Merge pull request #1431 from borglab/release/4.2a9

Author: dellaert

.github/workflows/build-special.yml

@@ -111,7 +111,7 @@ jobs:
         if: matrix.flag == 'deprecated'
         run: |
           echo "GTSAM_ALLOW_DEPRECATED_SINCE_V42=ON" >> $GITHUB_ENV
-          echo "Allow deprecated since version 4.1"
+          echo "Allow deprecated since version 4.2"
 
       - name: Set Use Quaternions Flag
         if: matrix.flag == 'quaternions'

CMakeLists.txt

@@ -10,7 +10,7 @@ endif()
 set (GTSAM_VERSION_MAJOR 4)
 set (GTSAM_VERSION_MINOR 2)
 set (GTSAM_VERSION_PATCH 0)
-set (GTSAM_PRERELEASE_VERSION "a8")
+set (GTSAM_PRERELEASE_VERSION "a9")
 math (EXPR GTSAM_VERSION_NUMERIC "10000 * ${GTSAM_VERSION_MAJOR} + 100 * ${GTSAM_VERSION_MINOR} + ${GTSAM_VERSION_PATCH}")
 
 if (${GTSAM_VERSION_PATCH} EQUAL 0)

README.md

@@ -31,11 +31,11 @@ In the root library folder execute:
 
 ```sh
 #!bash
-$ mkdir build
-$ cd build
-$ cmake ..
-$ make check (optional, runs unit tests)
-$ make install
+mkdir build
+cd build
+cmake ..
+make check (optional, runs unit tests)
+make install
 ```
 
 Prerequisites:
@@ -55,9 +55,7 @@ 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.
 
-GTSAM 4 also deprecated some legacy functionality and wrongly named methods. If you are on a 4.0.X release, you can define the flag `GTSAM_ALLOW_DEPRECATED_SINCE_V4` to use the deprecated methods.
-
-GTSAM 4.1 added a new pybind wrapper, and **removed** the deprecated functionality. There is a flag `GTSAM_ALLOW_DEPRECATED_SINCE_V42` for newly deprecated methods since the 4.1 release, which is on by default, allowing anyone to just pull version 4.1 and compile.
+ There is a flag `GTSAM_ALLOW_DEPRECATED_SINCE_V42` for newly deprecated methods since the 4.2 release, which is on by default, allowing anyone to just pull version 4.2 and compile.
 
 
 ## Wrappers
@@ -68,24 +66,39 @@ We provide support for [MATLAB](matlab/README.md) and [Python](python/README.md)
 
 If you are using GTSAM for academic work, please use the following citation:
 
-```
+```bibtex
 @software{gtsam,
-  author       = {Frank Dellaert and Richard Roberts and Varun Agrawal and Alex Cunningham and Chris Beall and Duy-Nguyen Ta and Fan Jiang and lucacarlone and nikai and Jose Luis Blanco-Claraco and Stephen Williams and ydjian and John Lambert and Andy Melim and Zhaoyang Lv and Akshay Krishnan and Jing Dong and Gerry Chen and Krunal Chande and balderdash-devil and DiffDecisionTrees and Sungtae An and mpaluri and Ellon Paiva Mendes and Mike Bosse and Akash Patel and Ayush Baid and Paul Furgale and matthewbroadwaynavenio and roderick-koehle},
+  author       = {Frank Dellaert and GTSAM Contributors},
   title        = {borglab/gtsam},
-  month        = may,
+  month        = May,
   year         = 2022,
-  publisher    = {Zenodo},
-  version      = {4.2a7},
+  publisher    = {Georgia Tech Borg Lab},
+  version      = {4.2a8},
   doi          = {10.5281/zenodo.5794541},
-  url          = {https://doi.org/10.5281/zenodo.5794541}
+  url          = {https://github.com/borglab/gtsam)}}
 }
 ```
 
-You can also get the latest citation available from Zenodo below:
+To cite the `Factor Graphs for Robot Perception` book, please use:
+```bibtex
+@book{factor_graphs_for_robot_perception,
+    author={Frank Dellaert and Michael Kaess},
+    year={2017},
+    title={Factor Graphs for Robot Perception},
+    publisher={Foundations and Trends in Robotics, Vol. 6},
+    url={http://www.cs.cmu.edu/~kaess/pub/Dellaert17fnt.pdf}
+}
+```
 
-[![DOI](https://zenodo.org/badge/86362856.svg)](https://doi.org/10.5281/zenodo.5794541)
+If you are using the IMU preintegration scheme, please cite:
+```bibtex
+@book{imu_preintegration,
+    author={Christian Forster and Luca Carlone and Frank Dellaert and Davide Scaramuzza},
+    title={IMU preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation},
+    year={2015}
+}
+```
 
-Specific formats are available in the bottom-right corner of the Zenodo page.
 
 ## The Preintegrated IMU Factor
 

cmake/GtsamBuildTypes.cmake

@@ -1,6 +1,6 @@
 include(CheckCXXCompilerFlag) # for check_cxx_compiler_flag()
 
-# Set cmake policy to recognize the AppleClang compiler
+# Set cmake policy to recognize the Apple Clang compiler
 # independently from the Clang compiler.
 if(POLICY CMP0025)
   cmake_policy(SET CMP0025 NEW)
@@ -87,10 +87,10 @@ if(MSVC)
   list_append_cache(GTSAM_COMPILE_DEFINITIONS_PRIVATE
     WINDOWS_LEAN_AND_MEAN
     NOMINMAX
-	)
+    )
   # Avoid literally hundreds to thousands of warnings:
   list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC
-	/wd4267 # warning C4267: 'initializing': conversion from 'size_t' to 'int', possible loss of data
+    /wd4267 # warning C4267: 'initializing': conversion from 'size_t' to 'int', possible loss of data
   )
 
   add_compile_options(/wd4005)
@@ -183,19 +183,43 @@ set(CMAKE_EXE_LINKER_FLAGS_PROFILING ${GTSAM_CMAKE_EXE_LINKER_FLAGS_PROFILING})
 
 # Clang uses a template depth that is less than standard and is too small
 if(${CMAKE_CXX_COMPILER_ID} STREQUAL "Clang")
-    # Apple Clang before 5.0 does not support -ftemplate-depth.
-    if(NOT (APPLE AND "${CMAKE_CXX_COMPILER_VERSION}" VERSION_LESS "5.0"))
-        list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC "-ftemplate-depth=1024")
-    endif()
+  # Apple Clang before 5.0 does not support -ftemplate-depth.
+  if(NOT (APPLE AND "${CMAKE_CXX_COMPILER_VERSION}" VERSION_LESS "5.0"))
+    list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC "-ftemplate-depth=1024")
+  endif()
 endif()
 
 if (NOT MSVC)
   option(GTSAM_BUILD_WITH_MARCH_NATIVE  "Enable/Disable building with all instructions supported by native architecture (binary may not be portable!)" OFF)
-  if(GTSAM_BUILD_WITH_MARCH_NATIVE AND (APPLE AND NOT CMAKE_SYSTEM_PROCESSOR STREQUAL "arm64"))
-    # Add as public flag so all dependant projects also use it, as required
-    # by Eigen to avid crashes due to SIMD vectorization:
-    list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC "-march=native")
-  endif()
+  if(GTSAM_BUILD_WITH_MARCH_NATIVE)
+    # Check if Apple OS and compiler is [Apple]Clang
+    if(APPLE AND (${CMAKE_CXX_COMPILER_ID} MATCHES "^(Apple)?Clang$"))
+      # Check Clang version since march=native is only supported for version 15.0+.
+      if("${CMAKE_CXX_COMPILER_VERSION}" VERSION_LESS "15.0")
+        if(NOT CMAKE_SYSTEM_PROCESSOR STREQUAL "arm64")
+          # Add as public flag so all dependent projects also use it, as required
+          # by Eigen to avoid crashes due to SIMD vectorization:
+          list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC "-march=native")
+        else()
+          message(WARNING "Option GTSAM_BUILD_WITH_MARCH_NATIVE ignored, because native architecture is not supported for Apple silicon and AppleClang version < 15.0.")
+        endif() # CMAKE_SYSTEM_PROCESSOR
+      else()
+        # Add as public flag so all dependent projects also use it, as required
+        # by Eigen to avoid crashes due to SIMD vectorization:
+        list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC "-march=native")
+      endif() # CMAKE_CXX_COMPILER_VERSION
+    else()
+      include(CheckCXXCompilerFlag)
+      CHECK_CXX_COMPILER_FLAG("-march=native" COMPILER_SUPPORTS_MARCH_NATIVE)
+      if(COMPILER_SUPPORTS_MARCH_NATIVE)
+        # Add as public flag so all dependent projects also use it, as required
+        # by Eigen to avoid crashes due to SIMD vectorization:
+        list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC "-march=native")
+      else()
+        message(WARNING "Option GTSAM_BUILD_WITH_MARCH_NATIVE ignored, because native architecture is not supported.")
+      endif() # COMPILER_SUPPORTS_MARCH_NATIVE
+    endif() # APPLE
+  endif() # GTSAM_BUILD_WITH_MARCH_NATIVE
 endif()
 
 # Set up build type library postfixes

cmake/GtsamPrinting.cmake

@@ -51,11 +51,10 @@ function(print_build_options_for_target target_name_)
   # print_padded(GTSAM_COMPILE_DEFINITIONS_PRIVATE)
   print_padded(GTSAM_COMPILE_DEFINITIONS_PUBLIC)
 
-  foreach(build_type ${GTSAM_CMAKE_CONFIGURATION_TYPES})
-    string(TOUPPER "${build_type}" build_type_toupper)
-    # print_padded(GTSAM_COMPILE_OPTIONS_PRIVATE_${build_type_toupper})
-    print_padded(GTSAM_COMPILE_OPTIONS_PUBLIC_${build_type_toupper})
-    # print_padded(GTSAM_COMPILE_DEFINITIONS_PRIVATE_${build_type_toupper})
-    print_padded(GTSAM_COMPILE_DEFINITIONS_PUBLIC_${build_type_toupper})
-  endforeach()
+  string(TOUPPER "${CMAKE_BUILD_TYPE}" build_type_toupper)
+  # print_padded(GTSAM_COMPILE_OPTIONS_PRIVATE_${build_type_toupper})
+  print_padded(GTSAM_COMPILE_OPTIONS_PUBLIC_${build_type_toupper})
+  # print_padded(GTSAM_COMPILE_DEFINITIONS_PRIVATE_${build_type_toupper})
+  print_padded(GTSAM_COMPILE_DEFINITIONS_PUBLIC_${build_type_toupper})
+
 endfunction()

cmake/HandleGeneralOptions.cmake

@@ -25,7 +25,7 @@ option(GTSAM_WITH_EIGEN_MKL_OPENMP          "Eigen, when using Intel MKL, will a
 option(GTSAM_THROW_CHEIRALITY_EXCEPTION     "Throw exception when a triangulated point is behind a camera" ON)
 option(GTSAM_BUILD_PYTHON                   "Enable/Disable building & installation of Python module with pybind11" OFF)
 option(GTSAM_INSTALL_MATLAB_TOOLBOX         "Enable/Disable installation of matlab toolbox"  OFF)
-option(GTSAM_ALLOW_DEPRECATED_SINCE_V42     "Allow use of methods/functions deprecated in GTSAM 4.1" ON)
+option(GTSAM_ALLOW_DEPRECATED_SINCE_V42     "Allow use of methods/functions deprecated in GTSAM 4.2" ON)
 option(GTSAM_SUPPORT_NESTED_DISSECTION      "Support Metis-based nested dissection" ON)
 option(GTSAM_TANGENT_PREINTEGRATION         "Use new ImuFactor with integration on tangent space" ON)
 option(GTSAM_SLOW_BUT_CORRECT_BETWEENFACTOR "Use the slower but correct version of BetweenFactor" OFF)

cmake/HandlePrintConfiguration.cmake

@@ -87,7 +87,7 @@ print_enabled_config(${GTSAM_USE_QUATERNIONS}             "Quaternions as defaul
 print_enabled_config(${GTSAM_ENABLE_CONSISTENCY_CHECKS}   "Runtime consistency checking    ")
 print_enabled_config(${GTSAM_ROT3_EXPMAP}                 "Rot3 retract is full ExpMap     ")
 print_enabled_config(${GTSAM_POSE3_EXPMAP}                "Pose3 retract is full ExpMap    ")
-print_enabled_config(${GTSAM_ALLOW_DEPRECATED_SINCE_V42}  "Allow features deprecated in GTSAM 4.1")
+print_enabled_config(${GTSAM_ALLOW_DEPRECATED_SINCE_V42}  "Allow features deprecated in GTSAM 4.2")
 print_enabled_config(${GTSAM_SUPPORT_NESTED_DISSECTION}   "Metis-based Nested Dissection   ")
 print_enabled_config(${GTSAM_TANGENT_PREINTEGRATION}      "Use tangent-space preintegration")
 

cmake/HandleTBB.cmake

@@ -7,10 +7,6 @@ if (GTSAM_WITH_TBB)
     if(TBB_FOUND)
         set(GTSAM_USE_TBB 1)  # This will go into config.h
 
-#        if ((${TBB_VERSION} VERSION_GREATER "2021.1") OR (${TBB_VERSION} VERSION_EQUAL "2021.1"))
-#            message(FATAL_ERROR "TBB version greater than 2021.1 (oneTBB API) is not yet supported. Use an older version instead.")
-#        endif()
-
         if ((${TBB_VERSION_MAJOR} GREATER 2020) OR (${TBB_VERSION_MAJOR} EQUAL 2020))
             set(TBB_GREATER_EQUAL_2020 1)
         else()