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dellaertdellaert
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Merge branch 'develop' into feature/batch_factor
2 parents db9b656 + 6f20bb5 commit 6a43119

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6 files changed

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‎.github/workflows/build-cibw.yml‎

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manylinux_image: manylinux2014
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# MacOS x86_64
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- os: macos-13
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- os: macos-15-intel
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python_version: "3.10"
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cibw_python_version: 310
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platform_id: macosx_x86_64
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- os: macos-13
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- os: macos-15-intel
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python_version: "3.11"
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cibw_python_version: 311
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platform_id: macosx_x86_64
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- os: macos-13
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- os: macos-15-intel
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python_version: "3.12"
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cibw_python_version: 312
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platform_id: macosx_x86_64
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- os: macos-13
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- os: macos-15-intel
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python_version: "3.13"
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cibw_python_version: 313
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platform_id: macosx_x86_64
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# MacOS arm64
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- os: macos-14
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- os: macos-latest
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python_version: "3.10"
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cibw_python_version: 310
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platform_id: macosx_arm64
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- os: macos-14
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- os: macos-latest
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python_version: "3.11"
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cibw_python_version: 311
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platform_id: macosx_arm64
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- os: macos-14
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- os: macos-latest
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python_version: "3.12"
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cibw_python_version: 312
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platform_id: macosx_arm64
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- os: macos-14
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- os: macos-latest
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python_version: "3.13"
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cibw_python_version: 313
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platform_id: macosx_arm64

‎.github/workflows/build-macos.yml‎

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# Github Actions requires a single row to be added to the build matrix.
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# See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
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name: [
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macos-13-xcode-14.2,
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macos-14-xcode-15.4,
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macos-15-xcode-16,
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macos-14-xcode-15.4-boost,
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macos-14-xcode-15.4-geographiclib,
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]
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build_type: [Debug, Release]
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build_unstable: [ON]
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include:
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- name: macos-13-xcode-14.2
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os: macos-13
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compiler: xcode
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version: "14.2"
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- name: macos-14-xcode-15.4
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os: macos-14
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compiler: xcode
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version: "15.4"
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- name: macos-15-xcode-16
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os: macos-15
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compiler: xcode
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version: "16"
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- name: macos-14-xcode-15.4-boost
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os: macos-14
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compiler: xcode

‎.github/workflows/build-python.yml‎

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[
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ubuntu-22.04-gcc-9,
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ubuntu-22.04-clang-11,
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macos-13-xcode-14.2,
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macos-14-xcode-15.4,
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macos-15-xcode-16,
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windows-2022-msbuild,
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]
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compiler: clang
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version: "11"
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- name: macos-13-xcode-14.2
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compiler: xcode
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version: "14.2"
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- name: macos-14-xcode-15.4
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os: macos-14
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compiler: xcode
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version: "15.4"
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- name: macos-15-xcode-16
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os: macos-15
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compiler: xcode
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version: "16"
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- name: windows-2022-msbuild
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os: windows-2022
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platform: 64

‎.github/workflows/prod-cibw.yml‎

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manylinux_image: manylinux2014
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# MacOS x86_64
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- os: macos-13
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- os: macos-15-intel
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python_version: "3.10"
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cibw_python_version: 310
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platform_id: macosx_x86_64
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- os: macos-13
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- os: macos-15-intel
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python_version: "3.11"
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cibw_python_version: 311
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platform_id: macosx_x86_64
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- os: macos-13
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- os: macos-15-intel
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python_version: "3.12"
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cibw_python_version: 312
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platform_id: macosx_x86_64
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- os: macos-13
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- os: macos-15-intel
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python_version: "3.13"
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cibw_python_version: 313
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platform_id: macosx_x86_64
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# MacOS arm64
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- os: macos-14
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- os: macos-latest
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python_version: "3.10"
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cibw_python_version: 310
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platform_id: macosx_arm64
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- os: macos-14
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- os: macos-latest
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python_version: "3.11"
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cibw_python_version: 311
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platform_id: macosx_arm64
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- os: macos-latest
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python_version: "3.12"
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cibw_python_version: 312
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platform_id: macosx_arm64
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- os: macos-14
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- os: macos-latest
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python_version: "3.13"
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cibw_python_version: 313
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platform_id: macosx_arm64

‎gtsam/geometry/SL4.cpp‎

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@@ -89,7 +89,6 @@ bool SL4::equals(const SL4& sl4, double tol) const {
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}
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/* ************************************************************************* */
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SL4 SL4::ChartAtOrigin::Retract(const Vector15& v, ChartJacobian H) {
92-
assert(v.size() == 15);
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SL4 retracted(I_4x4 + Hat(v));
9493
if (H) throw std::runtime_error("SL4::Retract: Jacobian not implemented.");
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return retracted;
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/* ************************************************************************* */
106105
SL4 SL4::Expmap(const Vector& xi, SL4Jacobian H) {
107-
assert(xi.size() == 15);
106+
if (xi.size() != 15) {
107+
throw std::runtime_error(
108+
"SL4::Expmap: xi must be a vector of size 15. Got size " +
109+
std::to_string(xi.size()));
110+
}
108111
const auto& A = Hat(xi);
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if (H) throw std::runtime_error("SL4::Expmap: Jacobian not implemented.");
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/* ************************************************************************* */
141144
Matrix44 SL4::Hat(const Vector& xi) {
142-
assert(xi.size() == 15);
145+
if (xi.size() != 15) {
146+
throw std::runtime_error(
147+
"SL4::Hat: xi must be a vector of size 15. Got size " +
148+
std::to_string(xi.size()));
149+
}
143150
Matrix44 A;
144151
const double d11 = xi(12);
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const double d22 = -xi(12) + xi(13);

‎gtsam/slam/TriangulationFactor.h‎

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Original file line numberDiff line numberDiff line change
@@ -64,7 +64,7 @@ class TriangulationFactor: public NoiseModelFactorN<Point3> {
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/// Default constructor
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TriangulationFactor() :
67-
throwCheirality_(false), verboseCheirality_(false) {
67+
throwCheirality_(false), verboseCheirality_(false), measured_() {
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}
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/**

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