merged from develop

.github/workflows/build-python.yml

@@ -19,22 +19,20 @@ 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,  #TODO Enable once the Python wrapper is optimized for memory
+          ubuntu-18.04-gcc-5,
           ubuntu-18.04-gcc-9,
           ubuntu-18.04-clang-9,
           macOS-10.15-xcode-11.3.1,
-          # ubuntu-18.04-gcc-5-tbb,
+          ubuntu-18.04-gcc-5-tbb,
         ]
 
-        #TODO update wrapper to prevent OOM
-        # build_type: [Debug, Release]
-        build_type: [Release]
+        build_type: [Debug, Release]
         python_version: [3]
         include:
-          # - name: ubuntu-18.04-gcc-5
-          #   os: ubuntu-18.04
-          #   compiler: gcc
-          #   version: "5"
+          - name: ubuntu-18.04-gcc-5
+            os: ubuntu-18.04
+            compiler: gcc
+            version: "5"
 
           - name: ubuntu-18.04-gcc-9
             os: ubuntu-18.04
@@ -46,7 +44,7 @@ jobs:
             compiler: clang
             version: "9"
 
-          #NOTE temporarily added this as it is a required check.
+          # NOTE temporarily added this as it is a required check.
           - name: ubuntu-18.04-clang-9
             os: ubuntu-18.04
             compiler: clang
@@ -59,11 +57,11 @@ jobs:
             compiler: xcode
             version: "11.3.1"
 
-          # - name: ubuntu-18.04-gcc-5-tbb
-          #   os: ubuntu-18.04
-          #   compiler: gcc
-          #   version: "5"
-          #   flag: tbb
+          - name: ubuntu-18.04-gcc-5-tbb
+            os: ubuntu-18.04
+            compiler: gcc
+            version: "5"
+            flag: tbb
 
     steps:
       - name: Checkout

INSTALL.md

@@ -20,9 +20,10 @@ $ make install
     Optional dependent libraries:
      - If TBB is installed and detectable by CMake GTSAM will use it automatically.
        Ensure that CMake prints "Use Intel TBB : Yes".  To disable the use of TBB,
-       disable the CMake flag GTSAM_WITH_TBB (enabled by default).  On Ubuntu, TBB
-       may be installed from the Ubuntu repositories, and for other platforms it
-       may be downloaded from https://www.threadingbuildingblocks.org/
+       disable the CMake flag `GTSAM_WITH_TBB` (enabled by default) by providing
+       the argument `-DGTSAM_WITH_TBB=OFF` to `cmake`.  On Ubuntu, TBB may be
+       installed from the Ubuntu repositories, and for other platforms it may be
+       downloaded from https://www.threadingbuildingblocks.org/
      - GTSAM may be configured to use MKL by toggling `GTSAM_WITH_EIGEN_MKL` and
        `GTSAM_WITH_EIGEN_MKL_OPENMP` to `ON`; however, best performance is usually
        achieved with MKL disabled. We therefore advise you to benchmark your problem 

gtsam/base/Matrix.h

@@ -29,7 +29,7 @@
 #include <gtsam/config.h>
 
 #include <boost/format.hpp>
-#include <boost/function.hpp>
+#include <functional>
 #include <boost/tuple/tuple.hpp>
 #include <boost/math/special_functions/fpclassify.hpp>
 
@@ -489,7 +489,7 @@ struct MultiplyWithInverseFunction {
 
   // The function phi should calculate f(a)*b, with derivatives in a and b.
   // Naturally, the derivative in b is f(a).
-  typedef boost::function<VectorN(
+  typedef std::function<VectorN(
       const T&, const VectorN&, OptionalJacobian<N, M>, OptionalJacobian<N, N>)>
       Operator;
 

gtsam/base/Testable.h

@@ -34,8 +34,9 @@
 #pragma once
 
 #include <boost/concept_check.hpp>
-#include <boost/shared_ptr.hpp>
+#include <functional>
 #include <iostream>
+#include <memory>
 #include <string>
 
 #define GTSAM_PRINT(x)((x).print(#x))
@@ -119,10 +120,10 @@ namespace gtsam {
    * Binary predicate on shared pointers
    */
   template<class V>
-  struct equals_star : public std::function<bool(const boost::shared_ptr<V>&, const boost::shared_ptr<V>&)> {
+  struct equals_star : public std::function<bool(const std::shared_ptr<V>&, const std::shared_ptr<V>&)> {
     double tol_;
     equals_star(double tol = 1e-9) : tol_(tol) {}
-    bool operator()(const boost::shared_ptr<V>& expected, const boost::shared_ptr<V>& actual) {
+    bool operator()(const std::shared_ptr<V>& expected, const std::shared_ptr<V>& actual) {
       if (!actual && !expected) return true;
       return actual && expected && traits<V>::Equals(*actual,*expected, tol_);
     }

gtsam/base/base.i

@@ -0,0 +1,115 @@
+//*************************************************************************
+// base
+//*************************************************************************
+
+namespace gtsam {
+
+#include <gtsam/geometry/Cal3Bundler.h>
+#include <gtsam/geometry/Cal3DS2.h>
+#include <gtsam/geometry/Cal3Fisheye.h>
+#include <gtsam/geometry/Cal3Unified.h>
+#include <gtsam/geometry/Cal3_S2.h>
+#include <gtsam/geometry/CalibratedCamera.h>
+#include <gtsam/geometry/EssentialMatrix.h>
+#include <gtsam/geometry/Point2.h>
+#include <gtsam/geometry/Point3.h>
+#include <gtsam/geometry/Pose2.h>
+#include <gtsam/geometry/Pose3.h>
+#include <gtsam/geometry/Rot2.h>
+#include <gtsam/geometry/Rot3.h>
+#include <gtsam/geometry/StereoPoint2.h>
+#include <gtsam/navigation/ImuBias.h>
+
+// #####
+
+#include <gtsam/base/debug.h>
+bool isDebugVersion();
+
+#include <gtsam/base/DSFMap.h>
+class IndexPair {
+  IndexPair();
+  IndexPair(size_t i, size_t j);
+  size_t i() const;
+  size_t j() const;
+};
+
+// template<KEY = {gtsam::IndexPair}>
+// class DSFMap {
+//   DSFMap();
+//   KEY find(const KEY& key) const;
+//   void merge(const KEY& x, const KEY& y);
+//   std::map<KEY, Set> sets();
+// };
+
+class IndexPairSet {
+  IndexPairSet();
+  // common STL methods
+  size_t size() const;
+  bool empty() const;
+  void clear();
+
+  // structure specific methods
+  void insert(gtsam::IndexPair key);
+  bool erase(gtsam::IndexPair key);        // returns true if value was removed
+  bool count(gtsam::IndexPair key) const;  // returns true if value exists
+};
+
+class IndexPairVector {
+  IndexPairVector();
+  IndexPairVector(const gtsam::IndexPairVector& other);
+
+  // common STL methods
+  size_t size() const;
+  bool empty() const;
+  void clear();
+
+  // structure specific methods
+  gtsam::IndexPair at(size_t i) const;
+  void push_back(gtsam::IndexPair key) const;
+};
+
+gtsam::IndexPairVector IndexPairSetAsArray(gtsam::IndexPairSet& set);
+
+class IndexPairSetMap {
+  IndexPairSetMap();
+  // common STL methods
+  size_t size() const;
+  bool empty() const;
+  void clear();
+
+  // structure specific methods
+  gtsam::IndexPairSet at(gtsam::IndexPair& key);
+};
+
+class DSFMapIndexPair {
+  DSFMapIndexPair();
+  gtsam::IndexPair find(const gtsam::IndexPair& key) const;
+  void merge(const gtsam::IndexPair& x, const gtsam::IndexPair& y);
+  gtsam::IndexPairSetMap sets();
+};
+
+#include <gtsam/base/Matrix.h>
+bool linear_independent(Matrix A, Matrix B, double tol);
+
+#include <gtsam/base/Value.h>
+virtual class Value {
+  // No constructors because this is an abstract class
+
+  // Testable
+  void print(string s = "") const;
+
+  // Manifold
+  size_t dim() const;
+};
+
+#include <gtsam/base/GenericValue.h>
+template <T = {Vector, Matrix, gtsam::Point2, gtsam::Point3, gtsam::Rot2,
+               gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::StereoPoint2,
+               gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler,
+               gtsam::Cal3Fisheye, gtsam::Cal3Unified, gtsam::EssentialMatrix,
+               gtsam::CalibratedCamera, gtsam::imuBias::ConstantBias}>
+virtual class GenericValue : gtsam::Value {
+  void serializable() const;
+};
+
+}  // namespace gtsam

gtsam/base/lieProxies.h

@@ -24,7 +24,7 @@
  *
  * These should not be used outside of tests, as they are just remappings
  * of the original functions.  We use these to avoid needing to do
- * too much boost::bind magic or writing a bunch of separate proxy functions.
+ * too much std::bind magic or writing a bunch of separate proxy functions.
  *
  * Don't expect all classes to work for all of these functions.
  */