4.1.1 #974

ProfFan announced in Announcements

ProfFan
Dec 20, 2021
Maintainer

Release 4.1.1

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 Basis functions #403
Make mEstimator variable names consistent with math Make mEstimator variable names consistent with math #188

What's Changed

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Replace outdated Cython reference in readme by @johnwlambert in Replace outdated Cython reference in readme #534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

New Contributors

@Ellon made their first contribution in Bump version to 4.0.2 #130
@jingwuOUO made their first contribution in Refactor MakeATangentVector by using VectorValues and fix testcase failure #495
@Eskilade made their first contribution in Added Jacobians for Rot3::RzRyRx and related named constructors #499
@tsetterf made their first contribution in Fixed issue with Coriolis acceleration #505
@johnwlambert made their first contribution in Replace outdated Cython reference in readme #534
@JzHuai0108 made their first contribution in correct coefficients of approximated SE3 Q_r #507
@tmcg0 made their first contribution in adding additional Unit3 support in the wrapper: PriorFactorUnit3, Values::insert/update/at(Unit3) #576
@swarrier246 made their first contribution in Feature/wrap sfm data #569
@RamadanAhmed made their first contribution in Fix GTSAM_EXPORT #670
@raabuchanan made their first contribution in Adds unit test for imu preintegration of a single step #633
@melhashash made their first contribution in Update LieGroups.lyx #693
@asa made their first contribution in Constant Velocity Constraint between NavStates #701
@miloknowles made their first contribution in Unit tests for Jacobian of PartialPriorFactor<Pose3> #721
@Alevs2R made their first contribution in Fix/boost issue #713 again #732
@nmahabadi made their first contribution in fix: UnaryFactor Jacobian #724
@danbarla made their first contribution in Basic Documentation for KF test #781
@hmellor made their first contribution in Correct ImuFactorExamples frame description #771
@jaelrod made their first contribution in Add user-defined copy constructor for Rot2 #806
@roderick-koehle made their first contribution in Python fisheye interface #811
@ScottMcMichael made their first contribution in Fix serialization of ISAM2 class #816
@shteren1 made their first contribution in rolling shutter projection factor #826
@FranzEricSchneider made their first contribution in Small clarification and md cleanup #853
@akashsharma02 made their first contribution in Better Error message for TBB handling with versions greater than 2021.1 on OS X #876
@iwanders made their first contribution in Fix dangling reference in static allocation. #900
@jerredchen made their first contribution in Pose SLAM Python examples using iSAM2 #891
@duembgen made their first contribution in Add namespace to ambiguous placeholders #929
@beetleskin made their first contribution in Use FastDefaultAllocator for Values to adhere allocation compile flags #936

Full Changelog: 4.1.0...4.1.1

This discussion was created from the release 4.1.1.

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