GTSAM4.3

.github/workflows/build.yml

@@ -17,13 +17,13 @@ jobs:
     strategy:
       matrix:
         DISTRO: [
-          { "ubuntu": "noble_gtsam4.2a9", "suffix": "gcc" },
-          { "ubuntu": "noble_gtsam4.2a9", "suffix": "llvm" },
-          { "ubuntu": "noble_cuda12.5_gtsam4.2a9", "suffix": "gcc.cuda" },
-          { "ubuntu": "noble_cuda12.5_gtsam4.2a9", "suffix": "llvm.cuda" },
-          { "ubuntu": "jammy_gtsam4.2a9", "suffix": "gcc" },
-          { "ubuntu": "jammy_cuda12.2_gtsam4.2a9", "suffix": "gcc.cuda" },
-          { "ubuntu": "jammy_cuda12.5_gtsam4.2a9", "suffix": "gcc.cuda" },
+          { "ubuntu": "noble_gtsam4.3a0", "suffix": "gcc" },
+          { "ubuntu": "noble_gtsam4.3a0", "suffix": "llvm" },
+          { "ubuntu": "noble_cuda12.5_gtsam4.3a0", "suffix": "gcc.cuda" },
+          { "ubuntu": "noble_cuda12.5_gtsam4.3a0", "suffix": "llvm.cuda" },
+          { "ubuntu": "jammy_gtsam4.3a0", "suffix": "gcc" },
+          { "ubuntu": "jammy_cuda12.2_gtsam4.3a0", "suffix": "gcc.cuda" },
+          { "ubuntu": "jammy_cuda12.5_gtsam4.3a0", "suffix": "gcc.cuda" },
         ]
         BUILD_WITH_TBB: [ "ON", "OFF" ]
 

CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.22)
-project(gtsam_points VERSION 1.1.0 LANGUAGES CXX)
+project(gtsam_points VERSION 1.2.0 LANGUAGES CXX)
 
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_LIST_DIR}/cmake")
@@ -30,8 +30,8 @@ if(BUILD_WITH_MARCH_NATIVE)
 endif()
 
 find_package(Boost REQUIRED COMPONENTS graph filesystem)
-find_package(GTSAM REQUIRED)
-find_package(GTSAM_UNSTABLE REQUIRED)
+find_package(GTSAM 4.3 REQUIRED)
+find_package(GTSAM_UNSTABLE 4.3 REQUIRED)
 find_package(Eigen3 REQUIRED)
 
 if(BUILD_WITH_TBB)
@@ -197,7 +197,6 @@ add_library(gtsam_points SHARED
   src/gtsam_points/optimizers/isam2_ext_impl.cpp
   src/gtsam_points/optimizers/incremental_fixed_lag_smoother_ext.cpp
   src/gtsam_points/optimizers/incremental_fixed_lag_smoother_ext_with_fallback.cpp
-  # src/gtsam_points/optimizers/dogleg_optimizer_ext.cpp
   src/gtsam_points/optimizers/dogleg_optimizer_ext_impl.cpp
 )
 target_include_directories(gtsam_points PUBLIC

README.md

@@ -2,7 +2,7 @@
 
 This is a collection of [GTSAM](https://gtsam.org/) factors and optimizers for range-based SLAM.
 
-Tested on Ubuntu 22.04 / 24.04 and CUDA 12.2, and NVIDIA Jetson Orin with **GTSAM 4.2a9**.
+Tested on Ubuntu 22.04 / 24.04 and CUDA 12.2, and NVIDIA Jetson Orin with **GTSAM 4.3a0**.
 
 
 [![DOI](https://zenodo.org/badge/819211095.svg)](https://zenodo.org/doi/10.5281/zenodo.13378351) [![Doc](https://img.shields.io/badge/API_list-Doxygen-blue)](https://koide3.github.io/gtsam_points/doc_cpp/index.html) [![Build](https://github.com/koide3/gtsam_points/actions/workflows/build.yml/badge.svg)](https://github.com/koide3/gtsam_points/actions/workflows/build.yml)
@@ -94,7 +94,7 @@ All the following optimizers were derived from the implementations in GTSAM.
 # Install gtsam
 git clone https://github.com/borglab/gtsam
 cd gtsam
-git checkout 4.2a9
+git checkout 4.3a0
 
 mkdir build && cd build
 cmake .. \
@@ -122,10 +122,15 @@ cmake .. -DCMAKE_BUILD_TYPE=Release
 
 # Optional cmake arguments
 # cmake .. \
-#   -DBUILD_DEMO=OFF \
-#   -DBUILD_TESTS=OFF \
-#   -DBUILD_WITH_CUDA=OFF \
-#   -DBUILD_WITH_MARCH_NATIVE=OFF
+#   -DBUILD_DEMO=OFF \                # Set ON to build demo programs
+#   -DBUILD_TESTS=OFF \               # Set ON to build unit tests
+#   -DBUILD_TOOLS=OFF \               # Set ON to build tools
+#   -DBUILD_WITH_TBB=OFF \            # Set ON to enable TBB
+#   -DBUILD_WITH_OPENMP=OFF \         # Set ON to enable OpenMP
+#   -DBUILD_WITH_CUDA=OFF \           # Set ON to enable CUDA support
+#   -DBUILD_WITH_CUDA_MULTIARCH=OFF \ # Set ON to enable multi-arch CUDA support
+#   -DCMAKE_CUDA_ARCHITECTURES=89 \   # If not specified, "native" architecture is used
+#   -DBUILD_WITH_MARCH_NATIVE=OFF     # Set ON to enable -march=native (recommended to keep it OFF)
 
 make -j$(nproc)
 sudo make install

cmake/gtsam_points-config.cmake.in

@@ -27,7 +27,7 @@ if(GTSAM_POINTS_USE_TBB)
   find_dependency(TBB REQUIRED)
 endif()
 
-if(BUILD_WITH_CUDA)
+if(GTSAM_POINTS_USE_CUDA)
   find_dependency(CUDAToolkit REQUIRED)
 endif()
 

docker/deb/Dockerfile

@@ -12,7 +12,7 @@ RUN apt-get install -y --no-install-recommends
 RUN apt-get install -y --no-install-recommends build-essential  \
     git cmake libeigen3-dev ca-certificates libboost-all-dev libmetis-dev file
 
-RUN git clone https://github.com/borglab/gtsam.git /root/gtsam -b 4.2a9
+RUN git clone https://github.com/borglab/gtsam.git /root/gtsam -b 4.3a0
 WORKDIR /root/gtsam/build
 # Rename libgtsam-dev to libgtsam-notbb-dev
 RUN sed -i 's/libgtsam-dev/libgtsam-notbb-dev/g' ../cmake/HandleCPack.cmake

include/gtsam_points/cuda/nonlinear_factor_set_gpu.hpp

@@ -55,7 +55,7 @@ class NonlinearFactorSetGPU : public NonlinearFactorSet {
    * @param factor    Nonlinear factor
    * @return          True if the factor is GPU-based one and added to the set
    */
-  bool add(boost::shared_ptr<gtsam::NonlinearFactor> factor) override;
+  bool add(std::shared_ptr<gtsam::NonlinearFactor> factor) override;
 
   /**
    * @brief Add all GPU-based factors in a factor graph to the GPU factor set
@@ -105,7 +105,7 @@ class NonlinearFactorSetGPU : public NonlinearFactorSet {
   int num_linearizations;
   int num_evaluations;
 
-  std::vector<boost::shared_ptr<NonlinearFactorGPU>> factors;
+  std::vector<std::shared_ptr<NonlinearFactorGPU>> factors;
 
   std::vector<unsigned char, Eigen::aligned_allocator<unsigned char>> linearization_input_buffer_cpu;
   std::vector<unsigned char, Eigen::aligned_allocator<unsigned char>> linearization_output_buffer_cpu;

include/gtsam_points/factors/bundle_adjustment_factor.hpp

@@ -13,7 +13,7 @@ namespace gtsam_points {
  */
 class BundleAdjustmentFactorBase : public gtsam::NonlinearFactor {
 public:
-  using shared_ptr = boost::shared_ptr<BundleAdjustmentFactorBase>;
+  using shared_ptr = std::shared_ptr<BundleAdjustmentFactorBase>;
 
   virtual ~BundleAdjustmentFactorBase() {}
 
@@ -29,10 +29,10 @@ class BundleAdjustmentFactorBase : public gtsam::NonlinearFactor {
    * @return Number of points
    */
   virtual int num_points() const = 0;
-  
+
   /**
    * @brief Set a constant error scale to boost the weight of the constraint
    */
   virtual void set_scale(double scale) {}
 };
-}
+}  // namespace gtsam_points

include/gtsam_points/factors/bundle_adjustment_factor_evm.hpp

@@ -24,7 +24,7 @@ struct BALMFeature;
  */
 class EVMBundleAdjustmentFactorBase : public BundleAdjustmentFactorBase {
 public:
-  using shared_ptr = boost::shared_ptr<EVMBundleAdjustmentFactorBase>;
+  using shared_ptr = std::shared_ptr<EVMBundleAdjustmentFactorBase>;
 
   EVMBundleAdjustmentFactorBase();
   virtual ~EVMBundleAdjustmentFactorBase() override;
@@ -72,7 +72,7 @@ class EVMBundleAdjustmentFactorBase : public BundleAdjustmentFactorBase {
  */
 class PlaneEVMFactor : public EVMBundleAdjustmentFactorBase {
 public:
-  using shared_ptr = boost::shared_ptr<PlaneEVMFactor>;
+  using shared_ptr = std::shared_ptr<PlaneEVMFactor>;
 
   PlaneEVMFactor();
   virtual ~PlaneEVMFactor() override;
@@ -81,7 +81,7 @@ class PlaneEVMFactor : public EVMBundleAdjustmentFactorBase {
   virtual void print(const std::string& s = "", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const override;
 
   virtual double error(const gtsam::Values& c) const override;
-  virtual boost::shared_ptr<gtsam::GaussianFactor> linearize(const gtsam::Values& c) const override;
+  virtual std::shared_ptr<gtsam::GaussianFactor> linearize(const gtsam::Values& c) const override;
 
   // TODO: Add feature parameter extraction method
 };
@@ -91,7 +91,7 @@ class PlaneEVMFactor : public EVMBundleAdjustmentFactorBase {
  */
 class EdgeEVMFactor : public EVMBundleAdjustmentFactorBase {
 public:
-  using shared_ptr = boost::shared_ptr<EdgeEVMFactor>;
+  using shared_ptr = std::shared_ptr<EdgeEVMFactor>;
 
   EdgeEVMFactor();
   virtual ~EdgeEVMFactor() override;
@@ -100,6 +100,6 @@ class EdgeEVMFactor : public EVMBundleAdjustmentFactorBase {
   virtual void print(const std::string& s = "", const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const override;
 
   virtual double error(const gtsam::Values& c) const override;
-  virtual boost::shared_ptr<gtsam::GaussianFactor> linearize(const gtsam::Values& c) const override;
+  virtual std::shared_ptr<gtsam::GaussianFactor> linearize(const gtsam::Values& c) const override;
 };
 }  // namespace gtsam_points

include/gtsam_points/factors/bundle_adjustment_factor_lsq.hpp

@@ -20,7 +20,7 @@ namespace gtsam_points {
 class LsqBundleAdjustmentFactor : public BundleAdjustmentFactorBase {
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-  using shared_ptr = boost::shared_ptr<LsqBundleAdjustmentFactor>;
+  using shared_ptr = std::shared_ptr<LsqBundleAdjustmentFactor>;
 
   LsqBundleAdjustmentFactor();
   virtual ~LsqBundleAdjustmentFactor() override;
@@ -30,7 +30,7 @@ class LsqBundleAdjustmentFactor : public BundleAdjustmentFactorBase {
 
   virtual size_t dim() const override { return 6; }
   virtual double error(const gtsam::Values& c) const override;
-  virtual boost::shared_ptr<gtsam::GaussianFactor> linearize(const gtsam::Values& c) const override;
+  virtual std::shared_ptr<gtsam::GaussianFactor> linearize(const gtsam::Values& c) const override;
 
   virtual void add(const gtsam::Point3& pt, const gtsam::Key& key) override;
   virtual int num_points() const override { return global_num_points; }