Merged to trunk from branch 'branches/2.1.0'

gtsam/base/tests/testCholesky.cpp

@@ -81,7 +81,7 @@ TEST(cholesky, BadScalingSVD) {
   double expectedCondition = 1e40;
   double actualCondition = S(0) / S(1);
 
-  DOUBLES_EQUAL(expectedCondition, actualCondition, 1e-41);
+  DOUBLES_EQUAL(expectedCondition, actualCondition, 1e30);
 }
 
 /* ************************************************************************* */

gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp

@@ -366,7 +366,7 @@ TEST( GeneralSFMFactor_Cal3Bundler, optimize_varK_BA ) {
   }
 
   // Constrain position of system with the first camera constrained to the origin
-  graph.addCameraConstraint(X(0), cameras[0]);
+  graph.addCameraConstraint(0, cameras[0]);
 
   // Constrain the scale of the problem with a soft range factor of 1m between the cameras
   graph.add(RangeFactor<GeneralCamera,GeneralCamera>(X(0), X(1), 2.0, noiseModel::Isotropic::Sigma(1, 10.0)));

package_scripts/compile_static_boost.sh

@@ -0,0 +1,8 @@
+#!/bin/sh
+
+# Compile boost statically, with -fPIC to allow linking it into the mex
+# module (which is a dynamic library).  --disable-icu prevents depending
+# on libicu, which is unneeded and would require then linking the mex
+# module with it as well.  We just stage instead of install, then the
+# toolbox_package_unix.sh script uses the staged boost.
+./b2 link=static threading=multi cxxflags=-fPIC cflags=-fPIC --disable-icu -a stage

package_scripts/toolbox_package_unix.sh

@@ -7,6 +7,8 @@ if [ "$os" = "Linux" -a "$arch" = "x86_64" ]; then
 	platform=lin64
 elif [ "$os" = "Linux" -a "$arch" = "i686" ]; then
 	platform=lin32
+elif [ "$os" = "Darwin" -a "$arch" = "x86_64" ]; then
+	platform=mac64
 else
 	echo "Unrecognized platform"
 	exit 1