Hybrid Pruning

.github/workflows/build-linux.yml

@@ -20,26 +20,26 @@ jobs:
         # Github Actions requires a single row to be added to the build matrix.
         # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
         name: [
-          ubuntu-18.04-gcc-5,
-          ubuntu-18.04-gcc-9,
-          ubuntu-18.04-clang-9,
+          ubuntu-20.04-gcc-7,
+          ubuntu-20.04-gcc-9,
+          ubuntu-20.04-clang-9,
         ]
 
         build_type: [Debug, Release]
         build_unstable: [ON]
         include:
-          - name: ubuntu-18.04-gcc-5
-            os: ubuntu-18.04
+          - name: ubuntu-20.04-gcc-7
+            os: ubuntu-20.04
             compiler: gcc
-            version: "5"
+            version: "7"
 
-          - name: ubuntu-18.04-gcc-9
-            os: ubuntu-18.04
+          - name: ubuntu-20.04-gcc-9
+            os: ubuntu-20.04
             compiler: gcc
             version: "9"
 
-          - name: ubuntu-18.04-clang-9
-            os: ubuntu-18.04
+          - name: ubuntu-20.04-clang-9
+            os: ubuntu-20.04
             compiler: clang
             version: "9"
 
@@ -60,9 +60,9 @@ jobs:
             gpg -a --export $LLVM_KEY | sudo apt-key add -
             sudo add-apt-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-9 main"
           fi
-          sudo apt-get -y update
 
-          sudo apt-get -y install cmake build-essential pkg-config libpython-dev python-numpy libicu-dev
+          sudo apt-get -y update
+          sudo apt-get -y install cmake build-essential pkg-config libpython3-dev python3-numpy libicu-dev
 
           if [ "${{ matrix.compiler }}" = "gcc" ]; then
             sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib

.github/workflows/build-python.yml

@@ -19,34 +19,34 @@ jobs:
         # Github Actions requires a single row to be added to the build matrix.
         # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
         name: [
-          ubuntu-18.04-gcc-5,
-          ubuntu-18.04-gcc-9,
-          ubuntu-18.04-clang-9,
+          ubuntu-20.04-gcc-7,
+          ubuntu-20.04-gcc-9,
+          ubuntu-20.04-clang-9,
           macOS-11-xcode-13.4.1,
-          ubuntu-18.04-gcc-5-tbb,
+          ubuntu-20.04-gcc-7-tbb,
         ]
 
         build_type: [Debug, Release]
         python_version: [3]
         include:
-          - name: ubuntu-18.04-gcc-5
-            os: ubuntu-18.04
+          - name: ubuntu-20.04-gcc-7
+            os: ubuntu-20.04
             compiler: gcc
-            version: "5"
+            version: "7"
 
-          - name: ubuntu-18.04-gcc-9
-            os: ubuntu-18.04
+          - name: ubuntu-20.04-gcc-9
+            os: ubuntu-20.04
             compiler: gcc
             version: "9"
 
-          - name: ubuntu-18.04-clang-9
-            os: ubuntu-18.04
+          - name: ubuntu-20.04-clang-9
+            os: ubuntu-20.04
             compiler: clang
             version: "9"
 
           # NOTE temporarily added this as it is a required check.
-          - name: ubuntu-18.04-clang-9
-            os: ubuntu-18.04
+          - name: ubuntu-20.04-clang-9
+            os: ubuntu-20.04
             compiler: clang
             version: "9"
             build_type: Debug
@@ -57,10 +57,10 @@ jobs:
             compiler: xcode
             version: "13.4.1"
 
-          - name: ubuntu-18.04-gcc-5-tbb
-            os: ubuntu-18.04
+          - name: ubuntu-20.04-gcc-7-tbb
+            os: ubuntu-20.04
             compiler: gcc
-            version: "5"
+            version: "7"
             flag: tbb
 
     steps:
@@ -79,9 +79,9 @@ jobs:
             gpg -a --export $LLVM_KEY | sudo apt-key add -
             sudo add-apt-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-9 main"
           fi
+
           sudo apt-get -y update
-
-          sudo apt-get -y install cmake build-essential pkg-config libpython-dev python-numpy libboost-all-dev
+          sudo apt-get -y install cmake build-essential pkg-config libpython3-dev python3-numpy libboost-all-dev
 
           if [ "${{ matrix.compiler }}" = "gcc" ]; then
             sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib

.github/workflows/build-special.yml

@@ -32,31 +32,31 @@ jobs:
 
         include:
           - name: ubuntu-gcc-deprecated
-            os: ubuntu-18.04
+            os: ubuntu-20.04
             compiler: gcc
             version: "9"
             flag: deprecated
 
           - name: ubuntu-gcc-quaternions
-            os: ubuntu-18.04
+            os: ubuntu-20.04
             compiler: gcc
             version: "9"
             flag: quaternions
 
           - name: ubuntu-gcc-tbb
-            os: ubuntu-18.04
+            os: ubuntu-20.04
             compiler: gcc
             version: "9"
             flag: tbb
 
           - name: ubuntu-cayleymap
-            os: ubuntu-18.04
+            os: ubuntu-20.04
             compiler: gcc
             version: "9"
             flag: cayley
 
           - name: ubuntu-system-libs
-            os: ubuntu-18.04
+            os: ubuntu-20.04
             compiler: gcc
             version: "9"
             flag: system-libs
@@ -74,9 +74,9 @@ jobs:
             gpg -a --export 15CF4D18AF4F7421 | sudo apt-key add -
             sudo add-apt-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-9 main"
           fi
-          sudo apt-get -y update
 
-          sudo apt-get -y install cmake build-essential pkg-config libpython-dev python-numpy libicu-dev
+          sudo apt-get -y update
+          sudo apt-get -y install cmake build-essential pkg-config libpython3-dev python3-numpy libicu-dev
 
           if [ "${{ matrix.compiler }}" = "gcc" ]; then
             sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib

README.md

@@ -64,6 +64,29 @@ GTSAM 4.1 added a new pybind wrapper, and **removed** the deprecated functionali
 
 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.
 
+## Citation
+
+If you are using GTSAM for academic work, please use the following citation:
+
+```
+@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},
+  title        = {borglab/gtsam},
+  month        = may,
+  year         = 2022,
+  publisher    = {Zenodo},
+  version      = {4.2a7},
+  doi          = {10.5281/zenodo.5794541},
+  url          = {https://doi.org/10.5281/zenodo.5794541}
+}
+```
+
+You can also get the latest citation available from Zenodo below:
+
+[![DOI](https://zenodo.org/badge/86362856.svg)](https://doi.org/10.5281/zenodo.5794541)
+
+Specific formats are available in the bottom-right corner of the Zenodo page.
+
 ## The Preintegrated IMU Factor
 
 GTSAM includes a state of the art IMU handling scheme based on
@@ -73,7 +96,7 @@ GTSAM includes a state of the art IMU handling scheme based on
 Our implementation improves on this using integration on the manifold, as detailed in
 
 - Luca Carlone, Zsolt Kira, Chris Beall, Vadim Indelman, and Frank Dellaert, _"Eliminating conditionally independent sets in factor graphs: a unifying perspective based on smart factors"_, Int. Conf. on Robotics and Automation (ICRA), 2014. [[link]](https://ieeexplore.ieee.org/abstract/document/6907483)
-- Christian Forster, Luca Carlone, Frank Dellaert, and Davide Scaramuzza, "IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation", Robotics: Science and Systems (RSS), 2015. [[link]](http://www.roboticsproceedings.org/rss11/p06.pdf)
+- Christian Forster, Luca Carlone, Frank Dellaert, and Davide Scaramuzza, _"IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation"_, Robotics: Science and Systems (RSS), 2015. [[link]](http://www.roboticsproceedings.org/rss11/p06.pdf)
 
 If you are using the factor in academic work, please cite the publications above.
 

cmake/GtsamBuildTypes.cmake

@@ -190,7 +190,7 @@ if(${CMAKE_CXX_COMPILER_ID} STREQUAL "Clang")
 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!)" ON)
+  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:

cmake/HandleEigen.cmake

@@ -1,7 +1,10 @@
 ###############################################################################
 # Option for using system Eigen or GTSAM-bundled Eigen
-
-option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" OFF)
+# Default: Use system's Eigen if found automatically:
+find_package(Eigen3 QUIET)
+set(USE_SYSTEM_EIGEN_INITIAL_VALUE ${Eigen3_FOUND})
+option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" ${USE_SYSTEM_EIGEN_INITIAL_VALUE})
+unset(USE_SYSTEM_EIGEN_INITIAL_VALUE)
 
 if(NOT GTSAM_USE_SYSTEM_EIGEN)
   # This option only makes sense if using the embedded copy of Eigen, it is
@@ -11,7 +14,7 @@ endif()
 
 # Switch for using system Eigen or GTSAM-bundled Eigen
 if(GTSAM_USE_SYSTEM_EIGEN)
-    find_package(Eigen3 REQUIRED)
+    find_package(Eigen3 REQUIRED) # need to find again as REQUIRED
 
     # Use generic Eigen include paths e.g. <Eigen/Core>
     set(GTSAM_EIGEN_INCLUDE_FOR_INSTALL "${EIGEN3_INCLUDE_DIR}")