Gtsam

This is hopefully the last 4.2 pre-release. I had planned to cut 4.2 this weekend but there were still apparently some issues with the wrapper when used in Georgia tech's CS 3630 course (325 students using GTSAM) and so I'd rather wait another week for these things to settle down. In the meantime, though, we needed a pre-release so `%pip install gtbook` works on Google Colab and installs 4.2a9 in the process. All works now, as evidenced at [roboticsbook.org](https://www.roboticsbook.org/intro.html).

The **biggest** changes are:
- moved away from boost utilities to **c++ initializers** in all tests and examples.
- a cleaned up and correctly working **hybrid inference** framework. Thanks varunagrawal and ProfFan !
- template-magical *NoiseModelFactorN* which allows an arbitrary number of variables connected to factors. Thanks gchenfc !
- several important bug-fixes and edits, by many new contributors, listed below:

New Contributors
* nkhedekar made their first contribution in https://github.com/borglab/gtsam/pull/1330
* MigVega made their first contribution in https://github.com/borglab/gtsam/pull/1331
* ulterzlw made their first contribution in https://github.com/borglab/gtsam/pull/1340
* jrpowers made their first contribution in https://github.com/borglab/gtsam/pull/1361
* stefangachter made their first contribution in https://github.com/borglab/gtsam/pull/1296
* njayakumar3 made their first contribution in https://github.com/borglab/gtsam/pull/789
* BrettRD made their first contribution in https://github.com/borglab/gtsam/pull/1376
* acowley made their first contribution in https://github.com/borglab/gtsam/pull/1381

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

**Full Changelog**: https://github.com/borglab/gtsam/compare/4.2a8...4.2a9

**Full Changelog**: https://github.com/borglab/gtsam/compare/4.2a7...4.2a8

Many new changes since April 08.

Many thanks to contributors varunagrawal, shteren1, ProfFan, d-vo, magicbycalvin, gchenfc, jlblancoc, johnwlambert, senselessDev, akshay-krishnan !!!!

What's Changed
* Get Sim2 working by varunagrawal in https://github.com/borglab/gtsam/pull/1090
* DecisionTreeFactor `prune` method by varunagrawal in https://github.com/borglab/gtsam/pull/1151
* Update Wrapper by varunagrawal in https://github.com/borglab/gtsam/pull/1149
* Improve Gaussian Conditional printing by varunagrawal in https://github.com/borglab/gtsam/pull/1147
* Pose2::Align by dellaert in https://github.com/borglab/gtsam/pull/1150
* Record number of assignments for each leaf by varunagrawal in https://github.com/borglab/gtsam/pull/1154
* added wrapper for ProjectionFactorRollingShutter by shteren1 in https://github.com/borglab/gtsam/pull/1159
* Fix the race! by ProfFan in https://github.com/borglab/gtsam/pull/1158
* InvDepthFactor3: Fix wrong derivative H3 by d-vo in https://github.com/borglab/gtsam/pull/1157
* Updated scaling factors for proper geometric representation of uncertainty ellipses by magicbycalvin in https://github.com/borglab/gtsam/pull/1067
* DecisionTree Refactor by varunagrawal in https://github.com/borglab/gtsam/pull/1155
* New `maxNrAssignment` scheme for pruning by varunagrawal in https://github.com/borglab/gtsam/pull/1156
* Fix slow dynamic cast by ProfFan in https://github.com/borglab/gtsam/pull/1168
* Fix robust deserialization by ProfFan in https://github.com/borglab/gtsam/pull/1169
* Add camera and Calibration Jacobians in Python by ProfFan in https://github.com/borglab/gtsam/pull/1171
* Regenerate python utils files upon edit by gchenfc in https://github.com/borglab/gtsam/pull/1176
* noise models: Add getters for all model parameters by jlblancoc in https://github.com/borglab/gtsam/pull/1175
* Add Similarity(2) support in gtsam/geometry by johnwlambert in https://github.com/borglab/gtsam/pull/918
* Fix warnings and docs by varunagrawal in https://github.com/borglab/gtsam/pull/1181
* Added some utilities for better using the SfM parts of GTSAM in Python by ProfFan in https://github.com/borglab/gtsam/pull/1185
* Some fixes by varunagrawal in https://github.com/borglab/gtsam/pull/1187
* Fix uncertainty ellipses in python helpers by senselessDev in https://github.com/borglab/gtsam/pull/1177
* Adding options to translation averaging to support betweenfactor translation priors by akshay-krishnan in https://github.com/borglab/gtsam/pull/1190
* All uncertainty ellipses now contain 95% by dellaert in https://github.com/borglab/gtsam/pull/1193
* Remove user flag for pip install by varunagrawal in https://github.com/borglab/gtsam/pull/1195
* Wrap triangulateSafe by dellaert in https://github.com/borglab/gtsam/pull/1194
* Python optimizer iteration hook by gchenfc in https://github.com/borglab/gtsam/pull/1127

New Contributors
* d-vo made their first contribution in https://github.com/borglab/gtsam/pull/1157

**Full Changelog**: https://github.com/borglab/gtsam/compare/4.2a6...4.2a7

A bit of a bigger pre-release since development of book slowed a bit.

What's Changed
* Fix MSVC / Windows Build of GTSAM_UNSTABLE by mikesheffler in https://github.com/borglab/gtsam/pull/1102
* Fix issues with grouped tests by dellaert in https://github.com/borglab/gtsam/pull/1107
* Header discipline in base by dellaert in https://github.com/borglab/gtsam/pull/1108
* fix: typo by andre-nguyen in https://github.com/borglab/gtsam/pull/1111
* correctly parse optimizer params for base optimizer in gnc by yunzc in https://github.com/borglab/gtsam/pull/1085
* Add missing header for timing target by dellaert in https://github.com/borglab/gtsam/pull/1112
* replace ifndefs with pragma once by acxz in https://github.com/borglab/gtsam/pull/1113
* CMake Warning Fixes by varunagrawal in https://github.com/borglab/gtsam/pull/1115
* Windows Tests by varunagrawal in https://github.com/borglab/gtsam/pull/1109
* Include guards by acxz in https://github.com/borglab/gtsam/pull/1116
* filename in repo is w10000 not w10000-odom by acxz in https://github.com/borglab/gtsam/pull/1123
* Added more tests for basis by dellaert in https://github.com/borglab/gtsam/pull/1121
* Using a random number generator in translation averaging by akshay-krishnan in https://github.com/borglab/gtsam/pull/1120
* A bunch of minor fixes by varunagrawal in https://github.com/borglab/gtsam/pull/1132
* fix triangulatePoint3 for calibrations with distortion by thomassm in https://github.com/borglab/gtsam/pull/1128
* Fix `visitWith` for Pruned Tree by varunagrawal in https://github.com/borglab/gtsam/pull/1135
* Wrap ParameterMatrix as argument for Values by varunagrawal in https://github.com/borglab/gtsam/pull/1136
* Apply DecisionTree `op` with Assignment by varunagrawal in https://github.com/borglab/gtsam/pull/1137
* Various Fixes by varunagrawal in https://github.com/borglab/gtsam/pull/1138
* Fix initialization in range iSAM example by dellaert in https://github.com/borglab/gtsam/pull/1131
* Fix Matlab Wrapper by varunagrawal in https://github.com/borglab/gtsam/pull/1140
* Print parents when printing GaussianConditional by varunagrawal in https://github.com/borglab/gtsam/pull/1143
* DecisionTree Improvements by varunagrawal in https://github.com/borglab/gtsam/pull/1144
* Fixed custom factors in doc/gtsam.lyx/pdf by dellaert in https://github.com/borglab/gtsam/pull/1139
* Fix `python-install` by varunagrawal in https://github.com/borglab/gtsam/pull/1145
* Wrapping Updates by varunagrawal in https://github.com/borglab/gtsam/pull/1146
* Allow more functionality through system METIS by acxz in https://github.com/borglab/gtsam/pull/1117
* Pose3 improvements by dellaert in https://github.com/borglab/gtsam/pull/1148

New Contributors
* andre-nguyen made their first contribution in https://github.com/borglab/gtsam/pull/1111
* yunzc made their first contribution in https://github.com/borglab/gtsam/pull/1085
* thomassm made their first contribution in https://github.com/borglab/gtsam/pull/1128

**Full Changelog**: https://github.com/borglab/gtsam/compare/4.2a5...4.2a6

Major changes since [4.2a4](https://github.com/borglab/gtsam/releases/tag/4.2a4)

- inference module in wrapper
- moved SfmData classes from dataset.* to sfm folder
- lots of plotting/html/wrapping support for roboticsbook.org

Detailed PR list
* Added inference module by dellaert in https://github.com/borglab/gtsam/pull/1068
* Added support for positioning in BayesNet plotting by dellaert in https://github.com/borglab/gtsam/pull/1070
* Wrap FindKarcherMean for Rot3 by johnwlambert in https://github.com/borglab/gtsam/pull/1069
* Wrapped more things by dellaert in https://github.com/borglab/gtsam/pull/1077
* Moved Sfm classes to their own files by dellaert in https://github.com/borglab/gtsam/pull/1078
* Expose some iSAM2/FixedLagSmoothing functionality for the bindings by senselessDev in https://github.com/borglab/gtsam/pull/1053
* Cleaned up loading SfmData by dellaert in https://github.com/borglab/gtsam/pull/1082
* Fixes to get matlab wrapper working properly by varunagrawal in https://github.com/borglab/gtsam/pull/1083
* Wrapper Update by varunagrawal in https://github.com/borglab/gtsam/pull/1084
* Add default constructor to PoseRotationPrior to fix serialization by ScottMcMichael in https://github.com/borglab/gtsam/pull/1086
* Add shared_ptr definition for remainder of camera objects by dwisth in https://github.com/borglab/gtsam/pull/1088
* Fix DotWriter wrapping by dellaert in https://github.com/borglab/gtsam/pull/1089
* Improvements in linear by dellaert in https://github.com/borglab/gtsam/pull/1091
* Frobenius Factor Eigen Fix by varunagrawal in https://github.com/borglab/gtsam/pull/1096
* New functionality in linear by dellaert in https://github.com/borglab/gtsam/pull/1095

Yet another pre-release to support rendering pretty graphs in roboticsbook.org

Major changes:
- a pretty big big-fix: DiscreteFactorGraph::optimize now does MPE! 1050
- dellaert also changed API (breaking!) of Subgraph Preconditioners to include fewer shared_ptrs. 1010
- lucacarlone landed robust triangulation, great for GTSFM as well!

New Contributors
* magicbycalvin made their first contribution in https://github.com/borglab/gtsam/pull/1042
* senselessDev made their first contribution in https://github.com/borglab/gtsam/pull/1059

What's Changed since [4.2a3](https://github.com/borglab/gtsam/releases/tag/4.2a3)
* Robust triangulation by lucacarlone in https://github.com/borglab/gtsam/pull/1020
* DiscreteBayesNet sample/optimize variants by dellaert in https://github.com/borglab/gtsam/pull/1043
* Added a convenience function for plotting 2D points. by magicbycalvin in https://github.com/borglab/gtsam/pull/1042
* Some discrete improvements by dellaert in https://github.com/borglab/gtsam/pull/1045
* Subgraph API change by dellaert in https://github.com/borglab/gtsam/pull/1010
* Update python install in CI by varunagrawal in https://github.com/borglab/gtsam/pull/1054
* Fix DiscreteFactorGraph::optimize to return MPE by dellaert in https://github.com/borglab/gtsam/pull/1050
* Changes in gtsam to support hybrid branches by dellaert in https://github.com/borglab/gtsam/pull/1055
* Expose GraphvizFormatting and test in python by senselessDev in https://github.com/borglab/gtsam/pull/1059
* Add position to Point2 nodes in GraphViz by senselessDev in https://github.com/borglab/gtsam/pull/1058
* Fix docs by dellaert in https://github.com/borglab/gtsam/pull/1064
* Added sumProduct as a convenient alias by dellaert in https://github.com/borglab/gtsam/pull/1066