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set lowest common boost version

release/4.3a0
Varun Agrawal 2021-08-20 11:10:13 -04:00
parent 158a620eba
commit 42b7525337
4 changed files with 11 additions and 11 deletions
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4
INSTALL.md
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@ -13,7 +13,7 @@ $ make install
## Important Installation Notes ## Important Installation Notes
1. GTSAM requires the following libraries to be installed on your system: 1. GTSAM requires the following libraries to be installed on your system:
- BOOST version 1.67 or greater (install through Linux repositories or MacPorts) - BOOST version 1.65 or greater (install through Linux repositories or MacPorts)
- Cmake version 3.0 or higher - Cmake version 3.0 or higher
- Support for XCode 4.3 command line tools on Mac requires CMake 2.8.8 or higher - Support for XCode 4.3 command line tools on Mac requires CMake 2.8.8 or higher
@ -70,7 +70,7 @@ execute commands as follows for an out-of-source build:
- When using `GTSAM_BUILD_WITH_MARCH_NATIVE=ON`, you may encounter issues in running tests which we are still investigating: - When using `GTSAM_BUILD_WITH_MARCH_NATIVE=ON`, you may encounter issues in running tests which we are still investigating:
- Use of a version of GCC < 7.5 results in an "Indeterminant Linear System" error for `testSmartProjectionFactor`. - Use of a version of GCC < 7.5 results in an "Indeterminant Linear System" error for `testSmartProjectionFactor`.
- Use of Boost version < 1.67 with clang will give a segfault for mulitple test cases. - Use of Boost version < 1.65 with clang will give a segfault for mulitple test cases.
- MSVC 2013 is not yet supported because it cannot build the serialization module of Boost 1.55 (or earlier). - MSVC 2013 is not yet supported because it cannot build the serialization module of Boost 1.55 (or earlier).
# Windows Installation # Windows Installation

12
README.md
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@ -40,7 +40,7 @@ $ make install
Prerequisites: Prerequisites:
- [Boost](http://www.boost.org/users/download/) >= 1.67 (Ubuntu: `sudo apt-get install libboost-all-dev`) - [Boost](http://www.boost.org/users/download/) >= 1.65 (Ubuntu: `sudo apt-get install libboost-all-dev`)
- [CMake](http://www.cmake.org/cmake/resources/software.html) >= 3.0 (Ubuntu: `sudo apt-get install cmake`) - [CMake](http://www.cmake.org/cmake/resources/software.html) >= 3.0 (Ubuntu: `sudo apt-get install cmake`)
- A modern compiler, i.e., at least gcc 4.7.3 on Linux. - A modern compiler, i.e., at least gcc 4.7.3 on Linux.
@ -55,9 +55,9 @@ Optional prerequisites - used automatically if findable by CMake:
GTSAM 4 introduces several new features, most notably Expressions and a Python toolbox. It also introduces traits, a C++ technique that allows optimizing with non-GTSAM types. That opens the door to retiring geometric types such as Point2 and Point3 to pure Eigen types, which we also do. A significant change which will not trigger a compile error is that zero-initializing of Point2 and Point3 is deprecated, so please be aware that this might render functions using their default constructor incorrect. GTSAM 4 introduces several new features, most notably Expressions and a Python toolbox. It also introduces traits, a C++ technique that allows optimizing with non-GTSAM types. That opens the door to retiring geometric types such as Point2 and Point3 to pure Eigen types, which we also do. A significant change which will not trigger a compile error is that zero-initializing of Point2 and Point3 is deprecated, so please be aware that this might render functions using their default constructor incorrect.
GTSAM 4 also deprecated some legacy functionality and wrongly named methods. If you are on a 4.0.X release, you can define the flag GTSAM_ALLOW_DEPRECATED_SINCE_V4 to use the deprecated methods. GTSAM 4 also deprecated some legacy functionality and wrongly named methods. If you are on a 4.0.X release, you can define the flag `GTSAM_ALLOW_DEPRECATED_SINCE_V4` to use the deprecated methods.
GTSAM 4.1 added a new pybind wrapper, and **removed** the deprecated functionality. There is a flag GTSAM_ALLOW_DEPRECATED_SINCE_V41 for newly deprecated methods since the 4.1 release, which is on by default, allowing anyone to just pull version 4.1 and compile. GTSAM 4.1 added a new pybind wrapper, and **removed** the deprecated functionality. There is a flag `GTSAM_ALLOW_DEPRECATED_SINCE_V41` for newly deprecated methods since the 4.1 release, which is on by default, allowing anyone to just pull version 4.1 and compile.
## Wrappers ## Wrappers
@ -68,16 +68,16 @@ We provide support for [MATLAB](matlab/README.md) and [Python](python/README.md)
GTSAM includes a state of the art IMU handling scheme based on GTSAM includes a state of the art IMU handling scheme based on
- Todd Lupton and Salah Sukkarieh, "Visual-Inertial-Aided Navigation for High-Dynamic Motion in Built Environments Without Initial Conditions", TRO, 28(1):61-76, 2012. [[link]](https://ieeexplore.ieee.org/document/6092505) - Todd Lupton and Salah Sukkarieh, _"Visual-Inertial-Aided Navigation for High-Dynamic Motion in Built Environments Without Initial Conditions"_, TRO, 28(1):61-76, 2012. [[link]](https://ieeexplore.ieee.org/document/6092505)
Our implementation improves on this using integration on the manifold, as detailed in Our implementation improves on this using integration on the manifold, as detailed in
- Luca Carlone, Zsolt Kira, Chris Beall, Vadim Indelman, and Frank Dellaert, "Eliminating conditionally independent sets in factor graphs: a unifying perspective based on smart factors", Int. Conf. on Robotics and Automation (ICRA), 2014. [[link]](https://ieeexplore.ieee.org/abstract/document/6907483) - Luca Carlone, Zsolt Kira, Chris Beall, Vadim Indelman, and Frank Dellaert, _"Eliminating conditionally independent sets in factor graphs: a unifying perspective based on smart factors"_, Int. Conf. on Robotics and Automation (ICRA), 2014. [[link]](https://ieeexplore.ieee.org/abstract/document/6907483)
- Christian Forster, Luca Carlone, Frank Dellaert, and Davide Scaramuzza, "IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation", Robotics: Science and Systems (RSS), 2015. [[link]](http://www.roboticsproceedings.org/rss11/p06.pdf) - Christian Forster, Luca Carlone, Frank Dellaert, and Davide Scaramuzza, "IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation", Robotics: Science and Systems (RSS), 2015. [[link]](http://www.roboticsproceedings.org/rss11/p06.pdf)
If you are using the factor in academic work, please cite the publications above. If you are using the factor in academic work, please cite the publications above.
In GTSAM 4 a new and more efficient implementation, based on integrating on the NavState tangent space and detailed in [this document](doc/ImuFactor.pdf), is enabled by default. To switch to the RSS 2015 version, set the flag **GTSAM_TANGENT_PREINTEGRATION** to OFF. In GTSAM 4 a new and more efficient implementation, based on integrating on the NavState tangent space and detailed in [this document](doc/ImuFactor.pdf), is enabled by default. To switch to the RSS 2015 version, set the flag `GTSAM_TANGENT_PREINTEGRATION` to OFF.
## Additional Information ## Additional Information

4
cmake/HandleBoost.cmake
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@ -22,7 +22,7 @@ endif()
# Store these in variables so they are automatically replicated in GTSAMConfig.cmake and such. # Store these in variables so they are automatically replicated in GTSAMConfig.cmake and such.
set(BOOST_FIND_MINIMUM_VERSION 1.67) set(BOOST_FIND_MINIMUM_VERSION 1.65)
set(BOOST_FIND_MINIMUM_COMPONENTS serialization system filesystem thread program_options date_time timer chrono regex) set(BOOST_FIND_MINIMUM_COMPONENTS serialization system filesystem thread program_options date_time timer chrono regex)
find_package(Boost ${BOOST_FIND_MINIMUM_VERSION} COMPONENTS ${BOOST_FIND_MINIMUM_COMPONENTS}) find_package(Boost ${BOOST_FIND_MINIMUM_VERSION} COMPONENTS ${BOOST_FIND_MINIMUM_COMPONENTS})
@ -30,7 +30,7 @@ find_package(Boost ${BOOST_FIND_MINIMUM_VERSION} COMPONENTS ${BOOST_FIND_MINIMUM
# Required components # Required components
if(NOT Boost_SERIALIZATION_LIBRARY OR NOT Boost_SYSTEM_LIBRARY OR NOT Boost_FILESYSTEM_LIBRARY OR if(NOT Boost_SERIALIZATION_LIBRARY OR NOT Boost_SYSTEM_LIBRARY OR NOT Boost_FILESYSTEM_LIBRARY OR
NOT Boost_THREAD_LIBRARY OR NOT Boost_DATE_TIME_LIBRARY) NOT Boost_THREAD_LIBRARY OR NOT Boost_DATE_TIME_LIBRARY)
message(FATAL_ERROR "Missing required Boost components >= v1.67, please install/upgrade Boost or configure your search paths.") message(FATAL_ERROR "Missing required Boost components >= v1.65, please install/upgrade Boost or configure your search paths.")
endif() endif()
option(GTSAM_DISABLE_NEW_TIMERS "Disables using Boost.chrono for timing" OFF) option(GTSAM_DISABLE_NEW_TIMERS "Disables using Boost.chrono for timing" OFF)

2
cmake/HandleCPack.cmake
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@ -25,4 +25,4 @@ set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION
# Deb-package specific cpack # Deb-package specific cpack
set(CPACK_DEBIAN_PACKAGE_NAME "libgtsam-dev") set(CPACK_DEBIAN_PACKAGE_NAME "libgtsam-dev")
set(CPACK_DEBIAN_PACKAGE_DEPENDS "libboost-dev (>= 1.67)") #Example: "libc6 (>= 2.3.1-6), libgcc1 (>= 1:3.4.2-12)") set(CPACK_DEBIAN_PACKAGE_DEPENDS "libboost-dev (>= 1.65)") #Example: "libc6 (>= 2.3.1-6), libgcc1 (>= 1:3.4.2-12)")