Merge pull request #1399 from borglab/feature/remove_deprecated_code

Remove code deprecated in 4.2

.github/scripts/python.sh

@@ -79,7 +79,7 @@ function build()
       -DGTSAM_UNSTABLE_BUILD_PYTHON=${GTSAM_BUILD_UNSTABLE:-ON} \
       -DGTSAM_PYTHON_VERSION=$PYTHON_VERSION \
       -DPYTHON_EXECUTABLE:FILEPATH=$(which $PYTHON) \
-      -DGTSAM_ALLOW_DEPRECATED_SINCE_V42=OFF \
+      -DGTSAM_ALLOW_DEPRECATED_SINCE_V43=OFF \
       -DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/gtsam_install
 
 

.github/scripts/unix.sh

@@ -64,7 +64,7 @@ function configure()
       -DGTSAM_BUILD_UNSTABLE=${GTSAM_BUILD_UNSTABLE:-ON} \
       -DGTSAM_WITH_TBB=${GTSAM_WITH_TBB:-OFF} \
       -DGTSAM_BUILD_EXAMPLES_ALWAYS=${GTSAM_BUILD_EXAMPLES_ALWAYS:-ON} \
-      -DGTSAM_ALLOW_DEPRECATED_SINCE_V42=${GTSAM_ALLOW_DEPRECATED_SINCE_V42:-OFF} \
+      -DGTSAM_ALLOW_DEPRECATED_SINCE_V43=${GTSAM_ALLOW_DEPRECATED_SINCE_V43:-OFF} \
       -DGTSAM_USE_QUATERNIONS=${GTSAM_USE_QUATERNIONS:-OFF} \
       -DGTSAM_ROT3_EXPMAP=${GTSAM_ROT3_EXPMAP:-ON} \
       -DGTSAM_POSE3_EXPMAP=${GTSAM_POSE3_EXPMAP:-ON} \

.github/workflows/build-special.yml

@@ -110,8 +110,8 @@ jobs:
       - name: Set Allow Deprecated Flag
         if: matrix.flag == 'deprecated'
         run: |
-          echo "GTSAM_ALLOW_DEPRECATED_SINCE_V42=ON" >> $GITHUB_ENV
+          echo "GTSAM_ALLOW_DEPRECATED_SINCE_V43=ON" >> $GITHUB_ENV
-          echo "Allow deprecated since version 4.1"
+          echo "Allow deprecated since version 4.3"
 
       - name: Set Use Quaternions Flag
         if: matrix.flag == 'quaternions'

CMakeLists.txt

@@ -6,8 +6,6 @@ if(NOT DEFINED CMAKE_MACOSX_RPATH)
   set(CMAKE_MACOSX_RPATH 0)
 endif()
 
-set(CMAKE_CXX_STANDARD 17)
-
 # Set the version number for the library
 set (GTSAM_VERSION_MAJOR 4)
 set (GTSAM_VERSION_MINOR 3)

README.md

@@ -55,11 +55,6 @@ 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 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_V42` 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
 
 We provide support for [MATLAB](matlab/README.md) and [Python](python/README.md) wrappers for GTSAM. Please refer to the linked documents for more details.

cmake/GtsamBuildTypes.cmake

@@ -142,17 +142,14 @@ endif()
 if (NOT CMAKE_VERSION VERSION_LESS 3.8)
     set(GTSAM_COMPILE_FEATURES_PUBLIC "cxx_std_17" CACHE STRING "CMake compile features property for all gtsam targets.")
     # See: https://cmake.org/cmake/help/latest/prop_tgt/CXX_EXTENSIONS.html
-    # TODO(dellaert): is following line still needed or was that only for c++11?
     set(CMAKE_CXX_EXTENSIONS OFF)
     if (MSVC)
       # NOTE(jlblanco): seems to be required in addition to the cxx_std_17 above?
-      # TODO(dellaert): is this the right syntax below?
       list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC /std:c++latest)
     endif()
 else()
   # Old cmake versions:
   if (NOT MSVC)
-    # TODO(dellaert): I just changed 11 to 17 below, hopefully that works
     list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC $<$<COMPILE_LANGUAGE:CXX>:-std=c++17>)
   endif()
 endif()

cmake/HandleGeneralOptions.cmake

@@ -25,7 +25,7 @@ option(GTSAM_WITH_EIGEN_MKL_OPENMP          "Eigen, when using Intel MKL, will a
 option(GTSAM_THROW_CHEIRALITY_EXCEPTION     "Throw exception when a triangulated point is behind a camera" ON)
 option(GTSAM_BUILD_PYTHON                   "Enable/Disable building & installation of Python module with pybind11" OFF)
 option(GTSAM_INSTALL_MATLAB_TOOLBOX         "Enable/Disable installation of matlab toolbox"  OFF)
-option(GTSAM_ALLOW_DEPRECATED_SINCE_V42     "Allow use of methods/functions deprecated in GTSAM 4.1" ON)
+option(GTSAM_ALLOW_DEPRECATED_SINCE_V43     "Allow use of methods/functions deprecated in GTSAM 4.3" ON)
 option(GTSAM_SUPPORT_NESTED_DISSECTION      "Support Metis-based nested dissection" ON)
 option(GTSAM_TANGENT_PREINTEGRATION         "Use new ImuFactor with integration on tangent space" ON)
 option(GTSAM_SLOW_BUT_CORRECT_BETWEENFACTOR "Use the slower but correct version of BetweenFactor" OFF)

cmake/HandlePrintConfiguration.cmake

@@ -87,7 +87,7 @@ print_enabled_config(${GTSAM_USE_QUATERNIONS}             "Quaternions as defaul
 print_enabled_config(${GTSAM_ENABLE_CONSISTENCY_CHECKS}   "Runtime consistency checking    ")
 print_enabled_config(${GTSAM_ROT3_EXPMAP}                 "Rot3 retract is full ExpMap     ")
 print_enabled_config(${GTSAM_POSE3_EXPMAP}                "Pose3 retract is full ExpMap    ")
-print_enabled_config(${GTSAM_ALLOW_DEPRECATED_SINCE_V42}  "Allow features deprecated in GTSAM 4.1")
+print_enabled_config(${GTSAM_ALLOW_DEPRECATED_SINCE_V43}  "Allow features deprecated in GTSAM 4.3")
 print_enabled_config(${GTSAM_SUPPORT_NESTED_DISSECTION}   "Metis-based Nested Dissection   ")
 print_enabled_config(${GTSAM_TANGENT_PREINTEGRATION}      "Use tangent-space preintegration")
 

examples/StereoVOExample_large.cpp

@@ -27,6 +27,7 @@
 #include <gtsam/geometry/Pose3.h>
 #include <gtsam/geometry/Cal3_S2Stereo.h>
 #include <gtsam/nonlinear/Values.h>
+#include <gtsam/nonlinear/utilities.h>
 #include <gtsam/nonlinear/NonlinearEquality.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
@@ -113,7 +114,7 @@ int main(int argc, char** argv) {
   Values result = optimizer.optimize();
 
   cout << "Final result sample:" << endl;
-  Values pose_values = result.filter<Pose3>();
+  Values pose_values = utilities::allPose3s(result);
   pose_values.print("Final camera poses:\n");
 
   return 0;

gtsam/base/TestableAssertions.h

@@ -80,37 +80,6 @@ bool assert_equal(const V& expected, const boost::optional<const V&>& actual, do
   return assert_equal(expected, *actual, tol);
 }
 
-#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
-/**
- * Version of assert_equals to work with vectors
- * @deprecated: use container equals instead
- */
-template<class V>
-bool GTSAM_DEPRECATED assert_equal(const std::vector<V>& expected, const std::vector<V>& actual, double tol = 1e-9) {
-  bool match = true;
-  if (expected.size() != actual.size())
-    match = false;
-  if(match) {
-    size_t i = 0;
-    for(const V& a: expected) {
-      if (!assert_equal(a, actual[i++], tol)) {
-        match = false;
-        break;
-      }
-    }
-  }
-  if(!match) {
-    std::cout << "expected: " << std::endl;
-    for(const V& a: expected) { std::cout << a << " "; }
-    std::cout << "\nactual: " << std::endl;
-    for(const V& a: actual) { std::cout << a << " "; }
-    std::cout << std::endl;
-    return false;
-  }
-  return true;
-}
-#endif
-
 /**
  * Function for comparing maps of testable->testable
  * TODO: replace with more generalized version

gtsam/base/Vector.h

@@ -204,28 +204,6 @@ inline double inner_prod(const V1 &a, const V2& b) {
   return a.dot(b);
 }
 
-#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
-/**
- * BLAS Level 1 scal: x <- alpha*x
- * @deprecated: use operators instead
- */
-inline void GTSAM_DEPRECATED scal(double alpha, Vector& x) { x *= alpha; }
-
-/**
- * BLAS Level 1 axpy: y <- alpha*x + y
- * @deprecated: use operators instead
- */
-template<class V1, class V2>
-inline void GTSAM_DEPRECATED axpy(double alpha, const V1& x, V2& y) {
-  assert (y.size()==x.size());
-  y += alpha * x;
-}
-inline void axpy(double alpha, const Vector& x, SubVector y) {
-  assert (y.size()==x.size());
-  y += alpha * x;
-}
-#endif
-
 /**
  * house(x,j) computes HouseHolder vector v and scaling factor beta
  *  from x, such that the corresponding Householder reflection zeroes out

gtsam/config.h.in

@@ -70,7 +70,7 @@
 #cmakedefine GTSAM_THROW_CHEIRALITY_EXCEPTION
 
 // Make sure dependent projects that want it can see deprecated functions
-#cmakedefine GTSAM_ALLOW_DEPRECATED_SINCE_V42
+#cmakedefine GTSAM_ALLOW_DEPRECATED_SINCE_V43
 
 // Support Metis-based nested dissection
 #cmakedefine GTSAM_SUPPORT_NESTED_DISSECTION

gtsam/discrete/DiscreteBayesNet.cpp

@@ -51,26 +51,6 @@ double DiscreteBayesNet::evaluate(const DiscreteValues& values) const {
   return result;
 }
 
-/* ************************************************************************* */
-#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
-DiscreteValues DiscreteBayesNet::optimize() const {
-  DiscreteValues result;
-  return optimize(result);
-}
-
-DiscreteValues DiscreteBayesNet::optimize(DiscreteValues result) const {
-  // solve each node in turn in topological sort order (parents first)
-#ifdef _MSC_VER
-#pragma message("DiscreteBayesNet::optimize (deprecated) does not compute MPE!")
-#else
-#warning "DiscreteBayesNet::optimize (deprecated) does not compute MPE!"
-#endif
-  for (auto conditional : boost::adaptors::reverse(*this))
-    conditional->solveInPlace(&result);
-  return result;
-}
-#endif
-
 /* ************************************************************************* */
 DiscreteValues DiscreteBayesNet::sample() const {
   DiscreteValues result;

gtsam/discrete/DiscreteBayesNet.h

@@ -149,15 +149,6 @@ class GTSAM_EXPORT DiscreteBayesNet: public BayesNet<DiscreteConditional> {
 
     /// @}
 
-#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
-    /// @name Deprecated functionality
-    /// @{
-
-    DiscreteValues GTSAM_DEPRECATED optimize() const;
-    DiscreteValues GTSAM_DEPRECATED optimize(DiscreteValues given) const;
-    /// @}
-#endif
-
  private:
     /** Serialization function */
     friend class boost::serialization::access;

gtsam/discrete/DiscreteConditional.cpp

@@ -235,57 +235,6 @@ DecisionTreeFactor::shared_ptr DiscreteConditional::likelihood(
   return likelihood(values);
 }
 
-/* ************************************************************************** */
-#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
-void DiscreteConditional::solveInPlace(DiscreteValues* values) const {
-  ADT pFS = choose(*values, true);  // P(F|S=parentsValues)
-
-  // Initialize
-  DiscreteValues mpe;
-  double maxP = 0;
-
-  // Get all Possible Configurations
-  const auto allPosbValues = frontalAssignments();
-
-  // Find the maximum
-  for (const auto& frontalVals : allPosbValues) {
-    double pValueS = pFS(frontalVals);  // P(F=value|S=parentsValues)
-    // Update maximum solution if better
-    if (pValueS > maxP) {
-      maxP = pValueS;
-      mpe = frontalVals;
-    }
-  }
-
-  // set values (inPlace) to maximum
-  for (Key j : frontals()) {
-    (*values)[j] = mpe[j];
-  }
-}
-
-/* ************************************************************************** */
-size_t DiscreteConditional::solve(const DiscreteValues& parentsValues) const {
-  ADT pFS = choose(parentsValues, true);  // P(F|S=parentsValues)
-
-  // Then, find the max over all remaining
-  size_t max = 0;
-  double maxP = 0;
-  DiscreteValues frontals;
-  assert(nrFrontals() == 1);
-  Key j = (firstFrontalKey());
-  for (size_t value = 0; value < cardinality(j); value++) {
-    frontals[j] = value;
-    double pValueS = pFS(frontals); // P(F=value|S=parentsValues)
-    // Update solution if better
-    if (pValueS > maxP) {
-      maxP = pValueS;
-      max = value;
-    }
-  }
-  return max;
-}
-#endif
-
 /* ************************************************************************** */
 size_t DiscreteConditional::argmax() const {
   size_t maxValue = 0;

gtsam/discrete/DiscreteConditional.h

@@ -263,14 +263,6 @@ class GTSAM_EXPORT DiscreteConditional
 
   /// @}
 
-#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
-  /// @name Deprecated functionality
-  /// @{
-  size_t GTSAM_DEPRECATED solve(const DiscreteValues& parentsValues) const;
-  void GTSAM_DEPRECATED solveInPlace(DiscreteValues* parentsValues) const;
-  /// @}
-#endif
-
  protected:
   /// Internal version of choose
   DiscreteConditional::ADT choose(const DiscreteValues& given,

gtsam/discrete/DiscreteDistribution.h

@@ -93,12 +93,6 @@ class GTSAM_EXPORT DiscreteDistribution : public DiscreteConditional {
   std::vector<double> pmf() const;
 
   /// @}
-#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
-  /// @name Deprecated functionality
-  /// @{
-  size_t GTSAM_DEPRECATED solve() const { return Base::solve({}); }
-  /// @}
-#endif
 };
 // DiscreteDistribution
 

gtsam/discrete/tests/testDiscreteFactorGraph.cpp

@@ -209,13 +209,6 @@ TEST(DiscreteFactorGraph, marginalIsNotMPE) {
   auto actualMPE = graph.optimize();
   EXPECT(assert_equal(mpe, actualMPE));
   EXPECT_DOUBLES_EQUAL(0.315789, graph(mpe), 1e-5);  // regression
-
-#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
-  // Optimize on BayesNet maximizes marginal, then the conditional marginals:
-  auto notOptimal = bayesNet.optimize();
-  EXPECT(graph(notOptimal) < graph(mpe));
-  EXPECT_DOUBLES_EQUAL(0.263158, graph(notOptimal), 1e-5);  // regression
-#endif
 }
 
 /* ************************************************************************* */
@@ -246,10 +239,6 @@ TEST(DiscreteFactorGraph, testMPE_Darwiche09book_p244) {
   ordering += Key(0), Key(1), Key(2), Key(3), Key(4);
   auto chordal = graph.eliminateSequential(ordering);
   EXPECT_LONGS_EQUAL(5, chordal->size());
-#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
-  auto notOptimal = chordal->optimize();  // not MPE !
-  EXPECT(graph(notOptimal) < graph(mpe));
-#endif
 
   // Let us create the Bayes tree here, just for fun, because we don't use it
   DiscreteBayesTree::shared_ptr bayesTree =

gtsam/geometry/Cal3.h

@@ -170,11 +170,6 @@ class GTSAM_EXPORT Cal3 {
     return K;
   }
 
-#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
-  /** @deprecated The following function has been deprecated, use K above */
-  Matrix3 GTSAM_DEPRECATED matrix() const { return K(); }
-#endif
-
   /// Return inverted calibration matrix inv(K)
   Matrix3 inverse() const;
 

gtsam/geometry/Cal3Bundler.h

@@ -100,14 +100,6 @@ class GTSAM_EXPORT Cal3Bundler : public Cal3 {
 
   Vector3 vector() const;
 
-#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
-  /// get parameter u0
-  inline double GTSAM_DEPRECATED u0() const { return u0_; }
-
-  /// get parameter v0
-  inline double GTSAM_DEPRECATED v0() const { return v0_; }
-#endif
-
   /**
    * @brief: convert intrinsic coordinates xy to image coordinates uv
    * Version of uncalibrate with derivatives

gtsam/geometry/Pose2.cpp

@@ -371,15 +371,5 @@ boost::optional<Pose2> Pose2::Align(const Matrix& a, const Matrix& b) {
   return Pose2::Align(ab_pairs);
 }
 
-#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
-boost::optional<Pose2> align(const Point2Pairs& ba_pairs) {
-  Point2Pairs ab_pairs;
-  for (const Point2Pair &baPair : ba_pairs) {
-    ab_pairs.emplace_back(baPair.second, baPair.first);
-  }
-  return Pose2::Align(ab_pairs);
-}
-#endif
-
 /* ************************************************************************* */
 } // namespace gtsam

gtsam/geometry/Pose2.h

@@ -343,16 +343,6 @@ inline Matrix wedge<Pose2>(const Vector& xi) {
   return Matrix(Pose2::wedge(xi(0),xi(1),xi(2))).eval();
 }
 
-#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
-/**
- * @deprecated Use static constructor (with reversed pairs!)
- * Calculate pose between a vector of 2D point correspondences (p,q)
- * where q = Pose2::transformFrom(p) = t + R*p
- */
-GTSAM_EXPORT boost::optional<Pose2> 
-GTSAM_DEPRECATED align(const Point2Pairs& pairs);
-#endif
-
 // Convenience typedef
 using Pose2Pair = std::pair<Pose2, Pose2>;
 using Pose2Pairs = std::vector<Pose2Pair>;

gtsam/geometry/Pose3.cpp

@@ -478,16 +478,6 @@ boost::optional<Pose3> Pose3::Align(const Matrix& a, const Matrix& b) {
   return Pose3::Align(abPointPairs);
 }
 
-#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
-boost::optional<Pose3> align(const Point3Pairs &baPointPairs) {
-  Point3Pairs abPointPairs;
-  for (const Point3Pair &baPair : baPointPairs) {
-    abPointPairs.emplace_back(baPair.second, baPair.first);
-  }
-  return Pose3::Align(abPointPairs);
-}
-#endif
-
 /* ************************************************************************* */
 Pose3 Pose3::slerp(double t, const Pose3& other, OptionalJacobian<6, 6> Hx, OptionalJacobian<6, 6> Hy) const {
   return interpolate(*this, other, t, Hx, Hy);

gtsam/geometry/Rot3.cpp

@@ -227,19 +227,6 @@ double Rot3::yaw(OptionalJacobian<1, 3> H) const {
   return y;
 }
 
-/* ************************************************************************* */
-#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
-Vector Rot3::quaternion() const {
-  gtsam::Quaternion q = toQuaternion();
-  Vector v(4);
-  v(0) = q.w();
-  v(1) = q.x();
-  v(2) = q.y();
-  v(3) = q.z();
-  return v;
-}
-#endif
-
 /* ************************************************************************* */
 pair<Unit3, double> Rot3::axisAngle() const {
   const Vector3 omega = Rot3::Logmap(*this);

gtsam/geometry/Rot3.h

@@ -515,17 +515,6 @@ class GTSAM_EXPORT Rot3 : public LieGroup<Rot3, 3> {
      */
     gtsam::Quaternion toQuaternion() const;
 
-#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
-    /**
-     * Converts to a generic matrix to allow for use with matlab
-     * In format: w x y z
-     * @deprecated: use Rot3::toQuaternion() instead.
-     * If still using this API, remind that in the returned Vector `V`,
-     * `V.x()` denotes the actual `qw`, `V.y()` denotes 'qx', `V.z()` denotes `qy`, and `V.w()` denotes 'qz'.
-     */
-    Vector GTSAM_DEPRECATED quaternion() const;
-#endif
-
     /**
      * @brief Spherical Linear intERPolation between *this and other
      * @param t a value between 0 and 1

gtsam/geometry/SimpleCamera.cpp

@@ -1,51 +0,0 @@
-/* ----------------------------------------------------------------------------
-
- * GTSAM Copyright 2010, Georgia Tech Research Corporation,
- * Atlanta, Georgia 30332-0415
- * All Rights Reserved
- * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
-
- * See LICENSE for the license information
-
- * -------------------------------------------------------------------------- */
-
-/**
- * @file SimpleCamera.cpp
- * @brief A simple camera class with a Cal3_S2 calibration
- * @date June 30, 2012
- * @author Frank Dellaert
- */
-
-#include <gtsam/geometry/SimpleCamera.h>
-#include <gtsam/geometry/Cal3_S2.h>
-
-namespace gtsam {
-
-#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
-  SimpleCamera GTSAM_DEPRECATED simpleCamera(const Matrix34& P) {
-
-    // P = [A|a] = s K cRw [I|-T], with s the unknown scale
-    Matrix3 A = P.topLeftCorner(3, 3);
-    Vector3 a = P.col(3);
-
-    // do RQ decomposition to get s*K and cRw angles
-    Matrix3 sK;
-    Vector3 xyz;
-    boost::tie(sK, xyz) = RQ(A);
-
-    // Recover scale factor s and K
-    double s = sK(2, 2);
-    Matrix3 K = sK / s;
-
-    // Recover cRw itself, and its inverse
-    Rot3 cRw = Rot3::RzRyRx(xyz);
-    Rot3 wRc = cRw.inverse();
-
-    // Now, recover T from a = - s K cRw T = - A T
-    Vector3 T = -(A.inverse() * a);
-    return SimpleCamera(Pose3(wRc, T),
-        Cal3_S2(K(0, 0), K(1, 1), K(0, 1), K(0, 2), K(1, 2)));
-  }
-#endif
-
-}

gtsam/geometry/SimpleCamera.h

@@ -37,120 +37,4 @@ namespace gtsam {
   using PinholeCameraCal3Unified = gtsam::PinholeCamera<gtsam::Cal3Unified>;
   using PinholeCameraCal3Fisheye = gtsam::PinholeCamera<gtsam::Cal3Fisheye>;
 
-#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
-/**
- * @deprecated: SimpleCamera for backwards compatability with GTSAM 3.x
- * Use PinholeCameraCal3_S2 instead
- */
-class GTSAM_EXPORT SimpleCamera : public PinholeCameraCal3_S2 {
-
-  typedef PinholeCamera<Cal3_S2> Base;
-  typedef boost::shared_ptr<SimpleCamera> shared_ptr;
-
-public:
-
-  /// @name Standard Constructors
-  /// @{
-
-  /** default constructor */
-  SimpleCamera() :
-      Base() {
-  }
-
-  /** constructor with pose */
-  explicit SimpleCamera(const Pose3& pose) :
-      Base(pose) {
-  }
-
-  /** constructor with pose and calibration */
-  SimpleCamera(const Pose3& pose, const Cal3_S2& K) :
-      Base(pose, K) {
-  }
-
-  /// @}
-   /// @name Named Constructors
-   /// @{
-
-   /**
-    * Create a level camera at the given 2D pose and height
-    * @param K the calibration
-    * @param pose2 specifies the location and viewing direction
-    * (theta 0 = looking in direction of positive X axis)
-    * @param height camera height
-    */
-   static SimpleCamera Level(const Cal3_S2 &K, const Pose2& pose2,
-       double height) {
-     return SimpleCamera(Base::LevelPose(pose2, height), K);
-   }
-
-   /// PinholeCamera::level with default calibration
-   static SimpleCamera Level(const Pose2& pose2, double height) {
-    return SimpleCamera::Level(Cal3_S2(), pose2, height);
-   }
-
-   /**
-    * Create a camera at the given eye position looking at a target point in the scene
-    * with the specified up direction vector.
-    * @param eye specifies the camera position
-    * @param target the point to look at
-    * @param upVector specifies the camera up direction vector,
-    *        doesn't need to be on the image plane nor orthogonal to the viewing axis
-    * @param K optional calibration parameter
-    */
-   static SimpleCamera Lookat(const Point3& eye, const Point3& target,
-       const Point3& upVector, const Cal3_S2& K = Cal3_S2()) {
-    return SimpleCamera(Base::LookatPose(eye, target, upVector), K);
-   }
-
-   /// @}
-   /// @name Advanced Constructors
-   /// @{
-
-   /// Init from vector, can be 6D (default calibration) or dim
-   explicit SimpleCamera(const Vector &v) :
-       Base(v) {
-   }
-
-   /// Init from Vector and calibration
-   SimpleCamera(const Vector &v, const Vector &K) :
-       Base(v, K) {
-   }
-
-   /// Copy this object as its actual derived type.
-   SimpleCamera::shared_ptr clone() const { return boost::make_shared<SimpleCamera>(*this); }
-
-
-   /// @}
-   /// @name Manifold
-   /// @{
-
-   /// move a cameras according to d
-   SimpleCamera retract(const Vector& d) const {
-     if ((size_t) d.size() == 6)
-       return SimpleCamera(this->pose().retract(d), calibration());
-     else
-       return SimpleCamera(this->pose().retract(d.head(6)),
-           calibration().retract(d.tail(calibration().dim())));
-   }
-
-   /// @}
-
-};
-
-/// Recover camera from 3*4 camera matrix
-GTSAM_EXPORT SimpleCamera simpleCamera(const Matrix34& P);
-
-// manifold traits
-template <>
-struct traits<SimpleCamera> : public internal::Manifold<SimpleCamera> {};
-
-template <>
-struct traits<const SimpleCamera> : public internal::Manifold<SimpleCamera> {};
-
-// range traits, used in RangeFactor
-template <typename T>
-struct Range<SimpleCamera, T> : HasRange<SimpleCamera, T, double> {};
-
-#endif
-
 }  // namespace gtsam

gtsam/geometry/tests/testSimpleCamera.cpp

@@ -1,160 +0,0 @@
-/* ----------------------------------------------------------------------------
-
- * GTSAM Copyright 2010, Georgia Tech Research Corporation,
- * Atlanta, Georgia 30332-0415
- * All Rights Reserved
- * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
-
- * See LICENSE for the license information
-
- * -------------------------------------------------------------------------- */
-
-/**
- * @file testSimpleCamera.cpp
- * @author Frank Dellaert
- * @brief test SimpleCamera class
- */
-
-#include <gtsam/geometry/SimpleCamera.h>
-#include <gtsam/geometry/Pose2.h>
-#include <gtsam/base/Testable.h>
-#include <gtsam/base/numericalDerivative.h>
-#include <CppUnitLite/TestHarness.h>
-#include <cmath>
-#include <iostream>
-
-using namespace std;
-using namespace gtsam;
-
-#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
-
-static const Cal3_S2 K(625, 625, 0, 0, 0);
-
-static const Pose3 pose1(Rot3(Vector3(1, -1, -1).asDiagonal()),
-                         Point3(0, 0, 0.5));
-
-static const SimpleCamera camera(pose1, K);
-
-static const Point3 point1(-0.08,-0.08, 0.0);
-static const Point3 point2(-0.08, 0.08, 0.0);
-static const Point3 point3( 0.08, 0.08, 0.0);
-static const Point3 point4( 0.08,-0.08, 0.0);
-
-/* ************************************************************************* */
-TEST( SimpleCamera, constructor)
-{
-  CHECK(assert_equal( camera.calibration(), K));
-  CHECK(assert_equal( camera.pose(), pose1));
-}
-
-/* ************************************************************************* */
-TEST( SimpleCamera, level2)
-{
-  // Create a level camera, looking in Y-direction
-  Pose2 pose2(0.4,0.3,M_PI/2.0);
-  SimpleCamera camera = SimpleCamera::Level(K, pose2, 0.1);
-
-  // expected
-  Point3 x(1,0,0),y(0,0,-1),z(0,1,0);
-  Rot3 wRc(x,y,z);
-  Pose3 expected(wRc,Point3(0.4,0.3,0.1));
-  CHECK(assert_equal( camera.pose(), expected));
-}
-
-/* ************************************************************************* */
-TEST( SimpleCamera, lookat)
-{
-  // Create a level camera, looking in Y-direction
-  Point3 C(10,0,0);
-  SimpleCamera camera = SimpleCamera::Lookat(C, Point3(0,0,0), Point3(0,0,1));
-
-  // expected
-  Point3 xc(0,1,0),yc(0,0,-1),zc(-1,0,0);
-  Pose3 expected(Rot3(xc,yc,zc),C);
-  CHECK(assert_equal( camera.pose(), expected));
-
-  Point3 C2(30,0,10);
-  SimpleCamera camera2 = SimpleCamera::Lookat(C2, Point3(0,0,0), Point3(0,0,1));
-
-  Matrix R = camera2.pose().rotation().matrix();
-  Matrix I = trans(R)*R;
-  CHECK(assert_equal(I, I_3x3));
-}
-
-/* ************************************************************************* */
-TEST( SimpleCamera, project)
-{
-  CHECK(assert_equal( camera.project(point1), Point2(-100,  100) ));
-  CHECK(assert_equal( camera.project(point2), Point2(-100, -100) ));
-  CHECK(assert_equal( camera.project(point3), Point2( 100, -100) ));
-  CHECK(assert_equal( camera.project(point4), Point2( 100,  100) ));
-}
-
-/* ************************************************************************* */
-TEST( SimpleCamera, backproject)
-{
-  CHECK(assert_equal( camera.backproject(Point2(-100,  100), 0.5),  point1));
-  CHECK(assert_equal( camera.backproject(Point2(-100, -100), 0.5),  point2));
-  CHECK(assert_equal( camera.backproject(Point2( 100, -100), 0.5),  point3));
-  CHECK(assert_equal( camera.backproject(Point2( 100,  100), 0.5),  point4));
-}
-
-/* ************************************************************************* */
-TEST( SimpleCamera, backproject2)
-{
-  Point3 origin(0,0,0);
-  Rot3 rot(1., 0., 0., 0., 0., 1., 0., -1., 0.); // a camera looking down
-  SimpleCamera camera(Pose3(rot, origin), K);
-
-  Point3 actual = camera.backproject(Point2(0,0), 1.);
-  Point3 expected(0., 1., 0.);
-  pair<Point2, bool> x = camera.projectSafe(expected);
-
-  CHECK(assert_equal(expected, actual));
-  CHECK(assert_equal(Point2(0,0), x.first));
-  CHECK(x.second);
-}
-
-/* ************************************************************************* */
-static Point2 project2(const Pose3& pose, const Point3& point) {
-  return SimpleCamera(pose,K).project(point);
-}
-
-TEST( SimpleCamera, Dproject_point_pose)
-{
-  Matrix Dpose, Dpoint;
-  Point2 result = camera.project(point1, Dpose, Dpoint, boost::none);
-  Matrix numerical_pose  = numericalDerivative21(project2, pose1, point1);
-  Matrix numerical_point = numericalDerivative22(project2, pose1, point1);
-  CHECK(assert_equal(result, Point2(-100,  100) ));
-  CHECK(assert_equal(Dpose,  numerical_pose, 1e-7));
-  CHECK(assert_equal(Dpoint, numerical_point,1e-7));
-}
-
-/* ************************************************************************* */
-TEST( SimpleCamera, simpleCamera)
-{
-  Cal3_S2 K(468.2,427.2,91.2,300,200);
-  Rot3 R(
-      0.41380,0.90915,0.04708,
-      -0.57338,0.22011,0.78917,
-      0.70711,-0.35355,0.61237);
-  Point3 T(1000,2000,1500);
-  SimpleCamera expected(Pose3(R.inverse(),T),K);
-  // H&Z example, 2nd edition, page 163
-  Matrix P = (Matrix(3,4) <<
-      3.53553e2, 3.39645e2, 2.77744e2, -1.44946e6,
-      -1.03528e2, 2.33212e1, 4.59607e2, -6.32525e5,
-      7.07107e-1, -3.53553e-1,6.12372e-1, -9.18559e2).finished();
-  SimpleCamera actual = simpleCamera(P);
-  // Note precision of numbers given in book
-  CHECK(assert_equal(expected, actual,1e-1));
-}
-
-#endif
-
-/* ************************************************************************* */
-int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
-/* ************************************************************************* */
-
-

gtsam/inference/EliminateableFactorGraph.h

@@ -286,61 +286,6 @@ namespace gtsam {
 
     // Access the derived factor graph class
     FactorGraphType& asDerived() { return static_cast<FactorGraphType&>(*this); }
-
-  public:
-  #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
-    /** @deprecated ordering and orderingType shouldn't both be specified */
-    boost::shared_ptr<BayesNetType> GTSAM_DEPRECATED eliminateSequential(
-      const Ordering& ordering,
-      const Eliminate& function,
-      OptionalVariableIndex variableIndex,
-      OptionalOrderingType orderingType) const {
-        return eliminateSequential(ordering, function, variableIndex);
-      }
-    
-    /** @deprecated orderingType specified first for consistency */
-    boost::shared_ptr<BayesNetType> GTSAM_DEPRECATED eliminateSequential(
-      const Eliminate& function,
-      OptionalVariableIndex variableIndex = boost::none,
-      OptionalOrderingType orderingType = boost::none) const {
-        return eliminateSequential(orderingType, function, variableIndex);
-      }
-
-    /** @deprecated ordering and orderingType shouldn't both be specified */
-    boost::shared_ptr<BayesTreeType> GTSAM_DEPRECATED eliminateMultifrontal(
-      const Ordering& ordering,
-      const Eliminate& function,
-      OptionalVariableIndex variableIndex,
-      OptionalOrderingType orderingType) const {
-        return eliminateMultifrontal(ordering, function, variableIndex);
-      }
-
-    /** @deprecated orderingType specified first for consistency */
-    boost::shared_ptr<BayesTreeType> GTSAM_DEPRECATED eliminateMultifrontal(
-      const Eliminate& function,
-      OptionalVariableIndex variableIndex = boost::none,
-      OptionalOrderingType orderingType = boost::none) const {
-        return eliminateMultifrontal(orderingType, function, variableIndex);
-      }
-
-    /** @deprecated */
-    boost::shared_ptr<BayesNetType> GTSAM_DEPRECATED marginalMultifrontalBayesNet(
-      boost::variant<const Ordering&, const KeyVector&> variables,
-      boost::none_t,
-      const Eliminate& function = EliminationTraitsType::DefaultEliminate,
-      OptionalVariableIndex variableIndex = boost::none) const {
-          return marginalMultifrontalBayesNet(variables, function, variableIndex);
-      }
-
-    /** @deprecated */
-    boost::shared_ptr<BayesTreeType> GTSAM_DEPRECATED marginalMultifrontalBayesTree(
-      boost::variant<const Ordering&, const KeyVector&> variables,
-      boost::none_t,
-      const Eliminate& function = EliminationTraitsType::DefaultEliminate,
-      OptionalVariableIndex variableIndex = boost::none) const {
-          return marginalMultifrontalBayesTree(variables, function, variableIndex);
-      }
-  #endif
   };
 
 }

gtsam/linear/GaussianConditional.cpp

@@ -371,15 +371,5 @@ namespace gtsam {
   }
 
   /* ************************************************************************ */
-#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
-  void GTSAM_DEPRECATED
-  GaussianConditional::scaleFrontalsBySigma(VectorValues& gy) const {
-    DenseIndex vectorPosition = 0;
-    for (const_iterator frontal = beginFrontals(); frontal != endFrontals(); ++frontal) {
-      gy[*frontal].array() *= model_->sigmas().segment(vectorPosition, getDim(frontal)).array();
-      vectorPosition += getDim(frontal);
-    }
-  }
-#endif
 
 }  // namespace gtsam

gtsam/linear/GaussianConditional.h

@@ -273,16 +273,6 @@ namespace gtsam {
 
     /// @}
 
-
-#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
-    /// @name Deprecated
-    /// @{
-    /** Scale the values in \c gy according to the sigmas for the frontal variables in this
-     *  conditional. */
-    void GTSAM_DEPRECATED scaleFrontalsBySigma(VectorValues& gy) const;
-    /// @}
-#endif
-
    private:
     /** Serialization function */
     friend class boost::serialization::access;

gtsam/linear/GaussianFactorGraph.h

@@ -408,18 +408,6 @@ namespace gtsam {
     void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
       ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
     }
-
-  public:
-
-#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
-   /** @deprecated */
-   VectorValues GTSAM_DEPRECATED
-   optimize(boost::none_t, const Eliminate& function =
-                               EliminationTraitsType::DefaultEliminate) const {
-     return optimize(function);
-   }
-#endif
-
   };
 
   /**

gtsam/navigation/AHRSFactor.h

@@ -202,12 +202,6 @@ public:
       const PreintegratedAhrsMeasurements& pim, const Vector3& omegaCoriolis,
       const boost::optional<Pose3>& body_P_sensor = boost::none);
 
-#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
-  /// @deprecated name
-  typedef PreintegratedAhrsMeasurements PreintegratedMeasurements;
-
-#endif
-
 private:
 
   /** Serialization function */

gtsam/navigation/ImuBias.h

@@ -135,31 +135,6 @@ public:
 
   /// @}
 
-#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
-  /// @name Deprecated
-  /// @{
-  ConstantBias GTSAM_DEPRECATED inverse() { return -(*this); }
-  ConstantBias GTSAM_DEPRECATED compose(const ConstantBias& q) {
-    return (*this) + q;
-  }
-  ConstantBias GTSAM_DEPRECATED between(const ConstantBias& q) {
-    return q - (*this);
-  }
-  Vector6 GTSAM_DEPRECATED localCoordinates(const ConstantBias& q) {
-    return (q - (*this)).vector();
-  }
-  ConstantBias GTSAM_DEPRECATED retract(const Vector6& v) {
-    return (*this) + ConstantBias(v);
-  }
-  static Vector6 GTSAM_DEPRECATED Logmap(const ConstantBias& p) {
-    return p.vector();
-  }
-  static ConstantBias GTSAM_DEPRECATED Expmap(const Vector6& v) {
-    return ConstantBias(v);
-  }
-  /// @}
-#endif
-
 private:
 
   /// @name Advanced Interface

gtsam/navigation/tests/testImuBias.cpp

@@ -46,58 +46,6 @@ TEST(ImuBias, Constructor) {
   Bias bias3(bias2);
 }
 
-/* ************************************************************************* */
-#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
-TEST(ImuBias, inverse) {
-  Bias biasActual = bias1.inverse();
-  Bias biasExpected = Bias(-biasAcc1, -biasGyro1);
-  EXPECT(assert_equal(biasExpected, biasActual));
-}
-
-TEST(ImuBias, compose) {
-  Bias biasActual = bias2.compose(bias1);
-  Bias biasExpected = Bias(biasAcc1 + biasAcc2, biasGyro1 + biasGyro2);
-  EXPECT(assert_equal(biasExpected, biasActual));
-}
-
-TEST(ImuBias, between) {
-  // p.between(q) == q - p
-  Bias biasActual = bias2.between(bias1);
-  Bias biasExpected = Bias(biasAcc1 - biasAcc2, biasGyro1 - biasGyro2);
-  EXPECT(assert_equal(biasExpected, biasActual));
-}
-
-TEST(ImuBias, localCoordinates) {
-  Vector deltaActual = Vector(bias2.localCoordinates(bias1));
-  Vector deltaExpected =
-      (Bias(biasAcc1 - biasAcc2, biasGyro1 - biasGyro2)).vector();
-  EXPECT(assert_equal(deltaExpected, deltaActual));
-}
-
-TEST(ImuBias, retract) {
-  Vector6 delta;
-  delta << 0.1, 0.2, -0.3, 0.1, -0.1, 0.2;
-  Bias biasActual = bias2.retract(delta);
-  Bias biasExpected = Bias(biasAcc2 + delta.block<3, 1>(0, 0),
-                           biasGyro2 + delta.block<3, 1>(3, 0));
-  EXPECT(assert_equal(biasExpected, biasActual));
-}
-
-TEST(ImuBias, Logmap) {
-  Vector deltaActual = bias2.Logmap(bias1);
-  Vector deltaExpected = bias1.vector();
-  EXPECT(assert_equal(deltaExpected, deltaActual));
-}
-
-TEST(ImuBias, Expmap) {
-  Vector6 delta;
-  delta << 0.1, 0.2, -0.3, 0.1, -0.1, 0.2;
-  Bias biasActual = bias2.Expmap(delta);
-  Bias biasExpected = Bias(delta);
-  EXPECT(assert_equal(biasExpected, biasActual));
-}
-#endif
-
 /* ************************************************************************* */
 TEST(ImuBias, operatorSub) {
   Bias biasActual = -bias1;

gtsam/nonlinear/ExpressionFactor.h

@@ -300,55 +300,4 @@ struct traits<ExpressionFactorN<T, Args...>>
     : public Testable<ExpressionFactorN<T, Args...>> {};
 // ExpressionFactorN
 
-
-#if defined(GTSAM_ALLOW_DEPRECATED_SINCE_V42)
-/**
- * Binary specialization of ExpressionFactor meant as a base class for binary
- * factors. Enforces an 'expression' method with two keys, and provides
- * 'evaluateError'. Derived class (a binary factor!) needs to call 'initialize'.
- *
- * \sa ExpressionFactorN
- * @deprecated Prefer the more general ExpressionFactorN<>.
- */
-template <typename T, typename A1, typename A2>
-class GTSAM_DEPRECATED ExpressionFactor2 : public ExpressionFactorN<T, A1, A2> {
-public:
-  /// Destructor
-  ~ExpressionFactor2() override {}
-
-  /// Backwards compatible evaluateError, to make existing tests compile
-  Vector evaluateError(const A1& a1, const A2& a2, OptionalMatrixType H1 = OptionalNone,
-                               OptionalMatrixType H2 = OptionalNone) const {
-    Values values;
-    values.insert(this->keys_[0], a1);
-    values.insert(this->keys_[1], a2);
-    std::vector<Matrix> H(2);
-    Vector error = ExpressionFactor<T>::unwhitenedError(values, H);
-    if (H1) (*H1) = H[0];
-    if (H2) (*H2) = H[1];
-    return error;
-  }
-
-
-  /// Recreate expression from given keys_ and measured_, used in load
-  /// Needed to deserialize a derived factor
-  virtual Expression<T> expression(Key key1, Key key2) const {
-    throw std::runtime_error("ExpressionFactor2::expression not provided: cannot deserialize.");
-  }
-  Expression<T> expression(const typename ExpressionFactorN<T, A1, A2>::ArrayNKeys& keys) const override {
-    return expression(keys[0], keys[1]);
-  }
-
-protected:
-  /// Default constructor, for serialization
-  ExpressionFactor2() {}
-
-  /// Constructor takes care of keys, but still need to call initialize
-  ExpressionFactor2(Key key1, Key key2, const SharedNoiseModel& noiseModel,
-                    const T &measurement)
-      : ExpressionFactorN<T, A1, A2>({key1, key2}, noiseModel, measurement) {}
-};
-// ExpressionFactor2
-#endif
-
 } // namespace gtsam

gtsam/nonlinear/ExtendedKalmanFilter.h

@@ -51,12 +51,6 @@ class ExtendedKalmanFilter {
   typedef boost::shared_ptr<ExtendedKalmanFilter<VALUE> > shared_ptr;
   typedef VALUE T;
 
-#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
-  //@deprecated: any NoiseModelFactor will do, as long as they have the right keys
-  typedef NoiseModelFactorN<VALUE, VALUE> MotionFactor;
-  typedef NoiseModelFactorN<VALUE> MeasurementFactor;
-#endif
-
  protected:
   T x_;                                     // linearization point
   JacobianFactor::shared_ptr priorFactor_;  // Gaussian density on x_

gtsam/nonlinear/Marginals.h

@@ -129,22 +129,6 @@ protected:
 
   /** Compute the Bayes Tree as a helper function to the constructor */
   void computeBayesTree(const Ordering& ordering);
-
-public:
-#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
-  /** @deprecated argument order changed due to removing boost::optional<Ordering> */
-  GTSAM_DEPRECATED Marginals(const NonlinearFactorGraph& graph, const Values& solution, Factorization factorization,
-            const Ordering& ordering) : Marginals(graph, solution, ordering, factorization) {}
-
-  /** @deprecated argument order changed due to removing boost::optional<Ordering> */
-  GTSAM_DEPRECATED Marginals(const GaussianFactorGraph& graph, const Values& solution, Factorization factorization,
-            const Ordering& ordering) : Marginals(graph, solution, ordering, factorization) {}
-
-  /** @deprecated argument order changed due to removing boost::optional<Ordering> */
-  GTSAM_DEPRECATED Marginals(const GaussianFactorGraph& graph, const VectorValues& solution, Factorization factorization,
-            const Ordering& ordering) : Marginals(graph, solution, ordering, factorization) {}
-#endif
-
 };
 
 /**

gtsam/nonlinear/NonlinearFactorGraph.h

@@ -260,39 +260,6 @@ namespace gtsam {
       ar & boost::serialization::make_nvp("NonlinearFactorGraph",
                 boost::serialization::base_object<Base>(*this));
     }
-
-  public:
-
-#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
-    /// @name Deprecated
-    /// @{
-    /** @deprecated */
-    boost::shared_ptr<HessianFactor> GTSAM_DEPRECATED linearizeToHessianFactor(
-        const Values& values, boost::none_t, const Dampen& dampen = nullptr) const
-      {return linearizeToHessianFactor(values, dampen);}
-
-    /** @deprecated */
-    Values GTSAM_DEPRECATED updateCholesky(const Values& values, boost::none_t,
-                          const Dampen& dampen = nullptr) const
-      {return updateCholesky(values, dampen);}
-
-    /** @deprecated */
-    void GTSAM_DEPRECATED saveGraph(
-        std::ostream& os, const Values& values = Values(),
-        const GraphvizFormatting& graphvizFormatting = GraphvizFormatting(),
-        const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
-      dot(os, values, keyFormatter, graphvizFormatting);
-    }
-    /** @deprecated */
-    void GTSAM_DEPRECATED
-    saveGraph(const std::string& filename, const Values& values,
-              const GraphvizFormatting& graphvizFormatting,
-              const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
-      saveGraph(filename, values, keyFormatter, graphvizFormatting);
-    }
-    /// @}
-#endif
-
   };
 
 /// traits

gtsam/nonlinear/Values-inl.h

@@ -107,172 +107,6 @@ namespace gtsam {
     return result;
   }
 
-/* ************************************************************************* */
-#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
-  template<class ValueType>
-  class Values::Filtered {
-  public:
-    /** A key-value pair, with the value a specific derived Value type. */
-    typedef _ValuesKeyValuePair<ValueType> KeyValuePair;
-    typedef _ValuesConstKeyValuePair<ValueType> ConstKeyValuePair;
-    typedef KeyValuePair value_type;
-
-    typedef
-      boost::transform_iterator<
-      KeyValuePair(*)(Values::KeyValuePair),
-      boost::filter_iterator<
-      std::function<bool(const Values::ConstKeyValuePair&)>,
-      Values::iterator> >
-      iterator;
-
-    typedef iterator const_iterator;
-
-    typedef
-      boost::transform_iterator<
-      ConstKeyValuePair(*)(Values::ConstKeyValuePair),
-      boost::filter_iterator<
-      std::function<bool(const Values::ConstKeyValuePair&)>,
-      Values::const_iterator> >
-      const_const_iterator;
-
-    iterator begin() { return begin_; }
-    iterator end() { return end_; }
-    const_iterator begin() const { return begin_; }
-    const_iterator end() const { return end_; }
-    const_const_iterator beginConst() const { return constBegin_; }
-    const_const_iterator endConst() const { return constEnd_; }
-
-    /** Returns the number of values in this view */
-    size_t size() const {
-      size_t i = 0;
-      for (const_const_iterator it = beginConst(); it != endConst(); ++it)
-        ++i;
-      return i;
-    }
-
-  private:
-    Filtered(
-        const std::function<bool(const Values::ConstKeyValuePair&)>& filter,
-        Values& values) :
-        begin_(
-            boost::make_transform_iterator(
-                boost::make_filter_iterator(filter, values.begin(), values.end()),
-                &ValuesCastHelper<ValueType, KeyValuePair, Values::KeyValuePair>::cast)), end_(
-            boost::make_transform_iterator(
-                boost::make_filter_iterator(filter, values.end(), values.end()),
-                &ValuesCastHelper<ValueType, KeyValuePair, Values::KeyValuePair>::cast)), constBegin_(
-            boost::make_transform_iterator(
-                boost::make_filter_iterator(filter,
-                    ((const Values&) values).begin(),
-                    ((const Values&) values).end()),
-                &ValuesCastHelper<ValueType, ConstKeyValuePair,
-                    Values::ConstKeyValuePair>::cast)), constEnd_(
-            boost::make_transform_iterator(
-                boost::make_filter_iterator(filter,
-                    ((const Values&) values).end(),
-                    ((const Values&) values).end()),
-                &ValuesCastHelper<ValueType, ConstKeyValuePair,
-                    Values::ConstKeyValuePair>::cast)) {
-    }
-
-    friend class Values;
-    iterator begin_;
-    iterator end_;
-    const_const_iterator constBegin_;
-    const_const_iterator constEnd_;
-  };
-
-  template<class ValueType>
-  class Values::ConstFiltered {
-  public:
-    /** A const key-value pair, with the value a specific derived Value type. */
-    typedef _ValuesConstKeyValuePair<ValueType> KeyValuePair;
-    typedef KeyValuePair value_type;
-
-    typedef typename Filtered<ValueType>::const_const_iterator iterator;
-    typedef typename Filtered<ValueType>::const_const_iterator const_iterator;
-
-    /** Conversion from Filtered to ConstFiltered */
-    ConstFiltered(const Filtered<ValueType>& rhs) :
-      begin_(rhs.beginConst()),
-      end_(rhs.endConst()) {}
-
-    iterator begin() { return begin_; }
-    iterator end() { return end_; }
-    const_iterator begin() const { return begin_; }
-    const_iterator end() const { return end_; }
-
-    /** Returns the number of values in this view */
-    size_t size() const {
-      size_t i = 0;
-      for (const_iterator it = begin(); it != end(); ++it)
-        ++i;
-      return i;
-    }
-
-    FastList<Key> keys() const {
-      FastList<Key> result;
-      for(const_iterator it = begin(); it != end(); ++it)
-        result.push_back(it->key);
-      return result;
-    }
-
-  private:
-    friend class Values;
-    const_iterator begin_;
-    const_iterator end_;
-    ConstFiltered(
-        const std::function<bool(const Values::ConstKeyValuePair&)>& filter,
-        const Values& values) {
-      // We remove the const from values to create a non-const Filtered
-      // view, then pull the const_iterators out of it.
-      const Filtered<ValueType> filtered(filter, const_cast<Values&>(values));
-      begin_ = filtered.beginConst();
-      end_ = filtered.endConst();
-    }
-  };
-
-  template<class ValueType>
-  Values::Values(const Values::Filtered<ValueType>& view) {
-    for(const auto key_value: view) {
-      Key key = key_value.key;
-      insert(key, static_cast<const ValueType&>(key_value.value));
-    }
-  }
-
-  template<class ValueType>
-  Values::Values(const Values::ConstFiltered<ValueType>& view) {
-    for(const auto key_value: view) {
-      Key key = key_value.key;
-      insert(key, static_cast<const ValueType&>(key_value.value));
-    }
-  }
-
-  Values::Filtered<Value>
-  inline Values::filter(const std::function<bool(Key)>& filterFcn) {
-    return filter<Value>(filterFcn);
-  }
-
-  template<class ValueType>
-  Values::Filtered<ValueType>
-  Values::filter(const std::function<bool(Key)>& filterFcn) {
-    return Filtered<ValueType>(std::bind(&filterHelper<ValueType>, filterFcn,
-      std::placeholders::_1), *this);
-  }
-
-  Values::ConstFiltered<Value>
-  inline Values::filter(const std::function<bool(Key)>& filterFcn) const {
-    return filter<Value>(filterFcn);
-  }
-
-  template<class ValueType>
-  Values::ConstFiltered<ValueType>
-  Values::filter(const std::function<bool(Key)>& filterFcn) const {
-    return ConstFiltered<ValueType>(std::bind(&filterHelper<ValueType>,
-      filterFcn, std::placeholders::_1), *this);
-  }
-#endif
-
   /* ************************************************************************* */
    template<>
    inline bool Values::filterHelper<Value>(const std::function<bool(Key)> filter,

gtsam/nonlinear/Values.h

@@ -31,9 +31,6 @@
 #include <boost/iterator/transform_iterator.hpp>
 #include <boost/ptr_container/serialize_ptr_map.hpp>
 #include <boost/shared_ptr.hpp>
-#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
-#include <boost/iterator/filter_iterator.hpp>
-#endif
 
 #include <string>
 #include <utility>
@@ -342,42 +339,6 @@ namespace gtsam {
     std::map<Key, ValueType> // , std::less<Key>, Eigen::aligned_allocator<ValueType>
     extract(const std::function<bool(Key)>& filterFcn = &_truePredicate<Key>) const;
 
-#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
-    /** A filtered view of a Values, returned from Values::filter. */
-    template <class ValueType = Value>
-    class Filtered;
-
-    /** A filtered view of a const Values, returned from Values::filter. */
-    template <class ValueType = Value>
-    class ConstFiltered;
-
-    /** Constructor from a Filtered view copies out all values */
-    template <class ValueType>
-    Values(const Filtered<ValueType>& view);
-
-    /** Constructor from a Filtered or ConstFiltered view */
-    template <class ValueType>
-    Values(const ConstFiltered<ValueType>& view);
-
-    /// A filtered view of the original Values class.
-    Filtered<Value> GTSAM_DEPRECATED
-    filter(const std::function<bool(Key)>& filterFcn);
-
-    /// A filtered view of the original Values class, also filter on type.
-    template <class ValueType>
-    Filtered<ValueType> GTSAM_DEPRECATED
-    filter(const std::function<bool(Key)>& filterFcn = &_truePredicate<Key>);
-
-    /// A filtered view of the original Values class, const version.
-    ConstFiltered<Value> GTSAM_DEPRECATED
-    filter(const std::function<bool(Key)>& filterFcn) const;
-
-    /// A filtered view of the original Values class, also on type, const.
-    template <class ValueType>
-    ConstFiltered<ValueType> GTSAM_DEPRECATED filter(
-        const std::function<bool(Key)>& filterFcn = &_truePredicate<Key>) const;
-#endif
-
   private:
     // Filters based on ValueType (if not Value) and also based on the user-
     // supplied \c filter function.

gtsam/nonlinear/tests/testValues.cpp

@@ -343,68 +343,6 @@ TEST(Values, filter) {
   values.insert(2, pose2);
   values.insert(3, pose3);
 
-#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
-  // Filter by key
-  int i = 0;
-  Values::Filtered<Value> filtered = values.filter(std::bind(std::greater_equal<Key>(), std::placeholders::_1, 2));
-  EXPECT_LONGS_EQUAL(2, (long)filtered.size());
-  for(const auto key_value: filtered) {
-    if(i == 0) {
-      LONGS_EQUAL(2, (long)key_value.key);
-      try {key_value.value.cast<Pose2>();} catch (const std::bad_cast& e) { FAIL("can't cast Value to Pose2");}
-      THROWS_EXCEPTION(key_value.value.cast<Pose3>());
-      EXPECT(assert_equal(pose2, key_value.value.cast<Pose2>()));
-    } else if(i == 1) {
-      LONGS_EQUAL(3, (long)key_value.key);
-      try {key_value.value.cast<Pose3>();} catch (const std::bad_cast& e) { FAIL("can't cast Value to Pose3");}
-      THROWS_EXCEPTION(key_value.value.cast<Pose2>());
-      EXPECT(assert_equal(pose3, key_value.value.cast<Pose3>()));
-    } else {
-      EXPECT(false);
-    }
-    ++ i;
-  }
-  EXPECT_LONGS_EQUAL(2, (long)i);
-
-  // construct a values with the view
-  Values actualSubValues1(filtered);
-  Values expectedSubValues1;
-  expectedSubValues1.insert(2, pose2);
-  expectedSubValues1.insert(3, pose3);
-  EXPECT(assert_equal(expectedSubValues1, actualSubValues1));
-
-  // ConstFilter by Key
-  Values::ConstFiltered<Value> constfiltered = values.filter(std::bind(std::greater_equal<Key>(), std::placeholders::_1, 2));
-  EXPECT_LONGS_EQUAL(2, (long)constfiltered.size());
-  Values fromconstfiltered(constfiltered);
-  EXPECT(assert_equal(expectedSubValues1, fromconstfiltered));
-
-  // Filter by type
-  i = 0;
-  Values::ConstFiltered<Pose3> pose_filtered = values.filter<Pose3>();
-  EXPECT_LONGS_EQUAL(2, (long)pose_filtered.size());
-  for(const auto key_value: pose_filtered) {
-    if(i == 0) {
-      EXPECT_LONGS_EQUAL(1, (long)key_value.key);
-      EXPECT(assert_equal(pose1, key_value.value));
-    } else if(i == 1) {
-      EXPECT_LONGS_EQUAL(3, (long)key_value.key);
-      EXPECT(assert_equal(pose3, key_value.value));
-    } else {
-      EXPECT(false);
-    }
-    ++ i;
-  }
-  EXPECT_LONGS_EQUAL(2, (long)i);
-
-  // construct a values with the view
-  Values actualSubValues2(pose_filtered);
-  Values expectedSubValues2;
-  expectedSubValues2.insert(1, pose1);
-  expectedSubValues2.insert(3, pose3);
-  EXPECT(assert_equal(expectedSubValues2, actualSubValues2));
-#endif
-
   // Test counting by type.
   EXPECT_LONGS_EQUAL(2, (long)values.count<Pose3>());
   EXPECT_LONGS_EQUAL(2, (long)values.count<Pose2>());
@@ -412,7 +350,6 @@ TEST(Values, filter) {
   // Filter by type using extract.
   auto extracted_pose3s = values.extract<Pose3>();
   EXPECT_LONGS_EQUAL(2, (long)extracted_pose3s.size());
-
 }
 
 /* ************************************************************************* */
@@ -428,27 +365,9 @@ TEST(Values, Symbol_filter) {
   values.insert(X(2), pose2);
   values.insert(Symbol('y', 3), pose3);
 
-#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
+  // Test extract with filter on symbol:
-  int i = 0;
-  for(const auto key_value: values.filter(Symbol::ChrTest('y'))) {
-    if(i == 0) {
-      LONGS_EQUAL(Symbol('y', 1), (long)key_value.key);
-      EXPECT(assert_equal(pose1, key_value.value.cast<Pose3>()));
-    } else if(i == 1) {
-      LONGS_EQUAL(Symbol('y', 3), (long)key_value.key);
-      EXPECT(assert_equal(pose3, key_value.value.cast<Pose3>()));
-    } else {
-      EXPECT(false);
-    }
-    ++ i;
-  }
-  LONGS_EQUAL(2, (long)i);
-#endif
-
-// Test extract with filter on symbol:
   auto extracted_pose3s = values.extract<Pose3>(Symbol::ChrTest('y'));
   EXPECT_LONGS_EQUAL(2, (long)extracted_pose3s.size());
-
 }
 
 /* ************************************************************************* */

gtsam/sfm/SfmData.cpp

@@ -322,25 +322,6 @@ bool writeBAL(const std::string &filename, const SfmData &data) {
   return true;
 }
 
-#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
-bool readBundler(const std::string &filename, SfmData &data) {
-  try {
-    data = SfmData::FromBundlerFile(filename);
-    return true;
-  } catch (const std::exception & /* e */) {
-    return false;
-  }
-}
-bool readBAL(const std::string &filename, SfmData &data) {
-  try {
-    data = SfmData::FromBalFile(filename);
-    return true;
-  } catch (const std::exception & /* e */) {
-    return false;
-  }
-}
-#endif
-
 SfmData readBal(const std::string &filename) {
   return SfmData::FromBalFile(filename);
 }

gtsam/sfm/SfmData.h

@@ -122,17 +122,6 @@ struct GTSAM_EXPORT SfmData {
   bool equals(const SfmData& sfmData, double tol = 1e-9) const;
 
   /// @}
-#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
-  /// @name Deprecated
-  /// @{
-  void GTSAM_DEPRECATED add_track(const SfmTrack& t) { tracks.push_back(t); }
-  void GTSAM_DEPRECATED add_camera(const SfmCamera& cam) {
-    cameras.push_back(cam);
-  }
-  size_t GTSAM_DEPRECATED number_tracks() const { return tracks.size(); }
-  size_t GTSAM_DEPRECATED number_cameras() const { return cameras.size(); }
-  /// @}
-#endif
   /// @name Serialization
   /// @{
 
@@ -151,13 +140,6 @@ struct GTSAM_EXPORT SfmData {
 template <>
 struct traits<SfmData> : public Testable<SfmData> {};
 
-#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
-GTSAM_EXPORT bool GTSAM_DEPRECATED readBundler(const std::string& filename,
-                                               SfmData& data);
-GTSAM_EXPORT bool GTSAM_DEPRECATED readBAL(const std::string& filename,
-                                           SfmData& data);
-#endif
-
 /**
  * @brief This function parses a "Bundle Adjustment in the Large" (BAL) file and
  * returns the data as a SfmData structure. Mainly used by wrapped code.

gtsam/sfm/SfmTrack.h

@@ -158,18 +158,6 @@ struct GTSAM_EXPORT SfmTrack : SfmTrack2d {
   bool equals(const SfmTrack& sfmTrack, double tol = 1e-9) const;
 
   /// @}
-#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
-  /// @name Deprecated
-  /// @{
-  void GTSAM_DEPRECATED add_measurement(size_t idx, const gtsam::Point2& m) {
-    measurements.emplace_back(idx, m);
-  }
-
-  size_t GTSAM_DEPRECATED number_measurements() const {
-    return measurements.size();
-  }
-  /// @}
-#endif
   /// @name Serialization
   /// @{
 

gtsam/slam/dataset.cpp

@@ -962,15 +962,4 @@ parse3DFactors(const std::string &filename,
   return parseFactors<Pose3>(filename, model, maxIndex);
 }
 
-#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
-std::map<size_t, Pose3> GTSAM_DEPRECATED
-parse3DPoses(const std::string &filename, size_t maxIndex) {
-  return parseVariables<Pose3>(filename, maxIndex);
-}
-
-std::map<size_t, Point3> GTSAM_DEPRECATED
-parse3DLandmarks(const std::string &filename, size_t maxIndex) {
-  return parseVariables<Point3>(filename, maxIndex);
-}
-#endif
 } // namespace gtsam

gtsam/slam/dataset.h

@@ -225,21 +225,4 @@ parse3DFactors(const std::string &filename,
 using BinaryMeasurementsUnit3 = std::vector<BinaryMeasurement<Unit3>>;
 using BinaryMeasurementsPoint3 = std::vector<BinaryMeasurement<Point3>>;
 using BinaryMeasurementsRot3 = std::vector<BinaryMeasurement<Rot3>>;
-
-#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
-inline boost::optional<IndexedPose> GTSAM_DEPRECATED
-parseVertex(std::istream& is, const std::string& tag) {
-  return parseVertexPose(is, tag);
-}
-
-GTSAM_EXPORT std::map<size_t, Pose3> GTSAM_DEPRECATED
-parse3DPoses(const std::string& filename, size_t maxIndex = 0);
-
-GTSAM_EXPORT std::map<size_t, Point3> GTSAM_DEPRECATED
-parse3DLandmarks(const std::string& filename, size_t maxIndex = 0);
-
-GTSAM_EXPORT GraphAndValues GTSAM_DEPRECATED
-load2D_robust(const std::string& filename,
-              const noiseModel::Base::shared_ptr& model, size_t maxIndex = 0);
-#endif
 }  // namespace gtsam

gtsam_unstable/examples/ConcurrentCalibration.cpp

@@ -20,6 +20,7 @@
 
 #include <gtsam/geometry/Pose3.h>
 #include <gtsam/nonlinear/Values.h>
+#include <gtsam/nonlinear/utilities.h>
 #include <gtsam/nonlinear/NonlinearEquality.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
@@ -35,12 +36,15 @@
 
 using namespace std;
 using namespace gtsam;
+using symbol_shorthand::K;
+using symbol_shorthand::L;
+using symbol_shorthand::X;
 
 int main(int argc, char** argv){
 
   Values initial_estimate;
   NonlinearFactorGraph graph;
-  const noiseModel::Isotropic::shared_ptr model = noiseModel::Isotropic::Sigma(2,1);
+  const auto model = noiseModel::Isotropic::Sigma(2,1);
 
   string calibration_loc = findExampleDataFile("VO_calibration00s.txt");
   string pose_loc = findExampleDataFile("VO_camera_poses00s.txt");
@@ -54,13 +58,13 @@ int main(int argc, char** argv){
   calibration_file >> fx >> fy >> s >> u0 >> v0 >> b;
 
   //create stereo camera calibration object
-  const Cal3_S2::shared_ptr K(new Cal3_S2(fx,fy,s,u0,v0));
+  const Cal3_S2 true_K(fx,fy,s,u0,v0);
-  const Cal3_S2::shared_ptr noisy_K(new Cal3_S2(fx*1.2,fy*1.2,s,u0-10,v0+10));
+  const Cal3_S2 noisy_K(fx*1.2,fy*1.2,s,u0-10,v0+10);
 
-  initial_estimate.insert(Symbol('K', 0), *noisy_K);
+  initial_estimate.insert(K(0), noisy_K);
 
-  noiseModel::Diagonal::shared_ptr calNoise = noiseModel::Diagonal::Sigmas((Vector(5) << 500, 500, 1e-5, 100, 100).finished());
+  auto calNoise = noiseModel::Diagonal::Sigmas((Vector(5) << 500, 500, 1e-5, 100, 100).finished());
-  graph.addPrior(Symbol('K', 0), *noisy_K, calNoise);
+  graph.addPrior(K(0), noisy_K, calNoise);
 
 
   ifstream pose_file(pose_loc.c_str());
@@ -75,7 +79,7 @@ int main(int argc, char** argv){
     initial_estimate.insert(Symbol('x', pose_id), Pose3(m));
   }
 
-  noiseModel::Isotropic::shared_ptr poseNoise = noiseModel::Isotropic::Sigma(6, 0.01);
+  auto poseNoise = noiseModel::Isotropic::Sigma(6, 0.01);
   graph.addPrior(Symbol('x', pose_id), Pose3(m), poseNoise);
 
   // camera and landmark keys
@@ -83,22 +87,22 @@ int main(int argc, char** argv){
 
   // pixel coordinates uL, uR, v (same for left/right images due to rectification)
   // landmark coordinates X, Y, Z in camera frame, resulting from triangulation
-  double uL, uR, v, X, Y, Z;
+  double uL, uR, v, _X, Y, Z;
   ifstream factor_file(factor_loc.c_str());
   cout << "Reading stereo factors" << endl;
   //read stereo measurement details from file and use to create and add GenericStereoFactor objects to the graph representation
-  while (factor_file >> x >> l >> uL >> uR >> v >> X >> Y >> Z) {
+  while (factor_file >> x >> l >> uL >> uR >> v >> _X >> Y >> Z) {
-//    graph.emplace_shared<GenericStereoFactor<Pose3, Point3> >(StereoPoint2(uL, uR, v), model, Symbol('x', x), Symbol('l', l), K);
+//    graph.emplace_shared<GenericStereoFactor<Pose3, Point3> >(StereoPoint2(uL, uR, v), model, X(x), L(l), K);
 
-    graph.emplace_shared<GeneralSFMFactor2<Cal3_S2> >(Point2(uL,v), model, Symbol('x', x), Symbol('l', l), Symbol('K', 0));
+    graph.emplace_shared<GeneralSFMFactor2<Cal3_S2> >(Point2(uL,v), model, X(x), L(l), K(0));
 
 
     //if the landmark variable included in this factor has not yet been added to the initial variable value estimate, add it
-    if (!initial_estimate.exists(Symbol('l', l))) {
+    if (!initial_estimate.exists(L(l))) {
-      Pose3 camPose = initial_estimate.at<Pose3>(Symbol('x', x));
+      Pose3 camPose = initial_estimate.at<Pose3>(X(x));
       //transformFrom() transforms the input Point3 from the camera pose space, camPose, to the global space
-      Point3 worldPoint = camPose.transformFrom(Point3(X, Y, Z));
+      Point3 worldPoint = camPose.transformFrom(Point3(_X, Y, Z));
-      initial_estimate.insert(Symbol('l', l), worldPoint);
+      initial_estimate.insert(L(l), worldPoint);
     }
   }
 
@@ -123,7 +127,7 @@ int main(int argc, char** argv){
   double currentError;
 
 
-  stream_K << optimizer.iterations() << " " << optimizer.values().at<Cal3_S2>(Symbol('K',0)).vector().transpose() << endl;
+  stream_K << optimizer.iterations() << " " << optimizer.values().at<Cal3_S2>(K(0)).vector().transpose() << endl;
 
 
   // Iterative loop
@@ -132,7 +136,7 @@ int main(int argc, char** argv){
     currentError = optimizer.error();
     optimizer.iterate();
 
-    stream_K << optimizer.iterations() << " " << optimizer.values().at<Cal3_S2>(Symbol('K',0)).vector().transpose() << endl;
+    stream_K << optimizer.iterations() << " " << optimizer.values().at<Cal3_S2>(K(0)).vector().transpose() << endl;
 
     if(params.verbosity >= NonlinearOptimizerParams::ERROR) cout << "newError: " << optimizer.error() << endl;
   } while(optimizer.iterations() < params.maxIterations &&
@@ -142,13 +146,13 @@ int main(int argc, char** argv){
   Values result = optimizer.values();
 
   cout << "Final result sample:" << endl;
-  Values pose_values = result.filter<Pose3>();
+  Values pose_values = utilities::allPose3s(result);
   pose_values.print("Final camera poses:\n");
 
-  Values(result.filter<Cal3_S2>()).print("Final K\n");
+  result.at<Cal3_S2>(K(0)).print("Final K\n");
 
-  noisy_K->print("Initial noisy K\n");
+  noisy_K.print("Initial noisy K\n");
-  K->print("Initial correct K\n");
+  true_K.print("Initial correct K\n");
 
   return 0;
 }

gtsam_unstable/examples/SmartProjectionFactorExample.cpp

@@ -30,6 +30,7 @@
 #include <gtsam/slam/dataset.h>
 #include <gtsam/geometry/Cal3_S2Stereo.h>
 #include <gtsam/nonlinear/Values.h>
+#include <gtsam/nonlinear/utilities.h>
 #include <gtsam/nonlinear/NonlinearEquality.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
@@ -114,7 +115,7 @@ int main(int argc, char** argv){
   Values result = optimizer.optimize();
 
   cout << "Final result sample:" << endl;
-  Values pose_values = result.filter<Pose3>();
+  Values pose_values = utilities::allPose3s(result);
   pose_values.print("Final camera poses:\n");
 
   return 0;

gtsam_unstable/examples/SmartRangeExample_plaza1.cpp

@@ -234,9 +234,8 @@ int main(int argc, char** argv) {
         }
       }
       countK = 0;
-      for(const auto it: result.filter<Point2>())
+      for (const auto& [key, point] : result.extract<Point2>())
-        os2 << it.key << "\t" << it.value.x() << "\t" << it.value.y() << "\t1"
+        os2 << key << "\t" << point.x() << "\t" << point.y() << "\t1" << endl;
-            << endl;
       if (smart) {
         for(size_t jj: ids) {
           Point2 landmark = smartFactors[jj]->triangulate(result);
@@ -257,9 +256,8 @@ int main(int argc, char** argv) {
   // Write result to file
   Values result = isam.calculateEstimate();
   ofstream os("rangeResult.txt");
-  for(const auto it: result.filter<Pose2>())
+  for (const auto& [key, pose] : result.extract<Pose2>())
-    os << it.key << "\t" << it.value.x() << "\t" << it.value.y() << "\t"
+    os << key << "\t" << pose.x() << "\t" << pose.y() << "\t" << pose.theta() << endl;
-        << it.value.theta() << endl;
   exit(0);
 }
 

gtsam_unstable/examples/SmartRangeExample_plaza2.cpp

@@ -202,13 +202,11 @@ int main(int argc, char** argv) {
   // Write result to file
   Values result = isam.calculateEstimate();
   ofstream os2("rangeResultLM.txt");
-  for(const auto it: result.filter<Point2>())
+  for (const auto& [key, point] : result.extract<Point2>())
-    os2 << it.key << "\t" << it.value.x() << "\t" << it.value.y() << "\t1"
+    os2 << key << "\t" << point.x() << "\t" << point.y() << "\t1" << endl;
-        << endl;
   ofstream os("rangeResult.txt");
-  for(const auto it: result.filter<Pose2>())
+  for (const auto& [key, pose] : result.extract<Pose2>())
-    os << it.key << "\t" << it.value.x() << "\t" << it.value.y() << "\t"
+    os << key << "\t" << pose.x() << "\t" << pose.y() << "\t" << pose.theta() << endl;
-        << it.value.theta() << endl;
   exit(0);
 }
 

gtsam_unstable/examples/SmartStereoProjectionFactorExample.cpp

@@ -29,6 +29,7 @@
 #include <gtsam/geometry/Pose3.h>
 #include <gtsam/geometry/Cal3_S2Stereo.h>
 #include <gtsam/nonlinear/Values.h>
+#include <gtsam/nonlinear/utilities.h>
 #include <gtsam/nonlinear/NonlinearEquality.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
@@ -43,6 +44,7 @@
 
 using namespace std;
 using namespace gtsam;
+using symbol_shorthand::X;
 
 int main(int argc, char** argv){
 
@@ -84,16 +86,16 @@ int main(int argc, char** argv){
     if(add_initial_noise){
       m(1,3) += (pose_id % 10)/10.0;
     }
-    initial_estimate.insert(Symbol('x', pose_id), Pose3(m));
+    initial_estimate.insert(X(pose_id), Pose3(m));
   }
 
-  Values initial_pose_values = initial_estimate.filter<Pose3>();
+  const auto initialPoses = initial_estimate.extract<Pose3>();
   if (output_poses) {
     init_pose3Out.open(init_poseOutput.c_str(), ios::out);
-    for (size_t i = 1; i <= initial_pose_values.size(); i++) {
+    for (size_t i = 1; i <= initialPoses.size(); i++) {
       init_pose3Out
           << i << " "
-          << initial_pose_values.at<Pose3>(Symbol('x', i)).matrix().format(
+          << initialPoses.at(X(i)).matrix().format(
               Eigen::IOFormat(Eigen::StreamPrecision, 0, " ", " ")) << endl;
     }
   }
@@ -103,7 +105,7 @@ int main(int argc, char** argv){
 
   // pixel coordinates uL, uR, v (same for left/right images due to rectification)
   // landmark coordinates X, Y, Z in camera frame, resulting from triangulation
-  double uL, uR, v, X, Y, Z;
+  double uL, uR, v, _X, Y, Z;
   ifstream factor_file(factor_loc.c_str());
   cout << "Reading stereo factors" << endl;
 
@@ -112,21 +114,21 @@ int main(int argc, char** argv){
   SmartFactor::shared_ptr factor(new SmartFactor(model));
   size_t current_l = 3;   // hardcoded landmark ID from first measurement
 
-  while (factor_file >> x >> l >> uL >> uR >> v >> X >> Y >> Z) {
+  while (factor_file >> x >> l >> uL >> uR >> v >> _X >> Y >> Z) {
 
     if(current_l != l) {
       graph.push_back(factor);
       factor = SmartFactor::shared_ptr(new SmartFactor(model));
       current_l = l;
     }
-    factor->add(StereoPoint2(uL,uR,v), Symbol('x',x), K);
+    factor->add(StereoPoint2(uL,uR,v), X(x), K);
   }
 
-  Pose3 first_pose = initial_estimate.at<Pose3>(Symbol('x',1));
+  Pose3 first_pose = initial_estimate.at<Pose3>(X(1));
   //constrain the first pose such that it cannot change from its original value during optimization
   // NOTE: NonlinearEquality forces the optimizer to use QR rather than Cholesky
   // QR is much slower than Cholesky, but numerically more stable
-  graph.emplace_shared<NonlinearEquality<Pose3> >(Symbol('x',1),first_pose);
+  graph.emplace_shared<NonlinearEquality<Pose3> >(X(1),first_pose);
 
   LevenbergMarquardtParams params;
   params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA;
@@ -138,13 +140,13 @@ int main(int argc, char** argv){
   Values result = optimizer.optimize();
 
   cout << "Final result sample:" << endl;
-  Values pose_values = result.filter<Pose3>();
+  Values pose_values = utilities::allPose3s(result);
   pose_values.print("Final camera poses:\n");
 
   if(output_poses){
     pose3Out.open(poseOutput.c_str(),ios::out);
     for(size_t i = 1; i<=pose_values.size(); i++){
-      pose3Out << i << " " << pose_values.at<Pose3>(Symbol('x',i)).matrix().format(Eigen::IOFormat(Eigen::StreamPrecision, 0,
+      pose3Out << i << " " << pose_values.at<Pose3>(X(i)).matrix().format(Eigen::IOFormat(Eigen::StreamPrecision, 0,
         " ", " ")) << endl;
     }
     cout << "Writing output" << endl;

gtsam_unstable/slam/serialization.cpp

@@ -173,22 +173,6 @@ BOOST_CLASS_EXPORT_GUID(GeneralSFMFactor2Cal3_S2, "gtsam::GeneralSFMFactor2Cal3_
 
 BOOST_CLASS_EXPORT_GUID(GenericStereoFactor3D, "gtsam::GenericStereoFactor3D");
 
-#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V42
-
-typedef PriorFactor<SimpleCamera>               PriorFactorSimpleCamera;
-typedef NonlinearEquality<SimpleCamera>         NonlinearEqualitySimpleCamera;
-typedef RangeFactor<SimpleCamera, Point3>       RangeFactorSimpleCameraPoint;
-typedef RangeFactor<SimpleCamera, SimpleCamera> RangeFactorSimpleCamera;
-
-GTSAM_VALUE_EXPORT(gtsam::SimpleCamera);
-BOOST_CLASS_EXPORT_GUID(PriorFactorSimpleCamera, "gtsam::PriorFactorSimpleCamera");
-BOOST_CLASS_EXPORT_GUID(NonlinearEqualitySimpleCamera, "gtsam::NonlinearEqualitySimpleCamera");
-BOOST_CLASS_EXPORT_GUID(RangeFactorSimpleCameraPoint, "gtsam::RangeFactorSimpleCameraPoint");
-BOOST_CLASS_EXPORT_GUID(RangeFactorSimpleCamera, "gtsam::RangeFactorSimpleCamera");
-
-#endif
-
-
 /* ************************************************************************* */
 // Actual implementations of functions
 /* ************************************************************************* */

timing/timeLago.cpp

@@ -10,8 +10,8 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file    timeVirtual.cpp
+ * @file    timeLago.cpp
- * @brief   Time the overhead of using virtual destructors and methods
+ * @brief   Time the LAGO initialization method
  * @author  Richard Roberts
  * @date    Dec 3, 2010
  */
@@ -36,16 +36,15 @@ int main(int argc, char *argv[]) {
   Values::shared_ptr solution;
   NonlinearFactorGraph::shared_ptr g;
   string inputFile = findExampleDataFile("w10000");
-  SharedDiagonal model = noiseModel::Diagonal::Sigmas((Vector(3) << 0.05, 0.05, 5.0 * M_PI / 180.0).finished());
+  auto model = noiseModel::Diagonal::Sigmas((Vector(3) << 0.05, 0.05, 5.0 * M_PI / 180.0).finished());
   boost::tie(g, solution) = load2D(inputFile, model);
 
   // add noise to create initial estimate
   Values initial;
-  Values::ConstFiltered<Pose2> poses = solution->filter<Pose2>();
+  auto noise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.5, 0.5, 15.0 * M_PI / 180.0).finished());
-  SharedDiagonal noise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.5, 0.5, 15.0 * M_PI / 180.0).finished());
   Sampler sampler(noise);
-  for(const Values::ConstFiltered<Pose2>::KeyValuePair& it: poses)
+  for(const auto& [key,pose]: solution->extract<Pose2>())
-    initial.insert(it.key, it.value.retract(sampler.sample()));
+    initial.insert(key, pose.retract(sampler.sample()));
 
   // Add prior on the pose having index (key) = 0
   noiseModel::Diagonal::shared_ptr priorModel = //