Release 4.2

[dellaert]

This is the long-awaited release 4.2. Develop has been in pre-4.3 for a while now, but 4.2 kept evolving alongside it (mostly with cherry-picks) as roboticsbook.org uses it and we wanted to wait another semester of teaching it to make sure it was very stable.

The biggest changes are:

• hybrid factor graph inference
• much more extensive python and Matlab wrappers
• Shonan averaging

GTSAM 4.2 can be used from python using pip install gtsam. All available wheels can be found on pypi.

Detailed changes below:

What's Changed (Since 4.1.1)

• API improvements for discrete by @dellaert in API improvements for discrete #990
• Finish release branch by @dellaert in Finish release branch #992
• Two small fixes by @dellaert in Two small fixes #996
• Force nonnegative scale for Sim(3) by @johnwlambert in Force nonnegative scale for Sim(3) #997
• Moved empty to Factor base class. by @dellaert in Moved empty to Factor base class. #998
• Fix documentation on ProjectionFactorPPPC by @dwisth in Fix documentation on ProjectionFactorPPPC #1004
• Minor changes to LocalPlaneFactor by @dwisth in Minor changes to LocalPlaneFactor #1003
• DecisionTree Improvements by @varunagrawal in DecisionTree Improvements #1002
• Spring cleaning: deprecate -> 4.2 by @dellaert in Spring cleaning: deprecate -> 4.2 #999
• DecisionTree refactor by @dellaert in DecisionTree refactor #1000
• render values in markdown by @dellaert in render values in markdown #1001
• More DecisionTree improvements by @dellaert in More DecisionTree improvements #1005

What's Changed (Since 4.2a1)

• Remove Potentials by @ProfFan in Remove Potentials #1013
• fail fast in linux matrix by @dellaert in fail fast in linux matrix #1017
• html renderers in discrete by @dellaert in html renderers in discrete #1022

What's Changed (Since 4.2a2)

• FG print(): fix empty lines on nullptr; avoid endl by @jlblancoc in FG print(): fix empty lines on nullptr; avoid endl #1030
• Fix probPrime by @varunagrawal in Fix probPrime #1034
• Add python unit test for triangulation with robust noise model by @johnwlambert in Add python unit test for triangulation with robust noise model #1031
• Better DiscreteConditional by @dellaert in Better DiscreteConditional #1037
• Rename DiscretePrior -> DiscreteDistribution by @dellaert in Rename DiscretePrior -> DiscreteDistribution #1039

What's Changed (Since 4.2a3)

• Robust triangulation by @lucacarlone in Robust triangulation #1020
• DiscreteBayesNet sample/optimize variants by @dellaert in DiscreteBayesNet sample/optimize variants #1043
• Added a convenience function for plotting 2D points. by @magicbycalvin in Added a convenience function for plotting 2D points. #1042
• Some discrete improvements by @dellaert in Some discrete improvements #1045
• Subgraph API change by @dellaert in Subgraph API change #1010
• Update python install in CI by @varunagrawal in Update python install in CI #1054
• Fix DiscreteFactorGraph::optimize to return MPE by @dellaert in Fix DiscreteFactorGraph::optimize to return MPE #1050
• Changes in gtsam to support hybrid branches by @dellaert in Changes in gtsam to support hybrid branches #1055
• Threshold Example + linting by @dellaert in Threshold Example + linting #1056
• Expose GraphvizFormatting and test in python by @senselessDev in Expose GraphvizFormatting and test in python #1059
• Add position to Point2 nodes in GraphViz by @senselessDev in Add position to Point2 nodes in GraphViz #1058
• Fix docs by @dellaert in Fix docs #1064
• Added sumProduct as a convenient alias by @dellaert in Added sumProduct as a convenient alias #1066
• Added inference module by @dellaert in Added inference module #1068
• Added support for positioning in BayesNet plotting by @dellaert in Added support for positioning in BayesNet plotting #1070

What's Changed (Since 4.2a4)

• Wrap FindKarcherMean for Rot3 by @johnwlambert in Wrap FindKarcherMean for Rot3 #1069
• Wrapped more things by @dellaert in Wrapped more things #1077
• Moved Sfm classes to their own files by @dellaert in Moved Sfm classes to their own files #1078
• Expose some iSAM2/FixedLagSmoothing functionality for the bindings by @senselessDev in Expose some iSAM2/FixedLagSmoothing functionality for the bindings #1053
• Cleaned up loading SfmData by @dellaert in Cleaned up loading SfmData #1082
• Fixes to get matlab wrapper working properly by @varunagrawal in Fixes to get matlab wrapper working properly #1083
• Wrapper Update by @varunagrawal in Wrapper Update #1084
• Add default constructor to PoseRotationPrior to fix serialization by @ScottMcMichael in Add default constructor to PoseRotationPrior to fix serialization #1086
• Add shared_ptr definition for remainder of camera objects by @dwisth in Add shared_ptr definition for remainder of camera objects #1088
• Fix DotWriter wrapping by @dellaert in Fix DotWriter wrapping #1089
• Get Sim2 working by @varunagrawal in Get Sim2 working #1090
• Improvements in linear by @dellaert in Improvements in linear #1091
• Frobenius Factor Eigen Fix by @varunagrawal in Frobenius Factor Eigen Fix #1096
• New functionality in linear by @dellaert in New functionality in linear #1095
• EXPORT statements to help Windows build. In Constraint.h, there was a… by @mikesheffler in EXPORT statements to help Windows build. In Constraint.h, there was a… #1097

What's Changed (Since 4.2a5)

• Fix MSVC / Windows Build of GTSAM_UNSTABLE by @mikesheffler in Fix MSVC / Windows Build of GTSAM_UNSTABLE #1102
• Fix issues with grouped tests by @dellaert in Fix issues with grouped tests #1107
• Header discipline in base by @dellaert in Header discipline in base #1108
• fix: typo by @andre-nguyen in fix: typo #1111
• correctly parse optimizer params for base optimizer in gnc by @yunzc in correctly parse optimizer params for base optimizer in gnc #1085
• Add missing header for timing target by @dellaert in Add missing header for timing target #1112
• replace ifndefs with pragma once by @acxz in replace ifndefs with pragma once #1113
• CMake Warning Fixes by @varunagrawal in CMake Warning Fixes #1115
• Windows Tests by @varunagrawal in Windows Tests #1109
• Include guards by @acxz in Include guards #1116
• filename in repo is w10000 not w10000-odom by @acxz in filename in repo is w10000 not w10000-odom #1123
• Added more tests for basis by @dellaert in Added more tests for basis #1121
• Using a random number generator in translation averaging by @akshay-krishnan in Using a random number generator in translation averaging #1120
• A bunch of minor fixes by @varunagrawal in A bunch of minor fixes #1132
• fix triangulatePoint3 for calibrations with distortion by @thomassm in fix triangulatePoint3 for calibrations with distortion #1128
• Fix visitWith for Pruned Tree by @varunagrawal in Fix visitWith for Pruned Tree #1135
• Wrap ParameterMatrix as argument for Values by @varunagrawal in Wrap ParameterMatrix as argument for Values #1136
• Apply DecisionTree op with Assignment by @varunagrawal in Apply DecisionTree op with Assignment #1137
• Various Fixes by @varunagrawal in Various Fixes #1138
• Fix initialization in range iSAM example by @dellaert in Fix initialization in range iSAM example #1131
• Fix Matlab Wrapper by @varunagrawal in Fix Matlab Wrapper #1140
• Print parents when printing GaussianConditional by @varunagrawal in Print parents when printing GaussianConditional #1143
• DecisionTree Improvements by @varunagrawal in DecisionTree Improvements #1144
• Fixed custom factors in doc/gtsam.lyx/pdf by @dellaert in Fixed custom factors in doc/gtsam.lyx/pdf #1139
• Fix python-install by @varunagrawal in Fix python-install #1145
• Wrapping Updates by @varunagrawal in Wrapping Updates #1146
• Allow more functionality through system METIS by @acxz in Allow more functionality through system METIS #1117
• Pose3 improvements by @dellaert in Pose3 improvements #1148
• DecisionTreeFactor prune method by @varunagrawal in DecisionTreeFactor prune method #1151
• Update Wrapper by @varunagrawal in Update Wrapper #1149
• Improve Gaussian Conditional printing by @varunagrawal in Improve Gaussian Conditional printing #1147
• Pose2::Align by @dellaert in Pose2::Align #1150
• Record number of assignments for each leaf by @varunagrawal in Record number of assignments for each leaf #1154
• added wrapper for ProjectionFactorRollingShutter by @shteren1 in added wrapper for ProjectionFactorRollingShutter #1159
• Fix the race! by @ProfFan in Fix the race! #1158
• InvDepthFactor3: Fix wrong derivative H3 by @d-vo in InvDepthFactor3: Fix wrong derivative H3 #1157
• Updated scaling factors for proper geometric representation of uncertainty ellipses by @magicbycalvin in Updated scaling factors for proper geometric representation of uncertainty ellipses #1067

What's Changed (Since 4.2a6)

• DecisionTree Refactor by @varunagrawal in DecisionTree Refactor #1155
• New maxNrAssignment scheme for pruning by @varunagrawal in New maxNrAssignment scheme for pruning #1156
• Fix slow dynamic cast for Point3 and Point2 by @ProfFan in Fix slow dynamic cast for Point3 and Point2 #1168
• Fix robust deserialization by @ProfFan in Fix robust deserialization #1169
• Add camera and Calibration Jacobians in Python by @ProfFan in Add camera and Calibration Jacobians in Python #1171
• Regenerate python utils files upon edit by @gchenfc in Regenerate python utils files upon edit #1176
• noise models: Add getters for all model parameters by @jlblancoc in noise models: Add getters for all model parameters #1175
• Add Similarity(2) support in gtsam/geometry by @johnwlambert in Add Similarity(2) support in gtsam/geometry #918
• Fix warnings and docs by @varunagrawal in Fix warnings and docs #1181
• Added some utilities for better using the SfM parts of GTSAM in Python by @ProfFan in Added some utilities for better using the SfM parts of GTSAM in Python #1185
• Some fixes by @varunagrawal in Some fixes #1187
• Fix uncertainty ellipses in python helpers by @senselessDev in Fix uncertainty ellipses in python helpers #1177
• Adding options to translation averaging to support betweenfactor translation priors by @akshay-krishnan in Adding options to translation averaging to support betweenfactor translation priors #1190
• All uncertainty ellipses now contain 95% by @dellaert in All uncertainty ellipses now contain 95% #1193
• Remove user flag for pip install by @varunagrawal in Remove user flag for pip install #1195
• Wrap triangulateSafe by @dellaert in Wrap triangulateSafe #1194
• Python optimizer iteration hook by @gchenfc in Python optimizer iteration hook #1127

What's Changed (Since 4.2a7)

• fix typo issue in comment by @huanglilong in fix typo issue in comment #1206
• Fix templated type declaration in geometry.i by @varunagrawal in Fix templated type declaration in geometry.i #1205
• Hybrid Factor Graph Implementation by @ProfFan in Hybrid Factor Graph Implementation #1203
• Fix / Move Rot3::quaternion to deprecated block by @HViktorTsoi in Fix / Move Rot3::quaternion to deprecated block #1219
• Add various tests for Hybrid by @varunagrawal in Add various tests for Hybrid #1220
• Address matplotlib deprecation warnings for fig.gca() and window.set_title() by @vik748 in Address matplotlib deprecation warnings for fig.gca() and window.set_title() #1225
• Fix the failure in TA when adding betweenTranslations without any measurements. by @akshay-krishnan in Fix the failure in TA when adding betweenTranslations without any measurements.  #1224
• Improvements by @varunagrawal in Improvements #1217
• FIX: Robust loss error calculation by @ProfFan in FIX: Robust loss error calculation #1161
• Add this-> to fix ROS compile issue by @varunagrawal in Add this-> to fix ROS compile issue #1230
• Replace boost::function with std::function by @varunagrawal in Replace boost::function with std::function #1232
• Fix CombinedImuFactor by @varunagrawal in Fix CombinedImuFactor #882
• Wrapper Update by @varunagrawal in Wrapper Update #1235
• added jacobians for all pose3 methods in python wrappers by @shteren1 in added jacobians for all pose3 methods in python wrappers #1234
• Fix/gnc optimizer by @lucacarlone in Fix/gnc optimizer #1035
• Wrap BearingRange Factors by @varunagrawal in Wrap BearingRange Factors #1240
• Implementation of the LOST triangulation algorithm by @akshay-krishnan in Implementation of the LOST triangulation algorithm #1241
• Clear ConcurrentMap before loading archive data by @ScottMcMichael in Clear ConcurrentMap before loading archive data #1248
• Fix Preintegration Covariance of CombinedImuFactor by @varunagrawal in Fix Preintegration Covariance of CombinedImuFactor #879
• Fix Python CI: More swap space by @gchenfc in Fix Python CI: More swap space #1250
• Update macos CI env by @varunagrawal in Update macos CI env #1251
• replace addtogroup with ingroup for the SLAM group by @agilemapper in replace addtogroup with ingroup for the SLAM group #1252
• Break up Python CI steps so reading logs is easier by @varunagrawal in Break up Python CI steps so reading logs is easier #1254
• Expose GNC params to python by @amadoantonini in Expose GNC params to python #1239
• Fix exports on Windows by @Tobias-Fischer in Fix exports on Windows #1257
• Delete FindBoost.cmake by @Tobias-Fischer in Delete FindBoost.cmake #1260
• Link to interface library in case system metis is used by @Tobias-Fischer in Link to interface library in case system metis is used #1258
• Fix matlab toolbox compilation by @varunagrawal in Fix matlab toolbox compilation #1262
• Add Zenodo for citations by @varunagrawal in Add Zenodo for citations #1265
• Hybrid Incremental Inference by @varunagrawal in Hybrid Incremental Inference #1267
• Update README.md by @pglira in Update README.md #1268
• Capitalize Identity trait by @varunagrawal in Capitalize Identity trait #1238
• Nonlinear Hybrid by @varunagrawal in Nonlinear Hybrid #1263
• Jose's updates by @varunagrawal in Jose's updates #1237
• CombinedImuFactor: Add bias effect on position jacobian by @varunagrawal in CombinedImuFactor: Add bias effect on position jacobian #874
• Linear HybridBayesNet optimization by @xsj01 in Linear HybridBayesNet optimization #1270
• Hybrid Incremental by @varunagrawal in Hybrid Incremental #1271
• Hybrid ISAM by @varunagrawal in Hybrid ISAM #1273
• Upgrade from ubuntu 18.04 to 20.04 by @varunagrawal in Upgrade from ubuntu 18.04 to 20.04 #1276
• Additional Nonlinear Hybrid by @varunagrawal in Additional Nonlinear Hybrid #1277
• Hybrid Pruning by @varunagrawal in Hybrid Pruning #1215
• HybridFactorGraph base class and other niceties by @varunagrawal in HybridFactorGraph base class and other niceties #1221
• Add wrapping for hybrid nonlinear by @ProfFan in Add wrapping for hybrid nonlinear #1281
• Hybrid Bayes Net/Tree Optimize by @varunagrawal in Hybrid Bayes Net/Tree Optimize #1280
• Hybrid Bayes Tree Optimize by @varunagrawal in Hybrid Bayes Tree Optimize #1282
• Various updates for Hybrid by @varunagrawal in Various updates for Hybrid #1284
• Hybrid Serialization by @varunagrawal in Hybrid Serialization #1286
• Rewrap KeyVector for Matlab wrapper by @varunagrawal in Rewrap KeyVector for Matlab wrapper #1285
• Fix HybridBayesTree Optimize by @varunagrawal in Fix HybridBayesTree Optimize #1287
• Various Fixes by @varunagrawal in Various Fixes #1288
• MixtureFactor continuous keys check by @varunagrawal in MixtureFactor continuous keys check #1289
• Hybrid Improvements - II by @varunagrawal in Hybrid Improvements - II #1294
• Hybrid Improvements by @varunagrawal in Hybrid Improvements #1290
• Hybrid Bayes Net pruning by @varunagrawal in Hybrid Bayes Net pruning #1300
• Hybrid Gaussian Conditional Elimination by @varunagrawal in Hybrid Gaussian Conditional Elimination #1301
• Improved BayesTree pruning by @varunagrawal in Improved BayesTree pruning #1293
• Hybrid Updates by @varunagrawal in Hybrid Updates #1306
• Dsf-gtsfm-refactor by @dellaert in Dsf-gtsfm-refactor #1312
• Use eigen3 config.cmake by @OznOg in Use eigen3 config.cmake #1304
• Fix CMake so that Eigen discovery and linking is consistent by @varunagrawal in Fix CMake so that Eigen discovery and linking is consistent #1314
• Hybrid ISAM GetOrdering method by @varunagrawal in Hybrid ISAM GetOrdering method #1315
• Doxygen Updates by @varunagrawal in Doxygen Updates #1255
• fix typo in g2o file format parsing for the information matrix by @mauricefallon in fix typo in g2o file format parsing for the information matrix #1310
• Fix for matlab wrapper in sfm.i by @akshay-krishnan in Fix for matlab wrapper in sfm.i #1316
• Wrapper Update by @varunagrawal in Wrapper Update #1317
• Update Switching fixture to be 0 indexed by @varunagrawal in Update Switching fixture to be 0 indexed #1311
• Hybrid Pruning by @varunagrawal in Hybrid Pruning #1309
• Housekeeping Updates by @varunagrawal in Housekeeping Updates #1321
• Remove unnecessary functions in ImuFactorsExample.cpp by @Taeyoung96 in Remove unnecessary functions in ImuFactorsExample.cpp #1324
• Fix GaussianBayesTree logDeterminant bug by @varunagrawal in Fix GaussianBayesTree logDeterminant bug #1327
• add workflow to trigger ubuntu packaging by @berndpfrommer in add workflow to trigger ubuntu packaging #1328

What's Changed (Since 4.2a8)

• Add an expression for normalize() by @nkhedekar in Add an expression for normalize() #1330
• Update README.md by @MigVega in Update README.md #1331
• Hybrid Elimination by @varunagrawal in Hybrid Elimination #1339
• Fixed Jacobian in python CustomFactorExample by @ulterzlw in Fixed Jacobian in python CustomFactorExample #1340
• Hybrid Mixture Error by @varunagrawal in Hybrid Mixture Error #1318
• Hybrid Multifrontal by @varunagrawal in Hybrid Multifrontal #1323
• NoiseModelFactorN - fixed-number of variables >6 by @gchenfc in NoiseModelFactorN - fixed-number of variables >6 #947
• GaussianConditional logDeterminant by @varunagrawal in GaussianConditional logDeterminant #1345
• Replace NoiseModelFactor1 in with NoiseModelFactorN in pre-made factors by @gchenfc in Replace NoiseModelFactor1 in with NoiseModelFactorN in pre-made factors #1344
• Hybrid Bayes Net sampling by @varunagrawal in Hybrid Bayes Net sampling #1347
• Fix wrapper warnings by @varunagrawal in Fix wrapper warnings #1348
• Update geometry.i : wrap multiplication of Rot3 and Unit3 by @akshay-krishnan in Update geometry.i : wrap multiplication of Rot3 and Unit3  #1302
• Sampling test for Hybrid Posterior by @varunagrawal in Sampling test for Hybrid Posterior #1346
• Some refactoring and new test by @dellaert in Some refactoring and new test #1349
• Add logDensity and evaluate to GaussianBN and HybridBN by @dellaert in Add logDensity and evaluate to GaussianBN and HybridBN #1352
• Added convenience constructors and python wrappers by @dellaert in Added convenience constructors and python wrappers #1353
• Wrap constructors for PreintegratedAhrsMeasurements by @varunagrawal in Wrap constructors for PreintegratedAhrsMeasurements #1354
• HybridValues specify continuous then discrete by @varunagrawal in HybridValues specify continuous then discrete #1355
• Likelihoods and other improvements by @dellaert in Likelihoods and other improvements #1356
• Proper Hybrid Elimination by @varunagrawal in Proper Hybrid Elimination #1319
• Test on ratio by @dellaert in Test on ratio #1357
• Hybrid Improvements by @varunagrawal in Hybrid Improvements #1343
• Fix HybridGaussianFactorGraph error by @varunagrawal in Fix HybridGaussianFactorGraph error #1358
• Initializer list and insert/update chaining by @dellaert in Initializer list and insert/update chaining #1359
• Slightly expand Python API by @jrpowers in Slightly expand Python API #1361
• Check for native architecture and set GTSAM_COMPILE_OPTIONS_PUBLIC accordingly by @stefangachter in Check for native architecture and set GTSAM_COMPILE_OPTIONS_PUBLIC accordingly #1296
• Fix hybrid tests by @varunagrawal in Fix hybrid tests #1363
• Fixed a few small issues... by @dellaert in Fixed a few small issues... #1367
• Switch to EliminateDiscrete for max-product by @dellaert in Switch to EliminateDiscrete for max-product #1362
• Hybrid Serialization by @varunagrawal in Hybrid Serialization #1368
• Various fixes for Hybrid by @varunagrawal in Various fixes for Hybrid #1369
• Hybrid Elimination with Normalization Constant by @varunagrawal in Hybrid Elimination with Normalization Constant #1360
• Added *.bib file and started adding citations to README.md by @njayakumar3 in Added *.bib file and started adding citations to README.md #789
• Un-deprecate NoiseModelFactor1-6 and move X1 and key1-6 shortcuts to NoiseModelFactorN by @gchenfc in Un-deprecate NoiseModelFactor1-6 and move X1 and key1-6 shortcuts to NoiseModelFactorN #1370
• Two new tests, one with 5 modes by @dellaert in Two new tests, one with 5 modes #1371
• Simplified AP for HybridBayesNet by @dellaert in Simplified AP for HybridBayesNet #1372
• DefaultOrderingFunc in EliminationTraits by @varunagrawal in DefaultOrderingFunc in EliminationTraits #1373
• Big Re-"Factor" of Hybrid by @dellaert in Big Re-"Factor" of Hybrid #1374
• More Expression wrappers by @BrettRD in More Expression wrappers #1376
• Get rid of boost::assign by @dellaert in Get rid of boost::assign #1375
• replace list_of with initializer list in TimeTBB.cpp by @kartikarcot in replace list_of with initializer list in TimeTBB.cpp #1379
• Harmonized error/logProbability in entire Factor/Conditional hierarchy by @dellaert in Harmonized error/logProbability in entire Factor/Conditional hierarchy #1380
• BatchFixedLagSmoother: add ability to limit warning debug prints by @acowley in BatchFixedLagSmoother: add ability to limit warning debug prints #1381
• Test and fix all conditionals by @dellaert in Test and fix all conditionals #1386
• Some Hybrid Improvements by @varunagrawal in Some Hybrid Improvements #1387
• Hybrid/simplify by @dellaert in Hybrid/simplify #1388
• Correction to docs and lambdas by @varunagrawal in Correction to docs and lambdas #1390
• Switch pruning test to probabilities. by @dellaert in Switch pruning test to probabilities. #1394
• Deprecate filter by @dellaert in Deprecate filter #1397
• Fix examples that were using filter by @dellaert in Fix examples that were using filter #1402
• Deprecated boost transform_iterators by @dellaert in Deprecated boost transform_iterators #1407
• Iterator for 4.2 by @dellaert in Iterator for 4.2 #1417
• Fix (issue Expressions cause segfault on Windows (MSVC 2019 v16) #1336) dangling pointer access violation. by @oicchris in Fix (issue #1336) dangling pointer access violation. #1423
• Fix version... by @dellaert in Fix version... #1424
• 4.2 fixes by @varunagrawal in 4.2 fixes #1425
• Patch ros package (branch: release/4.2) by @jlblancoc in Patch ros package (branch: release/4.2) #1427
• Add missing header to fix gtbook by @dellaert in Add missing header to fix gtbook #1429

What's Changed (Since 4.2a9)

• Better Hybrid support by @varunagrawal in Better Hybrid support #1466
• 4.2: Fix an invalid include, restore C++11 compatibility by @valgur in 4.2: Fix an invalid include, restore C++11 compatibility #1545
• Improved documentation, wrapper, and tests by @dellaert in Improved documentation, wrapper, and tests #1574
• Cherrypick commits for release/4.2, that include transitivity fix for DsfTrackGenerator by @johnwlambert in Cherrypick commits for release/4.2, that include transitivity fix for DsfTrackGenerator #1616

New Contributors

• @magicbycalvin made their first contribution in Added a convenience function for plotting 2D points. #1042
• @senselessDev made their first contribution in Expose GraphvizFormatting and test in python #1059
• @andre-nguyen made their first contribution in fix: typo #1111
• @yunzc made their first contribution in correctly parse optimizer params for base optimizer in gnc #1085
• @thomassm made their first contribution in fix triangulatePoint3 for calibrations with distortion #1128
• @d-vo made their first contribution in InvDepthFactor3: Fix wrong derivative H3 #1157
• @huanglilong made their first contribution in fix typo issue in comment #1206
• @HViktorTsoi made their first contribution in Fix / Move Rot3::quaternion to deprecated block #1219
• @vik748 made their first contribution in Address matplotlib deprecation warnings for fig.gca() and window.set_title() #1225
• @agilemapper made their first contribution in replace addtogroup with ingroup for the SLAM group #1252
• @amadoantonini made their first contribution in Expose GNC params to python #1239
• @Tobias-Fischer made their first contribution in Fix exports on Windows #1257
• @pglira made their first contribution in Update README.md #1268
• @xsj01 made their first contribution in Linear HybridBayesNet optimization #1270
• @OznOg made their first contribution in Use eigen3 config.cmake #1304
• @mauricefallon made their first contribution in fix typo in g2o file format parsing for the information matrix #1310
• @Taeyoung96 made their first contribution in Remove unnecessary functions in ImuFactorsExample.cpp #1324
• @nkhedekar made their first contribution in Add an expression for normalize() #1330
• @MigVega made their first contribution in Update README.md #1331
• @ulterzlw made their first contribution in Fixed Jacobian in python CustomFactorExample #1340
• @jrpowers made their first contribution in Slightly expand Python API #1361
• @stefangachter made their first contribution in Check for native architecture and set GTSAM_COMPILE_OPTIONS_PUBLIC accordingly #1296
• @njayakumar3 made their first contribution in Added *.bib file and started adding citations to README.md #789
• @BrettRD made their first contribution in More Expression wrappers #1376
• @acowley made their first contribution in BatchFixedLagSmoother: add ability to limit warning debug prints #1381
• @valgur made their first contribution in 4.2: Fix an invalid include, restore C++11 compatibility #1545

Full Changelog: 4.1.1...4.2

---

This discussion was created from the release Release 4.2.

[Tobias-Fischer]

Now also available on conda-forge, install via conda install gtsam or mamba install gtsam

[berndpfrommer]

Also available as installable package for Ubuntu via this ppa

[ishaniis]

@berndpfrommer Hello! I was trying to install the gtsam into my container using installable package for Ubuntu, I ended up getting repository not found error. Is it that I need to add some keys to pull that repository?

My dockefile:
RUN add-apt-repository ppa:borglab/gtsam-release-4.2
RUN add apt update -y
RUN apt install libgtsam-dev libgtsam-unstable-dev

[berndpfrommer]

Not sure what's going on, but could you please open an issue against this repo? Thanks!