Why this release
This is the last maintenance release before `4.2.0`. It is cut now because 933 breaks the API for `discrete`.
Some Notable Changes
* Basis functions 403
* Make mEstimator variable names consistent with math 188
Super Contributors:
Major internal contributor is varunagrawal. Thanks Varun! Besides him, here are some **super-contributors** below:
jlblancoc
* refactor cmake scripts into smaller files by jlblancoc in https://github.com/borglab/gtsam/pull/557
* Add alternativeName() for symbols by jlblancoc in https://github.com/borglab/gtsam/pull/572
* Avoid redundant calls to error() in NonLinearOptimizer by jlblancoc in https://github.com/borglab/gtsam/pull/585
* User-provided hook within the internal loop of non-linear optimizers by jlblancoc in https://github.com/borglab/gtsam/pull/586
* SymbolGenerator: add chr() and made constexpr-capable by jlblancoc in https://github.com/borglab/gtsam/pull/629
* CMake scripts compatible with gtsam as git submodule by jlblancoc in https://github.com/borglab/gtsam/pull/674
* Avoid target collision if gtsam used as submodule by jlblancoc in https://github.com/borglab/gtsam/pull/691
* fix missing verbosityLMTranslator case by jlblancoc in https://github.com/borglab/gtsam/pull/716
* Avoid potential wrong memory access by jlblancoc in https://github.com/borglab/gtsam/pull/758
* add expressions for cross() and dot() by jlblancoc in https://github.com/borglab/gtsam/pull/793
* Add missing getter in ProjectionFactor by jlblancoc in https://github.com/borglab/gtsam/pull/842
* Use METIS system library if so selected by jlblancoc in https://github.com/borglab/gtsam/pull/570
* Fix warnings raised by GCC -Wpedactic by jlblancoc in https://github.com/borglab/gtsam/pull/915
lucacarlone
* Gnc by lucacarlone in https://github.com/borglab/gtsam/pull/617
* Feature/robust shonan by lucacarlone in https://github.com/borglab/gtsam/pull/547
* changed barcsq to a vector to allow each factor to have a different inlier threshold by lucacarlone in https://github.com/borglab/gtsam/pull/684
* Gnc enhancements by lucacarlone in https://github.com/borglab/gtsam/pull/765
* smart factors with extrinsics calibration by lucacarlone in https://github.com/borglab/gtsam/pull/696
* Feature/rolling shutter smart factors by lucacarlone in https://github.com/borglab/gtsam/pull/827
* Smart Factors for arbitrary cameras by lucacarlone in https://github.com/borglab/gtsam/pull/862
acxz
* use size_t variable type by acxz in https://github.com/borglab/gtsam/pull/795
* use size_t variable type by acxz in https://github.com/borglab/gtsam/pull/798
* update timeLago.cpp with newer Sampler interface by acxz in https://github.com/borglab/gtsam/pull/797
* replace deprecated tbb functionality by acxz in https://github.com/borglab/gtsam/pull/800
* update boost::bind usage by acxz in https://github.com/borglab/gtsam/pull/796
* Revert "replace deprecated tbb functionality" by acxz in https://github.com/borglab/gtsam/pull/823
Community Additions:
* Added Jacobians for Rot3::RzRyRx and related named constructors by Eskilade in https://github.com/borglab/gtsam/pull/499
* Fixed issue with Coriolis acceleration by tsetterf in https://github.com/borglab/gtsam/pull/505
* Added Jacobians for Rot3::xyz and related conversions to euler angles by Eskilade in https://github.com/borglab/gtsam/pull/520
* correct coefficients of approximated SE3 Q_r by JzHuai0108 in https://github.com/borglab/gtsam/pull/507
* adding additional Unit3 support in the wrapper: PriorFactorUnit3, Values::insert/update/at(Unit3) by tmcg0 in https://github.com/borglab/gtsam/pull/576
* Fix issues with maths in docs at gtsam.org by martinvl in https://github.com/borglab/gtsam/pull/596
* Adding BearingFactor3D to the wrapper definition. by cttdev in https://github.com/borglab/gtsam/pull/646
* Add getters to Line3 by dwisth in https://github.com/borglab/gtsam/pull/668
* Fix GTSAM_EXPORT by RamadanAhmed in https://github.com/borglab/gtsam/pull/670
* Cleaning SmartStereoProjectionPoseFactor by ToniRV in https://github.com/borglab/gtsam/pull/673
* Adds unit test for imu preintegration of a single step by raabuchanan in https://github.com/borglab/gtsam/pull/633
* Fix/plane factor dwisth by dwisth in https://github.com/borglab/gtsam/pull/680
* Fix OrientedPlane3Factor jacobian by dwisth in https://github.com/borglab/gtsam/pull/362
* typo in numericalGradient test hidden by duplicate test values by ptrmu in https://github.com/borglab/gtsam/pull/687
* Fix can be marked override warning by ToniRV in https://github.com/borglab/gtsam/pull/688
* Fix/shonan averaging dense to sparse by ToniRV in https://github.com/borglab/gtsam/pull/690
* Update LieGroups.lyx by melhashash in https://github.com/borglab/gtsam/pull/693
* Constant Velocity Constraint between NavStates by asa in https://github.com/borglab/gtsam/pull/701
* Unit tests for Jacobian of PartialPriorFactor<Pose3> by miloknowles in https://github.com/borglab/gtsam/pull/721
* Fix/boost issue 713 again by Alevs2R in https://github.com/borglab/gtsam/pull/732
* fix: UnaryFactor Jacobian by nmahabadi in https://github.com/borglab/gtsam/pull/724
* Remove unused body_P_sensor param by asa in https://github.com/borglab/gtsam/pull/744
* Add a MagPoseFactor for using magnetometer measurements with Pose2/Pose3 by miloknowles in https://github.com/borglab/gtsam/pull/752
* Bugfix: correct SO(3) logmap when theta small by tmcg0 in https://github.com/borglab/gtsam/pull/780
* Move MagPoseFactor into gtsam by miloknowles in https://github.com/borglab/gtsam/pull/788
* Correct ImuFactorExamples frame description by HMellor in https://github.com/borglab/gtsam/pull/771
* Add user-defined copy constructor for Rot2 by jaelrod in https://github.com/borglab/gtsam/pull/806
pull/817
* Python fisheye interface by roderick-koehle in https://github.com/borglab/gtsam/pull/811
* Fix serialization of ISAM2 class by ScottMcMichael in https://github.com/borglab/gtsam/pull/816
* rolling shutter projection factor by shteren1 in https://github.com/borglab/gtsam/pull/826
* Small clarification and md cleanup by FranzEricSchneider in https://github.com/borglab/gtsam/pull/853
* rolling shutter projection factor by shteren1 in https://github.com/borglab/gtsam/pull/751
* Better Error message for TBB handling with versions greater than 2021.1 on OS X by akashsharma02 in https://github.com/borglab/gtsam/pull/876
* Fix dangling reference in static allocation. by iwanders in https://github.com/borglab/gtsam/pull/900
* Pose SLAM Python examples using iSAM2 by jerredchen in https://github.com/borglab/gtsam/pull/891
* Add namespace to ambiguous placeholders by duembgen in https://github.com/borglab/gtsam/pull/929
* Use FastDefaultAllocator for Values to adhere allocation compile flags by beetleskin in https://github.com/borglab/gtsam/pull/936
* Fix cal3 fisheye jacobian by roderick-koehle in https://github.com/borglab/gtsam/pull/902
* Minor fixes to fix some warnings by bricerebsamen in https://github.com/borglab/gtsam/pull/945
* Make mEstimator variable names consistent with math by michaelbosse in https://github.com/borglab/gtsam/pull/188
New Contributors
* Ellon made their first contribution in https://github.com/borglab/gtsam/pull/130
* jingwuOUO made their first contribution in https://github.com/borglab/gtsam/pull/495
* Eskilade made their first contribution in https://github.com/borglab/gtsam/pull/499
* tsetterf made their first contribution in https://github.com/borglab/gtsam/pull/505
* johnwlambert made their first contribution in https://github.com/borglab/gtsam/pull/534
* JzHuai0108 made their first contribution in https://github.com/borglab/gtsam/pull/507
* tmcg0 made their first contribution in https://github.com/borglab/gtsam/pull/576
* swarrier246 made their first contribution in https://github.com/borglab/gtsam/pull/569
* RamadanAhmed made their first contribution in https://github.com/borglab/gtsam/pull/670
* raabuchanan made their first contribution in https://github.com/borglab/gtsam/pull/633
* melhashash made their first contribution in https://github.com/borglab/gtsam/pull/693
* asa made their first contribution in https://github.com/borglab/gtsam/pull/701
* miloknowles made their first contribution in https://github.com/borglab/gtsam/pull/721
* Alevs2R made their first contribution in https://github.com/borglab/gtsam/pull/732
* nmahabadi made their first contribution in https://github.com/borglab/gtsam/pull/724
* danbarla made their first contribution in https://github.com/borglab/gtsam/pull/781
* HMellor made their first contribution in https://github.com/borglab/gtsam/pull/771
* jaelrod made their first contribution in https://github.com/borglab/gtsam/pull/806
* roderick-koehle made their first contribution in https://github.com/borglab/gtsam/pull/811
* ScottMcMichael made their first contribution in https://github.com/borglab/gtsam/pull/816
* shteren1 made their first contribution in https://github.com/borglab/gtsam/pull/826
* FranzEricSchneider made their first contribution in https://github.com/borglab/gtsam/pull/853
* akashsharma02 made their first contribution in https://github.com/borglab/gtsam/pull/876
* iwanders made their first contribution in https://github.com/borglab/gtsam/pull/900
* jerredchen made their first contribution in https://github.com/borglab/gtsam/pull/891
* duembgen made their first contribution in https://github.com/borglab/gtsam/pull/929
* beetleskin made their first contribution in https://github.com/borglab/gtsam/pull/936
Detailed PR list (this was a massive release!)
* Refactor MakeATangentVector by using VectorValues and fix testcase failure by jingwuOUO in https://github.com/borglab/gtsam/pull/495
* Linting and getAnchor wrap by dellaert in https://github.com/borglab/gtsam/pull/494
* Added Jacobians for Rot3::RzRyRx and related named constructors by Eskilade in https://github.com/borglab/gtsam/pull/499
* Example Datasets with Python Package by varunagrawal in https://github.com/borglab/gtsam/pull/501
* General check for null pointer in saveGraph by varunagrawal in https://github.com/borglab/gtsam/pull/503
* Update NavState Printing by varunagrawal in https://github.com/borglab/gtsam/pull/502
* Fixed issue with Coriolis acceleration by tsetterf in https://github.com/borglab/gtsam/pull/505
* New readBal function by varunagrawal in https://github.com/borglab/gtsam/pull/506
* Update minimum Boost version required by varunagrawal in https://github.com/borglab/gtsam/pull/509
* Wrap the DSFMap class so SFM can use them by ProfFan in https://github.com/borglab/gtsam/pull/511
* Wrap translation averaging by akshay-krishnan in https://github.com/borglab/gtsam/pull/513
* Fix typo in numerical derivative by dellaert in https://github.com/borglab/gtsam/pull/516
* Wrapper fixes by varunagrawal in https://github.com/borglab/gtsam/pull/510
* Added Jacobians for Rot3::xyz and related conversions to euler angles by Eskilade in https://github.com/borglab/gtsam/pull/520
* Wrap upgrade by varunagrawal in https://github.com/borglab/gtsam/pull/525
* TranslationRecovery Fixes by varunagrawal in https://github.com/borglab/gtsam/pull/527
* Minor typo fix by varunagrawal in https://github.com/borglab/gtsam/pull/529
* Minimum Feedback Arc Set (MFAS) for 1dsfm by akshay-krishnan in https://github.com/borglab/gtsam/pull/387
* Replace outdated Cython reference in readme by johnwlambert in https://github.com/borglab/gtsam/pull/534
* Adding logmap API which takes the object to the function argument by ayushbaid in https://github.com/borglab/gtsam/pull/532
* Update cmake printing by varunagrawal in https://github.com/borglab/gtsam/pull/531
* Automatically find Python3 version by varunagrawal in https://github.com/borglab/gtsam/pull/526
* Expose 3d point attribute p of SfmTrack in wrapper by johnwlambert in https://github.com/borglab/gtsam/pull/537
* Remove logmap function from LieVector and LieMatrix by varunagrawal in https://github.com/borglab/gtsam/pull/538
* ImuFactorExample minor fixes by varunagrawal in https://github.com/borglab/gtsam/pull/540
* correct coefficients of approximated SE3 Q_r by JzHuai0108 in https://github.com/borglab/gtsam/pull/507
* Wrap update by varunagrawal in https://github.com/borglab/gtsam/pull/541
* Add numericalDerivative Dimension Template Parameter by varunagrawal in https://github.com/borglab/gtsam/pull/536
* Wrapper fixes by varunagrawal in https://github.com/borglab/gtsam/pull/528
* Update Simitary3 with Align feature by Alexma3312 in https://github.com/borglab/gtsam/pull/464
* ISAM2 Evaluate Nonlinear Error by varunagrawal in https://github.com/borglab/gtsam/pull/518
* Point3 mean to throw an exception when input size=0 . by Alexma3312 in https://github.com/borglab/gtsam/pull/542
* Add calibrate with jacobians for Cal3Bundler by varunagrawal in https://github.com/borglab/gtsam/pull/539
* Minor fixes by varunagrawal in https://github.com/borglab/gtsam/pull/545
* Rename mean to means + some refactoring by dellaert in https://github.com/borglab/gtsam/pull/549
* Find python if using Default by varunagrawal in https://github.com/borglab/gtsam/pull/553
* LP/QP Style Update by dellaert in https://github.com/borglab/gtsam/pull/546
* Remove all Cython references by varunagrawal in https://github.com/borglab/gtsam/pull/551
* Wrapping MFAS and 1dsfm python example by akshay-krishnan in https://github.com/borglab/gtsam/pull/535
* Normalize rotations after composition by varunagrawal in https://github.com/borglab/gtsam/pull/555
* Fix Python serialization by ProfFan in https://github.com/borglab/gtsam/pull/558
* refactor cmake scripts into smaller files by jlblancoc in https://github.com/borglab/gtsam/pull/557
* Fix LLVM repo keys by ProfFan in https://github.com/borglab/gtsam/pull/560
* Fix inteminent sks keyserver failure by ProfFan in https://github.com/borglab/gtsam/pull/567
* Add python equivalent for SFMExample_bal.cpp by johnwlambert in https://github.com/borglab/gtsam/pull/556
* update list of C++ examples that have been ported to Python by johnwlambert in https://github.com/borglab/gtsam/pull/571
* Add alternativeName() for symbols by jlblancoc in https://github.com/borglab/gtsam/pull/572
* Fix warning on clang by dellaert in https://github.com/borglab/gtsam/pull/563
* Homebrew latest boost has buggy boost.serialization by ProfFan in https://github.com/borglab/gtsam/pull/577
* Consistent interface for pixel center by varunagrawal in https://github.com/borglab/gtsam/pull/579
* adding additional Unit3 support in the wrapper: PriorFactorUnit3, Values::insert/update/at(Unit3) by tmcg0 in https://github.com/borglab/gtsam/pull/576
* Minor typo fixes by varunagrawal in https://github.com/borglab/gtsam/pull/583
* Avoid redundant calls to error() in NonLinearOptimizer by jlblancoc in https://github.com/borglab/gtsam/pull/585
* Feature/wrap sfm data by swarrier246 in https://github.com/borglab/gtsam/pull/569
* Fix python discovery for MATLAB wrapper by varunagrawal in https://github.com/borglab/gtsam/pull/584
* Ubuntu+GCC9 CI stage by varunagrawal in https://github.com/borglab/gtsam/pull/593
* Fix issues with maths in docs at gtsam.org by martinvl in https://github.com/borglab/gtsam/pull/596
* Github Actions Environment Files by varunagrawal in https://github.com/borglab/gtsam/pull/587
* Cayley Rot3 fixes by varunagrawal in https://github.com/borglab/gtsam/pull/597
* New print assertions by varunagrawal in https://github.com/borglab/gtsam/pull/601
* Use KeyVector for proper wrapping with TBB by varunagrawal in https://github.com/borglab/gtsam/pull/603
* User-provided hook within the internal loop of non-linear optimizers by jlblancoc in https://github.com/borglab/gtsam/pull/586
* Flag for relative error by varunagrawal in https://github.com/borglab/gtsam/pull/580
* Enforce constant term in QP to be default 0 by varunagrawal in https://github.com/borglab/gtsam/pull/607
* Publish GTSAM artifacts by varunagrawal in https://github.com/borglab/gtsam/pull/602
* Check for MEX Compiler by varunagrawal in https://github.com/borglab/gtsam/pull/554
* Deprecate SimpleCamera properly by varunagrawal in https://github.com/borglab/gtsam/pull/622
* Miscellaneous fixes by varunagrawal in https://github.com/borglab/gtsam/pull/616
* Mark Values::at return type as const by varunagrawal in https://github.com/borglab/gtsam/pull/608
* Added test for subgraph preconditioner in shonan and refined error message by jingwuOUO in https://github.com/borglab/gtsam/pull/611
* Jacobians for Camera models by varunagrawal in https://github.com/borglab/gtsam/pull/623
* IMU Parameters Documentation by varunagrawal in https://github.com/borglab/gtsam/pull/624
* Handling edges with pure rotation in translation averaging by akshay-krishnan in https://github.com/borglab/gtsam/pull/619
* Cal3 Base Class by varunagrawal in https://github.com/borglab/gtsam/pull/626
* SymbolGenerator: add chr() and made constexpr-capable by jlblancoc in https://github.com/borglab/gtsam/pull/629
* Cal3_S2Stereo Calibrate and Uncalibrate by varunagrawal in https://github.com/borglab/gtsam/pull/630
* vector of cameras and triangulation function wrapped by swarrier246 in https://github.com/borglab/gtsam/pull/615
* NonlinearFactorGraph saveGraph by varunagrawal in https://github.com/borglab/gtsam/pull/632
* Explicitly initialize Point3 by varunagrawal in https://github.com/borglab/gtsam/pull/635
* Wrap Symbol class and methods by varunagrawal in https://github.com/borglab/gtsam/pull/642
* Minor formatting by varunagrawal in https://github.com/borglab/gtsam/pull/643
* Wrapping prior factor and general sfm factor or Cal3Bundler by ayushbaid in https://github.com/borglab/gtsam/pull/644
* Adding BearingFactor3D to the wrapper definition. by cttdev in https://github.com/borglab/gtsam/pull/646
* Pose3 interpolateRt method by varunagrawal in https://github.com/borglab/gtsam/pull/647
* Remove Build Upload by varunagrawal in https://github.com/borglab/gtsam/pull/651
* Gnc by lucacarlone in https://github.com/borglab/gtsam/pull/617
* Adding serialization support to be used for GT-SFM by ayushbaid in https://github.com/borglab/gtsam/pull/650
* Updates to use the new version of wrap by varunagrawal in https://github.com/borglab/gtsam/pull/654
* Fix/warnings by dellaert in https://github.com/borglab/gtsam/pull/656
* Fix warnings by varunagrawal in https://github.com/borglab/gtsam/pull/657
* Adding default point color to `SfmTrack` to fix equality check by ayushbaid in https://github.com/borglab/gtsam/pull/659
* CMake Install Destination by varunagrawal in https://github.com/borglab/gtsam/pull/660
* Documentation for compiling on Windows by varunagrawal in https://github.com/borglab/gtsam/pull/652
* Feature/robust shonan by lucacarlone in https://github.com/borglab/gtsam/pull/547
* Update wrapper by varunagrawal in https://github.com/borglab/gtsam/pull/664
* Update wrapper by varunagrawal in https://github.com/borglab/gtsam/pull/665
* Add getters to Line3 by dwisth in https://github.com/borglab/gtsam/pull/668
* add robust shonan updates to python wrapper by johnwlambert in https://github.com/borglab/gtsam/pull/669
* Fix GTSAM_EXPORT by RamadanAhmed in https://github.com/borglab/gtsam/pull/670
* FunctorizedFactor2 by varunagrawal in https://github.com/borglab/gtsam/pull/671
* CMake scripts compatible with gtsam as git submodule by jlblancoc in https://github.com/borglab/gtsam/pull/674
* Cleaning SmartStereoProjectionPoseFactor by ToniRV in https://github.com/borglab/gtsam/pull/673
* changing robust noise model to Gaussian by ayushbaid in https://github.com/borglab/gtsam/pull/675
* additional `sparseJacobian` functions (new) by gchenfc in https://github.com/borglab/gtsam/pull/677
* Miscellaneous fixes by varunagrawal in https://github.com/borglab/gtsam/pull/679
* Better printing by varunagrawal in https://github.com/borglab/gtsam/pull/678
* Adds unit test for imu preintegration of a single step by raabuchanan in https://github.com/borglab/gtsam/pull/633
* Added accelerated power method to compute eigenpair fast by jingwuOUO in https://github.com/borglab/gtsam/pull/533
* Fix/plane factor dwisth by dwisth in https://github.com/borglab/gtsam/pull/680
* Fix OrientedPlane3Factor jacobian by dwisth in https://github.com/borglab/gtsam/pull/362
* Fix Pose2 print by varunagrawal in https://github.com/borglab/gtsam/pull/685
* Improve `sparseJacobianEigen()` by gchenfc in https://github.com/borglab/gtsam/pull/682
* typo in numericalGradient test hidden by duplicate test values by ptrmu in https://github.com/borglab/gtsam/pull/687
* Known Issues Section by varunagrawal in https://github.com/borglab/gtsam/pull/681
* Update CMake Variables and TBB build type by varunagrawal in https://github.com/borglab/gtsam/pull/683
* Fix can be marked override warning by ToniRV in https://github.com/borglab/gtsam/pull/688
* changed barcsq to a vector to allow each factor to have a different inlier threshold by lucacarlone in https://github.com/borglab/gtsam/pull/684
* Fix/shonan averaging dense to sparse by ToniRV in https://github.com/borglab/gtsam/pull/690
* Update LieGroups.lyx by melhashash in https://github.com/borglab/gtsam/pull/693
* Fix GTSAM MATLAB Wrapper by ProfFan in https://github.com/borglab/gtsam/pull/698
* Fix/plane factor by dellaert in https://github.com/borglab/gtsam/pull/564
* Use brew's boost, instead of Fan's version by johnwlambert in https://github.com/borglab/gtsam/pull/707
* Fixing translation averaging for the panorama case by akshay-krishnan in https://github.com/borglab/gtsam/pull/706
* Avoid target collision if gtsam used as submodule by jlblancoc in https://github.com/borglab/gtsam/pull/691
* Adding pickle support by using serialization by ayushbaid in https://github.com/borglab/gtsam/pull/709
* Constant Velocity Constraint between NavStates by asa in https://github.com/borglab/gtsam/pull/701
* temporarily turn off Python + tbb in CI because of OOM by johnwlambert in https://github.com/borglab/gtsam/pull/712
* add Sim(3)-based alignment to the wrapper by johnwlambert in https://github.com/borglab/gtsam/pull/702
* Fix/boost issue by dellaert in https://github.com/borglab/gtsam/pull/713
* Use wrap to perform Matlab wrapping by varunagrawal in https://github.com/borglab/gtsam/pull/711
* Fix the Similarity3 export declarations and wrapper by varunagrawal in https://github.com/borglab/gtsam/pull/719
* Fix CI with separate boost install by varunagrawal in https://github.com/borglab/gtsam/pull/720
* fix missing verbosityLMTranslator case by jlblancoc in https://github.com/borglab/gtsam/pull/716
* Fix numpy deprecation warnings by varunagrawal in https://github.com/borglab/gtsam/pull/726
* Wrapper Update by varunagrawal in https://github.com/borglab/gtsam/pull/727
* Unit tests for Jacobian of PartialPriorFactor<Pose3> by miloknowles in https://github.com/borglab/gtsam/pull/721
* Wrapper Update + Operator Overloading by varunagrawal in https://github.com/borglab/gtsam/pull/729
* addPriorDouble by dellaert in https://github.com/borglab/gtsam/pull/730
* Double + NavState in the wrapper by varunagrawal in https://github.com/borglab/gtsam/pull/731
* Disable Wrapper CI for GCC 5 until we optimize the wrapper by varunagrawal in https://github.com/borglab/gtsam/pull/734
* KeyFormatter - boost::function to std::function by varunagrawal in https://github.com/borglab/gtsam/pull/735
* Bunch of minor fixes by varunagrawal in https://github.com/borglab/gtsam/pull/736
* Fix/boost issue 713 again by Alevs2R in https://github.com/borglab/gtsam/pull/732
* Wrapper update by gchenfc in https://github.com/borglab/gtsam/pull/739
* fix: UnaryFactor Jacobian by nmahabadi in https://github.com/borglab/gtsam/pull/724
* Wrapper update by varunagrawal in https://github.com/borglab/gtsam/pull/743
* Remove unused body_P_sensor param by asa in https://github.com/borglab/gtsam/pull/744
* Remove redundant stuff by varunagrawal in https://github.com/borglab/gtsam/pull/745
* Wrapper Update by varunagrawal in https://github.com/borglab/gtsam/pull/747
* Wrapper Update by varunagrawal in https://github.com/borglab/gtsam/pull/749
* Wrapper Update by varunagrawal in https://github.com/borglab/gtsam/pull/750
* Fix printing of preintegration params by varunagrawal in https://github.com/borglab/gtsam/pull/754
* Avoid potential wrong memory access by jlblancoc in https://github.com/borglab/gtsam/pull/758
* Update "print" function arguments by gchenfc in https://github.com/borglab/gtsam/pull/738
* Override print methods by varunagrawal in https://github.com/borglab/gtsam/pull/760
* Update boost download link by varunagrawal in https://github.com/borglab/gtsam/pull/763
* Fix warnings by varunagrawal in https://github.com/borglab/gtsam/pull/761
* Interface file updates by varunagrawal in https://github.com/borglab/gtsam/pull/762
* Gnc enhancements by lucacarlone in https://github.com/borglab/gtsam/pull/765
* smart factors with extrinsics calibration by lucacarlone in https://github.com/borglab/gtsam/pull/696
* Fix rekey of LinearContainerFactor by varunagrawal in https://github.com/borglab/gtsam/pull/777
* Added destructor for `CameraSet` to remove warning by varunagrawal in https://github.com/borglab/gtsam/pull/779
* Add a MagPoseFactor for using magnetometer measurements with Pose2/Pose3 by miloknowles in https://github.com/borglab/gtsam/pull/752
* Bugfix: correct SO(3) logmap when theta small by tmcg0 in https://github.com/borglab/gtsam/pull/780
* Fix initial guess for Cal3Bundler `calibrate` by varunagrawal in https://github.com/borglab/gtsam/pull/775
* Added Range to Point2 by dellaert in https://github.com/borglab/gtsam/pull/783
* Custom Factors in Python by ProfFan in https://github.com/borglab/gtsam/pull/767
* Fix bug in LinearContainerFactor and warnings about Point3 by varunagrawal in https://github.com/borglab/gtsam/pull/785
* Move MagPoseFactor into gtsam by miloknowles in https://github.com/borglab/gtsam/pull/788
* Basic Documentation for KF test by danbarla in https://github.com/borglab/gtsam/pull/781
* Correct ImuFactorExamples frame description by HMellor in https://github.com/borglab/gtsam/pull/771
* Fix docstrings for NonlinearEquality by varunagrawal in https://github.com/borglab/gtsam/pull/774
* Add transformFrom() to wrapper, for Point3 in Similarity3 by johnwlambert in https://github.com/borglab/gtsam/pull/791
* add expressions for cross() and dot() by jlblancoc in https://github.com/borglab/gtsam/pull/793
* use size_t variable type by acxz in https://github.com/borglab/gtsam/pull/795
* use size_t variable type by acxz in https://github.com/borglab/gtsam/pull/798
* Remove separate function for double in wrapper by varunagrawal in https://github.com/borglab/gtsam/pull/794
* Wrap Update by varunagrawal in https://github.com/borglab/gtsam/pull/799
* update timeLago.cpp with newer Sampler interface by acxz in https://github.com/borglab/gtsam/pull/797
* Adding factor which considers the essential matrix and camera calibration as variable by ayushbaid in https://github.com/borglab/gtsam/pull/753
* Switching to squared sampson point-line error by ayushbaid in https://github.com/borglab/gtsam/pull/792
* Update the pgp servers to get the LLVM GPG key by varunagrawal in https://github.com/borglab/gtsam/pull/802
* replace deprecated tbb functionality by acxz in https://github.com/borglab/gtsam/pull/800
* Add user-defined copy constructor for Rot2 by jaelrod in https://github.com/borglab/gtsam/pull/806
* update boost::bind usage by acxz in https://github.com/borglab/gtsam/pull/796
* Miscellaneous fixes by varunagrawal in https://github.com/borglab/gtsam/pull/814
* Tests for BetweenFactor by varunagrawal in https://github.com/borglab/gtsam/pull/813
* Improve docs about compiling without TBB by johnwlambert in https://github.com/borglab/gtsam/pull/818
* Replace boost with std by varunagrawal in https://github.com/borglab/gtsam/pull/819
* Add ShonanAveraging2 interface to wrapper with BetweenFactorPose2s, that does not require g2o files by johnwlambert in https://github.com/borglab/gtsam/pull/817
* Python fisheye interface by roderick-koehle in https://github.com/borglab/gtsam/pull/811
* Break interface file into multiple files by varunagrawal in https://github.com/borglab/gtsam/pull/822
* Revert "replace deprecated tbb functionality" by acxz in https://github.com/borglab/gtsam/pull/823
* Fix serialization of ISAM2 class by ScottMcMichael in https://github.com/borglab/gtsam/pull/816
* refactor Expression tests and add comments by yetongumich in https://github.com/borglab/gtsam/pull/766
* rolling shutter projection factor by shteren1 in https://github.com/borglab/gtsam/pull/826
* ShonanAveraging Covariance fixes by johnwlambert in https://github.com/borglab/gtsam/pull/829
* Wrap Update by varunagrawal in https://github.com/borglab/gtsam/pull/830
* Wrapping triangulateNonlinear from triangulation.h by akshay-krishnan in https://github.com/borglab/gtsam/pull/828
* Add Windows export symbols for PinholeCamera by varunagrawal in https://github.com/borglab/gtsam/pull/835
* CI Speedup by varunagrawal in https://github.com/borglab/gtsam/pull/839
* Add missing getter in ProjectionFactor by jlblancoc in https://github.com/borglab/gtsam/pull/842
* Wrap GNC by johnwlambert in https://github.com/borglab/gtsam/pull/843
* Add python type annotations to some older python files by johnwlambert in https://github.com/borglab/gtsam/pull/844
* Fix utilities and add tests by varunagrawal in https://github.com/borglab/gtsam/pull/851
* Expand DSF map unit tests by johnwlambert in https://github.com/borglab/gtsam/pull/854
* Small clarification and md cleanup by FranzEricSchneider in https://github.com/borglab/gtsam/pull/853
* clean up SFMdata python module by johnwlambert in https://github.com/borglab/gtsam/pull/855
* Some Cleanup by varunagrawal in https://github.com/borglab/gtsam/pull/850
* Wrap NonlinearEquality2 by varunagrawal in https://github.com/borglab/gtsam/pull/856
* Add missing import of Pose3 by varunagrawal in https://github.com/borglab/gtsam/pull/858
* Basis functions by varunagrawal in https://github.com/borglab/gtsam/pull/403
* Feature/rolling shutter smart factors by lucacarlone in https://github.com/borglab/gtsam/pull/827
* rolling shutter projection factor by shteren1 in https://github.com/borglab/gtsam/pull/751
* Fix Python Tests Cmake by varunagrawal in https://github.com/borglab/gtsam/pull/863
* Basis - Python unit test by gchenfc in https://github.com/borglab/gtsam/pull/860
* Docs and formatting by dellaert in https://github.com/borglab/gtsam/pull/865
* add Pose2.align() to wrapper by johnwlambert in https://github.com/borglab/gtsam/pull/866
* ImuFactor Fixes by varunagrawal in https://github.com/borglab/gtsam/pull/869
* Add section about Boost version requirement by varunagrawal in https://github.com/borglab/gtsam/pull/857
* Added virtual destructor and re-formatted constructors by dellaert in https://github.com/borglab/gtsam/pull/870
* Docker update -> borglab by dellaert in https://github.com/borglab/gtsam/pull/871
* Jacobian Factor Wrapping by varunagrawal in https://github.com/borglab/gtsam/pull/873
* Use METIS system library if so selected by jlblancoc in https://github.com/borglab/gtsam/pull/570
* Start wrapping the verbosity options for GNC by johnwlambert in https://github.com/borglab/gtsam/pull/845
* Fix bug in HandleTBB.cmake by varunagrawal in https://github.com/borglab/gtsam/pull/877
* Better Error message for TBB handling with versions greater than 2021.1 on OS X by akashsharma02 in https://github.com/borglab/gtsam/pull/876
* Wrapper Update by varunagrawal in https://github.com/borglab/gtsam/pull/880
* Add constructor for OptionalJacobian by gchenfc in https://github.com/borglab/gtsam/pull/884
* Run tests for C++ CI by varunagrawal in https://github.com/borglab/gtsam/pull/888
* add failing unit test on axisAngle for Rot3 in c++ by johnwlambert in https://github.com/borglab/gtsam/pull/887
* Add unit tests where angle of (axis,angle) repr. exceeds 180 degrees by <0.5 deg by johnwlambert in https://github.com/borglab/gtsam/pull/892
* Clean up the __init__ by varunagrawal in https://github.com/borglab/gtsam/pull/893
* Feature/logmap expression by yetongumich in https://github.com/borglab/gtsam/pull/898
* BetweenFactor Jacobian CMake flag by varunagrawal in https://github.com/borglab/gtsam/pull/867
* Fix dangling reference in static allocation. by iwanders in https://github.com/borglab/gtsam/pull/900
* IMUKittiExampleGPS Python Example by varunagrawal in https://github.com/borglab/gtsam/pull/836
* add LAGO (for Pose2) to python wrapper by johnwlambert in https://github.com/borglab/gtsam/pull/899
* Fixup Python Examples by varunagrawal in https://github.com/borglab/gtsam/pull/903
* Wrap VectorValues constructor by varunagrawal in https://github.com/borglab/gtsam/pull/905
* Generate GTSAM_UNSTABLE CMake exports by varunagrawal in https://github.com/borglab/gtsam/pull/906
* Wrap Update by varunagrawal in https://github.com/borglab/gtsam/pull/909
* Add tests for Lie::interpolate jacobians by varunagrawal in https://github.com/borglab/gtsam/pull/910
* Revert acxz's TBB revert by ProfFan in https://github.com/borglab/gtsam/pull/901
* Pose SLAM Python examples using iSAM2 by jerredchen in https://github.com/borglab/gtsam/pull/891
* Imu Examples Refactor by varunagrawal in https://github.com/borglab/gtsam/pull/872
* `Pose3::Adjoint(xi)` Jacobians by gchenfc in https://github.com/borglab/gtsam/pull/885
* enable expression double multiply by yetongumich in https://github.com/borglab/gtsam/pull/913
* Add printErrors method to GaussianFactorGraph by varunagrawal in https://github.com/borglab/gtsam/pull/916
* Use Eigen expressions more effectively and kill & in code. by dellaert in https://github.com/borglab/gtsam/pull/917
* Smart Factors for arbitrary cameras by lucacarlone in https://github.com/borglab/gtsam/pull/862
* Fix warnings raised by GCC -Wpedactic by jlblancoc in https://github.com/borglab/gtsam/pull/915
* Fix minor stuff by varunagrawal in https://github.com/borglab/gtsam/pull/920
* CMake fix for Python Tests by varunagrawal in https://github.com/borglab/gtsam/pull/921
* Add Jacobian of second argument to `adjoint` and `adjointTranpsose` by gchenfc in https://github.com/borglab/gtsam/pull/922
* Proper Deprecation of Eliminate Methods by varunagrawal in https://github.com/borglab/gtsam/pull/925
* Add namespace to ambiguous placeholders by duembgen in https://github.com/borglab/gtsam/pull/929
* Formatting with Google style by dellaert in https://github.com/borglab/gtsam/pull/930
* Wrap KeyVector methods by varunagrawal in https://github.com/borglab/gtsam/pull/932
* Use FastDefaultAllocator for Values to adhere allocation compile flags by beetleskin in https://github.com/borglab/gtsam/pull/936
* Add deprecations by ProfFan in https://github.com/borglab/gtsam/pull/934
* Fix cal3 fisheye jacobian by roderick-koehle in https://github.com/borglab/gtsam/pull/902
* Enable pickling by varunagrawal in https://github.com/borglab/gtsam/pull/942
* Fix deprecations by varunagrawal in https://github.com/borglab/gtsam/pull/943
* Eigen Serialization Fix by varunagrawal in https://github.com/borglab/gtsam/pull/944
* Wrap additional ISAM2 methods by varunagrawal in https://github.com/borglab/gtsam/pull/941
* Minor fixes to fix some warnings by bricerebsamen in https://github.com/borglab/gtsam/pull/945
* Make mEstimator variable names consistent with math by michaelbosse in https://github.com/borglab/gtsam/pull/188
**Full Changelog**: https://github.com/borglab/gtsam/compare/4.1.0...4.1.1