4.2a8

What's Changed

• Lots of development in hybrid, still WIP
• some changes for GTSFM
• Lots of bug fixes, esp. in MATLAB wrapper
• Work on IMU factor

New Contributors

Thanks to our many new contributors!

• @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

Detailed Changes

• 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
• release/4.2a8 to be merged into master by @johnwlambert in #1337

Full Changelog: 4.2a7...4.2a8