Release 4.1.1

Why this release

This is the last maintenance release before 4.2.0. It is cut now because #933 breaks the API for discrete.

Some Notable Changes

Basis functions #403
Make mEstimator variable names consistent with math #188

Super Contributors:

Major internal contributor is @varunagrawal. Thanks Varun! Besides him, here are some super-contributors below:

@jlblancoc

refactor cmake scripts into smaller files by @jlblancoc in #557
Add alternativeName() for symbols by @jlblancoc in #572
Avoid redundant calls to error() in NonLinearOptimizer by @jlblancoc in #585
User-provided hook within the internal loop of non-linear optimizers by @jlblancoc in #586
SymbolGenerator: add chr() and made constexpr-capable by @jlblancoc in #629
CMake scripts compatible with gtsam as git submodule by @jlblancoc in #674
Avoid target collision if gtsam used as submodule by @jlblancoc in #691
fix missing verbosityLMTranslator case by @jlblancoc in #716
Avoid potential wrong memory access by @jlblancoc in #758
add expressions for cross() and dot() by @jlblancoc in #793
Add missing getter in ProjectionFactor by @jlblancoc in #842
Use METIS system library if so selected by @jlblancoc in #570
Fix warnings raised by GCC -Wpedactic by @jlblancoc in #915

@lucacarlone

Gnc by @lucacarlone in #617
Feature/robust shonan by @lucacarlone in #547
changed barcsq to a vector to allow each factor to have a different inlier threshold by @lucacarlone in #684
Gnc enhancements by @lucacarlone in #765
smart factors with extrinsics calibration by @lucacarlone in #696
Feature/rolling shutter smart factors by @lucacarlone in #827
Smart Factors for arbitrary cameras by @lucacarlone in #862

@acxz

use size_t variable type by @acxz in #795
use size_t variable type by @acxz in #798
update timeLago.cpp with newer Sampler interface by @acxz in #797
replace deprecated tbb functionality by @acxz in #800
update boost::bind usage by @acxz in #796
Revert "replace deprecated tbb functionality" by @acxz in #823

Community Additions:

Added Jacobians for Rot3::RzRyRx and related named constructors by @Eskilade in #499
Fixed issue with Coriolis acceleration by @tsetterf in #505
Added Jacobians for Rot3::xyz and related conversions to euler angles by @Eskilade in #520
correct coefficients of approximated SE3 Q_r by @JzHuai0108 in #507
adding additional Unit3 support in the wrapper: PriorFactorUnit3, Values::insert/update/at(Unit3) by @tmcg0 in #576
Fix issues with maths in docs at gtsam.org by @martinvl in #596
Adding BearingFactor3D to the wrapper definition. by @cttdev in #646
Add getters to Line3 by @dwisth in #668
Fix GTSAM_EXPORT by @RamadanAhmed in #670
Cleaning SmartStereoProjectionPoseFactor by @ToniRV in #673
Adds unit test for imu preintegration of a single step by @raabuchanan in #633
Fix/plane factor dwisth by @dwisth in #680
Fix OrientedPlane3Factor jacobian by @dwisth in #362
typo in numericalGradient test hidden by duplicate test values by @ptrmu in #687
Fix can be marked override warning by @ToniRV in #688
Fix/shonan averaging dense to sparse by @ToniRV in #690
Update LieGroups.lyx by @melhashash in #693
Constant Velocity Constraint between NavStates by @asa in #701
Unit tests for Jacobian of PartialPriorFactor by @miloknowles in #721
Fix/boost issue #713 again by @Alevs2R in #732
fix: UnaryFactor Jacobian by @nmahabadi in #724
Remove unused body_P_sensor param by @asa in #744
Add a MagPoseFactor for using magnetometer measurements with Pose2/Pose3 by @miloknowles in #752
Bugfix: correct SO(3) logmap when theta small by @tmcg0 in #780
Move MagPoseFactor into gtsam by @miloknowles in #788
Correct ImuFactorExamples frame description by @hmellor in #771
Add user-defined copy constructor for Rot2 by @jaelrod in #806
pull/817
Python fisheye interface by @roderick-koehle in #811
Fix serialization of ISAM2 class by @ScottMcMichael in #816
rolling shutter projection factor by @shteren1 in #826
Small clarification and md cleanup by @FranzEricSchneider in #853
rolling shutter projection factor by @shteren1 in #751
Better Error message for TBB handling with versions greater than 2021.1 on OS X by @akashsharma02 in #876
Fix dangling reference in static allocation. by @iwanders in #900
Pose SLAM Python examples using iSAM2 by @jerredchen in #891
Add namespace to ambiguous placeholders by @duembgen in #929
Use FastDefaultAllocator for Values to adhere allocation compile flags by @beetleskin in #936
Fix cal3 fisheye jacobian by @roderick-koehle in #902
Minor fixes to fix some warnings by @bricerebsamen in #945
Make mEstimator variable names consistent with math by @michaelbosse in #188

New Contributors

@Ellon made their first contribution in #130
@jingwuOUO made their first contribution in #495
@Eskilade made their first contribution in #499
@tsetterf made their first contribution in #505
@johnwlambert made their first contribution in #534
@JzHuai0108 made their first contribution in #507
@tmcg0 made their first contribution in #576
@swarrier246 made their first contribution in #569
@RamadanAhmed made their first contribution in #670
@raabuchanan made their first contribution in #633
@melhashash made their first contribution in #693
@asa made their first contribution in #701
@miloknowles made their first contribution in #721
@Alevs2R made their first contribution in #732
@nmahabadi made their first contribution in #724
@danbarla made their first contribution in #781
@hmellor made their first contribution in #771
@jaelrod made their first contribution in #806
@roderick-koehle made their first contribution in #811
@ScottMcMichael made their first contribution in #816
@shteren1 made their first contribution in #826
@FranzEricSchneider made their first contribution in #853
@akashsharma02 made their first contribution in #876
@iwanders made their first contribution in #900
@jerredchen made their first contribution in #891
@duembgen made their first contribution in #929
@beetleskin made their first contribution in #936

Detailed PR list (this was a massive release!)

Refactor MakeATangentVector by using VectorValues and fix testcase failure by @jingwuOUO in #495
Linting and getAnchor wrap by @dellaert in #494
Added Jacobians for Rot3::RzRyRx and related named constructors by @Eskilade in #499
Example Datasets with Python Package by @varunagrawal in #501
General check for null pointer in saveGraph by @varunagrawal in #503
Update NavState Printing by @varunagrawal in #502
Fixed issue with Coriolis acceleration by @tsetterf in #505
New readBal function by @varunagrawal in #506
Update minimum Boost version required by @varunagrawal in #509
Wrap the DSFMap class so SFM can use them by @ProfFan in #511
Wrap translation averaging by @akshay-krishnan in #513
Fix typo in numerical derivative by @dellaert in #516
Wrapper fixes by @varunagrawal in #510
Added Jacobians for Rot3::xyz and related conversions to euler angles by @Eskilade in #520
Wrap upgrade by @varunagrawal in #525
TranslationRecovery Fixes by @varunagrawal in #527
Minor typo fix by @varunagrawal in #529
Minimum Feedback Arc Set (MFAS) for 1dsfm by @akshay-krishnan in #387
Replace outdated Cython reference in readme by @johnwlambert in #534
Adding logmap API which takes the object to the function argument by @ayushbaid in #532
Update cmake printing by @varunagrawal in #531
Automatically find Python3 version by @varunagrawal in #526
Expose 3d point attribute p of SfmTrack in wrapper by @johnwlambert in #537
Remove logmap function from LieVector and LieMatrix by @varunagrawal in #538
ImuFactorExample minor fixes by @varunagrawal in #540
correct coefficients of approximated SE3 Q_r by @JzHuai0108 in #507
Wrap update by @varunagrawal in #541
Add numericalDerivative Dimension Template Parameter by @varunagrawal in #536
Wrapper fixes by @varunagrawal in #528
Update Simitary3 with Align feature by @Alexma3312 in #464
ISAM2 Evaluate Nonlinear Error by @varunagrawal in #518
Point3 mean to throw an exception when input size=0 . by @Alexma3312 in #542
Add calibrate with jacobians for Cal3Bundler by @varunagrawal in #539
Minor fixes by @varunagrawal in #545
Rename mean to means + some refactoring by @dellaert in #549
Find python if using Default by @varunagrawal in #553
LP/QP Style Update by @dellaert in #546
Remove all Cython references by @varunagrawal in #551
Wrapping MFAS and 1dsfm python example by @akshay-krishnan in #535
Normalize rotations after composition by @varunagrawal in #555
Fix Python serialization by @ProfFan in #558
refactor cmake scripts into smaller files by @jlblancoc in #557
Fix LLVM repo keys by @ProfFan in #560
Fix inteminent sks keyserver failure by @ProfFan in #567
Add python equivalent for SFMExample_bal.cpp by @johnwlambert in #556
update list of C++ examples that have been ported to Python by @johnwlambert in #571
Add alternativeName() for symbols by @jlblancoc in #572
Fix warning on clang by @dellaert in #563
Homebrew latest boost has buggy boost.serialization by @ProfFan in #577
Consistent interface for pixel center by @varunagrawal in #579
adding additional Unit3 support in the wrapper: PriorFactorUnit3, Values::insert/update/at(Unit3) by @tmcg0 in #576
Minor typo fixes by @varunagrawal in #583
Avoid redundant calls to error() in NonLinearOptimizer by @jlblancoc in #585
Feature/wrap sfm data by @swarrier246 in #569
Fix python discovery for MATLAB wrapper by @varunagrawal in #584
Ubuntu+GCC9 CI stage by @varunagrawal in #593
Fix issues with maths in docs at gtsam.org by @martinvl in #596
Github Actions Environment Files by @varunagrawal in #587
Cayley Rot3 fixes by @varunagrawal in #597
New print assertions by @varunagrawal in #601
Use KeyVector for proper wrapping with TBB by @varunagrawal in #603
User-provided hook within the internal loop of non-linear optimizers by @jlblancoc in #586
Flag for relative error by @varunagrawal in #580
Enforce constant term in QP to be default 0 by @varunagrawal in #607
Publish GTSAM artifacts by @varunagrawal in #602
Check for MEX Compiler by @varunagrawal in #554
Deprecate SimpleCamera properly by @varunagrawal in #622
Miscellaneous fixes by @varunagrawal in #616
Mark Values::at return type as const by @varunagrawal in #608
Added test for subgraph preconditioner in shonan and refined error message by @jingwuOUO in #611
Jacobians for Camera models by @varunagrawal in #623
IMU Parameters Documentation by @varunagrawal in #624
Handling edges with pure rotation in translation averaging by @akshay-krishnan in #619
Cal3 Base Class by @varunagrawal in #626
SymbolGenerator: add chr() and made constexpr-capable by @jlblancoc in #629
Cal3_S2Stereo Calibrate and Uncalibrate by @varunagrawal in #630
vector of cameras and triangulation function wrapped by @swarrier246 in #615
NonlinearFactorGraph saveGraph by @varunagrawal in #632
Explicitly initialize Point3 by @varunagrawal in #635
Wrap Symbol class and methods by @varunagrawal in #642
Minor formatting by @varunagrawal in #643
Wrapping prior factor and general sfm factor or Cal3Bundler by @ayushbaid in #644
Adding BearingFactor3D to the wrapper definition. by @cttdev in #646
Pose3 interpolateRt method by @varunagrawal in #647
Remove Build Upload by @varunagrawal in #651
Gnc by @lucacarlone in #617
Adding serialization support to be used for GT-SFM by @ayushbaid in #650
Updates to use the new version of wrap by @varunagrawal in #654
Fix/warnings by @dellaert in #656
Fix warnings by @varunagrawal in #657
Adding default point color to SfmTrack to fix equality check by @ayushbaid in #659
CMake Install Destination by @varunagrawal in #660
Documentation for compiling on Windows by @varunagrawal in #652
Feature/robust shonan by @lucacarlone in #547
Update wrapper by @varunagrawal in #664
Update wrapper by @varunagrawal in #665
Add getters to Line3 by @dwisth in #668
add robust shonan updates to python wrapper by @johnwlambert in #669
Fix GTSAM_EXPORT by @RamadanAhmed in #670
FunctorizedFactor2 by @varunagrawal in #671
CMake scripts compatible with gtsam as git submodule by @jlblancoc in #674
Cleaning SmartStereoProjectionPoseFactor by @ToniRV in #673
changing robust noise model to Gaussian by @ayushbaid in #675
additional sparseJacobian functions (new) by @gchenfc in #677
Miscellaneous fixes by @varunagrawal in #679
Better printing by @varunagrawal in #678
Adds unit test for imu preintegration of a single step by @raabuchanan in #633
Added accelerated power method to compute eigenpair fast by @jingwuOUO in #533
Fix/plane factor dwisth by @dwisth in #680
Fix OrientedPlane3Factor jacobian by @dwisth in #362
Fix Pose2 print by @varunagrawal in #685
Improve sparseJacobianEigen() by @gchenfc in #682
typo in numericalGradient test hidden by duplicate test values by @ptrmu in #687
Known Issues Section by @varunagrawal in #681
Update CMake Variables and TBB build type by @varunagrawal in #683
Fix can be marked override warning by @ToniRV in #688
changed barcsq to a vector to allow each factor to have a different inlier threshold by @lucacarlone in #684
Fix/shonan averaging dense to sparse by @ToniRV in #690
Update LieGroups.lyx by @melhashash in #693
Fix GTSAM MATLAB Wrapper by @ProfFan in #698
Fix/plane factor by @dellaert in #564
Use brew's boost, instead of Fan's version by @johnwlambert in #707
Fixing translation averaging for the panorama case by @akshay-krishnan in #706
Avoid target collision if gtsam used as submodule by @jlblancoc in #691
Adding pickle support by using serialization by @ayushbaid in #709
Constant Velocity Constraint between NavStates by @asa in #701
temporarily turn off Python + tbb in CI because of OOM by @johnwlambert in #712
add Sim(3)-based alignment to the wrapper by @johnwlambert in #702
Fix/boost issue by @dellaert in #713
Use wrap to perform Matlab wrapping by @varunagrawal in #711
Fix the Similarity3 export declarations and wrapper by @varunagrawal in #719
Fix CI with separate boost install by @varunagrawal in #720
fix missing verbosityLMTranslator case by @jlblancoc in #716
Fix numpy deprecation warnings by @varunagrawal in #726
Wrapper Update by @varunagrawal in #727
Unit tests for Jacobian of PartialPriorFactor by @miloknowles in #721
Wrapper Update + Operator Overloading by @varunagrawal in #729
addPriorDouble by @dellaert in #730
Double + NavState in the wrapper by @varunagrawal in #731
Disable Wrapper CI for GCC 5 until we optimize the wrapper by @varunagrawal in #734
KeyFormatter - boost::function to std::function by @varunagrawal in #735
Bunch of minor fixes by @varunagrawal in #736
Fix/boost issue #713 again by @Alevs2R in #732
Wrapper update by @gchenfc in #739
fix: UnaryFactor Jacobian by @nmahabadi in #724
Wrapper update by @varunagrawal in #743
Remove unused body_P_sensor param by @asa in #744
Remove redundant stuff by @varunagrawal in #745
Wrapper Update by @varunagrawal in #747
Wrapper Update by @varunagrawal in #749
Wrapper Update by @varunagrawal in #750
Fix printing of preintegration params by @varunagrawal in #754
Avoid potential wrong memory access by @jlblancoc in #758
Update "print" function arguments by @gchenfc in #738
Override print methods by @varunagrawal in #760
Update boost download link by @varunagrawal in #763
Fix warnings by @varunagrawal in #761
Interface file updates by @varunagrawal in #762
Gnc enhancements by @lucacarlone in #765
smart factors with extrinsics calibration by @lucacarlone in #696
Fix rekey of LinearContainerFactor by @varunagrawal in #777
Added destructor for CameraSet to remove warning by @varunagrawal in #779
Add a MagPoseFactor for using magnetometer measurements with Pose2/Pose3 by @miloknowles in #752
Bugfix: correct SO(3) logmap when theta small by @tmcg0 in #780
Fix initial guess for Cal3Bundler calibrate by @varunagrawal in #775
Added Range to Point2 by @dellaert in #783
Custom Factors in Python by @ProfFan in #767
Fix bug in LinearContainerFactor and warnings about Point3 by @varunagrawal in #785
Move MagPoseFactor into gtsam by @miloknowles in #788
Basic Documentation for KF test by @danbarla in #781
Correct ImuFactorExamples frame description by @hmellor in #771
Fix docstrings for NonlinearEquality by @varunagrawal in #774
Add transformFrom() to wrapper, for Point3 in Similarity3 by @johnwlambert in #791
add expressions for cross() and dot() by @jlblancoc in #793
use size_t variable type by @acxz in #795
use size_t variable type by @acxz in #798
Remove separate function for double in wrapper by @varunagrawal in #794
Wrap Update by @varunagrawal in #799
update timeLago.cpp with newer Sampler interface by @acxz in #797
Adding factor which considers the essential matrix and camera calibration as variable by @ayushbaid in #753
Switching to squared sampson point-line error by @ayushbaid in #792
Update the pgp servers to get the LLVM GPG key by @varunagrawal in #802
replace deprecated tbb functionality by @acxz in #800
Add user-defined copy constructor for Rot2 by @jaelrod in #806
update boost::bind usage by @acxz in #796
Miscellaneous fixes by @varunagrawal in #814
Tests for BetweenFactor by @varunagrawal in #813
Improve docs about compiling without TBB by @johnwlambert in #818
Replace boost with std by @varunagrawal in #819
Add ShonanAveraging2 interface to wrapper with BetweenFactorPose2s, that does not require g2o files by @johnwlambert in #817
Python fisheye interface by @roderick-koehle in #811
Break interface file into multiple files by @varunagrawal in #822
Revert "replace deprecated tbb functionality" by @acxz in #823
Fix serialization of ISAM2 class by @ScottMcMichael in #816
refactor Expression tests and add comments by @yetongumich in #766
rolling shutter projection factor by @shteren1 in #826
ShonanAveraging Covariance fixes by @johnwlambert in #829
Wrap Update by @varunagrawal in #830
Wrapping triangulateNonlinear from triangulation.h by @akshay-krishnan in #828
Add Windows export symbols for PinholeCamera by @varunagrawal in #835
CI Speedup by @varunagrawal in #839
Add missing getter in ProjectionFactor by @jlblancoc in #842
Wrap GNC by @johnwlambert in #843
Add python type annotations to some older python files by @johnwlambert in #844
Fix utilities and add tests by @varunagrawal in #851
Expand DSF map unit tests by @johnwlambert in #854
Small clarification and md cleanup by @FranzEricSchneider in #853
clean up SFMdata python module by @johnwlambert in #855
Some Cleanup by @varunagrawal in #850
Wrap NonlinearEquality2 by @varunagrawal in #856
Add missing import of Pose3 by @varunagrawal in #858
Basis functions by @varunagrawal in #403
Feature/rolling shutter smart factors by @lucacarlone in #827
rolling shutter projection factor by @shteren1 in #751
Fix Python Tests Cmake by @varunagrawal in #863
Basis - Python unit test by @gchenfc in #860
Docs and formatting by @dellaert in #865
add Pose2.align() to wrapper by @johnwlambert in #866
ImuFactor Fixes by @varunagrawal in #869
Add section about Boost version requirement by @varunagrawal in #857
Added virtual destructor and re-formatted constructors by @dellaert in #870
Docker update -> borglab by @dellaert in #871
Jacobian Factor Wrapping by @varunagrawal in #873
Use METIS system library if so selected by @jlblancoc in #570
Start wrapping the verbosity options for GNC by @johnwlambert in #845
Fix bug in HandleTBB.cmake by @varunagrawal in #877
Better Error message for TBB handling with versions greater than 2021.1 on OS X by @akashsharma02 in #876
Wrapper Update by @varunagrawal in #880
Add constructor for OptionalJacobian by @gchenfc in #884
Run tests for C++ CI by @varunagrawal in #888
add failing unit test on axisAngle for Rot3 in c++ by @johnwlambert in #887
Add unit tests where angle of (axis,angle) repr. exceeds 180 degrees by <0.5 deg by @johnwlambert in #892
Clean up the init by @varunagrawal in #893
Feature/logmap expression by @yetongumich in #898
BetweenFactor Jacobian CMake flag by @varunagrawal in #867
Fix dangling reference in static allocation. by @iwanders in #900
IMUKittiExampleGPS Python Example by @varunagrawal in #836
add LAGO (for Pose2) to python wrapper by @johnwlambert in #899
Fixup Python Examples by @varunagrawal in #903
Wrap VectorValues constructor by @varunagrawal in #905
Generate GTSAM_UNSTABLE CMake exports by @varunagrawal in #906
Wrap Update by @varunagrawal in #909
Add tests for Lie::interpolate jacobians by @varunagrawal in #910
Revert @acxz's TBB revert by @ProfFan in #901
Pose SLAM Python examples using iSAM2 by @jerredchen in #891
Imu Examples Refactor by @varunagrawal in #872
Pose3::Adjoint(xi) Jacobians by @gchenfc in #885
enable expression double multiply by @yetongumich in #913
Add printErrors method to GaussianFactorGraph by @varunagrawal in #916
Use Eigen expressions more effectively and kill & in code. by @dellaert in #917
Smart Factors for arbitrary cameras by @lucacarlone in #862
Fix warnings raised by GCC -Wpedactic by @jlblancoc in #915
Fix minor stuff by @varunagrawal in #920
CMake fix for Python Tests by @varunagrawal in #921
Add Jacobian of second argument to adjoint and adjointTranpsose by @gchenfc in #922
Proper Deprecation of Eliminate Methods by @varunagrawal in #925
Add namespace to ambiguous placeholders by @duembgen in #929
Formatting with Google style by @dellaert in #930
Wrap KeyVector methods by @varunagrawal in #932
Use FastDefaultAllocator for Values to adhere allocation compile flags by @beetleskin in #936
Add deprecations by @ProfFan in #934
Fix cal3 fisheye jacobian by @roderick-koehle in #902
Enable pickling by @varunagrawal in #942
Fix deprecations by @varunagrawal in #943
Eigen Serialization Fix by @varunagrawal in #944
Wrap additional ISAM2 methods by @varunagrawal in #941
Minor fixes to fix some warnings by @bricerebsamen in #945
Make mEstimator variable names consistent with math by @michaelbosse in #188

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4.1.1