Merge pull request #2142 from borglab/fix/merge_in_release_42

Merge in release/4.2

Author: dellaert

README.md

@@ -55,6 +55,9 @@ Optional prerequisites - used automatically if findable by CMake:
 
 GTSAM 4 introduces several new features, most notably Expressions and a Python toolbox. It also introduces traits, a C++ technique that allows optimizing with non-GTSAM types. That opens the door to retiring geometric types such as Point2 and Point3 to pure Eigen types, which we also do. A significant change which will not trigger a compile error is that zero-initializing of Point2 and Point3 is deprecated, so please be aware that this might render functions using their default constructor incorrect.
 
+ There is a flag `GTSAM_ALLOW_DEPRECATED_SINCE_V43` for newly deprecated methods since the 4.3 release, which is on by default, allowing anyone to just pull version 4.3 and compile.
+
+
 ## Wrappers
 
 We provide support for [MATLAB](matlab/README.md) and [Python](python/README.md) wrappers for GTSAM. Please refer to the linked documents for more details.

gtsam/discrete/DiscreteFactorGraph.h

@@ -127,6 +127,9 @@ class GTSAM_EXPORT DiscreteFactorGraph
   template <class DERIVED_FACTOR>
   DiscreteFactorGraph(const FactorGraph<DERIVED_FACTOR>& graph) : Base(graph) {}
 
+  /// Destructor
+  virtual ~DiscreteFactorGraph() {}
+
   /// @name Testable
   /// @{
 

gtsam/nonlinear/Values-inl.h

@@ -27,8 +27,6 @@
 #include <utility>
 #include <gtsam/nonlinear/Values.h>
 
-#include <gtsam/nonlinear/Values.h> // Only so Eclipse finds class definition
-
 namespace gtsam {
 
 

gtsam/sfm/SfmTrack.h

@@ -81,13 +81,12 @@ struct GTSAM_EXPORT SfmTrack2d {
    * @returns boolean result of the validation.
    */
   bool hasUniqueCameras() const {
-    std::vector<int> track_cam_indices;
+    std::vector<size_t> cameraIndices;
     for (auto& measurement : measurements) {
-      track_cam_indices.emplace_back(measurement.first);
+      cameraIndices.emplace_back(measurement.first);
     }
-    auto i =
-        std::adjacent_find(track_cam_indices.begin(), track_cam_indices.end());
-    bool all_cameras_unique = (i == track_cam_indices.end());
+    auto i = std::adjacent_find(cameraIndices.begin(), cameraIndices.end());
+    bool all_cameras_unique = (i == cameraIndices.end());
     return all_cameras_unique;
   }
 

python/gtsam/preamble/inference.h

@@ -10,3 +10,5 @@
  * Without this they will be automatically converted to a Python object, and all
  * mutations on Python side will not be reflected on C++.
  */
+
+#include <pybind11/stl.h>