
         python_version: [3]
         include:
           - name: ubuntu-18.04-gcc-5
@@ -43,20 +46,28 @@ jobs:
             compiler: clang
             version: "9"
 
+          #NOTE temporarily added this as it is a required check.
+          - name: ubuntu-18.04-clang-9
+            os: ubuntu-18.04
+            compiler: clang
+            version: "9"
+            build_type: Debug
+            python_version: "3"
+
           - name: macOS-10.15-xcode-11.3.1
             os: macOS-10.15
             compiler: xcode
             version: "11.3.1"
 
-#           - name: ubuntu-18.04-gcc-5-tbb
+          # - name: ubuntu-18.04-gcc-5-tbb
-#             os: ubuntu-18.04
+          #   os: ubuntu-18.04
-#             compiler: gcc
+          #   compiler: gcc
-#             version: "5"
+          #   version: "5"
-#             flag: tbb
+          #   flag: tbb
 
     steps:
       - name: Checkout
-        uses: actions/checkout@master
+        uses: actions/checkout@v2
       - name: Install (Linux)
         if: runner.os == 'Linux'
         run: |

.github/workflows/build-special.yml

@@ -12,6 +12,7 @@ jobs:
       CTEST_PARALLEL_LEVEL: 2
       CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
       GTSAM_BUILD_UNSTABLE: ON
+      BOOST_VERSION: 1.67.0
 
     strategy:
       fail-fast: false
@@ -56,7 +57,7 @@ jobs:
 
     steps:
       - name: Checkout
-        uses: actions/checkout@master
+        uses: actions/checkout@v2
 
       - name: Install (Linux)
         if: runner.os == 'Linux'
@@ -69,10 +70,7 @@ jobs:
           fi
           sudo apt-get -y update
 
-          sudo apt install cmake build-essential pkg-config libpython-dev python-numpy
+          sudo apt install cmake build-essential pkg-config libpython-dev python-numpy libicu-dev
-
-          echo "BOOST_ROOT=$(echo $BOOST_ROOT_1_72_0)" >> $GITHUB_ENV
-          echo "LD_LIBRARY_PATH=$(echo $BOOST_ROOT_1_72_0/lib)" >> $GITHUB_ENV
 
           if [ "${{ matrix.compiler }}" = "gcc" ]; then
             sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
@@ -84,6 +82,11 @@ jobs:
             echo "CXX=clang++-${{ matrix.version }}" >> $GITHUB_ENV
           fi
 
+      - name: Install Boost
+        if: runner.os == 'Linux'
+        run: |
+          bash .github/scripts/boost.sh
+
       - name: Install (macOS)
         if: runner.os == 'macOS'
         run: |

.github/workflows/build-windows.yml

@@ -38,7 +38,7 @@ jobs:
 
     steps:
       - name: Checkout
-        uses: actions/checkout@master
+        uses: actions/checkout@v2
       - name: Install (Windows)
         if: runner.os == 'Windows'
         shell: powershell
@@ -64,12 +64,21 @@ jobs:
           }
           # Scoop modifies the PATH so we make the modified PATH global.
           echo "$env:PATH" >> $GITHUB_PATH
+
+      - name: Download and install Boost
+        uses: MarkusJx/install-boost@v1.0.1
+        id: install-boost
+        with:
+          boost_version: 1.72.0
+          toolset: msvc14.2
+
       - name: Build (Windows)
         if: runner.os == 'Windows'
+        env:
+          BOOST_ROOT: ${{ steps.install-boost.outputs.BOOST_ROOT }}
         run: |
           cmake -E remove_directory build
-          echo "BOOST_ROOT_1_72_0: ${env:BOOST_ROOT_1_72_0}"
+          cmake -B build -S . -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DBOOST_ROOT="${env:BOOST_ROOT}" -DBOOST_INCLUDEDIR="${env:BOOST_ROOT}\boost\include" -DBOOST_LIBRARYDIR="${env:BOOST_ROOT}\lib"
-          cmake -B build -S . -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DBOOST_ROOT="${env:BOOST_ROOT_1_72_0}" -DBOOST_INCLUDEDIR="${env:BOOST_ROOT_1_72_0}\boost\include" -DBOOST_LIBRARYDIR="${env:BOOST_ROOT_1_72_0}\lib"
           cmake --build build --config ${{ matrix.build_type }} --target gtsam
           cmake --build build --config ${{ matrix.build_type }} --target gtsam_unstable
           cmake --build build --config ${{ matrix.build_type }} --target wrap

gtsam/geometry/Similarity3.h

@@ -23,7 +23,7 @@
 #include <gtsam/geometry/Pose3.h>
 #include <gtsam/base/Lie.h>
 #include <gtsam/base/Manifold.h>
-#include <gtsam_unstable/dllexport.h>
+#include <gtsam/dllexport.h>
 
 
 namespace gtsam {
@@ -53,54 +53,54 @@ public:
   /// @{
 
   /// Default constructor
-  GTSAM_UNSTABLE_EXPORT Similarity3();
+  GTSAM_EXPORT Similarity3();
 
   /// Construct pure scaling
-  GTSAM_UNSTABLE_EXPORT Similarity3(double s);
+  GTSAM_EXPORT Similarity3(double s);
 
   /// Construct from GTSAM types
-  GTSAM_UNSTABLE_EXPORT Similarity3(const Rot3& R, const Point3& t, double s);
+  GTSAM_EXPORT Similarity3(const Rot3& R, const Point3& t, double s);
 
   /// Construct from Eigen types
-  GTSAM_UNSTABLE_EXPORT Similarity3(const Matrix3& R, const Vector3& t, double s);
+  GTSAM_EXPORT Similarity3(const Matrix3& R, const Vector3& t, double s);
 
   /// Construct from matrix [R t; 0 s^-1]
-  GTSAM_UNSTABLE_EXPORT Similarity3(const Matrix4& T);
+  GTSAM_EXPORT Similarity3(const Matrix4& T);
 
   /// @}
   /// @name Testable
   /// @{
 
   /// Compare with tolerance
-  GTSAM_UNSTABLE_EXPORT bool equals(const Similarity3& sim, double tol) const;
+  GTSAM_EXPORT bool equals(const Similarity3& sim, double tol) const;
 
   /// Exact equality
-  GTSAM_UNSTABLE_EXPORT bool operator==(const Similarity3& other) const;
+  GTSAM_EXPORT bool operator==(const Similarity3& other) const;
 
   /// Print with optional string
-  GTSAM_UNSTABLE_EXPORT void print(const std::string& s) const;
+  GTSAM_EXPORT void print(const std::string& s) const;
 
-  GTSAM_UNSTABLE_EXPORT friend std::ostream &operator<<(std::ostream &os, const Similarity3& p);
+  GTSAM_EXPORT friend std::ostream &operator<<(std::ostream &os, const Similarity3& p);
 
   /// @}
   /// @name Group
   /// @{
 
   /// Return an identity transform
-  GTSAM_UNSTABLE_EXPORT static Similarity3 identity();
+  GTSAM_EXPORT static Similarity3 identity();
 
   /// Composition
-  GTSAM_UNSTABLE_EXPORT Similarity3 operator*(const Similarity3& S) const;
+  GTSAM_EXPORT Similarity3 operator*(const Similarity3& S) const;
 
   /// Return the inverse
-  GTSAM_UNSTABLE_EXPORT Similarity3 inverse() const;
+  GTSAM_EXPORT Similarity3 inverse() const;
 
   /// @}
   /// @name Group action on Point3
   /// @{
 
   /// Action on a point p is s*(R*p+t)
-  GTSAM_UNSTABLE_EXPORT Point3 transformFrom(const Point3& p, //
+  GTSAM_EXPORT Point3 transformFrom(const Point3& p, //
       OptionalJacobian<3, 7> H1 = boost::none, //
       OptionalJacobian<3, 3> H2 = boost::none) const;
 
@@ -115,15 +115,15 @@ public:
    * This group action satisfies the compatibility condition. 
    * For more details, refer to: https://en.wikipedia.org/wiki/Group_action
    */
-  GTSAM_UNSTABLE_EXPORT Pose3 transformFrom(const Pose3& T) const;
+  GTSAM_EXPORT Pose3 transformFrom(const Pose3& T) const;
 
   /** syntactic sugar for transformFrom */
-  GTSAM_UNSTABLE_EXPORT Point3 operator*(const Point3& p) const;
+  GTSAM_EXPORT Point3 operator*(const Point3& p) const;
 
   /**
    *  Create Similarity3 by aligning at least three point pairs
    */
-  GTSAM_UNSTABLE_EXPORT static Similarity3 Align(const std::vector<Point3Pair>& abPointPairs);
+  GTSAM_EXPORT static Similarity3 Align(const std::vector<Point3Pair>& abPointPairs);
   
   /**
    * Create the Similarity3 object that aligns at least two pose pairs.
@@ -135,7 +135,7 @@ public:
    * using the algorithm described here:
    * http://www5.informatik.uni-erlangen.de/Forschung/Publikationen/2005/Zinsser05-PSR.pdf
    */
-  GTSAM_UNSTABLE_EXPORT static Similarity3 Align(const std::vector<Pose3Pair>& abPosePairs);
+  GTSAM_EXPORT static Similarity3 Align(const std::vector<Pose3Pair>& abPosePairs);
 
   /// @}
   /// @name Lie Group
@@ -144,12 +144,12 @@ public:
   /** Log map at the identity
    * \f$ [R_x,R_y,R_z, t_x, t_y, t_z, \lambda] \f$
    */
-  GTSAM_UNSTABLE_EXPORT static Vector7 Logmap(const Similarity3& s, //
+  GTSAM_EXPORT static Vector7 Logmap(const Similarity3& s, //
       OptionalJacobian<7, 7> Hm = boost::none);
 
   /** Exponential map at the identity
    */
-  GTSAM_UNSTABLE_EXPORT static Similarity3 Expmap(const Vector7& v, //
+  GTSAM_EXPORT static Similarity3 Expmap(const Vector7& v, //
       OptionalJacobian<7, 7> Hm = boost::none);
 
   /// Chart at the origin
@@ -170,17 +170,17 @@ public:
    * @return 4*4 element of Lie algebra that can be exponentiated
    * TODO(frank): rename to Hat, make part of traits
    */
-  GTSAM_UNSTABLE_EXPORT static Matrix4 wedge(const Vector7& xi);
+  GTSAM_EXPORT static Matrix4 wedge(const Vector7& xi);
 
   /// Project from one tangent space to another
-  GTSAM_UNSTABLE_EXPORT  Matrix7 AdjointMap() const;
+  GTSAM_EXPORT  Matrix7 AdjointMap() const;
 
   /// @}
   /// @name Standard interface
   /// @{
 
   /// Calculate 4*4 matrix group equivalent
-  GTSAM_UNSTABLE_EXPORT const Matrix4 matrix() const;
+  GTSAM_EXPORT const Matrix4 matrix() const;
 
   /// Return a GTSAM rotation
   const Rot3& rotation() const {
@@ -199,7 +199,7 @@ public:
 
   /// Convert to a rigid body pose (R, s*t)
   /// TODO(frank): why is this here? Red flag! Definitely don't have it as a cast.
-  GTSAM_UNSTABLE_EXPORT operator Pose3() const;
+  GTSAM_EXPORT operator Pose3() const;
 
   /// Dimensionality of tangent space = 7 DOF - used to autodetect sizes
   inline static size_t Dim() {

gtsam/gtsam.i

@@ -1037,8 +1037,8 @@ class Similarity3 {
   Similarity3(const Matrix& T);
 
   gtsam::Pose3 transformFrom(const gtsam::Pose3& T);
-  static Similarity3 Align(const gtsam::Point3Pairs & abPointPairs);
+  static gtsam::Similarity3 Align(const gtsam::Point3Pairs & abPointPairs);
-  static Similarity3 Align(const gtsam::Pose3Pairs & abPosePairs);
+  static gtsam::Similarity3 Align(const gtsam::Pose3Pairs & abPosePairs);
 
   // Standard Interface
   const Matrix matrix() const;