From 0f951643bd1395a11068a6132f8e773d40c2d268 Mon Sep 17 00:00:00 2001
From: Grady Williams <gradyrw@gmail.com>
Date: Tue, 15 Feb 2022 13:52:12 -0800
Subject: [PATCH 001/206] Adding failing tests for ISAM2 marginalization

---
 tests/testGaussianISAM2.cpp | 150 ++++++++++++++++++++++++++++++++++++
 1 file changed, 150 insertions(+)

diff --git a/tests/testGaussianISAM2.cpp b/tests/testGaussianISAM2.cpp
index e8e916f04..efe34ee31 100644
--- a/tests/testGaussianISAM2.cpp
+++ b/tests/testGaussianISAM2.cpp
@@ -11,6 +11,7 @@
 #include <gtsam/sam/BearingRangeFactor.h>
 #include <gtsam/geometry/Point2.h>
 #include <gtsam/geometry/Pose2.h>
+#include <gtsam/geometry/Pose3.h>
 #include <gtsam/nonlinear/Values.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/Marginals.h>
@@ -662,6 +663,76 @@ namespace {
     bool ok = treeEqual && /*linEqual &&*/ nonlinEqual && /*linCorrect &&*/ /*afterLinCorrect &&*/ afterNonlinCorrect;
     return ok;
   }
+
+  boost::optional<FastMap<Key, int>> createOrderingConstraints(const ISAM2& isam, const KeyVector& newKeys, const KeySet& marginalizableKeys)
+  {
+    if (marginalizableKeys.empty()) {
+      return boost::none;
+    } else {
+      FastMap<Key, int> constrainedKeys = FastMap<Key, int>();
+      // Generate ordering constraints so that the marginalizable variables will be eliminated first
+      // Set all existing and new variables to Group1
+      for (const auto& key_val : isam.getDelta()) {
+        constrainedKeys.emplace(key_val.first, 1);
+      }
+      for (const auto& key : newKeys) {
+        constrainedKeys.emplace(key, 1);
+      }
+      // And then re-assign the marginalizable variables to Group0 so that they'll all be leaf nodes
+      for (const auto& key : marginalizableKeys) {
+        constrainedKeys.at(key) = 0;
+      }
+      return constrainedKeys;
+    }
+  }
+
+  void markAffectedKeys(const Key& key, const ISAM2Clique::shared_ptr& rootClique, KeyList& additionalKeys)
+  {
+    std::stack<ISAM2Clique::shared_ptr> frontier;
+    frontier.push(rootClique);
+    // Basic DFS to find additional keys
+    while (!frontier.empty()) {
+      // Get the top of the stack
+      const ISAM2Clique::shared_ptr clique = frontier.top();
+      frontier.pop();
+      // Check if we have more keys and children to add
+      if (std::find(clique->conditional()->beginParents(), clique->conditional()->endParents(), key) !=
+          clique->conditional()->endParents()) {
+        for (Key i : clique->conditional()->frontals()) {
+          additionalKeys.push_back(i);
+        }
+        for (const ISAM2Clique::shared_ptr& child : clique->children) {
+          frontier.push(child);
+        }
+      }
+    }
+  }
+
+  bool updateAndMarginalize(const NonlinearFactorGraph& newFactors, const Values& newValues, const KeySet& marginalizableKeys, ISAM2& isam)
+  {
+    // Force ISAM2 to put marginalizable variables at the beginning
+    const boost::optional<FastMap<Key, int>> orderingConstraints = createOrderingConstraints(isam, newValues.keys(), marginalizableKeys);
+
+    // Mark additional keys between the marginalized keys and the leaves
+    KeyList additionalMarkedKeys;
+    for (Key key : marginalizableKeys) {
+      ISAM2Clique::shared_ptr clique = isam[key];
+      for (const ISAM2Clique::shared_ptr& child : clique->children) {
+        markAffectedKeys(key, child, additionalMarkedKeys);
+      }
+    }
+
+    // Update
+    isam.update(newFactors, newValues, FactorIndices{}, orderingConstraints, boost::none, additionalMarkedKeys);
+
+    if (!marginalizableKeys.empty()) {
+      FastList<Key> leafKeys(marginalizableKeys.begin(), marginalizableKeys.end());
+      return checkMarginalizeLeaves(isam, leafKeys);
+    }
+    else {
+      return true;
+    }
+  }
 }
 
 /* ************************************************************************* */
@@ -795,6 +866,85 @@ TEST(ISAM2, marginalizeLeaves5)
   EXPECT(checkMarginalizeLeaves(isam, marginalizeKeys));
 }
 
+/* ************************************************************************* */
+TEST(ISAM2, marginalizeLeaves6)
+{
+  const boost::shared_ptr<noiseModel::Isotropic> nm = noiseModel::Isotropic::Sigma(6, 1.0);
+
+  int gridDim = 10;
+
+  auto idxToKey = [gridDim](int i, int j){return i * gridDim + j;};
+
+  NonlinearFactorGraph factors;
+  Values values;
+  ISAM2 isam;
+
+  // Create a grid of pose variables
+  for (int i = 0; i < gridDim; ++i) {
+    for (int j = 0; j < gridDim; ++j) {
+      Pose3 pose = Pose3(Rot3::identity(), Point3(i, j, 0));
+      Key key = idxToKey(i, j);
+      // Place a prior on the first pose
+      factors.addPrior(key, Pose3(Rot3::identity(), Point3(i, j, 0)), nm);
+      values.insert(key, pose);
+      if (i > 0) {
+        factors.emplace_shared<BetweenFactor<Pose3>>(idxToKey(i - 1, j), key, Pose3(Rot3::identity(), Point3(1, 0, 0)),nm);
+      }
+      if (j > 0) {
+        factors.emplace_shared<BetweenFactor<Pose3>>(idxToKey(i, j - 1), key, Pose3(Rot3::identity(), Point3(0, 1, 0)),nm);
+      }
+    }
+  }
+
+  // Optimize the graph
+  EXPECT(updateAndMarginalize(factors, values, {}, isam));
+  auto estimate = isam.calculateBestEstimate();
+
+  // Get the list of keys
+  std::vector<Key> key_list(gridDim * gridDim);
+  std::iota(key_list.begin(), key_list.end(), 0);
+
+  // Shuffle the keys -> we will marginalize the keys one by one in this order
+  std::shuffle(key_list.begin(), key_list.end(), std::default_random_engine(1234));
+
+  for (const auto& key : key_list) {
+    KeySet marginalKeys;
+    marginalKeys.insert(key);
+    EXPECT(updateAndMarginalize({}, {}, marginalKeys, isam));
+    estimate = isam.calculateBestEstimate();
+  }
+}
+
+/* ************************************************************************* */
+TEST(ISAM2, MarginalizeRoot)
+{
+  const boost::shared_ptr<noiseModel::Isotropic> nm = noiseModel::Isotropic::Sigma(6, 1.0);
+
+  NonlinearFactorGraph factors;
+  Values values;
+  ISAM2 isam;
+
+  // Create a factor graph with one variable and a prior
+  Pose3 root = Pose3::identity();
+  Key rootKey(0);
+  values.insert(rootKey, root);
+  factors.addPrior(rootKey, Pose3::identity(), nm);
+
+  // Optimize the graph
+  EXPECT(updateAndMarginalize(factors, values, {}, isam));
+  auto estimate = isam.calculateBestEstimate();
+  EXPECT(estimate.size() == 1);
+
+  // And remove the node from the graph
+  KeySet marginalizableKeys;
+  marginalizableKeys.insert(rootKey);
+
+  EXPECT(updateAndMarginalize({}, {}, marginalizableKeys, isam));
+
+  estimate = isam.calculateBestEstimate();
+  EXPECT(estimate.empty());
+}
+
 /* ************************************************************************* */
 TEST(ISAM2, marginalCovariance)
 {

From 9e1046f40e21bd66b4db5fe300aa0e46b39365a4 Mon Sep 17 00:00:00 2001
From: Grady Williams <gradyrw@gmail.com>
Date: Sat, 16 Apr 2022 13:53:39 -0700
Subject: [PATCH 002/206] Test for not increasing graph size when adding
 marginal factors

---
 tests/testGaussianISAM2.cpp | 31 +++++++++++++++++++++++++++++++
 1 file changed, 31 insertions(+)

diff --git a/tests/testGaussianISAM2.cpp b/tests/testGaussianISAM2.cpp
index efe34ee31..940051b96 100644
--- a/tests/testGaussianISAM2.cpp
+++ b/tests/testGaussianISAM2.cpp
@@ -945,6 +945,37 @@ TEST(ISAM2, MarginalizeRoot)
   EXPECT(estimate.empty());
 }
 
+/* ************************************************************************* */
+TEST(ISAM2, marginalizationSize)
+{
+  const boost::shared_ptr<noiseModel::Isotropic> nm = noiseModel::Isotropic::Sigma(6, 1.0);
+
+  NonlinearFactorGraph factors;
+  Values values;
+  ISAM2Params params;
+  params.findUnusedFactorSlots = true;
+  ISAM2 isam{params};
+
+  // Create a pose variable
+  Key aKey(0);
+  values.insert(aKey, Pose3::identity());
+  factors.addPrior(aKey, Pose3::identity(), nm);
+  // Create another pose variable linked to the first
+  Pose3 b = Pose3::identity();
+  Key bKey(1);
+  values.insert(bKey, Pose3::identity());
+  factors.emplace_shared<BetweenFactor<Pose3>>(aKey, bKey, Pose3::identity(), nm);
+  // Optimize the graph
+  EXPECT(updateAndMarginalize(factors, values, {}, isam));
+
+  // Now remove a variable -> we should not see the number of factors increase
+  gtsam::KeySet to_remove;
+  to_remove.insert(aKey);
+  const auto numFactorsBefore = isam.getFactorsUnsafe().size();
+  updateAndMarginalize({}, {}, to_remove, isam);
+  EXPECT(numFactorsBefore == isam.getFactorsUnsafe().size());
+}
+
 /* ************************************************************************* */
 TEST(ISAM2, marginalCovariance)
 {

From 66720e0b0276360d1581335332714d2c7e1ecc93 Mon Sep 17 00:00:00 2001
From: Grady Williams <gradyrw@gmail.com>
Date: Sat, 16 Apr 2022 13:29:53 -0700
Subject: [PATCH 003/206] Bugfixes for ISAM2

---
 gtsam/nonlinear/ISAM2.cpp   | 66 +++++++++++++++++++++++--------------
 tests/testGaussianISAM2.cpp |  7 ++--
 2 files changed, 45 insertions(+), 28 deletions(-)

diff --git a/gtsam/nonlinear/ISAM2.cpp b/gtsam/nonlinear/ISAM2.cpp
index f56b23777..a7feca239 100644
--- a/gtsam/nonlinear/ISAM2.cpp
+++ b/gtsam/nonlinear/ISAM2.cpp
@@ -552,9 +552,12 @@ void ISAM2::marginalizeLeaves(
         // We do not need the marginal factors associated with this clique
         // because their information is already incorporated in the new
         // marginal factor.  So, now associate this marginal factor with the
-        // parent of this clique.
-        marginalFactors[clique->parent()->conditional()->front()].push_back(
-            marginalFactor);
+        // parent of this clique. If the clique is a root and has no parent, then
+        // we can discard it without keeping track of the marginal factor.
+        if (clique->parent()) {
+            marginalFactors[clique->parent()->conditional()->front()].push_back(
+                    marginalFactor);
+        }
         // Now remove this clique and its subtree - all of its marginal
         // information has been stored in marginalFactors.
         trackingRemoveSubtree(clique);
@@ -632,7 +635,7 @@ void ISAM2::marginalizeLeaves(
 
         // Make the clique's matrix appear as a subset
         const DenseIndex dimToRemove = cg->matrixObject().offset(nToRemove);
-        cg->matrixObject().firstBlock() = nToRemove;
+        cg->matrixObject().firstBlock() += nToRemove;
         cg->matrixObject().rowStart() = dimToRemove;
 
         // Change the keys in the clique
@@ -658,42 +661,55 @@ void ISAM2::marginalizeLeaves(
   // At this point we have updated the BayesTree, now update the remaining iSAM2
   // data structures
 
+  // Remove the factors to remove that will be summarized in marginal factors
+  NonlinearFactorGraph removedFactors;
+  for (const auto index : factorIndicesToRemove) {
+    removedFactors.push_back(nonlinearFactors_[index]);
+    nonlinearFactors_.remove(index);
+    if (params_.cacheLinearizedFactors) {
+      linearFactors_.remove(index);
+    }
+  }
+  variableIndex_.remove(factorIndicesToRemove.begin(),
+                        factorIndicesToRemove.end(), removedFactors);
+
   // Gather factors to add - the new marginal factors
-  GaussianFactorGraph factorsToAdd;
+  GaussianFactorGraph factorsToAdd{};
+  NonlinearFactorGraph nonlinearFactorsToAdd{};
   for (const auto& key_factors : marginalFactors) {
     for (const auto& factor : key_factors.second) {
       if (factor) {
         factorsToAdd.push_back(factor);
-        if (marginalFactorsIndices)
-          marginalFactorsIndices->push_back(nonlinearFactors_.size());
-        nonlinearFactors_.push_back(
-            boost::make_shared<LinearContainerFactor>(factor));
-        if (params_.cacheLinearizedFactors) linearFactors_.push_back(factor);
+        nonlinearFactorsToAdd.emplace_shared<LinearContainerFactor>(factor);
         for (Key factorKey : *factor) {
           fixedVariables_.insert(factorKey);
         }
       }
     }
   }
-  variableIndex_.augment(factorsToAdd);  // Augment the variable index
-
-  // Remove the factors to remove that have been summarized in the newly-added
-  // marginal factors
-  NonlinearFactorGraph removedFactors;
-  for (const auto index : factorIndicesToRemove) {
-    removedFactors.push_back(nonlinearFactors_[index]);
-    nonlinearFactors_.remove(index);
-    if (params_.cacheLinearizedFactors) linearFactors_.remove(index);
+  // Add the nonlinear factors and keep track of the new factor indices
+  auto newFactorIndices = nonlinearFactors_.add_factors(nonlinearFactorsToAdd,
+                                                        params_.findUnusedFactorSlots);
+  // Add cached linear factors.
+  if (params_.cacheLinearizedFactors){
+    linearFactors_.resize(nonlinearFactors_.size());
+    for (std::size_t i = 0; i < nonlinearFactorsToAdd.size(); ++i){
+      linearFactors_[newFactorIndices[i]] = factorsToAdd[i];
+    }
   }
-  variableIndex_.remove(factorIndicesToRemove.begin(),
-                        factorIndicesToRemove.end(), removedFactors);
-
-  if (deletedFactorsIndices)
-    deletedFactorsIndices->assign(factorIndicesToRemove.begin(),
-                                  factorIndicesToRemove.end());
+  // Augment the variable index
+  variableIndex_.augment(factorsToAdd, newFactorIndices);
 
   // Remove the marginalized variables
   removeVariables(KeySet(leafKeys.begin(), leafKeys.end()));
+
+  if (deletedFactorsIndices) {
+    deletedFactorsIndices->assign(factorIndicesToRemove.begin(),
+                                  factorIndicesToRemove.end());
+  }
+  if (marginalFactorsIndices){
+    *marginalFactorsIndices = std::move(newFactorIndices);
+  }
 }
 
 /* ************************************************************************* */
diff --git a/tests/testGaussianISAM2.cpp b/tests/testGaussianISAM2.cpp
index 940051b96..b2a679d65 100644
--- a/tests/testGaussianISAM2.cpp
+++ b/tests/testGaussianISAM2.cpp
@@ -714,16 +714,17 @@ namespace {
     const boost::optional<FastMap<Key, int>> orderingConstraints = createOrderingConstraints(isam, newValues.keys(), marginalizableKeys);
 
     // Mark additional keys between the marginalized keys and the leaves
-    KeyList additionalMarkedKeys;
+    KeyList markedKeys;
     for (Key key : marginalizableKeys) {
+      markedKeys.push_back(key);
       ISAM2Clique::shared_ptr clique = isam[key];
       for (const ISAM2Clique::shared_ptr& child : clique->children) {
-        markAffectedKeys(key, child, additionalMarkedKeys);
+        markAffectedKeys(key, child, markedKeys);
       }
     }
 
     // Update
-    isam.update(newFactors, newValues, FactorIndices{}, orderingConstraints, boost::none, additionalMarkedKeys);
+    isam.update(newFactors, newValues, FactorIndices{}, orderingConstraints, boost::none, markedKeys);
 
     if (!marginalizableKeys.empty()) {
       FastList<Key> leafKeys(marginalizableKeys.begin(), marginalizableKeys.end());

From 8d4fb8b854a3d83819980896e25516006af9a09b Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 23 Dec 2022 12:26:11 +0530
Subject: [PATCH 004/206] fix doxygen issues

---
 gtsam/base/treeTraversal-inst.h |  6 ++++--
 gtsam/linear/LossFunctions.h    | 26 +++++++++++++-------------
 2 files changed, 17 insertions(+), 15 deletions(-)

diff --git a/gtsam/base/treeTraversal-inst.h b/gtsam/base/treeTraversal-inst.h
index be45a248e..0578143f0 100644
--- a/gtsam/base/treeTraversal-inst.h
+++ b/gtsam/base/treeTraversal-inst.h
@@ -138,6 +138,8 @@ void DepthFirstForest(FOREST& forest, DATA& rootData, VISITOR_PRE& visitorPre) {
 /** Traverse a forest depth-first with pre-order and post-order visits.
  *  @param forest The forest of trees to traverse.  The method \c forest.roots() should exist
  *         and return a collection of (shared) pointers to \c FOREST::Node.
+ *  @param rootData The data to pass by reference to \c visitorPre when it is called on each
+ *         root node.
  *  @param visitorPre \c visitorPre(node, parentData) will be called at every node, before
  *         visiting its children, and will be passed, by reference, the \c DATA object returned
  *         by the visit to its parent.  Likewise, \c visitorPre should return the \c DATA object
@@ -147,8 +149,8 @@ void DepthFirstForest(FOREST& forest, DATA& rootData, VISITOR_PRE& visitorPre) {
  *  @param visitorPost \c visitorPost(node, data) will be called at every node, after visiting
  *         its children, and will be passed, by reference, the \c DATA object returned by the
  *         call to \c visitorPre (the \c DATA object may be modified by visiting the children).
- *  @param rootData The data to pass by reference to \c visitorPre when it is called on each
- *         root node. */
+ *  @param problemSizeThreshold
+ */
 template<class FOREST, typename DATA, typename VISITOR_PRE,
     typename VISITOR_POST>
 void DepthFirstForestParallel(FOREST& forest, DATA& rootData,
diff --git a/gtsam/linear/LossFunctions.h b/gtsam/linear/LossFunctions.h
index d9cfc1f3c..e227d7162 100644
--- a/gtsam/linear/LossFunctions.h
+++ b/gtsam/linear/LossFunctions.h
@@ -89,7 +89,7 @@ class GTSAM_EXPORT Base {
    * functions. It would be better for this function to accept the vector and
    * internally call the norm if necessary.
    *
-   * This returns \rho(x) in \ref mEstimator
+   * This returns \f$\rho(x)\f$ in \ref mEstimator
    */
   virtual double loss(double distance) const { return 0; }
 
@@ -141,9 +141,9 @@ class GTSAM_EXPORT Base {
  *
  *  This model has no additional parameters.
  *
- * - Loss       \rho(x)          = 0.5 x²
- * - Derivative \phi(x)          = x
- * - Weight     w(x) = \phi(x)/x = 1
+ * - Loss       \f$ \rho(x)          = 0.5 x² \f$
+ * - Derivative \f$ \phi(x)          = x \f$
+ * - Weight     \f$ w(x) = \phi(x)/x = 1 \f$
  */
 class GTSAM_EXPORT Null : public Base {
  public:
@@ -275,9 +275,9 @@ class GTSAM_EXPORT Cauchy : public Base {
  *
  *  This model has a scalar parameter "c".
  *
- * - Loss       \rho(x) = c² (1 - (1-x²/c²)³)/6  if |x|<c,  c²/6   otherwise
- * - Derivative \phi(x) = x(1-x²/c²)² if |x|<c,  0   otherwise
- * - Weight     w(x) = \phi(x)/x = (1-x²/c²)² if |x|<c,  0   otherwise
+ * - Loss       \f$ \rho(x) = c² (1 - (1-x²/c²)³)/6 \f$  if |x|<c,  c²/6   otherwise
+ * - Derivative \f$ \phi(x) = x(1-x²/c²)² if |x|<c \f$,  0   otherwise
+ * - Weight     \f$ w(x) = \phi(x)/x = (1-x²/c²)² \f$ if |x|<c,  0   otherwise
  */
 class GTSAM_EXPORT Tukey : public Base {
  protected:
@@ -308,9 +308,9 @@ class GTSAM_EXPORT Tukey : public Base {
  *
  *  This model has a scalar parameter "c".
  *
- * - Loss       \rho(x) = -0.5 c² (exp(-x²/c²) - 1)
- * - Derivative \phi(x) = x exp(-x²/c²)
- * - Weight     w(x) = \phi(x)/x = exp(-x²/c²)
+ * - Loss       \f$ \rho(x) = -0.5 c² (exp(-x²/c²) - 1) \f$
+ * - Derivative \f$ \phi(x) = x exp(-x²/c²) \f$
+ * - Weight     \f$ w(x) = \phi(x)/x = exp(-x²/c²) \f$
  */
 class GTSAM_EXPORT Welsch : public Base {
  protected:
@@ -421,9 +421,9 @@ class GTSAM_EXPORT DCS : public Base {
  *
  *  This model has a scalar parameter "k".
  *
- * - Loss       \rho(x) = 0 if |x|<k,    0.5(k-|x|)² otherwise
- * - Derivative \phi(x) = 0 if |x|<k, (-k+x) if x>k,  (k+x) if x<-k
- * - Weight     w(x) = \phi(x)/x = 0 if |x|<k, (-k+x)/x if x>k,  (k+x)/x if x<-k
+ * - Loss       \f$ \rho(x) = 0 \f$ if |x|<k,    0.5(k-|x|)² otherwise
+ * - Derivative \f$ \phi(x) = 0 \f$ if |x|<k, (-k+x) if x>k,  (k+x) if x<-k
+ * - Weight     \f$ w(x) = \phi(x)/x = 0 \f$ if |x|<k, (-k+x)/x if x>k,  (k+x)/x if x<-k
  */
 class GTSAM_EXPORT L2WithDeadZone : public Base {
  protected:

From 242728df02ddde9604f4a54598a4facfa6c0f87f Mon Sep 17 00:00:00 2001
From: Daniel Lu <daniel@lawrence.lu>
Date: Tue, 18 Apr 2023 20:38:12 -0700
Subject: [PATCH 005/206] add useLOST to triangulateSafe

---
 gtsam/geometry/geometry.i      |  2 ++
 gtsam/geometry/triangulation.h | 10 +++++++++-
 2 files changed, 11 insertions(+), 1 deletion(-)

diff --git a/gtsam/geometry/geometry.i b/gtsam/geometry/geometry.i
index e9929227a..a7fca34d1 100644
--- a/gtsam/geometry/geometry.i
+++ b/gtsam/geometry/geometry.i
@@ -1146,11 +1146,13 @@ class TriangulationParameters {
   bool enableEPI;
   double landmarkDistanceThreshold;
   double dynamicOutlierRejectionThreshold;
+  bool useLOST;
   gtsam::SharedNoiseModel noiseModel;
   TriangulationParameters(const double rankTolerance = 1.0,
                           const bool enableEPI = false,
                           double landmarkDistanceThreshold = -1,
                           double dynamicOutlierRejectionThreshold = -1,
+                          const bool useLOST = false,
                           const gtsam::SharedNoiseModel& noiseModel = nullptr);
 };
 
diff --git a/gtsam/geometry/triangulation.h b/gtsam/geometry/triangulation.h
index 7e58cee2d..d8578947c 100644
--- a/gtsam/geometry/triangulation.h
+++ b/gtsam/geometry/triangulation.h
@@ -571,6 +571,11 @@ struct GTSAM_EXPORT TriangulationParameters {
    */
   double dynamicOutlierRejectionThreshold;
 
+  /**
+   * if true, will use the LOST algorithm instead of DLT
+   */
+  bool useLOST;
+
   SharedNoiseModel noiseModel; ///< used in the nonlinear triangulation
 
   /**
@@ -585,10 +590,12 @@ struct GTSAM_EXPORT TriangulationParameters {
   TriangulationParameters(const double _rankTolerance = 1.0,
       const bool _enableEPI = false, double _landmarkDistanceThreshold = -1,
       double _dynamicOutlierRejectionThreshold = -1,
+      const bool _useLOST = false,
       const SharedNoiseModel& _noiseModel = nullptr) :
       rankTolerance(_rankTolerance), enableEPI(_enableEPI), //
       landmarkDistanceThreshold(_landmarkDistanceThreshold), //
       dynamicOutlierRejectionThreshold(_dynamicOutlierRejectionThreshold),
+      useLOST(_useLOST),
       noiseModel(_noiseModel){
   }
 
@@ -601,6 +608,7 @@ struct GTSAM_EXPORT TriangulationParameters {
         << std::endl;
     os << "dynamicOutlierRejectionThreshold = "
         << p.dynamicOutlierRejectionThreshold << std::endl;
+    os << "useLOST = " << p.useLOST << std::endl;
     os << "noise model" << std::endl;
     return os;
   }
@@ -698,7 +706,7 @@ TriangulationResult triangulateSafe(const CameraSet<CAMERA>& cameras,
     try {
       Point3 point =
           triangulatePoint3<CAMERA>(cameras, measured, params.rankTolerance,
-                                    params.enableEPI, params.noiseModel);
+                                    params.enableEPI, params.noiseModel, params.useLOST);
 
       // Check landmark distance and re-projection errors to avoid outliers
       size_t i = 0;

From 3f30ac2aefec137eaee9d3e2d21541172611f751 Mon Sep 17 00:00:00 2001
From: Fan Jiang <i@fanjiang.me>
Date: Tue, 25 Apr 2023 15:01:57 -0400
Subject: [PATCH 006/206] Add missing option in the CMake for Pose2

---
 cmake/HandleGeneralOptions.cmake   | 1 +
 gtsam/config.h.in                  | 2 ++
 gtsam/geometry/Pose2.cpp           | 4 ++--
 gtsam/geometry/geometry.i          | 7 +++++++
 gtsam/geometry/tests/testPose2.cpp | 4 ++--
 5 files changed, 14 insertions(+), 4 deletions(-)

diff --git a/cmake/HandleGeneralOptions.cmake b/cmake/HandleGeneralOptions.cmake
index 4a4f1a36e..eab40d16b 100644
--- a/cmake/HandleGeneralOptions.cmake
+++ b/cmake/HandleGeneralOptions.cmake
@@ -30,6 +30,7 @@ option(GTSAM_ALLOW_DEPRECATED_SINCE_V43     "Allow use of methods/functions depr
 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)
+option(GTSAM_SLOW_BUT_CORRECT_EXPMAP        "Use slower but correct expmap"  ON)
 
 if (GTSAM_FORCE_SHARED_LIB)
     message(STATUS "GTSAM is a shared library due to GTSAM_FORCE_SHARED_LIB")
diff --git a/gtsam/config.h.in b/gtsam/config.h.in
index 7f8936d1e..ec06d90c9 100644
--- a/gtsam/config.h.in
+++ b/gtsam/config.h.in
@@ -83,3 +83,5 @@
 
 // Toggle switch for BetweenFactor jacobian computation
 #cmakedefine GTSAM_SLOW_BUT_CORRECT_BETWEENFACTOR
+
+#cmakedefine GTSAM_SLOW_BUT_CORRECT_EXPMAP
diff --git a/gtsam/geometry/Pose2.cpp b/gtsam/geometry/Pose2.cpp
index 0d9f1bc01..05678dc27 100644
--- a/gtsam/geometry/Pose2.cpp
+++ b/gtsam/geometry/Pose2.cpp
@@ -97,7 +97,7 @@ Vector3 Pose2::Logmap(const Pose2& p, OptionalJacobian<3, 3> H) {
 
 /* ************************************************************************* */
 Pose2 Pose2::ChartAtOrigin::Retract(const Vector3& v, ChartJacobian H) {
-#ifdef SLOW_BUT_CORRECT_EXPMAP
+#ifdef GTSAM_SLOW_BUT_CORRECT_EXPMAP
   return Expmap(v, H);
 #else
   if (H) {
@@ -109,7 +109,7 @@ Pose2 Pose2::ChartAtOrigin::Retract(const Vector3& v, ChartJacobian H) {
 }
 /* ************************************************************************* */
 Vector3 Pose2::ChartAtOrigin::Local(const Pose2& r, ChartJacobian H) {
-#ifdef SLOW_BUT_CORRECT_EXPMAP
+#ifdef GTSAM_SLOW_BUT_CORRECT_EXPMAP
   return Logmap(r, H);
 #else
   if (H) {
diff --git a/gtsam/geometry/geometry.i b/gtsam/geometry/geometry.i
index e9929227a..480655cc3 100644
--- a/gtsam/geometry/geometry.i
+++ b/gtsam/geometry/geometry.i
@@ -159,7 +159,9 @@ class Rot2 {
 
   // Manifold
   gtsam::Rot2 retract(Vector v) const;
+  gtsam::Rot2 retract(Vector v, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2) const;
   Vector localCoordinates(const gtsam::Rot2& p) const;
+  Vector localCoordinates(const gtsam::Rot2& p, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2) const;
 
   // Lie Group
   static gtsam::Rot2 Expmap(Vector v);
@@ -387,19 +389,24 @@ class Pose2 {
   static gtsam::Pose2 Identity();
   gtsam::Pose2 inverse() const;
   gtsam::Pose2 compose(const gtsam::Pose2& p2) const;
+  gtsam::Pose2 compose(const gtsam::Pose2& p2, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2) const;
   gtsam::Pose2 between(const gtsam::Pose2& p2) const;
+  gtsam::Pose2 between(const gtsam::Pose2& p2, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2) const;
 
   // Operator Overloads
   gtsam::Pose2 operator*(const gtsam::Pose2& p2) const;
 
   // Manifold
   gtsam::Pose2 retract(Vector v) const;
+  gtsam::Pose2 retract(Vector v, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2) const;
   Vector localCoordinates(const gtsam::Pose2& p) const;
+  Vector localCoordinates(const gtsam::Pose2& p, Eigen::Ref<Eigen::MatrixXd> H1, Eigen::Ref<Eigen::MatrixXd> H2) const;
 
   // Lie Group
   static gtsam::Pose2 Expmap(Vector v);
   static Vector Logmap(const gtsam::Pose2& p);
   Vector logmap(const gtsam::Pose2& p);
+  Vector logmap(const gtsam::Pose2& p, Eigen::Ref<Eigen::MatrixXd> H);
   static Matrix ExpmapDerivative(Vector v);
   static Matrix LogmapDerivative(const gtsam::Pose2& v);
   Matrix AdjointMap() const;
diff --git a/gtsam/geometry/tests/testPose2.cpp b/gtsam/geometry/tests/testPose2.cpp
index 8c1bdccc0..56b8a779a 100644
--- a/gtsam/geometry/tests/testPose2.cpp
+++ b/gtsam/geometry/tests/testPose2.cpp
@@ -66,7 +66,7 @@ TEST(Pose2, manifold) {
 /* ************************************************************************* */
 TEST(Pose2, retract) {
   Pose2 pose(M_PI/2.0, Point2(1, 2));
-#ifdef SLOW_BUT_CORRECT_EXPMAP
+#ifdef GTSAM_SLOW_BUT_CORRECT_EXPMAP
   Pose2 expected(1.00811, 2.01528, 2.5608);
 #else
   Pose2 expected(M_PI/2.0+0.99, Point2(1.015, 2.01));
@@ -204,7 +204,7 @@ TEST(Pose2, Adjoint_hat) {
 TEST(Pose2, logmap) {
   Pose2 pose0(M_PI/2.0, Point2(1, 2));
   Pose2 pose(M_PI/2.0+0.018, Point2(1.015, 2.01));
-#ifdef SLOW_BUT_CORRECT_EXPMAP
+#ifdef GTSAM_SLOW_BUT_CORRECT_EXPMAP
   Vector3 expected(0.00986473, -0.0150896, 0.018);
 #else
   Vector3 expected(0.01, -0.015, 0.018);

From b0404aa109eb463c0764b4edded82fd3ab8f513a Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 20 Jun 2023 14:36:45 -0400
Subject: [PATCH 007/206] small improvements

---
 gtsam_unstable/linear/LPInitSolver.cpp | 4 +---
 gtsam_unstable/linear/LPInitSolver.h   | 3 ++-
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/gtsam_unstable/linear/LPInitSolver.cpp b/gtsam_unstable/linear/LPInitSolver.cpp
index 9f12d670e..3d24f784b 100644
--- a/gtsam_unstable/linear/LPInitSolver.cpp
+++ b/gtsam_unstable/linear/LPInitSolver.cpp
@@ -65,9 +65,7 @@ GaussianFactorGraph::shared_ptr LPInitSolver::buildInitOfInitGraph() const {
       new GaussianFactorGraph(lp_.equalities));
 
   // create factor ||x||^2 and add to the graph
-  const KeyDimMap& constrainedKeyDim = lp_.constrainedKeyDimMap();
-  for (const auto& [key, _] : constrainedKeyDim) {
-    size_t dim = constrainedKeyDim.at(key);
+  for (const auto& [key, dim] : lp_.constrainedKeyDimMap()) {
     initGraph->push_back(
         JacobianFactor(key, Matrix::Identity(dim, dim), Vector::Zero(dim)));
   }
diff --git a/gtsam_unstable/linear/LPInitSolver.h b/gtsam_unstable/linear/LPInitSolver.h
index 7e326117b..9db2a34f0 100644
--- a/gtsam_unstable/linear/LPInitSolver.h
+++ b/gtsam_unstable/linear/LPInitSolver.h
@@ -19,6 +19,7 @@
 
 #pragma once
 
+#include <gtsam_unstable/dllexport.h>
 #include <gtsam_unstable/linear/LP.h>
 #include <gtsam/linear/GaussianFactorGraph.h>
 
@@ -49,7 +50,7 @@ namespace gtsam {
  * inequality constraint, we can't conclude that the problem is infeasible.
  * However, whether it is infeasible or unbounded, we don't have a unique solution anyway.
  */
-class LPInitSolver {
+class GTSAM_UNSTABLE_EXPORT LPInitSolver {
 private:
   const LP& lp_;
 

From 254e3128e6d199508215ec71cb8626fdadafc45f Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 20 Jun 2023 17:28:01 -0400
Subject: [PATCH 008/206] fix for multiply defined symbol error in LPInitSolver

---
 gtsam_unstable/linear/LP.h | 20 +++++++++++++++++---
 1 file changed, 17 insertions(+), 3 deletions(-)

diff --git a/gtsam_unstable/linear/LP.h b/gtsam_unstable/linear/LP.h
index dbb744d3e..50065b2dd 100644
--- a/gtsam_unstable/linear/LP.h
+++ b/gtsam_unstable/linear/LP.h
@@ -81,9 +81,23 @@ public:
     if (!cachedConstrainedKeyDimMap_.empty())
       return cachedConstrainedKeyDimMap_;
     // Collect key-dim map of all variables in the constraints
-    cachedConstrainedKeyDimMap_ = collectKeyDim(equalities);
-    KeyDimMap keysDim2 = collectKeyDim(inequalities);
-    cachedConstrainedKeyDimMap_.insert(keysDim2.begin(), keysDim2.end());
+    //TODO(Varun) seems like the templated function is causing the multiple symbols error on Windows
+    // cachedConstrainedKeyDimMap_ = collectKeyDim(equalities);
+    // KeyDimMap keysDim2 = collectKeyDim(inequalities);
+    // cachedConstrainedKeyDimMap_.insert(keysDim2.begin(), keysDim2.end());
+    cachedConstrainedKeyDimMap_.clear();
+    for (auto&& factor : equalities) {
+      if (!factor) continue;
+      for (Key key : factor->keys()) {
+        cachedConstrainedKeyDimMap_[key] = factor->getDim(factor->find(key));
+      }
+    }
+    for (auto&& factor : inequalities) {
+      if (!factor) continue;
+      for (Key key : factor->keys()) {
+        cachedConstrainedKeyDimMap_[key] = factor->getDim(factor->find(key));
+      }
+    }
     return cachedConstrainedKeyDimMap_;
   }
 

From 62fe1a937979968d3b8f4349e0a39aa445d13358 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 20 Jun 2023 17:31:49 -0400
Subject: [PATCH 009/206] add todo for error in SmartStereoProjectionFactorPP.h

---
 .../slam/SmartStereoProjectionFactorPP.h      | 42 ++++++++++---------
 1 file changed, 22 insertions(+), 20 deletions(-)

diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h b/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h
index f9db90953..b022ce16f 100644
--- a/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h
+++ b/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h
@@ -201,10 +201,9 @@ class GTSAM_UNSTABLE_EXPORT SmartStereoProjectionFactorPP
   }
 
   /// linearize and return a Hessianfactor that is an approximation of error(p)
-  std::shared_ptr<RegularHessianFactor<DimPose> > createHessianFactor(
-      const Values& values, const double lambda = 0.0, bool diagonalDamping =
-          false) const {
-
+  std::shared_ptr<RegularHessianFactor<DimPose>> createHessianFactor(
+      const Values& values, const double lambda = 0.0,
+      bool diagonalDamping = false) const {
     // we may have multiple cameras sharing the same extrinsic cals, hence the number
     // of keys may be smaller than 2 * nrMeasurements (which is the upper bound where we
     // have a body key and an extrinsic calibration key for each measurement)
@@ -212,23 +211,22 @@ class GTSAM_UNSTABLE_EXPORT SmartStereoProjectionFactorPP
 
     // Create structures for Hessian Factors
     KeyVector js;
-    std::vector < Matrix > Gs(nrUniqueKeys * (nrUniqueKeys + 1) / 2);
+    std::vector<Matrix> Gs(nrUniqueKeys * (nrUniqueKeys + 1) / 2);
     std::vector<Vector> gs(nrUniqueKeys);
 
     if (this->measured_.size() != cameras(values).size())
       throw std::runtime_error("SmartStereoProjectionHessianFactor: this->"
-                               "measured_.size() inconsistent with input");
+          "measured_.size() inconsistent with input");
 
     // triangulate 3D point at given linearization point
     triangulateSafe(cameras(values));
 
-    if (!result_) { // failed: return "empty/zero" Hessian
-      for (Matrix& m : Gs)
-        m = Matrix::Zero(DimPose, DimPose);
-      for (Vector& v : gs)
-        v = Vector::Zero(DimPose);
-      return std::make_shared < RegularHessianFactor<DimPose>
-          > (keys_, Gs, gs, 0.0);
+    // failed: return "empty/zero" Hessian
+    if (!result_) {
+      for (Matrix& m : Gs) m = Matrix::Zero(DimPose, DimPose);
+      for (Vector& v : gs) v = Vector::Zero(DimPose);
+      return std::make_shared<RegularHessianFactor<DimPose>>(keys_, Gs, gs,
+                                                             0.0);
     }
 
     // compute Jacobian given triangulated 3D Point
@@ -239,12 +237,13 @@ class GTSAM_UNSTABLE_EXPORT SmartStereoProjectionFactorPP
 
     // Whiten using noise model
     noiseModel_->WhitenSystem(E, b);
-    for (size_t i = 0; i < Fs.size(); i++)
+    for (size_t i = 0; i < Fs.size(); i++) {
       Fs[i] = noiseModel_->Whiten(Fs[i]);
+    }
 
     // build augmented Hessian (with last row/column being the information vector)
     Matrix3 P;
-    Cameras::ComputePointCovariance <3> (P, E, lambda, diagonalDamping);
+    Cameras::ComputePointCovariance<3>(P, E, lambda, diagonalDamping);
 
     // these are the keys that correspond to the blocks in augmentedHessian (output of SchurComplement)
     KeyVector nonuniqueKeys;
@@ -253,12 +252,15 @@ class GTSAM_UNSTABLE_EXPORT SmartStereoProjectionFactorPP
       nonuniqueKeys.push_back(body_P_cam_keys_.at(i));
     }
     // but we need to get the augumented hessian wrt the unique keys in key_
-    SymmetricBlockMatrix augmentedHessianUniqueKeys =
-        Cameras::SchurComplementAndRearrangeBlocks<3,DimBlock,DimPose>(Fs,E,P,b,
-                  nonuniqueKeys, keys_);
+    //TODO(Varun) SchurComplementAndRearrangeBlocks is causing the multiply defined symbol error
+    // SymmetricBlockMatrix augmentedHessianUniqueKeys =
+    //     Base::Cameras::template SchurComplementAndRearrangeBlocks<3, DimBlock,
+    //                                                               DimPose>(
+    //         Fs, E, P, b, nonuniqueKeys, keys_);
 
-    return std::make_shared < RegularHessianFactor<DimPose>
-        > (keys_, augmentedHessianUniqueKeys);
+    // return std::make_shared<RegularHessianFactor<DimPose>>(
+    //     keys_, augmentedHessianUniqueKeys);
+    return nullptr;
   }
 
   /**

From fbf155d91e4ccbf0590fe2f693f50c7da6e528a3 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 21 Jun 2023 09:55:52 -0400
Subject: [PATCH 010/206] undo changes

---
 gtsam_unstable/linear/LP.h                    | 20 +++----------------
 .../slam/SmartStereoProjectionFactorPP.h      | 14 ++++++-------
 2 files changed, 9 insertions(+), 25 deletions(-)

diff --git a/gtsam_unstable/linear/LP.h b/gtsam_unstable/linear/LP.h
index 50065b2dd..dbb744d3e 100644
--- a/gtsam_unstable/linear/LP.h
+++ b/gtsam_unstable/linear/LP.h
@@ -81,23 +81,9 @@ public:
     if (!cachedConstrainedKeyDimMap_.empty())
       return cachedConstrainedKeyDimMap_;
     // Collect key-dim map of all variables in the constraints
-    //TODO(Varun) seems like the templated function is causing the multiple symbols error on Windows
-    // cachedConstrainedKeyDimMap_ = collectKeyDim(equalities);
-    // KeyDimMap keysDim2 = collectKeyDim(inequalities);
-    // cachedConstrainedKeyDimMap_.insert(keysDim2.begin(), keysDim2.end());
-    cachedConstrainedKeyDimMap_.clear();
-    for (auto&& factor : equalities) {
-      if (!factor) continue;
-      for (Key key : factor->keys()) {
-        cachedConstrainedKeyDimMap_[key] = factor->getDim(factor->find(key));
-      }
-    }
-    for (auto&& factor : inequalities) {
-      if (!factor) continue;
-      for (Key key : factor->keys()) {
-        cachedConstrainedKeyDimMap_[key] = factor->getDim(factor->find(key));
-      }
-    }
+    cachedConstrainedKeyDimMap_ = collectKeyDim(equalities);
+    KeyDimMap keysDim2 = collectKeyDim(inequalities);
+    cachedConstrainedKeyDimMap_.insert(keysDim2.begin(), keysDim2.end());
     return cachedConstrainedKeyDimMap_;
   }
 
diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h b/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h
index b022ce16f..189c501bb 100644
--- a/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h
+++ b/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h
@@ -252,15 +252,13 @@ class GTSAM_UNSTABLE_EXPORT SmartStereoProjectionFactorPP
       nonuniqueKeys.push_back(body_P_cam_keys_.at(i));
     }
     // but we need to get the augumented hessian wrt the unique keys in key_
-    //TODO(Varun) SchurComplementAndRearrangeBlocks is causing the multiply defined symbol error
-    // SymmetricBlockMatrix augmentedHessianUniqueKeys =
-    //     Base::Cameras::template SchurComplementAndRearrangeBlocks<3, DimBlock,
-    //                                                               DimPose>(
-    //         Fs, E, P, b, nonuniqueKeys, keys_);
+    SymmetricBlockMatrix augmentedHessianUniqueKeys =
+        Base::Cameras::template SchurComplementAndRearrangeBlocks<3, DimBlock,
+                                                                  DimPose>(
+            Fs, E, P, b, nonuniqueKeys, keys_);
 
-    // return std::make_shared<RegularHessianFactor<DimPose>>(
-    //     keys_, augmentedHessianUniqueKeys);
-    return nullptr;
+    return std::make_shared<RegularHessianFactor<DimPose>>(
+        keys_, augmentedHessianUniqueKeys);
   }
 
   /**

From 57311281fbea70ab639a5ad754484c55c0063a4b Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 21 Jun 2023 09:56:16 -0400
Subject: [PATCH 011/206] use std::map<Key, uint32_t> for Key-Dim maps

---
 gtsam/geometry/CameraSet.h | 2 +-
 gtsam_unstable/linear/LP.h | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/gtsam/geometry/CameraSet.h b/gtsam/geometry/CameraSet.h
index 23a4b467e..5f77ebf58 100644
--- a/gtsam/geometry/CameraSet.h
+++ b/gtsam/geometry/CameraSet.h
@@ -270,7 +270,7 @@ class CameraSet : public std::vector<CAMERA, Eigen::aligned_allocator<CAMERA>> {
 
       // Get map from key to location in the new augmented Hessian matrix (the
       // one including only unique keys).
-      std::map<Key, size_t> keyToSlotMap;
+      std::map<Key, uint32_t> keyToSlotMap;
       for (size_t k = 0; k < nrUniqueKeys; k++) {
         keyToSlotMap[hessianKeys[k]] = k;
       }
diff --git a/gtsam_unstable/linear/LP.h b/gtsam_unstable/linear/LP.h
index dbb744d3e..53247be4c 100644
--- a/gtsam_unstable/linear/LP.h
+++ b/gtsam_unstable/linear/LP.h
@@ -29,7 +29,7 @@ namespace gtsam {
 using namespace std;
 
 /// Mapping between variable's key and its corresponding dimensionality
-using KeyDimMap = std::map<Key, size_t>;
+using KeyDimMap = std::map<Key, uint32_t>;
 /*
  * Iterates through every factor in a linear graph and generates a
  * mapping between every factor key and it's corresponding dimensionality.

From 429d5de601db382f3a5f025dc84a03ccc4e9b505 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 21 Jun 2023 12:30:56 -0400
Subject: [PATCH 012/206] Actions file formatting

---
 .github/workflows/build-windows.yml | 30 ++++++++++++++---------------
 1 file changed, 15 insertions(+), 15 deletions(-)

diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index 0434577c1..339f10a0a 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -96,23 +96,23 @@ jobs:
         run: |
           # Since Visual Studio is a multi-generator, we need to use --config
           # https://stackoverflow.com/a/24470998/1236990
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target gtsam
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target gtsam_unstable
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target wrap
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target gtsam
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target gtsam_unstable
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target wrap
 
           # Run GTSAM tests
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.base
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.basis
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.discrete
-          #cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.geometry
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.inference
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.linear
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.navigation
-          #cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.nonlinear
-          #cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.sam
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.sfm
-          #cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.slam
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.symbolic
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.base
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.basis
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.discrete
+          #cmake --build build -j4 --config ${{ matrix.build_type }} --target check.geometry
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.inference
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.linear
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.navigation
+          #cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.sam
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.sfm
+          #cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.symbolic
 
           # Run GTSAM_UNSTABLE tests
           #cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.base_unstable

From f65414d7efc9c8a2a7cf45d1a877815e9184983f Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 21 Jun 2023 13:03:54 -0400
Subject: [PATCH 013/206] add GTSAM_EXPORT to additional Ordering methods

---
 gtsam/inference/Ordering.h | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/gtsam/inference/Ordering.h b/gtsam/inference/Ordering.h
index 884a93f0d..0a3b25441 100644
--- a/gtsam/inference/Ordering.h
+++ b/gtsam/inference/Ordering.h
@@ -77,9 +77,11 @@ public:
    * @param keys The key vector to append to this ordering.
    * @return The ordering variable with appended keys.
    */
+  GTSAM_EXPORT
   This& operator+=(KeyVector& keys);
 
   /// Check if key exists in ordering.
+  GTSAM_EXPORT
   bool contains(const Key& key) const;
 
   /**

From 43a9fbf461ee29ec9478d21b4362d35498ee3550 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 21 Jun 2023 13:29:10 -0400
Subject: [PATCH 014/206] mark Pose2 as GTSAM_EXPORT at the class level

---
 gtsam/geometry/Pose2.h | 38 +++++++++++++++++++-------------------
 1 file changed, 19 insertions(+), 19 deletions(-)

diff --git a/gtsam/geometry/Pose2.h b/gtsam/geometry/Pose2.h
index f1b38c5a6..1a62fa938 100644
--- a/gtsam/geometry/Pose2.h
+++ b/gtsam/geometry/Pose2.h
@@ -36,7 +36,7 @@ namespace gtsam {
  * @ingroup geometry
  * \nosubgrouping
  */
-class Pose2: public LieGroup<Pose2, 3> {
+class GTSAM_EXPORT Pose2: public LieGroup<Pose2, 3> {
 
 public:
 
@@ -112,10 +112,10 @@ public:
   /// @{
 
   /** print with optional string */
-  GTSAM_EXPORT void print(const std::string& s = "") const;
+  void print(const std::string& s = "") const;
 
   /** assert equality up to a tolerance */
-  GTSAM_EXPORT bool equals(const Pose2& pose, double tol = 1e-9) const;
+  bool equals(const Pose2& pose, double tol = 1e-9) const;
 
   /// @}
   /// @name Group
@@ -125,7 +125,7 @@ public:
   inline static Pose2 Identity() { return Pose2(); }
 
   /// inverse
-  GTSAM_EXPORT Pose2 inverse() const;
+  Pose2 inverse() const;
 
   /// compose syntactic sugar
   inline Pose2 operator*(const Pose2& p2) const {
@@ -137,16 +137,16 @@ public:
   /// @{
 
   ///Exponential map at identity - create a rotation from canonical coordinates \f$ [T_x,T_y,\theta] \f$
-  GTSAM_EXPORT static Pose2 Expmap(const Vector3& xi, ChartJacobian H = {});
+  static Pose2 Expmap(const Vector3& xi, ChartJacobian H = {});
 
   ///Log map at identity - return the canonical coordinates \f$ [T_x,T_y,\theta] \f$ of this rotation
-  GTSAM_EXPORT static Vector3 Logmap(const Pose2& p, ChartJacobian H = {});
+  static Vector3 Logmap(const Pose2& p, ChartJacobian H = {});
 
   /**
    * Calculate Adjoint map
    * Ad_pose is 3*3 matrix that when applied to twist xi \f$ [T_x,T_y,\theta] \f$, returns Ad_pose(xi)
    */
-  GTSAM_EXPORT Matrix3 AdjointMap() const;
+  Matrix3 AdjointMap() const;
 
   /// Apply AdjointMap to twist xi
   inline Vector3 Adjoint(const Vector3& xi) const {
@@ -156,7 +156,7 @@ public:
   /**
    * Compute the [ad(w,v)] operator for SE2 as in [Kobilarov09siggraph], pg 19
    */
-  GTSAM_EXPORT static Matrix3 adjointMap(const Vector3& v);
+  static Matrix3 adjointMap(const Vector3& v);
 
   /**
    * Action of the adjointMap on a Lie-algebra vector y, with optional derivatives
@@ -192,15 +192,15 @@ public:
   }
 
   /// Derivative of Expmap
-  GTSAM_EXPORT static Matrix3 ExpmapDerivative(const Vector3& v);
+  static Matrix3 ExpmapDerivative(const Vector3& v);
 
   /// Derivative of Logmap
-  GTSAM_EXPORT static Matrix3 LogmapDerivative(const Pose2& v);
+  static Matrix3 LogmapDerivative(const Pose2& v);
 
   // Chart at origin, depends on compile-time flag SLOW_BUT_CORRECT_EXPMAP
   struct ChartAtOrigin {
-	GTSAM_EXPORT static Pose2 Retract(const Vector3& v, ChartJacobian H = {});
-	GTSAM_EXPORT static Vector3 Local(const Pose2& r, ChartJacobian H = {});
+	static Pose2 Retract(const Vector3& v, ChartJacobian H = {});
+	static Vector3 Local(const Pose2& r, ChartJacobian H = {});
   };
 
   using LieGroup<Pose2, 3>::inverse; // version with derivative
@@ -210,7 +210,7 @@ public:
   /// @{
 
   /** Return point coordinates in pose coordinate frame */
-  GTSAM_EXPORT Point2 transformTo(const Point2& point,
+  Point2 transformTo(const Point2& point,
       OptionalJacobian<2, 3> Dpose = {},
       OptionalJacobian<2, 2> Dpoint = {}) const;
 
@@ -222,7 +222,7 @@ public:
   Matrix transformTo(const Matrix& points) const;
 
   /** Return point coordinates in global frame */
-  GTSAM_EXPORT Point2 transformFrom(const Point2& point,
+  Point2 transformFrom(const Point2& point,
       OptionalJacobian<2, 3> Dpose = {},
       OptionalJacobian<2, 2> Dpoint = {}) const;
 
@@ -273,14 +273,14 @@ public:
   }
 
   //// return transformation matrix
-  GTSAM_EXPORT Matrix3 matrix() const;
+  Matrix3 matrix() const;
 
   /**
    * Calculate bearing to a landmark
    * @param point 2D location of landmark
    * @return 2D rotation \f$ \in SO(2) \f$
    */
-  GTSAM_EXPORT Rot2 bearing(const Point2& point,
+  Rot2 bearing(const Point2& point,
                OptionalJacobian<1, 3> H1={}, OptionalJacobian<1, 2> H2={}) const;
 
   /**
@@ -288,7 +288,7 @@ public:
    * @param point SO(2) location of other pose
    * @return 2D rotation \f$ \in SO(2) \f$
    */
-  GTSAM_EXPORT Rot2 bearing(const Pose2& pose,
+  Rot2 bearing(const Pose2& pose,
                OptionalJacobian<1, 3> H1={}, OptionalJacobian<1, 3> H2={}) const;
 
   /**
@@ -296,7 +296,7 @@ public:
    * @param point 2D location of landmark
    * @return range (double)
    */
-  GTSAM_EXPORT double range(const Point2& point,
+  double range(const Point2& point,
       OptionalJacobian<1, 3> H1={},
       OptionalJacobian<1, 2> H2={}) const;
 
@@ -305,7 +305,7 @@ public:
    * @param point 2D location of other pose
    * @return range (double)
    */
-  GTSAM_EXPORT double range(const Pose2& point,
+  double range(const Pose2& point,
       OptionalJacobian<1, 3> H1={},
       OptionalJacobian<1, 3> H2={}) const;
 

From c9397c34fcd9c287c905fa091dc254a5d0f054ac Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 21 Jun 2023 13:29:32 -0400
Subject: [PATCH 015/206] CameraSet::project2 SFINAE to resolve overload
 ambiguity

---
 gtsam/geometry/CameraSet.h | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/gtsam/geometry/CameraSet.h b/gtsam/geometry/CameraSet.h
index 5f77ebf58..8621d77ad 100644
--- a/gtsam/geometry/CameraSet.h
+++ b/gtsam/geometry/CameraSet.h
@@ -131,12 +131,15 @@ class CameraSet : public std::vector<CAMERA, Eigen::aligned_allocator<CAMERA>> {
     return z;
   }
 
-  /** An overload o the project2 function to accept
+  /** An overload of the project2 function to accept
    * full matrices and vectors and pass it to the pointer
-   * version of the function
+   * version of the function.
+   *
+   * Use SFINAE to resolve overload ambiguity.
    */
   template <class POINT, class... OptArgs>
-  ZVector project2(const POINT& point, OptArgs&... args) const {
+  typename std::enable_if<(sizeof...(OptArgs) != 0), ZVector>::type project2(
+      const POINT& point, OptArgs&... args) const {
     // pass it to the pointer version of the function
     return project2(point, (&args)...);
   }

From 5fa889b035c238b95c84de1e7e04cc50a275edcb Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 21 Jun 2023 17:32:26 -0400
Subject: [PATCH 016/206] add GTSAM_EXPORT tags

---
 gtsam/discrete/SignatureParser.h  | 2 +-
 gtsam_unstable/linear/QPSParser.h | 3 ++-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/gtsam/discrete/SignatureParser.h b/gtsam/discrete/SignatureParser.h
index e6b402e44..e005da14a 100644
--- a/gtsam/discrete/SignatureParser.h
+++ b/gtsam/discrete/SignatureParser.h
@@ -47,7 +47,7 @@ namespace gtsam {
  *
  * Also fails if the rows are not of the same size.
  */
-struct SignatureParser {
+struct GTSAM_EXPORT SignatureParser {
   using Row = std::vector<double>;
   using Table = std::vector<Row>;
 
diff --git a/gtsam_unstable/linear/QPSParser.h b/gtsam_unstable/linear/QPSParser.h
index bd4254d0f..e751f34d2 100644
--- a/gtsam_unstable/linear/QPSParser.h
+++ b/gtsam_unstable/linear/QPSParser.h
@@ -18,12 +18,13 @@
 
 #pragma once
 
+#include <gtsam_unstable/dllexport.h>
 #include <gtsam_unstable/linear/QP.h>
 #include <fstream>
 
 namespace gtsam {
 
-class QPSParser {
+class GTSAM_UNSTABLE_EXPORT QPSParser {
 
 private:
   std::string fileName_;

From c954e546ef4fb6614344d417a76ad922df45af29 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 21 Jun 2023 17:33:14 -0400
Subject: [PATCH 017/206] enable more Windows tests

---
 .github/workflows/build-windows.yml | 16 ++++++++++++----
 1 file changed, 12 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index 339f10a0a..e85064d08 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -104,15 +104,23 @@ jobs:
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.base
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.basis
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.discrete
-          #cmake --build build -j4 --config ${{ matrix.build_type }} --target check.geometry
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.geometry
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.inference
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.linear
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.navigation
-          #cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.sam
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.sfm
-          #cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.symbolic
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.hybrid
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam
 
           # Run GTSAM_UNSTABLE tests
-          #cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.base_unstable
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.base_unstable
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.geometry_unstable
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.linear_unstable
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.discrete_unstable
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.dynamics_unstable
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear_unstable
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam_unstable
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.partition

From 0bc08b88bc7598eb5d8f6554a113235d3dd8a012 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 21 Jun 2023 17:49:15 -0400
Subject: [PATCH 018/206] remove GTSAM_EXPORT from SignatureParser struct

---
 gtsam/discrete/SignatureParser.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/discrete/SignatureParser.h b/gtsam/discrete/SignatureParser.h
index e005da14a..e6b402e44 100644
--- a/gtsam/discrete/SignatureParser.h
+++ b/gtsam/discrete/SignatureParser.h
@@ -47,7 +47,7 @@ namespace gtsam {
  *
  * Also fails if the rows are not of the same size.
  */
-struct GTSAM_EXPORT SignatureParser {
+struct SignatureParser {
   using Row = std::vector<double>;
   using Table = std::vector<Row>;
 

From 1de26020b3c50e6e26d64c821f00230d140f1656 Mon Sep 17 00:00:00 2001
From: IshitaTakeshi <ishitah.takeshi@gmail.com>
Date: Wed, 28 Jun 2023 20:21:55 +0900
Subject: [PATCH 019/206] Add explanation of the StereoPoint constructor

---
 gtsam/geometry/StereoPoint2.h | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/gtsam/geometry/StereoPoint2.h b/gtsam/geometry/StereoPoint2.h
index bd335dfbb..4383e212e 100644
--- a/gtsam/geometry/StereoPoint2.h
+++ b/gtsam/geometry/StereoPoint2.h
@@ -46,7 +46,9 @@ public:
       uL_(0), uR_(0), v_(0) {
   }
 
-  /** constructor */
+  /** uL and uR represent the x-axis value of left and right frame coordinates respectively.
+      v represents the y coordinate value. The y-axis value should be the same under the
+      stereo constraint. */
   StereoPoint2(double uL, double uR, double v) :
       uL_(uL), uR_(uR), v_(v) {
   }

From 72734d184b28953a14bf150ea13450fad5bba218 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 29 Jun 2023 12:12:48 -0400
Subject: [PATCH 020/206] overload += operator in Ordering

---
 gtsam/inference/Ordering.cpp           | 12 ++++++++++++
 gtsam/inference/Ordering.h             | 20 +++++++-------------
 gtsam/inference/tests/testOrdering.cpp | 14 ++++++++++++++
 3 files changed, 33 insertions(+), 13 deletions(-)

diff --git a/gtsam/inference/Ordering.cpp b/gtsam/inference/Ordering.cpp
index 2956c7575..cb2ca752d 100644
--- a/gtsam/inference/Ordering.cpp
+++ b/gtsam/inference/Ordering.cpp
@@ -281,6 +281,18 @@ void Ordering::print(const std::string& str,
   cout.flush();
 }
 
+/* ************************************************************************* */
+Ordering::This& Ordering::operator+=(Key key) {
+  this->push_back(key);
+  return *this;
+}
+
+/* ************************************************************************* */
+Ordering::This& Ordering::operator,(Key key) {
+  this->push_back(key);
+  return *this;
+}
+
 /* ************************************************************************* */
 Ordering::This& Ordering::operator+=(KeyVector& keys) {
   this->insert(this->end(), keys.begin(), keys.end());
diff --git a/gtsam/inference/Ordering.h b/gtsam/inference/Ordering.h
index 884a93f0d..86d44e072 100644
--- a/gtsam/inference/Ordering.h
+++ b/gtsam/inference/Ordering.h
@@ -25,10 +25,6 @@
 #include <gtsam/inference/MetisIndex.h>
 #include <gtsam/base/FastSet.h>
 
-#ifdef GTSAM_USE_BOOST_FEATURES
-#include <boost/assign/list_inserter.hpp>
-#endif
-
 #include <algorithm>
 #include <vector>
 
@@ -61,15 +57,13 @@ public:
       Base(keys.begin(), keys.end()) {
   }
 
-#ifdef GTSAM_USE_BOOST_FEATURES
-  /// Add new variables to the ordering as ordering += key1, key2, ...  Equivalent to calling
-  /// push_back.
-  boost::assign::list_inserter<boost::assign_detail::call_push_back<This> > operator+=(
-      Key key) {
-    return boost::assign::make_list_inserter(
-        boost::assign_detail::call_push_back<This>(*this))(key);
-  }
-#endif
+  /// Add new variables to the ordering as
+  /// `ordering += key1, key2, ...`.
+  This& operator+=(Key key);
+
+  /// Overloading the comma operator allows for chaining appends
+  // e.g. keys += key1, key2
+  This& operator,(Key key);
 
   /**
    * @brief Append new keys to the ordering as `ordering += keys`.
diff --git a/gtsam/inference/tests/testOrdering.cpp b/gtsam/inference/tests/testOrdering.cpp
index 761c330b4..328d383d8 100644
--- a/gtsam/inference/tests/testOrdering.cpp
+++ b/gtsam/inference/tests/testOrdering.cpp
@@ -196,6 +196,20 @@ TEST(Ordering, csr_format_3) {
   EXPECT(adjExpected == adjAcutal);
 }
 
+/* ************************************************************************* */
+TEST(Ordering, AppendKey) {
+  using symbol_shorthand::X;
+  Ordering actual;
+  actual += X(0);
+
+  Ordering expected1{X(0)};
+  EXPECT(assert_equal(expected1, actual));
+
+  actual += X(1), X(2), X(3);
+  Ordering expected2{X(0), X(1), X(2), X(3)};
+  EXPECT(assert_equal(expected2, actual));
+}
+
 /* ************************************************************************* */
 TEST(Ordering, AppendVector) {
   using symbol_shorthand::X;

From 9abf6c39c2fae08f574377e99bfdc6736c007967 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 29 Jun 2023 12:13:16 -0400
Subject: [PATCH 021/206] overload += operator in FactorGraph

---
 gtsam/inference/FactorGraph.h                 | 77 +++++--------------
 .../linear/tests/testGaussianFactorGraph.cpp  | 22 ++++++
 2 files changed, 42 insertions(+), 57 deletions(-)

diff --git a/gtsam/inference/FactorGraph.h b/gtsam/inference/FactorGraph.h
index f1dc37c37..327fca49a 100644
--- a/gtsam/inference/FactorGraph.h
+++ b/gtsam/inference/FactorGraph.h
@@ -29,10 +29,6 @@
 
 #include <Eigen/Core>  // for Eigen::aligned_allocator
 
-#ifdef GTSAM_USE_BOOST_FEATURES
-#include <boost/assign/list_inserter.hpp>
-#endif
-
 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <boost/serialization/nvp.hpp>
 #include <boost/serialization/vector.hpp>
@@ -53,45 +49,6 @@ class BayesTree;
 
 class HybridValues;
 
-/** Helper */
-template <class C>
-class CRefCallPushBack {
-  C& obj;
-
- public:
-  explicit CRefCallPushBack(C& obj) : obj(obj) {}
-  template <typename A>
-  void operator()(const A& a) {
-    obj.push_back(a);
-  }
-};
-
-/** Helper */
-template <class C>
-class RefCallPushBack {
-  C& obj;
-
- public:
-  explicit RefCallPushBack(C& obj) : obj(obj) {}
-  template <typename A>
-  void operator()(A& a) {
-    obj.push_back(a);
-  }
-};
-
-/** Helper */
-template <class C>
-class CRefCallAddCopy {
-  C& obj;
-
- public:
-  explicit CRefCallAddCopy(C& obj) : obj(obj) {}
-  template <typename A>
-  void operator()(const A& a) {
-    obj.addCopy(a);
-  }
-};
-
 /**
  * A factor graph is a bipartite graph with factor nodes connected to variable
  * nodes. In this class, however, only factor nodes are kept around.
@@ -215,17 +172,26 @@ class FactorGraph {
     push_back(factor);
   }
 
-#ifdef GTSAM_USE_BOOST_FEATURES
-  /// `+=` works well with boost::assign list inserter.
+  /// Append factor to factor graph
   template <class DERIVEDFACTOR>
-  typename std::enable_if<
-      std::is_base_of<FactorType, DERIVEDFACTOR>::value,
-      boost::assign::list_inserter<RefCallPushBack<This>>>::type
+  typename std::enable_if<std::is_base_of<FactorType, DERIVEDFACTOR>::value,
+                          This>::type&
   operator+=(std::shared_ptr<DERIVEDFACTOR> factor) {
-    return boost::assign::make_list_inserter(RefCallPushBack<This>(*this))(
-        factor);
+    push_back(factor);
+    return *this;
+  }
+
+  /**
+   * @brief Overload comma operator to allow for append chaining.
+   *
+   * E.g. fg += factor1, factor2, ...
+   */
+  template <class DERIVEDFACTOR>
+  typename std::enable_if<std::is_base_of<FactorType, DERIVEDFACTOR>::value, This>::type& operator,(
+      std::shared_ptr<DERIVEDFACTOR> factor) {
+    push_back(factor);
+    return *this;
   }
-#endif
 
   /// @}
   /// @name Adding via iterators
@@ -276,18 +242,15 @@ class FactorGraph {
     push_back(factorOrContainer);
   }
 
-#ifdef GTSAM_USE_BOOST_FEATURES
   /**
    * Add a factor or container of factors, including STL collections,
    * BayesTrees, etc.
    */
   template <class FACTOR_OR_CONTAINER>
-  boost::assign::list_inserter<CRefCallPushBack<This>> operator+=(
-      const FACTOR_OR_CONTAINER& factorOrContainer) {
-    return boost::assign::make_list_inserter(CRefCallPushBack<This>(*this))(
-        factorOrContainer);
+  This& operator+=(const FACTOR_OR_CONTAINER& factorOrContainer) {
+    push_back(factorOrContainer);
+    return *this;
   }
-#endif
 
   /// @}
   /// @name Specialized versions
diff --git a/gtsam/linear/tests/testGaussianFactorGraph.cpp b/gtsam/linear/tests/testGaussianFactorGraph.cpp
index e9e626296..41ee9471e 100644
--- a/gtsam/linear/tests/testGaussianFactorGraph.cpp
+++ b/gtsam/linear/tests/testGaussianFactorGraph.cpp
@@ -70,6 +70,28 @@ TEST(GaussianFactorGraph, initialization) {
   EQUALITY(expectedIJS, actualIJS);
 }
 
+/* ************************************************************************* */
+TEST(GaussianFactorGraph, Append) {
+  // Create empty graph
+  GaussianFactorGraph fg;
+  SharedDiagonal unit2 = noiseModel::Unit::Create(2);
+
+  auto f1 =
+      make_shared<JacobianFactor>(0, 10 * I_2x2, -1.0 * Vector::Ones(2), unit2);
+  auto f2 = make_shared<JacobianFactor>(0, -10 * I_2x2, 1, 10 * I_2x2,
+                                        Vector2(2.0, -1.0), unit2);
+  auto f3 = make_shared<JacobianFactor>(0, -5 * I_2x2, 2, 5 * I_2x2,
+                                        Vector2(0.0, 1.0), unit2);
+
+  fg += f1;
+  fg += f2;
+  EXPECT_LONGS_EQUAL(2, fg.size());
+
+  fg = GaussianFactorGraph();
+  fg += f1, f2, f3;
+  EXPECT_LONGS_EQUAL(3, fg.size());
+}
+
 /* ************************************************************************* */
 TEST(GaussianFactorGraph, sparseJacobian) {
   // Create factor graph:

From 0971c75a61381e8232f16690b7d5d910685d6ae8 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 29 Jun 2023 15:27:23 -0400
Subject: [PATCH 022/206] remove unnecessary headers

---
 gtsam/base/Group.h | 7 -------
 gtsam/base/types.h | 7 +------
 2 files changed, 1 insertion(+), 13 deletions(-)

diff --git a/gtsam/base/Group.h b/gtsam/base/Group.h
index e76a273da..09534efc3 100644
--- a/gtsam/base/Group.h
+++ b/gtsam/base/Group.h
@@ -22,13 +22,6 @@
 
 #include <gtsam/base/Testable.h>
 
-#ifdef GTSAM_USE_BOOST_FEATURES
-#include <boost/concept_check.hpp>
-#include <boost/concept/requires.hpp>
-#include <boost/type_traits/is_base_of.hpp>
-#include <boost/static_assert.hpp>
-#endif
-
 #include <utility>
 
 namespace gtsam {
diff --git a/gtsam/base/types.h b/gtsam/base/types.h
index 3f1c1cd3d..c734678d2 100644
--- a/gtsam/base/types.h
+++ b/gtsam/base/types.h
@@ -19,16 +19,11 @@
 
 #pragma once
 
+#include <gtsam/config.h>  // for GTSAM_USE_TBB
 #include <gtsam/dllexport.h>
-#ifdef GTSAM_USE_BOOST_FEATURES
-#include <boost/concept/assert.hpp>
-#include <boost/range/concepts.hpp>
-#endif
-#include <gtsam/config.h> // for GTSAM_USE_TBB
 
 #include <cstddef>
 #include <cstdint>
-
 #include <exception>
 #include <string>
 

From 9c0caf60bc6d48cc6d93a6cfa4194b9ed843fa1f Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 29 Jun 2023 16:39:08 -0400
Subject: [PATCH 023/206] add header to timing.cpp

---
 gtsam/base/timing.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/gtsam/base/timing.cpp b/gtsam/base/timing.cpp
index 154a564db..b43595066 100644
--- a/gtsam/base/timing.cpp
+++ b/gtsam/base/timing.cpp
@@ -19,9 +19,10 @@
 #include <gtsam/base/debug.h>
 #include <gtsam/base/timing.h>
 
+#include <algorithm>
+#include <cassert>
 #include <cmath>
 #include <cstddef>
-#include <cassert>
 #include <iomanip>
 #include <iostream>
 #include <map>

From 2168d0f0867640b7eb2610e8a294a9bb4a04fa45 Mon Sep 17 00:00:00 2001
From: Tal Regev <tal.regev@gmail.com>
Date: Fri, 30 Jun 2023 19:43:34 +0300
Subject: [PATCH 024/206] Compile with ninja

---
 .github/workflows/build-windows.yml | 31 +++++++++++++++++------------
 1 file changed, 18 insertions(+), 13 deletions(-)

diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index 0434577c1..9326a81b0 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -2,6 +2,10 @@ name: Windows CI
 
 on: [pull_request]
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
+  cancel-in-progress: true
+
 jobs:
   build:
     name: ${{ matrix.name }} ${{ matrix.build_type }}
@@ -16,19 +20,15 @@ jobs:
       BOOST_EXE: boost_1_72_0-msvc-14.2
 
     strategy:
-      fail-fast: true
+      fail-fast: false
       matrix:
-        # Github Actions requires a single row to be added to the build matrix.
-        # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
-        name: [
-            windows-2019-cl,
-          ]
-
-        build_type: [
-            Debug,
-            Release
-          ]
-        build_unstable: [ON]
+        build_type: 
+          - Debug
+          # - Release
+          
+        build_unstable: 
+          - ON
+          # - OFF 
         include:
           - name: windows-2019-cl
             os: windows-2019
@@ -87,10 +87,15 @@ jobs:
       - name: Checkout
         uses: actions/checkout@v3
 
+      - name: Setup msbuild
+        uses: ilammy/msvc-dev-cmd@v1
+        with:
+          arch: x${{ matrix.platform }}
+
       - name: Configuration
         run: |
           cmake -E remove_directory build
-          cmake -B build -S . -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DBOOST_ROOT="${env:BOOST_ROOT}" -DBOOST_INCLUDEDIR="${env:BOOST_ROOT}\boost\include" -DBOOST_LIBRARYDIR="${env:BOOST_ROOT}\lib"
+          cmake -G Ninja -B build -S . -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DBOOST_ROOT="${env:BOOST_ROOT}" -DBOOST_INCLUDEDIR="${env:BOOST_ROOT}\boost\include" -DBOOST_LIBRARYDIR="${env:BOOST_ROOT}\lib"
 
       - name: Build
         run: |

From 92de2273a86bd316205b018d425449d1ca4d4a0e Mon Sep 17 00:00:00 2001
From: Tal Regev <tal.regev@gmail.com>
Date: Fri, 30 Jun 2023 20:21:11 +0300
Subject: [PATCH 025/206] Fix linkage errors: unresolved external symbol

---
 gtsam/basis/Basis.h              | 2 +-
 gtsam/discrete/SignatureParser.h | 2 +-
 gtsam/geometry/Pose2.h           | 6 +++---
 gtsam/geometry/Pose3.h           | 2 +-
 4 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/gtsam/basis/Basis.h b/gtsam/basis/Basis.h
index 41cdeeaaa..0b2b3606b 100644
--- a/gtsam/basis/Basis.h
+++ b/gtsam/basis/Basis.h
@@ -80,7 +80,7 @@ using Weights = Eigen::Matrix<double, 1, -1>; /* 1xN vector */
  *
  * @ingroup basis
  */
-Matrix kroneckerProductIdentity(size_t M, const Weights& w);
+Matrix GTSAM_EXPORT kroneckerProductIdentity(size_t M, const Weights& w);
 
 /**
  * CRTP Base class for function bases
diff --git a/gtsam/discrete/SignatureParser.h b/gtsam/discrete/SignatureParser.h
index e6b402e44..e005da14a 100644
--- a/gtsam/discrete/SignatureParser.h
+++ b/gtsam/discrete/SignatureParser.h
@@ -47,7 +47,7 @@ namespace gtsam {
  *
  * Also fails if the rows are not of the same size.
  */
-struct SignatureParser {
+struct GTSAM_EXPORT SignatureParser {
   using Row = std::vector<double>;
   using Table = std::vector<Row>;
 
diff --git a/gtsam/geometry/Pose2.h b/gtsam/geometry/Pose2.h
index f1b38c5a6..b455a81c3 100644
--- a/gtsam/geometry/Pose2.h
+++ b/gtsam/geometry/Pose2.h
@@ -198,9 +198,9 @@ public:
   GTSAM_EXPORT static Matrix3 LogmapDerivative(const Pose2& v);
 
   // Chart at origin, depends on compile-time flag SLOW_BUT_CORRECT_EXPMAP
-  struct ChartAtOrigin {
-	GTSAM_EXPORT static Pose2 Retract(const Vector3& v, ChartJacobian H = {});
-	GTSAM_EXPORT static Vector3 Local(const Pose2& r, ChartJacobian H = {});
+  struct GTSAM_EXPORT ChartAtOrigin {
+    static Pose2 Retract(const Vector3& v, ChartJacobian H = {});
+    static Vector3 Local(const Pose2& r, ChartJacobian H = {});
   };
 
   using LieGroup<Pose2, 3>::inverse; // version with derivative
diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h
index 6c91d7468..8a807cc23 100644
--- a/gtsam/geometry/Pose3.h
+++ b/gtsam/geometry/Pose3.h
@@ -204,7 +204,7 @@ public:
   static Matrix6 LogmapDerivative(const Pose3& xi);
 
   // Chart at origin, depends on compile-time flag GTSAM_POSE3_EXPMAP
-  struct ChartAtOrigin {
+  struct GTSAM_EXPORT ChartAtOrigin {
     static Pose3 Retract(const Vector6& xi, ChartJacobian Hxi = {});
     static Vector6 Local(const Pose3& pose, ChartJacobian Hpose = {});
   };

From a499855eafe945f5559d4712054bd48289c3699d Mon Sep 17 00:00:00 2001
From: Tal Regev <tal.regev@gmail.com>
Date: Fri, 30 Jun 2023 21:56:24 +0300
Subject: [PATCH 026/206] Add release to windows tests

---
 .github/workflows/build-windows.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index 9326a81b0..dabdff7f9 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -24,7 +24,7 @@ jobs:
       matrix:
         build_type: 
           - Debug
-          # - Release
+          - Release
           
         build_unstable: 
           - ON

From 9aa67b5235f8cb11a6bad8ab08f422f6fe78a7c4 Mon Sep 17 00:00:00 2001
From: Tal Regev <tal.regev@gmail.com>
Date: Fri, 30 Jun 2023 22:14:43 +0300
Subject: [PATCH 027/206] Add #include <gtsam/dllexport.h>

---
 gtsam/discrete/SignatureParser.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/gtsam/discrete/SignatureParser.h b/gtsam/discrete/SignatureParser.h
index e005da14a..fec3b9af2 100644
--- a/gtsam/discrete/SignatureParser.h
+++ b/gtsam/discrete/SignatureParser.h
@@ -21,6 +21,7 @@
 #include <optional>
 #include <string>
 #include <vector>
+#include <gtsam/dllexport.h>
 
 namespace gtsam {
 /**

From 7f46117666cfb35f7a4e90a8ef6cf72b14f0b17c Mon Sep 17 00:00:00 2001
From: Tal Regev <tal.regev@gmail.com>
Date: Fri, 30 Jun 2023 22:37:43 +0300
Subject: [PATCH 028/206] Add non concurrency to all workflows

---
 .github/workflows/build-linux.yml   | 6 ++++++
 .github/workflows/build-macos.yml   | 6 ++++++
 .github/workflows/build-python.yml  | 6 ++++++
 .github/workflows/build-special.yml | 6 ++++++
 .github/workflows/build-windows.yml | 2 ++
 5 files changed, 26 insertions(+)

diff --git a/.github/workflows/build-linux.yml b/.github/workflows/build-linux.yml
index 129b5aaaf..e4937ce06 100644
--- a/.github/workflows/build-linux.yml
+++ b/.github/workflows/build-linux.yml
@@ -2,6 +2,12 @@ name: Linux CI
 
 on: [pull_request]
 
+# Every time you make a push to your PR, it cancel immediately the previous checks, 
+# and start a new one. The other runner will be available more quickly to your PR. 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
+  cancel-in-progress: true
+
 jobs:
   build:
     name: ${{ matrix.name }} ${{ matrix.build_type }}
diff --git a/.github/workflows/build-macos.yml b/.github/workflows/build-macos.yml
index 3fa3c15dd..541701836 100644
--- a/.github/workflows/build-macos.yml
+++ b/.github/workflows/build-macos.yml
@@ -2,6 +2,12 @@ name: macOS CI
 
 on: [pull_request]
 
+# Every time you make a push to your PR, it cancel immediately the previous checks, 
+# and start a new one. The other runner will be available more quickly to your PR. 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
+  cancel-in-progress: true
+
 jobs:
   build:
     name: ${{ matrix.name }} ${{ matrix.build_type }}
diff --git a/.github/workflows/build-python.yml b/.github/workflows/build-python.yml
index f09d589dc..ca4645a77 100644
--- a/.github/workflows/build-python.yml
+++ b/.github/workflows/build-python.yml
@@ -2,6 +2,12 @@ name: Python CI
 
 on: [pull_request]
 
+# Every time you make a push to your PR, it cancel immediately the previous checks, 
+# and start a new one. The other runner will be available more quickly to your PR. 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
+  cancel-in-progress: true
+
 jobs:
   build:
     name: ${{ matrix.name }} ${{ matrix.build_type }} Python ${{ matrix.python_version }}
diff --git a/.github/workflows/build-special.yml b/.github/workflows/build-special.yml
index f72dadbae..72466ffd6 100644
--- a/.github/workflows/build-special.yml
+++ b/.github/workflows/build-special.yml
@@ -2,6 +2,12 @@ name: Special Cases CI
 
 on: [pull_request]
 
+# Every time you make a push to your PR, it cancel immediately the previous checks, 
+# and start a new one. The other runner will be available more quickly to your PR. 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
+  cancel-in-progress: true
+
 jobs:
   build:
     name: ${{ matrix.name }} ${{ matrix.build_type }}
diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index 99b654b3a..5d5342f3f 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -2,6 +2,8 @@ name: Windows CI
 
 on: [pull_request]
 
+# Every time you make a push to your PR, it cancel immediately the previous checks, 
+# and start a new one. The other runner will be available more quickly to your PR. 
 concurrency:
   group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
   cancel-in-progress: true

From c95bcae93a6353fd241b55d6c885c1e552bce148 Mon Sep 17 00:00:00 2001
From: Tal Regev <tal.regev@gmail.com>
Date: Sat, 1 Jul 2023 01:40:55 +0300
Subject: [PATCH 029/206] Add non concurrency to all workflows

---
 .github/workflows/build-linux.yml   | 6 ++++++
 .github/workflows/build-macos.yml   | 6 ++++++
 .github/workflows/build-python.yml  | 6 ++++++
 .github/workflows/build-special.yml | 6 ++++++
 .github/workflows/build-windows.yml | 6 ++++++
 5 files changed, 30 insertions(+)

diff --git a/.github/workflows/build-linux.yml b/.github/workflows/build-linux.yml
index 129b5aaaf..e4937ce06 100644
--- a/.github/workflows/build-linux.yml
+++ b/.github/workflows/build-linux.yml
@@ -2,6 +2,12 @@ name: Linux CI
 
 on: [pull_request]
 
+# Every time you make a push to your PR, it cancel immediately the previous checks, 
+# and start a new one. The other runner will be available more quickly to your PR. 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
+  cancel-in-progress: true
+
 jobs:
   build:
     name: ${{ matrix.name }} ${{ matrix.build_type }}
diff --git a/.github/workflows/build-macos.yml b/.github/workflows/build-macos.yml
index 3fa3c15dd..541701836 100644
--- a/.github/workflows/build-macos.yml
+++ b/.github/workflows/build-macos.yml
@@ -2,6 +2,12 @@ name: macOS CI
 
 on: [pull_request]
 
+# Every time you make a push to your PR, it cancel immediately the previous checks, 
+# and start a new one. The other runner will be available more quickly to your PR. 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
+  cancel-in-progress: true
+
 jobs:
   build:
     name: ${{ matrix.name }} ${{ matrix.build_type }}
diff --git a/.github/workflows/build-python.yml b/.github/workflows/build-python.yml
index f09d589dc..ca4645a77 100644
--- a/.github/workflows/build-python.yml
+++ b/.github/workflows/build-python.yml
@@ -2,6 +2,12 @@ name: Python CI
 
 on: [pull_request]
 
+# Every time you make a push to your PR, it cancel immediately the previous checks, 
+# and start a new one. The other runner will be available more quickly to your PR. 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
+  cancel-in-progress: true
+
 jobs:
   build:
     name: ${{ matrix.name }} ${{ matrix.build_type }} Python ${{ matrix.python_version }}
diff --git a/.github/workflows/build-special.yml b/.github/workflows/build-special.yml
index f72dadbae..72466ffd6 100644
--- a/.github/workflows/build-special.yml
+++ b/.github/workflows/build-special.yml
@@ -2,6 +2,12 @@ name: Special Cases CI
 
 on: [pull_request]
 
+# Every time you make a push to your PR, it cancel immediately the previous checks, 
+# and start a new one. The other runner will be available more quickly to your PR. 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
+  cancel-in-progress: true
+
 jobs:
   build:
     name: ${{ matrix.name }} ${{ matrix.build_type }}
diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index 0434577c1..cbe0c10f1 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -2,6 +2,12 @@ name: Windows CI
 
 on: [pull_request]
 
+# Every time you make a push to your PR, it cancel immediately the previous checks, 
+# and start a new one. The other runner will be available more quickly to your PR. 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
+  cancel-in-progress: true
+
 jobs:
   build:
     name: ${{ matrix.name }} ${{ matrix.build_type }}

From d1bd76a0aadb06da0ff258e8091b1e8ba9c7b10d Mon Sep 17 00:00:00 2001
From: Tal Regev <tal.regev@gmail.com>
Date: Sat, 1 Jul 2023 17:02:03 +0300
Subject: [PATCH 030/206] Check more tests

---
 .github/workflows/build-windows.yml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index 5d5342f3f..7f8c56558 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -118,9 +118,9 @@ jobs:
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.sam
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.sfm
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.symbolic
-          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.hybrid
-          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear
-          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.hybrid
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam
 
           # Run GTSAM_UNSTABLE tests
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.base_unstable

From d87db0a2f139384921ecea435d24bbdd308bedf2 Mon Sep 17 00:00:00 2001
From: Fan Jiang <i@fanjiang.me>
Date: Sat, 1 Jul 2023 13:57:11 -0700
Subject: [PATCH 031/206] Fix the CI under normal circumstances

Signed-off-by: Fan Jiang <i@fanjiang.me>
---
 cmake/HandleGeneralOptions.cmake | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cmake/HandleGeneralOptions.cmake b/cmake/HandleGeneralOptions.cmake
index eab40d16b..4474aa13f 100644
--- a/cmake/HandleGeneralOptions.cmake
+++ b/cmake/HandleGeneralOptions.cmake
@@ -30,7 +30,7 @@ option(GTSAM_ALLOW_DEPRECATED_SINCE_V43     "Allow use of methods/functions depr
 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)
-option(GTSAM_SLOW_BUT_CORRECT_EXPMAP        "Use slower but correct expmap"  ON)
+option(GTSAM_SLOW_BUT_CORRECT_EXPMAP        "Use slower but correct expmap for Pose2"  OFF)
 
 if (GTSAM_FORCE_SHARED_LIB)
     message(STATUS "GTSAM is a shared library due to GTSAM_FORCE_SHARED_LIB")

From ac86415032ff54a3b1b488e4dc7060796675baf3 Mon Sep 17 00:00:00 2001
From: Tal Regev <tal.regev@gmail.com>
Date: Sat, 1 Jul 2023 21:20:56 +0300
Subject: [PATCH 032/206] Fix tests

---
 .github/workflows/build-windows.yml                | 14 +++++++-------
 gtsam/hybrid/HybridFactorGraph.h                   |  2 +-
 gtsam/hybrid/HybridSmoother.h                      |  2 +-
 .../hybrid/tests/testHybridGaussianFactorGraph.cpp |  1 +
 4 files changed, 10 insertions(+), 9 deletions(-)

diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index 7f8c56558..e0f56aad2 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -123,11 +123,11 @@ jobs:
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam
 
           # Run GTSAM_UNSTABLE tests
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.geometry_unstable
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.linear_unstable
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.discrete_unstable
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.dynamics_unstable
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear_unstable
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam_unstable
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.partition
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.base_unstable
-          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.geometry_unstable
-          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.linear_unstable
-          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.discrete_unstable
-          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.dynamics_unstable
-          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear_unstable
-          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam_unstable
-          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.partition
diff --git a/gtsam/hybrid/HybridFactorGraph.h b/gtsam/hybrid/HybridFactorGraph.h
index b8e7ff588..8b59fd4f9 100644
--- a/gtsam/hybrid/HybridFactorGraph.h
+++ b/gtsam/hybrid/HybridFactorGraph.h
@@ -35,7 +35,7 @@ using SharedFactor = std::shared_ptr<Factor>;
  * Hybrid Factor Graph
  * Factor graph with utilities for hybrid factors.
  */
-class HybridFactorGraph : public FactorGraph<Factor> {
+class GTSAM_EXPORT HybridFactorGraph : public FactorGraph<Factor> {
  public:
   using Base = FactorGraph<Factor>;
   using This = HybridFactorGraph;              ///< this class
diff --git a/gtsam/hybrid/HybridSmoother.h b/gtsam/hybrid/HybridSmoother.h
index 0767da12f..5c2e4f546 100644
--- a/gtsam/hybrid/HybridSmoother.h
+++ b/gtsam/hybrid/HybridSmoother.h
@@ -24,7 +24,7 @@
 
 namespace gtsam {
 
-class HybridSmoother {
+class GTSAM_EXPORT HybridSmoother {
  private:
   HybridBayesNet hybridBayesNet_;
   HybridGaussianFactorGraph remainingFactorGraph_;
diff --git a/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp b/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp
index 8276264ae..073f49c04 100644
--- a/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp
@@ -43,6 +43,7 @@
 #include <iostream>
 #include <iterator>
 #include <vector>
+#include <numeric>
 
 #include "Switching.h"
 #include "TinyHybridExample.h"

From e00e1236b5799c63d9c8a756d3e742a3c47caa67 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 3 Jul 2023 08:56:08 -0400
Subject: [PATCH 033/206] reorganize CI workflow file

---
 .github/workflows/build-windows.yml | 23 ++++++++++++++---------
 1 file changed, 14 insertions(+), 9 deletions(-)

diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index e0f56aad2..7123d6eea 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -22,15 +22,20 @@ jobs:
       BOOST_EXE: boost_1_72_0-msvc-14.2
 
     strategy:
-      fail-fast: false
+      fail-fast: true
       matrix:
-        build_type: 
-          - Debug
-          - Release
-          
-        build_unstable: 
-          - ON
-          # - OFF 
+        # Github Actions requires a single row to be added to the build matrix.
+        # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
+        name: [
+            windows-2019-cl,
+          ]
+
+        build_type: [
+            Debug,
+            Release
+          ]
+
+        build_unstable: [ON]
         include:
           - name: windows-2019-cl
             os: windows-2019
@@ -123,6 +128,7 @@ jobs:
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam
 
           # Run GTSAM_UNSTABLE tests
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.base_unstable
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.geometry_unstable
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.linear_unstable
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.discrete_unstable
@@ -130,4 +136,3 @@ jobs:
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear_unstable
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam_unstable
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.partition
-          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.base_unstable

From 6fc2e36137caed3392e7af6b63bf09556770bcb5 Mon Sep 17 00:00:00 2001
From: Tal Regev <tal.regev@gmail.com>
Date: Mon, 3 Jul 2023 22:23:00 +0300
Subject: [PATCH 034/206] Handle latest ttb

---
 cmake/FindTBB.cmake   | 323 ------------------------------------------
 cmake/HandleTBB.cmake |   2 +-
 2 files changed, 1 insertion(+), 324 deletions(-)
 delete mode 100644 cmake/FindTBB.cmake

diff --git a/cmake/FindTBB.cmake b/cmake/FindTBB.cmake
deleted file mode 100644
index 0ecd4ca0e..000000000
--- a/cmake/FindTBB.cmake
+++ /dev/null
@@ -1,323 +0,0 @@
-# The MIT License (MIT)
-#
-# Copyright (c) 2015 Justus Calvin
-#
-# Permission is hereby granted, free of charge, to any person obtaining a copy
-# of this software and associated documentation files (the "Software"), to deal
-# in the Software without restriction, including without limitation the rights
-# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-# copies of the Software, and to permit persons to whom the Software is
-# furnished to do so, subject to the following conditions:
-#
-# The above copyright notice and this permission notice shall be included in all
-# copies or substantial portions of the Software.
-#
-# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-# SOFTWARE.
-
-#
-# FindTBB
-# -------
-#
-# Find TBB include directories and libraries.
-#
-# Usage:
-#
-#  find_package(TBB [major[.minor]] [EXACT]
-#               [QUIET] [REQUIRED]
-#               [[COMPONENTS] [components...]]
-#               [OPTIONAL_COMPONENTS components...])
-#
-# where the allowed components are tbbmalloc and tbb_preview. Users may modify
-# the behavior of this module with the following variables:
-#
-# * TBB_ROOT_DIR          - The base directory the of TBB installation.
-# * TBB_INCLUDE_DIR       - The directory that contains the TBB headers files.
-# * TBB_LIBRARY           - The directory that contains the TBB library files.
-# * TBB_<library>_LIBRARY - The path of the TBB the corresponding TBB library.
-#                           These libraries, if specified, override the
-#                           corresponding library search results, where <library>
-#                           may be tbb, tbb_debug, tbbmalloc, tbbmalloc_debug,
-#                           tbb_preview, or tbb_preview_debug.
-# * TBB_USE_DEBUG_BUILD   - The debug version of tbb libraries, if present, will
-#                           be used instead of the release version.
-#
-# Users may modify the behavior of this module with the following environment
-# variables:
-#
-# * TBB_INSTALL_DIR
-# * TBBROOT
-# * LIBRARY_PATH
-#
-# This module will set the following variables:
-#
-# * TBB_FOUND             - Set to false, or undefined, if we haven’t found, or
-#                           don’t want to use TBB.
-# * TBB_<component>_FOUND - If False, optional <component> part of TBB sytem is
-#                           not available.
-# * TBB_VERSION           - The full version string
-# * TBB_VERSION_MAJOR     - The major version
-# * TBB_VERSION_MINOR     - The minor version
-# * TBB_INTERFACE_VERSION - The interface version number defined in
-#                           tbb/tbb_stddef.h.
-# * TBB_<library>_LIBRARY_RELEASE - The path of the TBB release version of
-#                           <library>, where <library> may be tbb, tbb_debug,
-#                           tbbmalloc, tbbmalloc_debug, tbb_preview, or
-#                           tbb_preview_debug.
-# * TBB_<library>_LIBRARY_DEGUG - The path of the TBB release version of
-#                           <library>, where <library> may be tbb, tbb_debug,
-#                           tbbmalloc, tbbmalloc_debug, tbb_preview, or
-#                           tbb_preview_debug.
-#
-# The following varibles should be used to build and link with TBB:
-#
-# * TBB_INCLUDE_DIRS        - The include directory for TBB.
-# * TBB_LIBRARIES           - The libraries to link against to use TBB.
-# * TBB_LIBRARIES_RELEASE   - The release libraries to link against to use TBB.
-# * TBB_LIBRARIES_DEBUG     - The debug libraries to link against to use TBB.
-# * TBB_DEFINITIONS         - Definitions to use when compiling code that uses
-#                             TBB.
-# * TBB_DEFINITIONS_RELEASE - Definitions to use when compiling release code that
-#                             uses TBB.
-# * TBB_DEFINITIONS_DEBUG   - Definitions to use when compiling debug code that
-#                             uses TBB.
-#
-# This module will also create the "tbb" target that may be used when building
-# executables and libraries.
-
-include(FindPackageHandleStandardArgs)
-
-if(NOT TBB_FOUND)
-
-  ##################################
-  # Check the build type
-  ##################################
-
-  if(NOT DEFINED TBB_USE_DEBUG_BUILD)
-    # Set build type to RELEASE by default for optimization.
-    set(TBB_BUILD_TYPE RELEASE)
-  elseif(TBB_USE_DEBUG_BUILD)
-    set(TBB_BUILD_TYPE DEBUG)
-  else()
-    set(TBB_BUILD_TYPE RELEASE)
-  endif()
-
-  ##################################
-  # Set the TBB search directories
-  ##################################
-
-  # Define search paths based on user input and environment variables
-  set(TBB_SEARCH_DIR ${TBB_ROOT_DIR} $ENV{TBB_INSTALL_DIR} $ENV{TBBROOT})
-
-  # Define the search directories based on the current platform
-  if(CMAKE_SYSTEM_NAME STREQUAL "Windows")
-    set(TBB_DEFAULT_SEARCH_DIR "C:/Program Files/Intel/TBB"
-                               "C:/Program Files (x86)/Intel/TBB")
-
-    # Set the target architecture
-    if(CMAKE_SIZEOF_VOID_P EQUAL 8)
-      set(TBB_ARCHITECTURE "intel64")
-    else()
-      set(TBB_ARCHITECTURE "ia32")
-    endif()
-
-    # Set the TBB search library path search suffix based on the version of VC
-    if(WINDOWS_STORE)
-      set(TBB_LIB_PATH_SUFFIX "lib/${TBB_ARCHITECTURE}/vc11_ui")
-    elseif(MSVC14)
-      set(TBB_LIB_PATH_SUFFIX "lib/${TBB_ARCHITECTURE}/vc14")
-    elseif(MSVC12)
-      set(TBB_LIB_PATH_SUFFIX "lib/${TBB_ARCHITECTURE}/vc12")
-    elseif(MSVC11)
-      set(TBB_LIB_PATH_SUFFIX "lib/${TBB_ARCHITECTURE}/vc11")
-    elseif(MSVC10)
-      set(TBB_LIB_PATH_SUFFIX "lib/${TBB_ARCHITECTURE}/vc10")
-    endif()
-
-    # Add the library path search suffix for the VC independent version of TBB
-    list(APPEND TBB_LIB_PATH_SUFFIX "lib/${TBB_ARCHITECTURE}/vc_mt")
-
-  elseif(CMAKE_SYSTEM_NAME STREQUAL "Darwin")
-    # OS X
-    set(TBB_DEFAULT_SEARCH_DIR "/opt/intel/tbb"
-                               "/usr/local/opt/tbb")
-
-    # TODO: Check to see which C++ library is being used by the compiler.
-    if(NOT ${CMAKE_SYSTEM_VERSION} VERSION_LESS 13.0)
-      # The default C++ library on OS X 10.9 and later is libc++
-      set(TBB_LIB_PATH_SUFFIX "lib/libc++" "lib")
-    else()
-      set(TBB_LIB_PATH_SUFFIX "lib")
-    endif()
-  elseif(CMAKE_SYSTEM_NAME STREQUAL "Linux")
-    # Linux
-    set(TBB_DEFAULT_SEARCH_DIR "/opt/intel/tbb")
-
-    # TODO: Check compiler version to see the suffix should be <arch>/gcc4.1 or
-    #       <arch>/gcc4.1. For now, assume that the compiler is more recent than
-    #       gcc 4.4.x or later.
-    if(CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64")
-      set(TBB_LIB_PATH_SUFFIX "lib/intel64/gcc4.4")
-    elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "^i.86$")
-      set(TBB_LIB_PATH_SUFFIX "lib/ia32/gcc4.4")
-    endif()
-  endif()
-
-  ##################################
-  # Find the TBB include dir
-  ##################################
-
-  find_path(TBB_INCLUDE_DIRS tbb/tbb.h
-      HINTS ${TBB_INCLUDE_DIR} ${TBB_SEARCH_DIR}
-      PATHS ${TBB_DEFAULT_SEARCH_DIR}
-      PATH_SUFFIXES include)
-
-  ##################################
-  # Set version strings
-  ##################################
-
-  if(TBB_INCLUDE_DIRS)
-    set(_tbb_version_file_prior_to_tbb_2021_1 "${TBB_INCLUDE_DIRS}/tbb/tbb_stddef.h")
-    set(_tbb_version_file_after_tbb_2021_1 "${TBB_INCLUDE_DIRS}/oneapi/tbb/version.h")
-
-    if (EXISTS "${_tbb_version_file_prior_to_tbb_2021_1}")
-      file(READ "${_tbb_version_file_prior_to_tbb_2021_1}" _tbb_version_file )
-    elseif (EXISTS "${_tbb_version_file_after_tbb_2021_1}")
-      file(READ "${_tbb_version_file_after_tbb_2021_1}" _tbb_version_file )
-    else()
-        message(FATAL_ERROR "Found TBB installation: ${TBB_INCLUDE_DIRS} "
-      "missing version header.")
-    endif()
-
-    string(REGEX REPLACE ".*#define TBB_VERSION_MAJOR ([0-9]+).*" "\\1"
-        TBB_VERSION_MAJOR "${_tbb_version_file}")
-    string(REGEX REPLACE ".*#define TBB_VERSION_MINOR ([0-9]+).*" "\\1"
-        TBB_VERSION_MINOR "${_tbb_version_file}")
-    string(REGEX REPLACE ".*#define TBB_INTERFACE_VERSION ([0-9]+).*" "\\1"
-        TBB_INTERFACE_VERSION "${_tbb_version_file}")
-    set(TBB_VERSION "${TBB_VERSION_MAJOR}.${TBB_VERSION_MINOR}")
-  endif()
-
-  ##################################
-  # Find TBB components
-  ##################################
-
-  if(TBB_VERSION VERSION_LESS 4.3)
-    set(TBB_SEARCH_COMPOMPONENTS tbb_preview tbbmalloc tbb)
-  else()
-    set(TBB_SEARCH_COMPOMPONENTS tbb_preview tbbmalloc_proxy tbbmalloc tbb)
-  endif()
-
-  # Find each component
-  foreach(_comp ${TBB_SEARCH_COMPOMPONENTS})
-    if(";${TBB_FIND_COMPONENTS};tbb;" MATCHES ";${_comp};")
-
-      # Search for the libraries
-      find_library(TBB_${_comp}_LIBRARY_RELEASE ${_comp}
-          HINTS ${TBB_LIBRARY} ${TBB_SEARCH_DIR}
-          PATHS ${TBB_DEFAULT_SEARCH_DIR} ENV LIBRARY_PATH
-          PATH_SUFFIXES ${TBB_LIB_PATH_SUFFIX})
-
-      find_library(TBB_${_comp}_LIBRARY_DEBUG ${_comp}_debug
-          HINTS ${TBB_LIBRARY} ${TBB_SEARCH_DIR}
-          PATHS ${TBB_DEFAULT_SEARCH_DIR} ENV LIBRARY_PATH
-          PATH_SUFFIXES ${TBB_LIB_PATH_SUFFIX})
-
-      if(TBB_${_comp}_LIBRARY_DEBUG)
-        list(APPEND TBB_LIBRARIES_DEBUG "${TBB_${_comp}_LIBRARY_DEBUG}")
-      endif()
-      if(TBB_${_comp}_LIBRARY_RELEASE)
-        list(APPEND TBB_LIBRARIES_RELEASE "${TBB_${_comp}_LIBRARY_RELEASE}")
-      endif()
-      if(TBB_${_comp}_LIBRARY_${TBB_BUILD_TYPE} AND NOT TBB_${_comp}_LIBRARY)
-        set(TBB_${_comp}_LIBRARY "${TBB_${_comp}_LIBRARY_${TBB_BUILD_TYPE}}")
-      endif()
-
-      if(TBB_${_comp}_LIBRARY AND EXISTS "${TBB_${_comp}_LIBRARY}")
-        set(TBB_${_comp}_FOUND TRUE)
-      else()
-        set(TBB_${_comp}_FOUND FALSE)
-      endif()
-
-      # Mark internal variables as advanced
-      mark_as_advanced(TBB_${_comp}_LIBRARY_RELEASE)
-      mark_as_advanced(TBB_${_comp}_LIBRARY_DEBUG)
-      mark_as_advanced(TBB_${_comp}_LIBRARY)
-
-    endif()
-  endforeach()
-
-  ##################################
-  # Set compile flags and libraries
-  ##################################
-
-  set(TBB_DEFINITIONS_RELEASE "")
-  set(TBB_DEFINITIONS_DEBUG "-DTBB_USE_DEBUG=1")
-
-  if(TBB_LIBRARIES_${TBB_BUILD_TYPE})
-    set(TBB_DEFINITIONS "${TBB_DEFINITIONS_${TBB_BUILD_TYPE}}")
-    set(TBB_LIBRARIES "${TBB_LIBRARIES_${TBB_BUILD_TYPE}}")
-  elseif(TBB_LIBRARIES_RELEASE)
-    set(TBB_DEFINITIONS "${TBB_DEFINITIONS_RELEASE}")
-    set(TBB_LIBRARIES "${TBB_LIBRARIES_RELEASE}")
-  elseif(TBB_LIBRARIES_DEBUG)
-    set(TBB_DEFINITIONS "${TBB_DEFINITIONS_DEBUG}")
-    set(TBB_LIBRARIES "${TBB_LIBRARIES_DEBUG}")
-  endif()
-
-  find_package_handle_standard_args(TBB
-      REQUIRED_VARS TBB_INCLUDE_DIRS TBB_LIBRARIES
-      HANDLE_COMPONENTS
-      VERSION_VAR TBB_VERSION)
-
-  ##################################
-  # Create targets
-  ##################################
-
-  if(NOT CMAKE_VERSION VERSION_LESS 3.0 AND TBB_FOUND)
-    # Start fix to support different targets for tbb, tbbmalloc, etc.
-    # (Jose Luis Blanco, Jan 2019)
-    # Iterate over tbb, tbbmalloc, etc.
-    foreach(libname ${TBB_SEARCH_COMPOMPONENTS})
-      if ((NOT TBB_${libname}_LIBRARY_RELEASE) AND (NOT TBB_${libname}_LIBRARY_DEBUG))
-        continue()
-      endif()
-
-      add_library(${libname} SHARED IMPORTED)
-
-      set_target_properties(${libname} PROPERTIES
-            INTERFACE_INCLUDE_DIRECTORIES  ${TBB_INCLUDE_DIRS}
-            IMPORTED_LOCATION              ${TBB_${libname}_LIBRARY_RELEASE})
-      if(TBB_${libname}_LIBRARY_RELEASE AND TBB_${libname}_LIBRARY_DEBUG)
-        set_target_properties(${libname} PROPERTIES
-            INTERFACE_COMPILE_DEFINITIONS "$<$<OR:$<CONFIG:Debug>,$<CONFIG:RelWithDebInfo>>:TBB_USE_DEBUG=1>"
-            IMPORTED_LOCATION_DEBUG          ${TBB_${libname}_LIBRARY_DEBUG}
-            IMPORTED_LOCATION_RELWITHDEBINFO ${TBB_${libname}_LIBRARY_DEBUG}
-            IMPORTED_LOCATION_RELEASE        ${TBB_${libname}_LIBRARY_RELEASE}
-            IMPORTED_LOCATION_MINSIZEREL     ${TBB_${libname}_LIBRARY_RELEASE}
-            )
-      elseif(TBB_${libname}_LIBRARY_RELEASE)
-        set_target_properties(${libname} PROPERTIES IMPORTED_LOCATION ${TBB_${libname}_LIBRARY_RELEASE})
-      else()
-        set_target_properties(${libname} PROPERTIES
-            INTERFACE_COMPILE_DEFINITIONS "${TBB_DEFINITIONS_DEBUG}"
-            IMPORTED_LOCATION              ${TBB_${libname}_LIBRARY_DEBUG}
-            )
-      endif()
-    endforeach()
-    # End of fix to support different targets
-  endif()
-
-  mark_as_advanced(TBB_INCLUDE_DIRS TBB_LIBRARIES)
-
-  unset(TBB_ARCHITECTURE)
-  unset(TBB_BUILD_TYPE)
-  unset(TBB_LIB_PATH_SUFFIX)
-  unset(TBB_DEFAULT_SEARCH_DIR)
-
-endif()
diff --git a/cmake/HandleTBB.cmake b/cmake/HandleTBB.cmake
index fb944ba5b..393aeb345 100644
--- a/cmake/HandleTBB.cmake
+++ b/cmake/HandleTBB.cmake
@@ -14,7 +14,7 @@ if (GTSAM_WITH_TBB)
         endif()
         # all definitions and link requisites will go via imported targets:
         # tbb & tbbmalloc
-        list(APPEND GTSAM_ADDITIONAL_LIBRARIES tbb tbbmalloc)
+        list(APPEND GTSAM_ADDITIONAL_LIBRARIES TBB::tbb TBB::tbbmalloc)
     else()
         set(GTSAM_USE_TBB 0)  # This will go into config.h
     endif()

From d3bcfddfb5269cff43e5fcbc5ad988e8e3c8758c Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 30 Jan 2020 15:17:04 -0500
Subject: [PATCH 035/206] ISAM2: wrap full update method and error method

---
 gtsam/nonlinear/nonlinear.i | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/gtsam/nonlinear/nonlinear.i b/gtsam/nonlinear/nonlinear.i
index 6d101af98..a24bcbb75 100644
--- a/gtsam/nonlinear/nonlinear.i
+++ b/gtsam/nonlinear/nonlinear.i
@@ -507,18 +507,18 @@ class ISAM2 {
   gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors,
                             const gtsam::Values& newTheta,
                             const gtsam::FactorIndices& removeFactorIndices,
-                            gtsam::KeyGroupMap& constrainedKeys,
+                            const gtsam::KeyGroupMap& constrainedKeys,
                             const gtsam::KeyList& noRelinKeys);
   gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors,
                             const gtsam::Values& newTheta,
                             const gtsam::FactorIndices& removeFactorIndices,
-                            gtsam::KeyGroupMap& constrainedKeys,
+                            const gtsam::KeyGroupMap& constrainedKeys,
                             const gtsam::KeyList& noRelinKeys,
                             const gtsam::KeyList& extraReelimKeys);
   gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors,
                             const gtsam::Values& newTheta,
                             const gtsam::FactorIndices& removeFactorIndices,
-                            gtsam::KeyGroupMap& constrainedKeys,
+                            const gtsam::KeyGroupMap& constrainedKeys,
                             const gtsam::KeyList& noRelinKeys,
                             const gtsam::KeyList& extraReelimKeys,
                             bool force_relinearize);
@@ -527,6 +527,8 @@ class ISAM2 {
                             const gtsam::Values& newTheta,
                             const gtsam::ISAM2UpdateParams& updateParams);
 
+  double error(const gtsam::VectorValues& values) const;
+
   gtsam::Values getLinearizationPoint() const;
   bool valueExists(gtsam::Key key) const;
   gtsam::Values calculateEstimate() const;

From 6992f0d64cafbedea3ec12580bf0c9094ffa55f4 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 3 Feb 2020 16:50:32 -0500
Subject: [PATCH 036/206] added test for full ISAM2 update method

---
 python/gtsam/tests/test_VisualISAMExample.py | 52 +++++++++++++++++++-
 python/gtsam/utils/visual_isam.py            |  4 +-
 2 files changed, 52 insertions(+), 4 deletions(-)

diff --git a/python/gtsam/tests/test_VisualISAMExample.py b/python/gtsam/tests/test_VisualISAMExample.py
index ebc77e2e3..a25019213 100644
--- a/python/gtsam/tests/test_VisualISAMExample.py
+++ b/python/gtsam/tests/test_VisualISAMExample.py
@@ -6,15 +6,18 @@ All Rights Reserved
 See LICENSE for the license information
 
 visual_isam unit tests.
-Author: Frank Dellaert & Duy Nguyen Ta (Python)
+Author: Frank Dellaert & Duy Nguyen Ta & Varun Agrawal (Python)
 """
+# pylint: disable=maybe-no-member,invalid-name
+
 import unittest
 
 import gtsam.utils.visual_data_generator as generator
 import gtsam.utils.visual_isam as visual_isam
-from gtsam import symbol
 from gtsam.utils.test_case import GtsamTestCase
 
+from gtsam import symbol
+
 
 class TestVisualISAMExample(GtsamTestCase):
     """Test class for ISAM2 with visual landmarks."""
@@ -53,6 +56,51 @@ class TestVisualISAMExample(GtsamTestCase):
             point_j = result.atPoint3(symbol('l', j))
             self.gtsamAssertEquals(point_j, truth.points[j], 1e-5)
 
+    def test_isam2_update(self):
+        """
+        Test for full version of ISAM2::update method
+        """
+        # Data Options
+        options = generator.Options()
+        options.triangle = False
+        options.nrCameras = 20
+
+        # iSAM Options
+        isamOptions = visual_isam.Options()
+        isamOptions.hardConstraint = False
+        isamOptions.pointPriors = False
+        isamOptions.batchInitialization = True
+        isamOptions.reorderInterval = 10
+        isamOptions.alwaysRelinearize = False
+
+        # Generate data
+        data, truth = generator.generate_data(options)
+
+        # Initialize iSAM with the first pose and points
+        isam, result, nextPose = visual_isam.initialize(data, truth, isamOptions)
+
+        remove_factor_indices = gtsam.FactorIndices()
+        constrained_keys = gtsam.KeyGroupMap()
+        no_relin_keys = gtsam.KeyList()
+        extra_reelim_keys = gtsam.KeyList()
+        isamArgs = (remove_factor_indices,
+                    constrained_keys,
+                    no_relin_keys,
+                    extra_reelim_keys,
+                    False)
+
+        # Main loop for iSAM: stepping through all poses
+        for currentPose in range(nextPose, options.nrCameras):
+            isam, result = visual_isam.step(data, isam, result, truth, currentPose, isamArgs)
+
+        for i in range(len(truth.cameras)):
+            pose_i = result.atPose3(symbol(ord('x'), i))
+            self.gtsamAssertEquals(pose_i, truth.cameras[i].pose(), 1e-5)
+
+        for j in range(len(truth.points)):
+            point_j = result.atPoint3(symbol(ord('l'), j))
+            self.gtsamAssertEquals(point_j, truth.points[j], 1e-5)
+
 
 if __name__ == "__main__":
     unittest.main()
diff --git a/python/gtsam/utils/visual_isam.py b/python/gtsam/utils/visual_isam.py
index 4ebd8accd..52ec8e32f 100644
--- a/python/gtsam/utils/visual_isam.py
+++ b/python/gtsam/utils/visual_isam.py
@@ -79,7 +79,7 @@ def initialize(data, truth, options):
     return isam, result, nextPoseIndex
 
 
-def step(data, isam, result, truth, currPoseIndex):
+def step(data, isam, result, truth, currPoseIndex, isamArgs=()):
     '''
     Do one step isam update
     @param[in] data: measurement data (odometry and visual measurements and their noiseModels)
@@ -123,7 +123,7 @@ def step(data, isam, result, truth, currPoseIndex):
 
     # Update ISAM
     # figure(1)tic
-    isam.update(newFactors, initialEstimates)
+    isam.update(newFactors, initialEstimates, *isamArgs)
     # t=toc plot(frame_i,t,'r.') tic
     newResult = isam.calculateEstimate()
     # t=toc plot(frame_i,t,'g.')

From 42e8f498e7adaac369e5f9ad21305f37d123094d Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 4 Feb 2020 17:57:44 -0500
Subject: [PATCH 037/206] added tests for newly wrapped isam2 methods

---
 python/gtsam/tests/test_VisualISAMExample.py | 95 ++++++++++++--------
 1 file changed, 56 insertions(+), 39 deletions(-)

diff --git a/python/gtsam/tests/test_VisualISAMExample.py b/python/gtsam/tests/test_VisualISAMExample.py
index a25019213..5f30e83ea 100644
--- a/python/gtsam/tests/test_VisualISAMExample.py
+++ b/python/gtsam/tests/test_VisualISAMExample.py
@@ -21,12 +21,13 @@ from gtsam import symbol
 
 class TestVisualISAMExample(GtsamTestCase):
     """Test class for ISAM2 with visual landmarks."""
-    def test_VisualISAMExample(self):
-        """Test to see if ISAM works as expected for a simple visual SLAM example."""
+
+    def setUp(self):
         # Data Options
         options = generator.Options()
         options.triangle = False
         options.nrCameras = 20
+        self.options = options
 
         # iSAM Options
         isamOptions = visual_isam.Options()
@@ -35,71 +36,87 @@ class TestVisualISAMExample(GtsamTestCase):
         isamOptions.batchInitialization = True
         isamOptions.reorderInterval = 10
         isamOptions.alwaysRelinearize = False
+        self.isamOptions = isamOptions
 
         # Generate data
-        data, truth = generator.generate_data(options)
+        self.data, self.truth = generator.generate_data(options)
 
+    def test_VisualISAMExample(self):
+        """Test to see if ISAM works as expected for a simple visual SLAM example."""
         # Initialize iSAM with the first pose and points
         isam, result, nextPose = visual_isam.initialize(
-            data, truth, isamOptions)
+            self.data, self.truth, self.isamOptions)
 
         # Main loop for iSAM: stepping through all poses
-        for currentPose in range(nextPose, options.nrCameras):
-            isam, result = visual_isam.step(data, isam, result, truth,
-                                            currentPose)
+        for currentPose in range(nextPose, self.options.nrCameras):
+            isam, result = visual_isam.step(self.data, isam, result,
+                                            self.truth, currentPose)
 
-        for i, _ in enumerate(truth.cameras):
+        for i, true_camera in enumerate(self.truth.cameras):
             pose_i = result.atPose3(symbol('x', i))
-            self.gtsamAssertEquals(pose_i, truth.cameras[i].pose(), 1e-5)
+            self.gtsamAssertEquals(pose_i, true_camera.pose(), 1e-5)
 
-        for j, _ in enumerate(truth.points):
+        for j, expected_point in enumerate(self.truth.points):
             point_j = result.atPoint3(symbol('l', j))
-            self.gtsamAssertEquals(point_j, truth.points[j], 1e-5)
+            self.gtsamAssertEquals(point_j, expected_point, 1e-5)
+
+    @unittest.skip(
+        "Need to understand how to calculate error using VectorValues correctly"
+    )
+    def test_isam2_error(self):
+        #TODO(Varun) fix
+        # Initialize iSAM with the first pose and points
+        isam, result, nextPose = visual_isam.initialize(
+            self.data, self.truth, self.isamOptions)
+
+        # Main loop for iSAM: stepping through all poses
+        for currentPose in range(nextPose, self.options.nrCameras):
+            isam, result = visual_isam.step(self.data, isam, result,
+                                            self.truth, currentPose)
+
+        values = gtsam.VectorValues()
+
+        estimate = isam.calculateBestEstimate()
+
+        keys = estimate.keys()
+
+        for k in range(keys.size()):
+            key = keys.at(k)
+            try:
+                v = estimate.atPose3(key).matrix()
+
+            except RuntimeError:
+                v = estimate.atPoint3(key).vector()
+            values.insert(key, v)
+        # print(isam.error(values))
 
     def test_isam2_update(self):
         """
         Test for full version of ISAM2::update method
         """
-        # Data Options
-        options = generator.Options()
-        options.triangle = False
-        options.nrCameras = 20
-
-        # iSAM Options
-        isamOptions = visual_isam.Options()
-        isamOptions.hardConstraint = False
-        isamOptions.pointPriors = False
-        isamOptions.batchInitialization = True
-        isamOptions.reorderInterval = 10
-        isamOptions.alwaysRelinearize = False
-
-        # Generate data
-        data, truth = generator.generate_data(options)
-
         # Initialize iSAM with the first pose and points
-        isam, result, nextPose = visual_isam.initialize(data, truth, isamOptions)
+        isam, result, nextPose = visual_isam.initialize(
+            self.data, self.truth, self.isamOptions)
 
         remove_factor_indices = gtsam.FactorIndices()
         constrained_keys = gtsam.KeyGroupMap()
         no_relin_keys = gtsam.KeyList()
         extra_reelim_keys = gtsam.KeyList()
-        isamArgs = (remove_factor_indices,
-                    constrained_keys,
-                    no_relin_keys,
-                    extra_reelim_keys,
-                    False)
+        isamArgs = (remove_factor_indices, constrained_keys, no_relin_keys,
+                    extra_reelim_keys, False)
 
         # Main loop for iSAM: stepping through all poses
-        for currentPose in range(nextPose, options.nrCameras):
-            isam, result = visual_isam.step(data, isam, result, truth, currentPose, isamArgs)
+        for currentPose in range(nextPose, self.options.nrCameras):
+            isam, result = visual_isam.step(self.data, isam, result,
+                                            self.truth, currentPose, isamArgs)
 
-        for i in range(len(truth.cameras)):
+        for i in range(len(self.truth.cameras)):
             pose_i = result.atPose3(symbol(ord('x'), i))
-            self.gtsamAssertEquals(pose_i, truth.cameras[i].pose(), 1e-5)
+            self.gtsamAssertEquals(pose_i, self.truth.cameras[i].pose(), 1e-5)
 
-        for j in range(len(truth.points)):
+        for j in range(len(self.truth.points)):
             point_j = result.atPoint3(symbol(ord('l'), j))
-            self.gtsamAssertEquals(point_j, truth.points[j], 1e-5)
+            self.gtsamAssertEquals(point_j, self.truth.points[j], 1e-5)
 
 
 if __name__ == "__main__":

From 93ed850c6c01b7c5f66e6db291f00769b46ad95b Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 5 Jul 2023 13:14:16 -0400
Subject: [PATCH 038/206] get tests working

---
 gtsam/nonlinear/nonlinear.i                  | 10 ++-----
 python/gtsam/tests/test_VisualISAMExample.py | 29 ++++++++++----------
 2 files changed, 17 insertions(+), 22 deletions(-)

diff --git a/gtsam/nonlinear/nonlinear.i b/gtsam/nonlinear/nonlinear.i
index a24bcbb75..3721e27e8 100644
--- a/gtsam/nonlinear/nonlinear.i
+++ b/gtsam/nonlinear/nonlinear.i
@@ -512,16 +512,10 @@ class ISAM2 {
   gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors,
                             const gtsam::Values& newTheta,
                             const gtsam::FactorIndices& removeFactorIndices,
-                            const gtsam::KeyGroupMap& constrainedKeys,
-                            const gtsam::KeyList& noRelinKeys,
-                            const gtsam::KeyList& extraReelimKeys);
-  gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors,
-                            const gtsam::Values& newTheta,
-                            const gtsam::FactorIndices& removeFactorIndices,
-                            const gtsam::KeyGroupMap& constrainedKeys,
+                            gtsam::KeyGroupMap& constrainedKeys,
                             const gtsam::KeyList& noRelinKeys,
                             const gtsam::KeyList& extraReelimKeys,
-                            bool force_relinearize);
+                            bool force_relinearize=false);
 
   gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors,
                             const gtsam::Values& newTheta,
diff --git a/python/gtsam/tests/test_VisualISAMExample.py b/python/gtsam/tests/test_VisualISAMExample.py
index 5f30e83ea..c7e72ff8b 100644
--- a/python/gtsam/tests/test_VisualISAMExample.py
+++ b/python/gtsam/tests/test_VisualISAMExample.py
@@ -16,6 +16,7 @@ import gtsam.utils.visual_data_generator as generator
 import gtsam.utils.visual_isam as visual_isam
 from gtsam.utils.test_case import GtsamTestCase
 
+import gtsam
 from gtsam import symbol
 
 
@@ -60,10 +61,8 @@ class TestVisualISAMExample(GtsamTestCase):
             point_j = result.atPoint3(symbol('l', j))
             self.gtsamAssertEquals(point_j, expected_point, 1e-5)
 
-    @unittest.skip(
-        "Need to understand how to calculate error using VectorValues correctly"
-    )
     def test_isam2_error(self):
+        """Test for isam2 error() method."""
         #TODO(Varun) fix
         # Initialize iSAM with the first pose and points
         isam, result, nextPose = visual_isam.initialize(
@@ -78,17 +77,19 @@ class TestVisualISAMExample(GtsamTestCase):
 
         estimate = isam.calculateBestEstimate()
 
-        keys = estimate.keys()
-
-        for k in range(keys.size()):
-            key = keys.at(k)
+        for key in estimate.keys():
             try:
-                v = estimate.atPose3(key).matrix()
-
+                v = gtsam.Pose3.Logmap(estimate.atPose3(key))
             except RuntimeError:
-                v = estimate.atPoint3(key).vector()
+                v = estimate.atPoint3(key)
+
+            print(key)
+            print(type(v))
+            print(v)
             values.insert(key, v)
-        # print(isam.error(values))
+        print(isam.error(values))
+
+        self.assertEqual(isam.error(values), 34212421.14731998)
 
     def test_isam2_update(self):
         """
@@ -98,7 +99,7 @@ class TestVisualISAMExample(GtsamTestCase):
         isam, result, nextPose = visual_isam.initialize(
             self.data, self.truth, self.isamOptions)
 
-        remove_factor_indices = gtsam.FactorIndices()
+        remove_factor_indices = []
         constrained_keys = gtsam.KeyGroupMap()
         no_relin_keys = gtsam.KeyList()
         extra_reelim_keys = gtsam.KeyList()
@@ -111,11 +112,11 @@ class TestVisualISAMExample(GtsamTestCase):
                                             self.truth, currentPose, isamArgs)
 
         for i in range(len(self.truth.cameras)):
-            pose_i = result.atPose3(symbol(ord('x'), i))
+            pose_i = result.atPose3(symbol('x', i))
             self.gtsamAssertEquals(pose_i, self.truth.cameras[i].pose(), 1e-5)
 
         for j in range(len(self.truth.points)):
-            point_j = result.atPoint3(symbol(ord('l'), j))
+            point_j = result.atPoint3(symbol('l', j))
             self.gtsamAssertEquals(point_j, self.truth.points[j], 1e-5)
 
 

From a14fb8db7d55da85e3d5f860572cae7bab7ee20f Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 6 Jul 2023 04:12:39 -0400
Subject: [PATCH 039/206] formatting and fix

---
 gtsam/nonlinear/nonlinear.i                  | 7 +++----
 python/gtsam/tests/test_VisualISAMExample.py | 7 +------
 2 files changed, 4 insertions(+), 10 deletions(-)

diff --git a/gtsam/nonlinear/nonlinear.i b/gtsam/nonlinear/nonlinear.i
index 3721e27e8..4d0d847c1 100644
--- a/gtsam/nonlinear/nonlinear.i
+++ b/gtsam/nonlinear/nonlinear.i
@@ -515,7 +515,7 @@ class ISAM2 {
                             gtsam::KeyGroupMap& constrainedKeys,
                             const gtsam::KeyList& noRelinKeys,
                             const gtsam::KeyList& extraReelimKeys,
-                            bool force_relinearize=false);
+                            bool force_relinearize = false);
 
   gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors,
                             const gtsam::Values& newTheta,
@@ -548,9 +548,8 @@ class ISAM2 {
 
   string dot(const gtsam::KeyFormatter& keyFormatter =
                  gtsam::DefaultKeyFormatter) const;
-  void saveGraph(string s,
-                const gtsam::KeyFormatter& keyFormatter =
-                 gtsam::DefaultKeyFormatter) const;
+  void saveGraph(string s, const gtsam::KeyFormatter& keyFormatter =
+                               gtsam::DefaultKeyFormatter) const;
 };
 
 #include <gtsam/nonlinear/NonlinearISAM.h>
diff --git a/python/gtsam/tests/test_VisualISAMExample.py b/python/gtsam/tests/test_VisualISAMExample.py
index c7e72ff8b..39f563a35 100644
--- a/python/gtsam/tests/test_VisualISAMExample.py
+++ b/python/gtsam/tests/test_VisualISAMExample.py
@@ -63,7 +63,6 @@ class TestVisualISAMExample(GtsamTestCase):
 
     def test_isam2_error(self):
         """Test for isam2 error() method."""
-        #TODO(Varun) fix
         # Initialize iSAM with the first pose and points
         isam, result, nextPose = visual_isam.initialize(
             self.data, self.truth, self.isamOptions)
@@ -83,13 +82,9 @@ class TestVisualISAMExample(GtsamTestCase):
             except RuntimeError:
                 v = estimate.atPoint3(key)
 
-            print(key)
-            print(type(v))
-            print(v)
             values.insert(key, v)
-        print(isam.error(values))
 
-        self.assertEqual(isam.error(values), 34212421.14731998)
+        self.assertAlmostEqual(isam.error(values), 34212421.14731998)
 
     def test_isam2_update(self):
         """

From 5ce7c812a99f2a36aacd5c3352820ae8511060f9 Mon Sep 17 00:00:00 2001
From: Adam Rutkowski <arutkowski@users.noreply.github.com>
Date: Fri, 7 Jul 2023 16:42:58 -0500
Subject: [PATCH 040/206] Added evaluation of expressions when inserting in
 Values

---
 gtsam/nonlinear/Values-inl.h         | 34 +++++++++++++
 gtsam/nonlinear/Values.h             | 56 ++++++++++++++++++---
 gtsam/nonlinear/tests/testValues.cpp | 74 ++++++++++++++++++++++++++++
 3 files changed, 158 insertions(+), 6 deletions(-)

diff --git a/gtsam/nonlinear/Values-inl.h b/gtsam/nonlinear/Values-inl.h
index 61ea6684a..a93f9570e 100644
--- a/gtsam/nonlinear/Values-inl.h
+++ b/gtsam/nonlinear/Values-inl.h
@@ -243,16 +243,50 @@ namespace gtsam {
     insert(j, static_cast<const Value&>(GenericValue<ValueType>(val)));
   }
 
+  // partial specialization to insert an expression involving unary operators
+  template <typename UnaryOp, typename ValueType>
+  void Values::insert(Key j, const Eigen::CwiseUnaryOp<UnaryOp, const ValueType>& val) {
+    insert(j, val.eval());
+  }
+
+  // partial specialization to insert an expression involving binary operators
+  template <typename BinaryOp, typename ValueType1, typename ValueType2>
+  void Values::insert(Key j, const Eigen::CwiseBinaryOp<BinaryOp, const ValueType1, const ValueType2>& val) {
+    insert(j, val.eval());
+  }
+
   // update with templated value
   template <typename ValueType>
   void Values::update(Key j, const ValueType& val) {
     update(j, static_cast<const Value&>(GenericValue<ValueType>(val)));
   }
 
+  // partial specialization to update with an expression involving unary operators
+  template <typename UnaryOp, typename ValueType>
+  void Values::update(Key j, const Eigen::CwiseUnaryOp<UnaryOp, const ValueType>& val) {
+      update(j, val.eval());
+  }
+
+  // partial specialization to update with an expression involving binary operators
+  template <typename BinaryOp, typename ValueType1, typename ValueType2>
+  void Values::update(Key j, const Eigen::CwiseBinaryOp<BinaryOp, const ValueType1, const ValueType2>& val) {
+    update(j, val.eval());
+  }
+
   // insert_or_assign with templated value
   template <typename ValueType>
   void Values::insert_or_assign(Key j, const ValueType& val) {
     insert_or_assign(j, static_cast<const Value&>(GenericValue<ValueType>(val)));
   }
 
+  template <typename UnaryOp, typename ValueType>
+  void Values::insert_or_assign(Key j, const Eigen::CwiseUnaryOp<UnaryOp, const ValueType>& val) {
+    insert_or_assign(j, val.eval());
+  }
+
+  template <typename BinaryOp, typename ValueType1, typename ValueType2>
+  void Values::insert_or_assign(Key j, const Eigen::CwiseBinaryOp<BinaryOp, const ValueType1, const ValueType2>& val) {
+    insert_or_assign(j, val.eval());
+  }
+
 }
diff --git a/gtsam/nonlinear/Values.h b/gtsam/nonlinear/Values.h
index 75cfc24e0..7e95852a5 100644
--- a/gtsam/nonlinear/Values.h
+++ b/gtsam/nonlinear/Values.h
@@ -29,11 +29,6 @@
 #include <gtsam/base/GenericValue.h>
 #include <gtsam/base/VectorSpace.h>
 
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
-#include <boost/serialization/unique_ptr.hpp>
-#endif
-
-
 #include <memory>
 #include <string>
 #include <utility>
@@ -245,6 +240,31 @@ namespace gtsam {
     template <typename ValueType>
     void insert(Key j, const ValueType& val);
 
+    /** Partial specialization that allows passing a unary Eigen expression for val.
+      *
+      * A unary expression is an expression such as 2*a or -a, where a is a valid Vector or Matrix type.
+      * The typical usage is for types Point2 (i.e. Eigen::Vector2d) or Point3 (i.e. Eigen::Vector3d).
+      * For example, together with the partial specialization for binary operators, a user may call insert(j, 2*a + M*b - c),
+      * where M is an appropriately sized matrix (such as a rotation matrix).
+      * Thus, it isn't necessary to explicitly evaluate the Eigen expression, as in insert(j, (2*a + M*b - c).eval()),
+      * nor is it necessary to first assign the expression to a separate variable.
+      */
+    template <typename UnaryOp, typename ValueType>
+    void insert(Key j, const Eigen::CwiseUnaryOp<UnaryOp, const ValueType>& val);
+
+    /** Partial specialization that allows passing a binary Eigen expression for val.
+      *
+      * A binary expression is an expression such as a + b, where a and b are valid Vector or Matrix
+      * types of compatible size.
+      * The typical usage is for types Point2 (i.e. Eigen::Vector2d) or Point3 (i.e. Eigen::Vector3d).
+      * For example, together with the partial specialization for binary operators, a user may call insert(j, 2*a + M*b - c),
+      * where M is an appropriately sized matrix (such as a rotation matrix).
+      * Thus, it isn't necessary to explicitly evaluate the Eigen expression, as in insert(j, (2*a + M*b - c).eval()),
+      * nor is it necessary to first assign the expression to a separate variable.
+      */
+    template <typename BinaryOp, typename ValueType1, typename ValueType2>
+    void insert(Key j, const Eigen::CwiseBinaryOp<BinaryOp, const ValueType1, const ValueType2>& val);
+
     /// version for double
     void insertDouble(Key j, double c) { insert<double>(j,c); }
 
@@ -258,6 +278,18 @@ namespace gtsam {
     template <typename T>
     void update(Key j, const T& val);
 
+    /** Partial specialization that allows passing a unary Eigen expression for val,
+      * similar to the partial specialization for insert.
+      */
+    template <typename UnaryOp, typename ValueType>
+    void update(Key j, const Eigen::CwiseUnaryOp<UnaryOp, const ValueType>& val);
+
+    /** Partial specialization that allows passing a binary Eigen expression for val,
+      * similar to the partial specialization for insert.
+      */
+    template <typename BinaryOp, typename ValueType1, typename ValueType2>
+    void update(Key j, const Eigen::CwiseBinaryOp<BinaryOp, const ValueType1, const ValueType2>& val);
+
     /** update the current available values without adding new ones */
     void update(const Values& values);
 
@@ -266,7 +298,7 @@ namespace gtsam {
 
     /**
      * Update a set of variables.
-     * If any variable key doe not exist, then perform an insert.
+     * If any variable key does not exist, then perform an insert.
      */
     void insert_or_assign(const Values& values);
 
@@ -274,6 +306,18 @@ namespace gtsam {
     template <typename ValueType>
     void insert_or_assign(Key j, const ValueType& val);
 
+    /** Partial specialization that allows passing a unary Eigen expression for val,
+      * similar to the partial specialization for insert.
+      */
+    template <typename UnaryOp, typename ValueType>
+    void insert_or_assign(Key j, const Eigen::CwiseUnaryOp<UnaryOp, const ValueType>& val);
+
+    /** Partial specialization that allows passing a binary Eigen expression for val,
+      * similar to the partial specialization for insert.
+      */
+    template <typename BinaryOp, typename ValueType1, typename ValueType2>
+    void insert_or_assign(Key j, const Eigen::CwiseBinaryOp<BinaryOp, const ValueType1, const ValueType2>& val);
+
     /** Remove a variable from the config, throws KeyDoesNotExist<J> if j is not present */
     void erase(Key j);
 
diff --git a/gtsam/nonlinear/tests/testValues.cpp b/gtsam/nonlinear/tests/testValues.cpp
index 1af18ef95..2a7bede30 100644
--- a/gtsam/nonlinear/tests/testValues.cpp
+++ b/gtsam/nonlinear/tests/testValues.cpp
@@ -134,6 +134,44 @@ TEST( Values, insert_good )
   CHECK(assert_equal(expected, cfg1));
 }
 
+/* ************************************************************************* */
+TEST( Values, insert_expression )
+{
+  Point2 p1(0.1, 0.2);
+  Point2 p2(0.3, 0.4);
+  Point2 p3(0.5, 0.6);
+  Point2 p4(p1 + p2 + p3);
+  Point2 p5(-p1);
+  Point2 p6(2.0*p1);
+
+  Values cfg1, cfg2;
+  cfg1.insert(key1, p1 + p2 + p3);
+  cfg1.insert(key2, -p1);
+  cfg1.insert(key3, 2.0*p1);
+  cfg2.insert(key1, p4);
+  cfg2.insert(key2, p5);
+  cfg2.insert(key3, p6);
+
+  CHECK(assert_equal(cfg1, cfg2));
+
+  Point3 p7(0.1, 0.2, 0.3);
+  Point3 p8(0.4, 0.5, 0.6);
+  Point3 p9(0.7, 0.8, 0.9);
+  Point3 p10(p7 + p8 + p9);
+  Point3 p11(-p7);
+  Point3 p12(2.0*p7);
+
+  Values cfg3, cfg4;
+  cfg3.insert(key1, p7 + p8 + p9);
+  cfg3.insert(key2, -p7);
+  cfg3.insert(key3, 2.0*p7);
+  cfg4.insert(key1, p10);
+  cfg4.insert(key2, p11);
+  cfg4.insert(key3, p12);
+
+  CHECK(assert_equal(cfg3, cfg4));
+}
+
 /* ************************************************************************* */
 TEST( Values, insert_bad )
 {
@@ -167,6 +205,23 @@ TEST( Values, update_element )
   CHECK(assert_equal((Vector)v2, cfg.at<Vector3>(key1)));
 }
 
+/* ************************************************************************* */
+TEST(Values, update_element_with_expression)
+{
+  Values cfg;
+  Vector3 v1(5.0, 6.0, 7.0);
+  Vector3 v2(8.0, 9.0, 1.0);
+
+  cfg.insert(key1, v1);
+  CHECK(cfg.size() == 1);
+  CHECK(assert_equal((Vector)v1, cfg.at<Vector3>(key1)));
+
+  cfg.update(key1, 2.0*v1 + v2);
+  CHECK(cfg.size() == 1);
+  CHECK(assert_equal((2.0*v1 + v2).eval(), cfg.at<Vector3>(key1)));
+}
+
+/* ************************************************************************* */
 TEST(Values, InsertOrAssign) {
   Values values;
   Key X(0);
@@ -183,6 +238,25 @@ TEST(Values, InsertOrAssign) {
   EXPECT(assert_equal(values.at<double>(X), y));
 }
 
+/* ************************************************************************* */
+TEST(Values, InsertOrAssignWithExpression) {
+  Values values,expected;
+  Key X(0);
+  Vector3 x{1.0, 2.0, 3.0};
+  Vector3 y{4.0, 5.0, 6.0};
+
+  CHECK(values.size() == 0);
+  // This should perform an insert.
+  Vector3 z = x + y;
+  values.insert_or_assign(X, x + y);
+  EXPECT(assert_equal(values.at<Vector3>(X), z));
+
+  // This should perform an update.
+  z = 2.0*x - 3.0*y;
+  values.insert_or_assign(X, 2.0*x - 3.0*y);
+  EXPECT(assert_equal(values.at<Vector3>(X), z));
+}
+
 /* ************************************************************************* */
 TEST(Values, basic_functions)
 {

From 609351e25b1ccc0ed8e24a187e907467e1c2bf87 Mon Sep 17 00:00:00 2001
From: Adam Rutkowski <arutkowski@users.noreply.github.com>
Date: Thu, 13 Jul 2023 12:45:32 -0500
Subject: [PATCH 041/206] added boost unique_ptr header that was removed in
 previous commit

---
 gtsam/nonlinear/Values.h | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/gtsam/nonlinear/Values.h b/gtsam/nonlinear/Values.h
index 7e95852a5..21e8e281f 100644
--- a/gtsam/nonlinear/Values.h
+++ b/gtsam/nonlinear/Values.h
@@ -29,6 +29,11 @@
 #include <gtsam/base/GenericValue.h>
 #include <gtsam/base/VectorSpace.h>
 
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+#include <boost/serialization/unique_ptr.hpp>
+#endif
+
+
 #include <memory>
 #include <string>
 #include <utility>

From 64cd43636235bfba3cb42ba5a1c61ee89b20c2b0 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 15 Jul 2023 16:53:17 -0400
Subject: [PATCH 042/206] update InconsistentEliminationRequested to show
 leftover keys

---
 .../inference/EliminateableFactorGraph-inst.h | 10 +--
 gtsam/inference/inferenceExceptions.h         | 63 ++++++++++++++-----
 .../linear/tests/testGaussianFactorGraph.cpp  | 52 ++++++++++++---
 3 files changed, 95 insertions(+), 30 deletions(-)

diff --git a/gtsam/inference/EliminateableFactorGraph-inst.h b/gtsam/inference/EliminateableFactorGraph-inst.h
index 8a524e353..f6b11f785 100644
--- a/gtsam/inference/EliminateableFactorGraph-inst.h
+++ b/gtsam/inference/EliminateableFactorGraph-inst.h
@@ -74,8 +74,9 @@ namespace gtsam {
       EliminationTreeType etree(asDerived(), (*variableIndex).get(), ordering);
       const auto [bayesNet, factorGraph] = etree.eliminate(function);
       // If any factors are remaining, the ordering was incomplete
-      if(!factorGraph->empty())
-        throw InconsistentEliminationRequested();
+      if(!factorGraph->empty()) {
+        throw InconsistentEliminationRequested(factorGraph->keys());
+      }
       // Return the Bayes net
       return bayesNet;
     }
@@ -136,8 +137,9 @@ namespace gtsam {
       JunctionTreeType junctionTree(etree);
       const auto [bayesTree, factorGraph] = junctionTree.eliminate(function);
       // If any factors are remaining, the ordering was incomplete
-      if(!factorGraph->empty())
-        throw InconsistentEliminationRequested();
+      if(!factorGraph->empty()) {
+        throw InconsistentEliminationRequested(factorGraph->keys());
+      }
       // Return the Bayes tree
       return bayesTree;
     }
diff --git a/gtsam/inference/inferenceExceptions.h b/gtsam/inference/inferenceExceptions.h
index fa3e3cb25..061abeb85 100644
--- a/gtsam/inference/inferenceExceptions.h
+++ b/gtsam/inference/inferenceExceptions.h
@@ -12,30 +12,59 @@
 /**
  * @file    inferenceExceptions.h
  * @brief   Exceptions that may be thrown by inference algorithms
- * @author  Richard Roberts
+ * @author  Richard Roberts, Varun Agrawal
  * @date    Apr 25, 2013
  */
 #pragma once
 
 #include <gtsam/global_includes.h>
+
 #include <exception>
+#include <sstream>
 
 namespace gtsam {
 
-  /** An inference algorithm was called with inconsistent arguments.  The factor graph, ordering, or
-   *  variable index were inconsistent with each other, or a full elimination routine was called
-   *  with an ordering that does not include all of the variables. */
-  class InconsistentEliminationRequested : public std::exception {
-  public:
-    InconsistentEliminationRequested() noexcept {}
-    ~InconsistentEliminationRequested() noexcept override {}
-    const char* what() const noexcept override {
-      return
-        "An inference algorithm was called with inconsistent arguments.  The\n"
-        "factor graph, ordering, or variable index were inconsistent with each\n"
-        "other, or a full elimination routine was called with an ordering that\n"
-        "does not include all of the variables.";
-    }
-  };
+/** An inference algorithm was called with inconsistent arguments.  The factor
+ * graph, ordering, or variable index were inconsistent with each other, or a
+ * full elimination routine was called with an ordering that does not include
+ * all of the variables. */
+class InconsistentEliminationRequested : public std::exception {
+  KeySet keys_;
+  const KeyFormatter& keyFormatter = DefaultKeyFormatter;
 
-}
+ public:
+  InconsistentEliminationRequested() noexcept {}
+
+  InconsistentEliminationRequested(
+      const KeySet& keys,
+      const KeyFormatter& key_formatter = DefaultKeyFormatter)
+      : keys_(keys), keyFormatter(key_formatter) {}
+
+  ~InconsistentEliminationRequested() noexcept override {}
+  const char* what() const noexcept override {
+    // Format keys for printing
+    std::stringstream sstr;
+    for (auto key : keys_) {
+      sstr << keyFormatter(key) << ", ";
+    }
+    std::string keys = sstr.str();
+    // remove final comma and space.
+    keys.pop_back();
+    keys.pop_back();
+
+    static std::string msg =
+        "An inference algorithm was called with inconsistent "
+        "arguments.  "
+        "The\n"
+        "factor graph, ordering, or variable index were "
+        "inconsistent with "
+        "each\n"
+        "other, or a full elimination routine was called with "
+        "an ordering "
+        "that\n"
+        "does not include all of the variables.\n";
+    msg += ("Leftover keys after elimination: " + keys);
+    return msg.c_str();
+  }
+};
+}  // namespace gtsam
diff --git a/gtsam/linear/tests/testGaussianFactorGraph.cpp b/gtsam/linear/tests/testGaussianFactorGraph.cpp
index e9e626296..b140c3d85 100644
--- a/gtsam/linear/tests/testGaussianFactorGraph.cpp
+++ b/gtsam/linear/tests/testGaussianFactorGraph.cpp
@@ -18,16 +18,16 @@
  *  @author Richard Roberts
  **/
 
-#include <gtsam/linear/GaussianFactorGraph.h>
-#include <gtsam/linear/GaussianConditional.h>
-#include <gtsam/linear/GaussianBayesNet.h>
-#include <gtsam/inference/VariableSlots.h>
-#include <gtsam/inference/VariableIndex.h>
-#include <gtsam/base/debug.h>
-#include <gtsam/base/VerticalBlockMatrix.h>
-
-#include <gtsam/base/TestableAssertions.h>
 #include <CppUnitLite/TestHarness.h>
+#include <gtsam/base/TestableAssertions.h>
+#include <gtsam/base/VerticalBlockMatrix.h>
+#include <gtsam/base/debug.h>
+#include <gtsam/inference/Symbol.h>
+#include <gtsam/inference/VariableIndex.h>
+#include <gtsam/inference/VariableSlots.h>
+#include <gtsam/linear/GaussianBayesNet.h>
+#include <gtsam/linear/GaussianConditional.h>
+#include <gtsam/linear/GaussianFactorGraph.h>
 
 using namespace std;
 using namespace gtsam;
@@ -435,6 +435,40 @@ TEST(GaussianFactorGraph, ProbPrime) {
   EXPECT_DOUBLES_EQUAL(expected, gfg.probPrime(values), 1e-12);
 }
 
+TEST(GaussianFactorGraph, InconsistentEliminationMessage) {
+  // Create empty graph
+  GaussianFactorGraph fg;
+  SharedDiagonal unit2 = noiseModel::Unit::Create(2);
+
+  using gtsam::symbol_shorthand::X;
+  fg.emplace_shared<JacobianFactor>(0, 10 * I_2x2, -1.0 * Vector::Ones(2),
+                                    unit2);
+  fg.emplace_shared<JacobianFactor>(0, -10 * I_2x2, 1, 10 * I_2x2,
+                                    Vector2(2.0, -1.0), unit2);
+  fg.emplace_shared<JacobianFactor>(1, -5 * I_2x2, 2, 5 * I_2x2,
+                                    Vector2(-1.0, 1.5), unit2);
+  fg.emplace_shared<JacobianFactor>(2, -5 * I_2x2, X(3), 5 * I_2x2,
+                                    Vector2(-1.0, 1.5), unit2);
+
+  Ordering ordering{0, 1};
+
+  try {
+    fg.eliminateSequential(ordering);
+  } catch (const exception& exc) {
+    std::string expected_exception_message = "An inference algorithm was called with inconsistent "
+        "arguments.  "
+        "The\n"
+        "factor graph, ordering, or variable index were "
+        "inconsistent with "
+        "each\n"
+        "other, or a full elimination routine was called with "
+        "an ordering "
+        "that\n"
+        "does not include all of the variables.\n"
+        "Leftover keys after elimination: 2, x3";
+    EXPECT(expected_exception_message == exc.what());
+  }
+}
 /* ************************************************************************* */
 int main() {
   TestResult tr;

From 953150649208b1a8f7b3bb3f4dae097dfcb2600a Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 28 Jun 2023 16:13:54 -0400
Subject: [PATCH 043/206] rename variables to be agnostic to underlying data
 structure

---
 gtsam/hybrid/GaussianMixture.cpp           | 28 ++++++-------
 gtsam/hybrid/GaussianMixture.h             | 11 +++--
 gtsam/hybrid/HybridBayesNet.cpp            | 49 ++++++++++++----------
 gtsam/hybrid/HybridBayesNet.h              |  4 +-
 gtsam/hybrid/HybridBayesTree.cpp           | 17 ++++----
 gtsam/hybrid/HybridGaussianFactorGraph.cpp |  7 +---
 gtsam/hybrid/HybridGaussianFactorGraph.h   |  7 ++--
 7 files changed, 61 insertions(+), 62 deletions(-)

diff --git a/gtsam/hybrid/GaussianMixture.cpp b/gtsam/hybrid/GaussianMixture.cpp
index 546d0200b..659d44423 100644
--- a/gtsam/hybrid/GaussianMixture.cpp
+++ b/gtsam/hybrid/GaussianMixture.cpp
@@ -228,19 +228,19 @@ std::set<DiscreteKey> DiscreteKeysAsSet(const DiscreteKeys &discreteKeys) {
 /**
  * @brief Helper function to get the pruner functional.
  *
- * @param decisionTree The probability decision tree of only discrete keys.
+ * @param discreteProbs The probabilities of only discrete keys.
  * @return std::function<GaussianConditional::shared_ptr(
  * const Assignment<Key> &, const GaussianConditional::shared_ptr &)>
  */
 std::function<GaussianConditional::shared_ptr(
     const Assignment<Key> &, const GaussianConditional::shared_ptr &)>
-GaussianMixture::prunerFunc(const DecisionTreeFactor &decisionTree) {
+GaussianMixture::prunerFunc(const DecisionTreeFactor &discreteProbs) {
   // Get the discrete keys as sets for the decision tree
   // and the gaussian mixture.
-  auto decisionTreeKeySet = DiscreteKeysAsSet(decisionTree.discreteKeys());
+  auto discreteProbsKeySet = DiscreteKeysAsSet(discreteProbs.discreteKeys());
   auto gaussianMixtureKeySet = DiscreteKeysAsSet(this->discreteKeys());
 
-  auto pruner = [decisionTree, decisionTreeKeySet, gaussianMixtureKeySet](
+  auto pruner = [discreteProbs, discreteProbsKeySet, gaussianMixtureKeySet](
                     const Assignment<Key> &choices,
                     const GaussianConditional::shared_ptr &conditional)
       -> GaussianConditional::shared_ptr {
@@ -249,8 +249,8 @@ GaussianMixture::prunerFunc(const DecisionTreeFactor &decisionTree) {
 
     // Case where the gaussian mixture has the same
     // discrete keys as the decision tree.
-    if (gaussianMixtureKeySet == decisionTreeKeySet) {
-      if (decisionTree(values) == 0.0) {
+    if (gaussianMixtureKeySet == discreteProbsKeySet) {
+      if (discreteProbs(values) == 0.0) {
         // empty aka null pointer
         std::shared_ptr<GaussianConditional> null;
         return null;
@@ -259,10 +259,10 @@ GaussianMixture::prunerFunc(const DecisionTreeFactor &decisionTree) {
       }
     } else {
       std::vector<DiscreteKey> set_diff;
-      std::set_difference(decisionTreeKeySet.begin(), decisionTreeKeySet.end(),
-                          gaussianMixtureKeySet.begin(),
-                          gaussianMixtureKeySet.end(),
-                          std::back_inserter(set_diff));
+      std::set_difference(
+          discreteProbsKeySet.begin(), discreteProbsKeySet.end(),
+          gaussianMixtureKeySet.begin(), gaussianMixtureKeySet.end(),
+          std::back_inserter(set_diff));
 
       const std::vector<DiscreteValues> assignments =
           DiscreteValues::CartesianProduct(set_diff);
@@ -272,7 +272,7 @@ GaussianMixture::prunerFunc(const DecisionTreeFactor &decisionTree) {
 
         // If any one of the sub-branches are non-zero,
         // we need this conditional.
-        if (decisionTree(augmented_values) > 0.0) {
+        if (discreteProbs(augmented_values) > 0.0) {
           return conditional;
         }
       }
@@ -285,12 +285,12 @@ GaussianMixture::prunerFunc(const DecisionTreeFactor &decisionTree) {
 }
 
 /* *******************************************************************************/
-void GaussianMixture::prune(const DecisionTreeFactor &decisionTree) {
-  auto decisionTreeKeySet = DiscreteKeysAsSet(decisionTree.discreteKeys());
+void GaussianMixture::prune(const DecisionTreeFactor &discreteProbs) {
+  auto discreteProbsKeySet = DiscreteKeysAsSet(discreteProbs.discreteKeys());
   auto gmKeySet = DiscreteKeysAsSet(this->discreteKeys());
   // Functional which loops over all assignments and create a set of
   // GaussianConditionals
-  auto pruner = prunerFunc(decisionTree);
+  auto pruner = prunerFunc(discreteProbs);
 
   auto pruned_conditionals = conditionals_.apply(pruner);
   conditionals_.root_ = pruned_conditionals.root_;
diff --git a/gtsam/hybrid/GaussianMixture.h b/gtsam/hybrid/GaussianMixture.h
index 2d715c6e3..0b68fcfd0 100644
--- a/gtsam/hybrid/GaussianMixture.h
+++ b/gtsam/hybrid/GaussianMixture.h
@@ -74,13 +74,13 @@ class GTSAM_EXPORT GaussianMixture
   /**
    * @brief Helper function to get the pruner functor.
    *
-   * @param decisionTree The pruned discrete probability decision tree.
+   * @param discreteProbs The pruned discrete probabilities.
    * @return std::function<GaussianConditional::shared_ptr(
    * const Assignment<Key> &, const GaussianConditional::shared_ptr &)>
    */
   std::function<GaussianConditional::shared_ptr(
       const Assignment<Key> &, const GaussianConditional::shared_ptr &)>
-  prunerFunc(const DecisionTreeFactor &decisionTree);
+  prunerFunc(const DecisionTreeFactor &discreteProbs);
 
  public:
   /// @name Constructors
@@ -234,12 +234,11 @@ class GTSAM_EXPORT GaussianMixture
 
   /**
    * @brief Prune the decision tree of Gaussian factors as per the discrete
-   * `decisionTree`.
+   * `discreteProbs`.
    *
-   * @param decisionTree A pruned decision tree of discrete keys where the
-   * leaves are probabilities.
+   * @param discreteProbs A pruned set of probabilities for the discrete keys.
    */
-  void prune(const DecisionTreeFactor &decisionTree);
+  void prune(const DecisionTreeFactor &discreteProbs);
 
   /**
    * @brief Merge the Gaussian Factor Graphs in `this` and `sum` while
diff --git a/gtsam/hybrid/HybridBayesNet.cpp b/gtsam/hybrid/HybridBayesNet.cpp
index 68129bc27..ab68e170f 100644
--- a/gtsam/hybrid/HybridBayesNet.cpp
+++ b/gtsam/hybrid/HybridBayesNet.cpp
@@ -39,41 +39,41 @@ bool HybridBayesNet::equals(const This &bn, double tol) const {
 
 /* ************************************************************************* */
 DecisionTreeFactor::shared_ptr HybridBayesNet::discreteConditionals() const {
-  AlgebraicDecisionTree<Key> decisionTree;
+  AlgebraicDecisionTree<Key> discreteProbs;
 
   // The canonical decision tree factor which will get
   // the discrete conditionals added to it.
-  DecisionTreeFactor dtFactor;
+  DecisionTreeFactor discreteProbsFactor;
 
   for (auto &&conditional : *this) {
     if (conditional->isDiscrete()) {
       // Convert to a DecisionTreeFactor and add it to the main factor.
       DecisionTreeFactor f(*conditional->asDiscrete());
-      dtFactor = dtFactor * f;
+      discreteProbsFactor = discreteProbsFactor * f;
     }
   }
-  return std::make_shared<DecisionTreeFactor>(dtFactor);
+  return std::make_shared<DecisionTreeFactor>(discreteProbsFactor);
 }
 
 /* ************************************************************************* */
 /**
  * @brief Helper function to get the pruner functional.
  *
- * @param prunedDecisionTree  The prob. decision tree of only discrete keys.
+ * @param prunedDiscreteProbs  The prob. decision tree of only discrete keys.
  * @param conditional Conditional to prune. Used to get full assignment.
  * @return std::function<double(const Assignment<Key> &, double)>
  */
 std::function<double(const Assignment<Key> &, double)> prunerFunc(
-    const DecisionTreeFactor &prunedDecisionTree,
+    const DecisionTreeFactor &prunedDiscreteProbs,
     const HybridConditional &conditional) {
   // Get the discrete keys as sets for the decision tree
   // and the Gaussian mixture.
-  std::set<DiscreteKey> decisionTreeKeySet =
-      DiscreteKeysAsSet(prunedDecisionTree.discreteKeys());
+  std::set<DiscreteKey> discreteProbsKeySet =
+      DiscreteKeysAsSet(prunedDiscreteProbs.discreteKeys());
   std::set<DiscreteKey> conditionalKeySet =
       DiscreteKeysAsSet(conditional.discreteKeys());
 
-  auto pruner = [prunedDecisionTree, decisionTreeKeySet, conditionalKeySet](
+  auto pruner = [prunedDiscreteProbs, discreteProbsKeySet, conditionalKeySet](
                     const Assignment<Key> &choices,
                     double probability) -> double {
     // This corresponds to 0 probability
@@ -83,8 +83,8 @@ std::function<double(const Assignment<Key> &, double)> prunerFunc(
     DiscreteValues values(choices);
     // Case where the Gaussian mixture has the same
     // discrete keys as the decision tree.
-    if (conditionalKeySet == decisionTreeKeySet) {
-      if (prunedDecisionTree(values) == 0) {
+    if (conditionalKeySet == discreteProbsKeySet) {
+      if (prunedDiscreteProbs(values) == 0) {
         return pruned_prob;
       } else {
         return probability;
@@ -114,11 +114,12 @@ std::function<double(const Assignment<Key> &, double)> prunerFunc(
       }
 
       // Now we generate the full assignment by enumerating
-      // over all keys in the prunedDecisionTree.
+      // over all keys in the prunedDiscreteProbs.
       // First we find the differing keys
       std::vector<DiscreteKey> set_diff;
-      std::set_difference(decisionTreeKeySet.begin(), decisionTreeKeySet.end(),
-                          conditionalKeySet.begin(), conditionalKeySet.end(),
+      std::set_difference(discreteProbsKeySet.begin(),
+                          discreteProbsKeySet.end(), conditionalKeySet.begin(),
+                          conditionalKeySet.end(),
                           std::back_inserter(set_diff));
 
       // Now enumerate over all assignments of the differing keys
@@ -130,7 +131,7 @@ std::function<double(const Assignment<Key> &, double)> prunerFunc(
 
         // If any one of the sub-branches are non-zero,
         // we need this probability.
-        if (prunedDecisionTree(augmented_values) > 0.0) {
+        if (prunedDiscreteProbs(augmented_values) > 0.0) {
           return probability;
         }
       }
@@ -144,8 +145,8 @@ std::function<double(const Assignment<Key> &, double)> prunerFunc(
 
 /* ************************************************************************* */
 void HybridBayesNet::updateDiscreteConditionals(
-    const DecisionTreeFactor &prunedDecisionTree) {
-  KeyVector prunedTreeKeys = prunedDecisionTree.keys();
+    const DecisionTreeFactor &prunedDiscreteProbs) {
+  KeyVector prunedTreeKeys = prunedDiscreteProbs.keys();
 
   // Loop with index since we need it later.
   for (size_t i = 0; i < this->size(); i++) {
@@ -157,7 +158,7 @@ void HybridBayesNet::updateDiscreteConditionals(
       auto discreteTree =
           std::dynamic_pointer_cast<DecisionTreeFactor::ADT>(discrete);
       DecisionTreeFactor::ADT prunedDiscreteTree =
-          discreteTree->apply(prunerFunc(prunedDecisionTree, *conditional));
+          discreteTree->apply(prunerFunc(prunedDiscreteProbs, *conditional));
 
       // Create the new (hybrid) conditional
       KeyVector frontals(discrete->frontals().begin(),
@@ -175,10 +176,12 @@ void HybridBayesNet::updateDiscreteConditionals(
 /* ************************************************************************* */
 HybridBayesNet HybridBayesNet::prune(size_t maxNrLeaves) {
   // Get the decision tree of only the discrete keys
-  auto discreteConditionals = this->discreteConditionals();
-  const auto decisionTree = discreteConditionals->prune(maxNrLeaves);
+  DecisionTreeFactor::shared_ptr discreteConditionals =
+      this->discreteConditionals();
+  const DecisionTreeFactor prunedDiscreteProbs =
+      discreteConditionals->prune(maxNrLeaves);
 
-  this->updateDiscreteConditionals(decisionTree);
+  this->updateDiscreteConditionals(prunedDiscreteProbs);
 
   /* To Prune, we visitWith every leaf in the GaussianMixture.
    * For each leaf, using the assignment we can check the discrete decision tree
@@ -190,12 +193,12 @@ HybridBayesNet HybridBayesNet::prune(size_t maxNrLeaves) {
   HybridBayesNet prunedBayesNetFragment;
 
   // Go through all the conditionals in the
-  // Bayes Net and prune them as per decisionTree.
+  // Bayes Net and prune them as per prunedDiscreteProbs.
   for (auto &&conditional : *this) {
     if (auto gm = conditional->asMixture()) {
       // Make a copy of the Gaussian mixture and prune it!
       auto prunedGaussianMixture = std::make_shared<GaussianMixture>(*gm);
-      prunedGaussianMixture->prune(decisionTree);  // imperative :-(
+      prunedGaussianMixture->prune(prunedDiscreteProbs);  // imperative :-(
 
       // Type-erase and add to the pruned Bayes Net fragment.
       prunedBayesNetFragment.push_back(prunedGaussianMixture);
diff --git a/gtsam/hybrid/HybridBayesNet.h b/gtsam/hybrid/HybridBayesNet.h
index 2b0042b8d..23fc4d5d3 100644
--- a/gtsam/hybrid/HybridBayesNet.h
+++ b/gtsam/hybrid/HybridBayesNet.h
@@ -224,9 +224,9 @@ class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
   /**
    * @brief Update the discrete conditionals with the pruned versions.
    *
-   * @param prunedDecisionTree
+   * @param prunedDiscreteProbs
    */
-  void updateDiscreteConditionals(const DecisionTreeFactor &prunedDecisionTree);
+  void updateDiscreteConditionals(const DecisionTreeFactor &prunedDiscreteProbs);
 
 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
diff --git a/gtsam/hybrid/HybridBayesTree.cpp b/gtsam/hybrid/HybridBayesTree.cpp
index b252e613e..ae8fa0378 100644
--- a/gtsam/hybrid/HybridBayesTree.cpp
+++ b/gtsam/hybrid/HybridBayesTree.cpp
@@ -173,19 +173,18 @@ VectorValues HybridBayesTree::optimize(const DiscreteValues& assignment) const {
 
 /* ************************************************************************* */
 void HybridBayesTree::prune(const size_t maxNrLeaves) {
-  auto decisionTree =
-      this->roots_.at(0)->conditional()->asDiscrete();
+  auto discreteProbs = this->roots_.at(0)->conditional()->asDiscrete();
 
-  DecisionTreeFactor prunedDecisionTree = decisionTree->prune(maxNrLeaves);
-  decisionTree->root_ = prunedDecisionTree.root_;
+  DecisionTreeFactor prunedDiscreteProbs = discreteProbs->prune(maxNrLeaves);
+  discreteProbs->root_ = prunedDiscreteProbs.root_;
 
   /// Helper struct for pruning the hybrid bayes tree.
   struct HybridPrunerData {
     /// The discrete decision tree after pruning.
-    DecisionTreeFactor prunedDecisionTree;
-    HybridPrunerData(const DecisionTreeFactor& prunedDecisionTree,
+    DecisionTreeFactor prunedDiscreteProbs;
+    HybridPrunerData(const DecisionTreeFactor& prunedDiscreteProbs,
                      const HybridBayesTree::sharedNode& parentClique)
-        : prunedDecisionTree(prunedDecisionTree) {}
+        : prunedDiscreteProbs(prunedDiscreteProbs) {}
 
     /**
      * @brief A function used during tree traversal that operates on each node
@@ -205,13 +204,13 @@ void HybridBayesTree::prune(const size_t maxNrLeaves) {
       if (conditional->isHybrid()) {
         auto gaussianMixture = conditional->asMixture();
 
-        gaussianMixture->prune(parentData.prunedDecisionTree);
+        gaussianMixture->prune(parentData.prunedDiscreteProbs);
       }
       return parentData;
     }
   };
 
-  HybridPrunerData rootData(prunedDecisionTree, 0);
+  HybridPrunerData rootData(prunedDiscreteProbs, 0);
   {
     treeTraversal::no_op visitorPost;
     // Limits OpenMP threads since we're mixing TBB and OpenMP
diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index f0d28e9f5..8b9d62822 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -190,7 +190,8 @@ discreteElimination(const HybridGaussianFactorGraph &factors,
 /* ************************************************************************ */
 // If any GaussianFactorGraph in the decision tree contains a nullptr, convert
 // that leaf to an empty GaussianFactorGraph. Needed since the DecisionTree will
-// otherwise create a GFG with a single (null) factor, which doesn't register as null.
+// otherwise create a GFG with a single (null) factor,
+// which doesn't register as null.
 GaussianFactorGraphTree removeEmpty(const GaussianFactorGraphTree &sum) {
   auto emptyGaussian = [](const GaussianFactorGraph &graph) {
     bool hasNull =
@@ -246,10 +247,6 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
   // Perform elimination!
   DecisionTree<Key, Result> eliminationResults(factorGraphTree, eliminate);
 
-#ifdef HYBRID_TIMING
-  tictoc_print_();
-#endif
-
   // Separate out decision tree into conditionals and remaining factors.
   const auto [conditionals, newFactors] = unzip(eliminationResults);
 
diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.h b/gtsam/hybrid/HybridGaussianFactorGraph.h
index f911b135b..421e69aa0 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.h
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.h
@@ -112,8 +112,8 @@ class GTSAM_EXPORT HybridGaussianFactorGraph
  public:
   using Base = HybridFactorGraph;
   using This = HybridGaussianFactorGraph;  ///< this class
-  using BaseEliminateable =
-      EliminateableFactorGraph<This>;          ///< for elimination
+  ///< for elimination
+  using BaseEliminateable = EliminateableFactorGraph<This>;
   using shared_ptr = std::shared_ptr<This>;  ///< shared_ptr to This
 
   using Values = gtsam::Values;  ///< backwards compatibility
@@ -148,7 +148,8 @@ class GTSAM_EXPORT HybridGaussianFactorGraph
   /// @name Standard Interface
   /// @{
 
-  using Base::error; // Expose error(const HybridValues&) method..
+  /// Expose error(const HybridValues&) method.
+  using Base::error;
 
   /**
    * @brief Compute error for each discrete assignment,

From 0515329c389cb8c13a65ddc7c629b684cef74f32 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 28 Jun 2023 18:24:12 -0400
Subject: [PATCH 044/206] DiscreteFactor serialization

---
 gtsam/discrete/DiscreteFactor.h | 27 ++++++++++++++++++---------
 1 file changed, 18 insertions(+), 9 deletions(-)

diff --git a/gtsam/discrete/DiscreteFactor.h b/gtsam/discrete/DiscreteFactor.h
index f00ebc499..6da0e98ae 100644
--- a/gtsam/discrete/DiscreteFactor.h
+++ b/gtsam/discrete/DiscreteFactor.h
@@ -36,18 +36,16 @@ class HybridValues;
  * @ingroup discrete
  */
 class GTSAM_EXPORT DiscreteFactor: public Factor {
-
-public:
-
+ public:
   // typedefs needed to play nice with gtsam
-  typedef DiscreteFactor This; ///< This class
-  typedef std::shared_ptr<DiscreteFactor> shared_ptr; ///< shared_ptr to this class
-  typedef Factor Base; ///< Our base class
+  typedef DiscreteFactor This;  ///< This class
+  typedef std::shared_ptr<DiscreteFactor>
+      shared_ptr;       ///< shared_ptr to this class
+  typedef Factor Base;  ///< Our base class
 
-  using Values = DiscreteValues; ///< backwards compatibility
-
-public:
+  using Values = DiscreteValues;  ///< backwards compatibility
 
+ public:
   /// @name Standard Constructors
   /// @{
 
@@ -124,6 +122,17 @@ public:
       const Names& names = {}) const = 0;
 
   /// @}
+
+ private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+  /** Serialization function */
+  friend class boost::serialization::access;
+  template <class ARCHIVE>
+  void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
+    ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
+    ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(ADT);
+  }
+#endif
 };
 // DiscreteFactor
 

From 3ee46ec2802dd4cfc396307e938483c05bff82b8 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 28 Jun 2023 18:24:39 -0400
Subject: [PATCH 045/206] test to construct DecisionTreeFactor from
 DiscreteConditional

---
 gtsam/discrete/tests/testDecisionTreeFactor.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/gtsam/discrete/tests/testDecisionTreeFactor.cpp b/gtsam/discrete/tests/testDecisionTreeFactor.cpp
index 3dbb3e64f..57584a03b 100644
--- a/gtsam/discrete/tests/testDecisionTreeFactor.cpp
+++ b/gtsam/discrete/tests/testDecisionTreeFactor.cpp
@@ -51,6 +51,11 @@ TEST( DecisionTreeFactor, constructors)
 
   // Assert that error = -log(value)
   EXPECT_DOUBLES_EQUAL(-log(f1(values)), f1.error(values), 1e-9);
+
+  // Construct from DiscreteConditional
+  DiscreteConditional conditional(X | Y = "1/1 2/3 1/4");
+  DecisionTreeFactor f4(conditional);
+  EXPECT_DOUBLES_EQUAL(0.8, f4(values), 1e-9);
 }
 
 /* ************************************************************************* */

From 2994c55b5176b0c20d8df445b12ac2f691ee08c3 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 28 Jun 2023 18:25:23 -0400
Subject: [PATCH 046/206] fix DiscreteFactor serialization

---
 gtsam/discrete/DiscreteFactor.h | 1 -
 1 file changed, 1 deletion(-)

diff --git a/gtsam/discrete/DiscreteFactor.h b/gtsam/discrete/DiscreteFactor.h
index 6da0e98ae..2132e1cc8 100644
--- a/gtsam/discrete/DiscreteFactor.h
+++ b/gtsam/discrete/DiscreteFactor.h
@@ -130,7 +130,6 @@ class GTSAM_EXPORT DiscreteFactor: public Factor {
   template <class ARCHIVE>
   void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
     ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
-    ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(ADT);
   }
 #endif
 };

From c06861e7da13e8fa67c89415797773a90611b316 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 28 Jun 2023 18:25:53 -0400
Subject: [PATCH 047/206] DecisionTreeFactor cardinalities getter

---
 gtsam/discrete/DecisionTreeFactor.h | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/gtsam/discrete/DecisionTreeFactor.h b/gtsam/discrete/DecisionTreeFactor.h
index 95054bcdb..0cfda6b7d 100644
--- a/gtsam/discrete/DecisionTreeFactor.h
+++ b/gtsam/discrete/DecisionTreeFactor.h
@@ -119,6 +119,8 @@ namespace gtsam {
 
     static double safe_div(const double& a, const double& b);
 
+    std::map<Key, size_t> cardinalities() const { return cardinalities_; }
+
     size_t cardinality(Key j) const { return cardinalities_.at(j); }
 
     /// divide by factor f (safely)

From fceb290e8058fcb930f71fa10e3122628b0a28db Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 28 Jun 2023 19:09:08 -0400
Subject: [PATCH 048/206] add TableFactor constructor from DiscreteConditional

---
 gtsam/discrete/DecisionTreeFactor.cpp    | 18 +++++++++++++-----
 gtsam/discrete/DecisionTreeFactor.h      |  3 +++
 gtsam/discrete/TableFactor.cpp           |  7 ++++++-
 gtsam/discrete/TableFactor.h             | 18 +++++++++++-------
 gtsam/discrete/tests/testTableFactor.cpp | 13 +++++++++++--
 5 files changed, 44 insertions(+), 15 deletions(-)

diff --git a/gtsam/discrete/DecisionTreeFactor.cpp b/gtsam/discrete/DecisionTreeFactor.cpp
index 5fb5ae2e6..04e29024c 100644
--- a/gtsam/discrete/DecisionTreeFactor.cpp
+++ b/gtsam/discrete/DecisionTreeFactor.cpp
@@ -181,6 +181,15 @@ namespace gtsam {
     return result;
   }
 
+  /* ************************************************************************ */
+  std::vector<double> DecisionTreeFactor::probabilities() const {
+    std::vector<double> probs;
+    for (auto&& [key, value] : enumerate()) {
+      probs.push_back(value);
+    }
+    return probs;
+  }
+
   /* ************************************************************************ */
   DiscreteKeys DecisionTreeFactor::discreteKeys() const {
     DiscreteKeys result;
@@ -306,11 +315,10 @@ namespace gtsam {
 
     // Get the probabilities in the decision tree so we can threshold.
     std::vector<double> probabilities;
-    this->visitLeaf([&](const Leaf& leaf) {
-      size_t nrAssignments = leaf.nrAssignments();
-      double prob = leaf.constant();
-      probabilities.insert(probabilities.end(), nrAssignments, prob);
-    });
+    // NOTE(Varun) this is potentially slow due to the cartesian product
+    for (auto&& [assignment, prob] : this->enumerate()) {
+      probabilities.push_back(prob);
+    }
 
     // The number of probabilities can be lower than max_leaves
     if (probabilities.size() <= N) {
diff --git a/gtsam/discrete/DecisionTreeFactor.h b/gtsam/discrete/DecisionTreeFactor.h
index 0cfda6b7d..42639095f 100644
--- a/gtsam/discrete/DecisionTreeFactor.h
+++ b/gtsam/discrete/DecisionTreeFactor.h
@@ -181,6 +181,9 @@ namespace gtsam {
     /// Enumerate all values into a map from values to double.
     std::vector<std::pair<DiscreteValues, double>> enumerate() const;
 
+    /// Get all the probabilities in order of assignment values
+    std::vector<double> probabilities() const;
+
     /// Return all the discrete keys associated with this factor.
     DiscreteKeys discreteKeys() const;
 
diff --git a/gtsam/discrete/TableFactor.cpp b/gtsam/discrete/TableFactor.cpp
index 5fe3cd9d1..c59b7b72c 100644
--- a/gtsam/discrete/TableFactor.cpp
+++ b/gtsam/discrete/TableFactor.cpp
@@ -13,11 +13,12 @@
  * @file TableFactor.cpp
  * @brief discrete factor
  * @date May 4, 2023
- * @author Yoonwoo Kim
+ * @author Yoonwoo Kim, Varun Agrawal
  */
 
 #include <gtsam/base/FastSet.h>
 #include <gtsam/discrete/DecisionTreeFactor.h>
+#include <gtsam/discrete/DiscreteConditional.h>
 #include <gtsam/discrete/TableFactor.h>
 #include <gtsam/hybrid/HybridValues.h>
 
@@ -56,6 +57,10 @@ TableFactor::TableFactor(const DiscreteKeys& dkeys,
   sort(sorted_dkeys_.begin(), sorted_dkeys_.end());
 }
 
+/* ************************************************************************ */
+TableFactor::TableFactor(const DiscreteConditional& c)
+    : TableFactor(c.discreteKeys(), c.probabilities()) {}
+
 /* ************************************************************************ */
 Eigen::SparseVector<double> TableFactor::Convert(
     const std::vector<double>& table) {
diff --git a/gtsam/discrete/TableFactor.h b/gtsam/discrete/TableFactor.h
index 1462180e0..08c675b67 100644
--- a/gtsam/discrete/TableFactor.h
+++ b/gtsam/discrete/TableFactor.h
@@ -12,7 +12,7 @@
 /**
  * @file TableFactor.h
  * @date May 4, 2023
- * @author Yoonwoo Kim
+ * @author Yoonwoo Kim, Varun Agrawal
  */
 
 #pragma once
@@ -32,6 +32,7 @@
 
 namespace gtsam {
 
+class DiscreteConditional;
 class HybridValues;
 
 /**
@@ -57,10 +58,10 @@ class GTSAM_EXPORT TableFactor : public DiscreteFactor {
 
   /**
    * @brief Uses lazy cartesian product to find nth entry in the cartesian
-   * product of arrays in O(1) 
-   * Example) 
-   *   v0 | v1 | val 
-   *    0 |  0 |  10 
+   * product of arrays in O(1)
+   * Example)
+   *   v0 | v1 | val
+   *    0 |  0 |  10
    *    0 |  1 |  21
    *    1 |  0 |  32
    *    1 |  1 |  43
@@ -75,13 +76,13 @@ class GTSAM_EXPORT TableFactor : public DiscreteFactor {
    * @brief Return ith key in keys_ as a DiscreteKey
    * @param i ith key in keys_
    * @return DiscreteKey
-   * */ 
+   */
   DiscreteKey discreteKey(size_t i) const {
     return DiscreteKey(keys_[i], cardinalities_.at(keys_[i]));
   }
 
   /// Convert probability table given as doubles to SparseVector.
-  /// Example) {0, 1, 1, 0, 0, 1, 0} -> values: {1, 1, 1}, indices: {1, 2, 5} 
+  /// Example) {0, 1, 1, 0, 0, 1, 0} -> values: {1, 1, 1}, indices: {1, 2, 5}
   static Eigen::SparseVector<double> Convert(const std::vector<double>& table);
 
   /// Convert probability table given as string to SparseVector.
@@ -142,6 +143,9 @@ class GTSAM_EXPORT TableFactor : public DiscreteFactor {
   TableFactor(const DiscreteKey& key, const std::vector<double>& row)
       : TableFactor(DiscreteKeys{key}, row) {}
 
+  /** Construct from a DiscreteConditional type */
+  explicit TableFactor(const DiscreteConditional& c);
+
   /// @}
   /// @name Testable
   /// @{
diff --git a/gtsam/discrete/tests/testTableFactor.cpp b/gtsam/discrete/tests/testTableFactor.cpp
index 3ad757347..b307d78f6 100644
--- a/gtsam/discrete/tests/testTableFactor.cpp
+++ b/gtsam/discrete/tests/testTableFactor.cpp
@@ -93,7 +93,8 @@ void printTime(map<double, pair<chrono::microseconds, chrono::microseconds>>
   for (auto&& kv : measured_time) {
     cout << "dropout: " << kv.first
          << " | TableFactor time: " << kv.second.first.count()
-         << " | DecisionTreeFactor time: " << kv.second.second.count() << endl;
+         << " | DecisionTreeFactor time: " << kv.second.second.count() <<
+         endl;
   }
 }
 
@@ -124,6 +125,13 @@ TEST(TableFactor, constructors) {
 
   // Assert that error = -log(value)
   EXPECT_DOUBLES_EQUAL(-log(f1(values)), f1.error(values), 1e-9);
+
+  // Construct from DiscreteConditional
+  DiscreteConditional conditional(X | Y = "1/1 2/3 1/4");
+  TableFactor f4(conditional);
+  // Manually constructed via inspection and comparison to DecisionTreeFactor
+  TableFactor expected(X & Y, "0.5 0.4 0.2 0.5 0.6 0.8");
+  EXPECT(assert_equal(expected, f4));
 }
 
 /* ************************************************************************* */
@@ -156,7 +164,8 @@ TEST(TableFactor, multiplication) {
 /* ************************************************************************* */
 // Benchmark which compares runtime of multiplication of two TableFactors
 // and two DecisionTreeFactors given sparsity from dense to 90% sparsity.
-TEST(TableFactor, benchmark) {
+// NOTE: Enable to run.
+TEST_DISABLED(TableFactor, benchmark) {
   DiscreteKey A(0, 5), B(1, 2), C(2, 5), D(3, 2), E(4, 5), F(5, 2), G(6, 3),
       H(7, 2), I(8, 5), J(9, 7), K(10, 2), L(11, 3);
 

From 64ecb8581e6b6b92199cf0370be0bea2f0d6cc0c Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 28 Jun 2023 19:09:43 -0400
Subject: [PATCH 049/206] improve comments

---
 gtsam/hybrid/HybridBayesNet.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/gtsam/hybrid/HybridBayesNet.cpp b/gtsam/hybrid/HybridBayesNet.cpp
index ab68e170f..13280f1c2 100644
--- a/gtsam/hybrid/HybridBayesNet.cpp
+++ b/gtsam/hybrid/HybridBayesNet.cpp
@@ -154,9 +154,10 @@ void HybridBayesNet::updateDiscreteConditionals(
     if (conditional->isDiscrete()) {
       auto discrete = conditional->asDiscrete();
 
-      // Apply prunerFunc to the underlying AlgebraicDecisionTree
+      // Convert pointer from conditional to factor
       auto discreteTree =
           std::dynamic_pointer_cast<DecisionTreeFactor::ADT>(discrete);
+      // Apply prunerFunc to the underlying AlgebraicDecisionTree
       DecisionTreeFactor::ADT prunedDiscreteTree =
           discreteTree->apply(prunerFunc(prunedDiscreteProbs, *conditional));
 

From 50d24ab38ebf356ca6e9671d61dc9a1369240fd0 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 8 Jul 2023 11:33:01 -0400
Subject: [PATCH 050/206] move common functions to DiscreteFactor class

---
 gtsam/discrete/DecisionTreeFactor.cpp | 37 ++++++++-------------------
 gtsam/discrete/DecisionTreeFactor.h   | 12 ---------
 gtsam/discrete/DiscreteFactor.cpp     | 12 +++++++++
 gtsam/discrete/DiscreteFactor.h       | 25 +++++++++++++++---
 gtsam/discrete/TableFactor.cpp        | 19 +++-----------
 gtsam/discrete/TableFactor.h          |  7 -----
 6 files changed, 46 insertions(+), 66 deletions(-)

diff --git a/gtsam/discrete/DecisionTreeFactor.cpp b/gtsam/discrete/DecisionTreeFactor.cpp
index 04e29024c..ff18268b1 100644
--- a/gtsam/discrete/DecisionTreeFactor.cpp
+++ b/gtsam/discrete/DecisionTreeFactor.cpp
@@ -33,16 +33,13 @@ namespace gtsam {
 
   /* ************************************************************************ */
   DecisionTreeFactor::DecisionTreeFactor(const DiscreteKeys& keys,
-                                        const ADT& potentials)
-      : DiscreteFactor(keys.indices()),
-        ADT(potentials),
-        cardinalities_(keys.cardinalities()) {}
+                                         const ADT& potentials)
+      : DiscreteFactor(keys.indices(), keys.cardinalities()), ADT(potentials) {}
 
   /* ************************************************************************ */
   DecisionTreeFactor::DecisionTreeFactor(const DiscreteConditional& c)
-      : DiscreteFactor(c.keys()),
-        AlgebraicDecisionTree<Key>(c),
-        cardinalities_(c.cardinalities_) {}
+      : DiscreteFactor(c.keys(), c.cardinalities()),
+        AlgebraicDecisionTree<Key>(c) {}
 
   /* ************************************************************************ */
   bool DecisionTreeFactor::equals(const DiscreteFactor& other,
@@ -190,18 +187,6 @@ namespace gtsam {
     return probs;
   }
 
-  /* ************************************************************************ */
-  DiscreteKeys DecisionTreeFactor::discreteKeys() const {
-    DiscreteKeys result;
-    for (auto&& key : keys()) {
-      DiscreteKey dkey(key, cardinality(key));
-      if (std::find(result.begin(), result.end(), dkey) == result.end()) {
-        result.push_back(dkey);
-      }
-    }
-    return result;
-  }
-
   /* ************************************************************************ */
   static std::string valueFormatter(const double& v) {
     std::stringstream ss;
@@ -297,17 +282,15 @@ namespace gtsam {
 
   /* ************************************************************************ */
   DecisionTreeFactor::DecisionTreeFactor(const DiscreteKeys& keys,
-                                        const vector<double>& table)
-      : DiscreteFactor(keys.indices()),
-        AlgebraicDecisionTree<Key>(keys, table),
-        cardinalities_(keys.cardinalities()) {}
+                                         const vector<double>& table)
+      : DiscreteFactor(keys.indices(), keys.cardinalities()),
+        AlgebraicDecisionTree<Key>(keys, table) {}
 
   /* ************************************************************************ */
   DecisionTreeFactor::DecisionTreeFactor(const DiscreteKeys& keys,
-                                        const string& table)
-      : DiscreteFactor(keys.indices()),
-        AlgebraicDecisionTree<Key>(keys, table),
-        cardinalities_(keys.cardinalities()) {}
+                                         const string& table)
+      : DiscreteFactor(keys.indices(), keys.cardinalities()),
+        AlgebraicDecisionTree<Key>(keys, table) {}
 
   /* ************************************************************************ */
   DecisionTreeFactor DecisionTreeFactor::prune(size_t maxNrAssignments) const {
diff --git a/gtsam/discrete/DecisionTreeFactor.h b/gtsam/discrete/DecisionTreeFactor.h
index 42639095f..6cce6e5d4 100644
--- a/gtsam/discrete/DecisionTreeFactor.h
+++ b/gtsam/discrete/DecisionTreeFactor.h
@@ -50,10 +50,6 @@ namespace gtsam {
     typedef std::shared_ptr<DecisionTreeFactor> shared_ptr;
     typedef AlgebraicDecisionTree<Key> ADT;
 
-   protected:
-    std::map<Key, size_t> cardinalities_;
-
-   public:
     /// @name Standard Constructors
     /// @{
 
@@ -119,10 +115,6 @@ namespace gtsam {
 
     static double safe_div(const double& a, const double& b);
 
-    std::map<Key, size_t> cardinalities() const { return cardinalities_; }
-
-    size_t cardinality(Key j) const { return cardinalities_.at(j); }
-
     /// divide by factor f (safely)
     DecisionTreeFactor operator/(const DecisionTreeFactor& f) const {
       return apply(f, safe_div);
@@ -184,9 +176,6 @@ namespace gtsam {
     /// Get all the probabilities in order of assignment values
     std::vector<double> probabilities() const;
 
-    /// Return all the discrete keys associated with this factor.
-    DiscreteKeys discreteKeys() const;
-
     /**
      * @brief Prune the decision tree of discrete variables.
      *
@@ -265,7 +254,6 @@ namespace gtsam {
     void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
       ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
       ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(ADT);
-      ar& BOOST_SERIALIZATION_NVP(cardinalities_);
     }
 #endif
   };
diff --git a/gtsam/discrete/DiscreteFactor.cpp b/gtsam/discrete/DiscreteFactor.cpp
index 2b1bc36a3..b44d4fce2 100644
--- a/gtsam/discrete/DiscreteFactor.cpp
+++ b/gtsam/discrete/DiscreteFactor.cpp
@@ -28,6 +28,18 @@ using namespace std;
 
 namespace gtsam {
 
+/* ************************************************************************ */
+DiscreteKeys DiscreteFactor::discreteKeys() const {
+  DiscreteKeys result;
+  for (auto&& key : keys()) {
+    DiscreteKey dkey(key, cardinality(key));
+    if (std::find(result.begin(), result.end(), dkey) == result.end()) {
+      result.push_back(dkey);
+    }
+  }
+  return result;
+}
+
 /* ************************************************************************* */
 double DiscreteFactor::error(const DiscreteValues& values) const {
   return -std::log((*this)(values));
diff --git a/gtsam/discrete/DiscreteFactor.h b/gtsam/discrete/DiscreteFactor.h
index 2132e1cc8..24b2b55e4 100644
--- a/gtsam/discrete/DiscreteFactor.h
+++ b/gtsam/discrete/DiscreteFactor.h
@@ -45,6 +45,10 @@ class GTSAM_EXPORT DiscreteFactor: public Factor {
 
   using Values = DiscreteValues;  ///< backwards compatibility
 
+ protected:
+  /// Map of Keys and their cardinalities.
+  std::map<Key, size_t> cardinalities_;
+
  public:
   /// @name Standard Constructors
   /// @{
@@ -52,10 +56,15 @@ class GTSAM_EXPORT DiscreteFactor: public Factor {
   /** Default constructor creates empty factor */
   DiscreteFactor() {}
 
-  /** Construct from container of keys.  This constructor is used internally from derived factor
-   *  constructors, either from a container of keys or from a boost::assign::list_of. */
-  template<typename CONTAINER>
-  DiscreteFactor(const CONTAINER& keys) : Base(keys) {}
+  /**
+   * Construct from container of keys and map of cardinalities.
+   * This constructor is used internally from derived factor constructors,
+   * either from a container of keys or from a boost::assign::list_of.
+   */
+  template <typename CONTAINER>
+  DiscreteFactor(const CONTAINER& keys,
+                 const std::map<Key, size_t> cardinalities = {})
+      : Base(keys), cardinalities_(cardinalities) {}
 
   /// @}
   /// @name Testable
@@ -75,6 +84,13 @@ class GTSAM_EXPORT DiscreteFactor: public Factor {
   /// @name Standard Interface
   /// @{
 
+  /// Return all the discrete keys associated with this factor.
+  DiscreteKeys discreteKeys() const;
+
+  std::map<Key, size_t> cardinalities() const { return cardinalities_; }
+
+  size_t cardinality(Key j) const { return cardinalities_.at(j); }
+
   /// Find value for given assignment of values to variables
   virtual double operator()(const DiscreteValues&) const = 0;
 
@@ -130,6 +146,7 @@ class GTSAM_EXPORT DiscreteFactor: public Factor {
   template <class ARCHIVE>
   void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
     ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
+    ar& BOOST_SERIALIZATION_NVP(cardinalities_);
   }
 #endif
 };
diff --git a/gtsam/discrete/TableFactor.cpp b/gtsam/discrete/TableFactor.cpp
index c59b7b72c..74eb3ddb3 100644
--- a/gtsam/discrete/TableFactor.cpp
+++ b/gtsam/discrete/TableFactor.cpp
@@ -34,8 +34,7 @@ TableFactor::TableFactor() {}
 /* ************************************************************************ */
 TableFactor::TableFactor(const DiscreteKeys& dkeys,
                          const TableFactor& potentials)
-    : DiscreteFactor(dkeys.indices()),
-      cardinalities_(potentials.cardinalities_) {
+    : DiscreteFactor(dkeys.indices(), dkeys.cardinalities()) {
   sparse_table_ = potentials.sparse_table_;
   denominators_ = potentials.denominators_;
   sorted_dkeys_ = discreteKeys();
@@ -45,11 +44,11 @@ TableFactor::TableFactor(const DiscreteKeys& dkeys,
 /* ************************************************************************ */
 TableFactor::TableFactor(const DiscreteKeys& dkeys,
                          const Eigen::SparseVector<double>& table)
-    : DiscreteFactor(dkeys.indices()), sparse_table_(table.size()) {
+    : DiscreteFactor(dkeys.indices(), dkeys.cardinalities()),
+      sparse_table_(table.size()) {
   sparse_table_ = table;
   double denom = table.size();
   for (const DiscreteKey& dkey : dkeys) {
-    cardinalities_.insert(dkey);
     denom /= dkey.second;
     denominators_.insert(std::pair<Key, double>(dkey.first, denom));
   }
@@ -440,18 +439,6 @@ std::vector<std::pair<DiscreteValues, double>> TableFactor::enumerate() const {
   return result;
 }
 
-/* ************************************************************************ */
-DiscreteKeys TableFactor::discreteKeys() const {
-  DiscreteKeys result;
-  for (auto&& key : keys()) {
-    DiscreteKey dkey(key, cardinality(key));
-    if (std::find(result.begin(), result.end(), dkey) == result.end()) {
-      result.push_back(dkey);
-    }
-  }
-  return result;
-}
-
 // Print out header.
 /* ************************************************************************ */
 string TableFactor::markdown(const KeyFormatter& keyFormatter,
diff --git a/gtsam/discrete/TableFactor.h b/gtsam/discrete/TableFactor.h
index 08c675b67..bd637bb7d 100644
--- a/gtsam/discrete/TableFactor.h
+++ b/gtsam/discrete/TableFactor.h
@@ -45,8 +45,6 @@ class HybridValues;
  */
 class GTSAM_EXPORT TableFactor : public DiscreteFactor {
  protected:
-  /// Map of Keys and their cardinalities.
-  std::map<Key, size_t> cardinalities_;
   /// SparseVector of nonzero probabilities.
   Eigen::SparseVector<double> sparse_table_;
 
@@ -184,8 +182,6 @@ class GTSAM_EXPORT TableFactor : public DiscreteFactor {
 
   static double safe_div(const double& a, const double& b);
 
-  size_t cardinality(Key j) const { return cardinalities_.at(j); }
-
   /// divide by factor f (safely)
   TableFactor operator/(const TableFactor& f) const {
     return apply(f, safe_div);
@@ -278,9 +274,6 @@ class GTSAM_EXPORT TableFactor : public DiscreteFactor {
   /// Enumerate all values into a map from values to double.
   std::vector<std::pair<DiscreteValues, double>> enumerate() const;
 
-  /// Return all the discrete keys associated with this factor.
-  DiscreteKeys discreteKeys() const;
-
   /**
    * @brief Prune the decision tree of discrete variables.
    *

From 2b72f75a0775a9b2a972c8ac0d317567c83e58d3 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 13 Jul 2023 23:47:56 -0400
Subject: [PATCH 051/206] add timing checkpoints

---
 gtsam/hybrid/HybridBayesNet.cpp            | 8 ++++++++
 gtsam/hybrid/HybridGaussianFactorGraph.cpp | 6 ++++--
 2 files changed, 12 insertions(+), 2 deletions(-)

diff --git a/gtsam/hybrid/HybridBayesNet.cpp b/gtsam/hybrid/HybridBayesNet.cpp
index 13280f1c2..266e02b0d 100644
--- a/gtsam/hybrid/HybridBayesNet.cpp
+++ b/gtsam/hybrid/HybridBayesNet.cpp
@@ -161,12 +161,14 @@ void HybridBayesNet::updateDiscreteConditionals(
       DecisionTreeFactor::ADT prunedDiscreteTree =
           discreteTree->apply(prunerFunc(prunedDiscreteProbs, *conditional));
 
+      gttic_(HybridBayesNet_MakeConditional);
       // Create the new (hybrid) conditional
       KeyVector frontals(discrete->frontals().begin(),
                          discrete->frontals().end());
       auto prunedDiscrete = std::make_shared<DiscreteLookupTable>(
           frontals.size(), conditional->discreteKeys(), prunedDiscreteTree);
       conditional = std::make_shared<HybridConditional>(prunedDiscrete);
+      gttoc_(HybridBayesNet_MakeConditional);
 
       // Add it back to the BayesNet
       this->at(i) = conditional;
@@ -177,12 +179,16 @@ void HybridBayesNet::updateDiscreteConditionals(
 /* ************************************************************************* */
 HybridBayesNet HybridBayesNet::prune(size_t maxNrLeaves) {
   // Get the decision tree of only the discrete keys
+  gttic_(HybridBayesNet_PruneDiscreteConditionals);
   DecisionTreeFactor::shared_ptr discreteConditionals =
       this->discreteConditionals();
   const DecisionTreeFactor prunedDiscreteProbs =
       discreteConditionals->prune(maxNrLeaves);
+  gttoc_(HybridBayesNet_PruneDiscreteConditionals);
 
+  gttic_(HybridBayesNet_UpdateDiscreteConditionals);
   this->updateDiscreteConditionals(prunedDiscreteProbs);
+  gttoc_(HybridBayesNet_UpdateDiscreteConditionals);
 
   /* To Prune, we visitWith every leaf in the GaussianMixture.
    * For each leaf, using the assignment we can check the discrete decision tree
@@ -193,6 +199,7 @@ HybridBayesNet HybridBayesNet::prune(size_t maxNrLeaves) {
 
   HybridBayesNet prunedBayesNetFragment;
 
+  gttic_(HybridBayesNet_PruneMixtures);
   // Go through all the conditionals in the
   // Bayes Net and prune them as per prunedDiscreteProbs.
   for (auto &&conditional : *this) {
@@ -209,6 +216,7 @@ HybridBayesNet HybridBayesNet::prune(size_t maxNrLeaves) {
       prunedBayesNetFragment.push_back(conditional);
     }
   }
+  gttoc_(HybridBayesNet_PruneMixtures);
 
   return prunedBayesNetFragment;
 }
diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index 8b9d62822..e14023edd 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -98,7 +98,7 @@ static GaussianFactorGraphTree addGaussian(
 // TODO(dellaert): it's probably more efficient to first collect the discrete
 // keys, and then loop over all assignments to populate a vector.
 GaussianFactorGraphTree HybridGaussianFactorGraph::assembleGraphTree() const {
-  gttic(assembleGraphTree);
+  gttic_(assembleGraphTree);
 
   GaussianFactorGraphTree result;
 
@@ -131,7 +131,7 @@ GaussianFactorGraphTree HybridGaussianFactorGraph::assembleGraphTree() const {
     }
   }
 
-  gttoc(assembleGraphTree);
+  gttoc_(assembleGraphTree);
 
   return result;
 }
@@ -235,7 +235,9 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
     gttic_(hybrid_eliminate);
 #endif
 
+    gttic_(hybrid_continuous_eliminate);
     auto result = EliminatePreferCholesky(graph, frontalKeys);
+    gttoc_(hybrid_continuous_eliminate);
 
 #ifdef HYBRID_TIMING
     gttoc_(hybrid_eliminate);

From 59e26ee79dbcef13ab7c8501653d2b1169eb570e Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 17 Jul 2023 10:51:33 -0400
Subject: [PATCH 052/206] remove timers

---
 gtsam/hybrid/HybridGaussianFactorGraph.cpp | 10 ----------
 1 file changed, 10 deletions(-)

diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index e14023edd..2b23ed4db 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -231,17 +231,7 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
       return {nullptr, nullptr};
     }
 
-#ifdef HYBRID_TIMING
-    gttic_(hybrid_eliminate);
-#endif
-
-    gttic_(hybrid_continuous_eliminate);
     auto result = EliminatePreferCholesky(graph, frontalKeys);
-    gttoc_(hybrid_continuous_eliminate);
-
-#ifdef HYBRID_TIMING
-    gttoc_(hybrid_eliminate);
-#endif
 
     return result;
   };

From fbbf673f7bdbede4faca53bd309ac41c9ab12777 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sun, 4 Jun 2023 15:40:02 +0100
Subject: [PATCH 053/206] Improved documentation and tests

(cherry picked from commit febeacd68686ed0b7ced72458eb0b31a196bdab7)
---
 gtsam/discrete/AlgebraicDecisionTree.h    | 64 +++++++++++++++++++---
 gtsam/discrete/DecisionTree-inl.h         |  2 +-
 gtsam/discrete/DecisionTree.h             | 31 +++++++++--
 gtsam/discrete/tests/testDecisionTree.cpp | 66 ++++++++++++++++++-----
 4 files changed, 137 insertions(+), 26 deletions(-)

diff --git a/gtsam/discrete/AlgebraicDecisionTree.h b/gtsam/discrete/AlgebraicDecisionTree.h
index 425ad15f9..20ab4bd68 100644
--- a/gtsam/discrete/AlgebraicDecisionTree.h
+++ b/gtsam/discrete/AlgebraicDecisionTree.h
@@ -29,9 +29,9 @@
 namespace gtsam {
 
   /**
-   * Algebraic Decision Trees fix the range to double
-   * Just has some nice constructors and some syntactic sugar
-   * TODO: consider eliminating this class altogether?
+   * An algebraic decision tree fixes the range of a DecisionTree to double.
+   * Just has some nice constructors and some syntactic sugar.
+   * TODO(dellaert): consider eliminating this class altogether?
    *
    * @ingroup discrete
    */
@@ -81,20 +81,62 @@ namespace gtsam {
     AlgebraicDecisionTree(const L& label, double y1, double y2)
         : Base(label, y1, y2) {}
 
-    /** Create a new leaf function splitting on a variable */
+    /**
+     * @brief Create a new leaf function splitting on a variable
+     *
+     * @param labelC: The label with cardinality 2
+     * @param y1: The value for the first key
+     * @param y2: The value for the second key
+     *
+     * Example:
+     * @code{.cpp}
+     * std::pair<string, size_t> A {"a", 2};
+     * AlgebraicDecisionTree<string> a(A, 0.6, 0.4);
+     * @endcode
+     */
     AlgebraicDecisionTree(const typename Base::LabelC& labelC, double y1,
                           double y2)
         : Base(labelC, y1, y2) {}
 
-    /** Create from keys and vector table */
+    /** 
+     * @brief Create from keys with cardinalities and a vector table
+     * 
+     * @param labelCs: The keys, with cardinalities, given as pairs
+     * @param ys: The vector table
+     *
+     * Example with three keys, A, B, and C, with cardinalities 2, 3, and 2,
+     * respectively, and a vector table of size 12:
+     * @code{.cpp}
+     * DiscreteKey A(0, 2), B(1, 3), C(2, 2);
+     * const vector<double> cpt{
+     *   1.0 / 3, 2.0 / 3, 3.0 / 7, 4.0 / 7, 5.0 / 11, 6.0 / 11,  //
+     *   1.0 / 9, 8.0 / 9, 3.0 / 6, 3.0 / 6, 5.0 / 10, 5.0 / 10};
+     * AlgebraicDecisionTree<Key> expected(A & B & C, cpt);
+     * @endcode
+     * The table is given in the following order:
+     *   A=0, B=0, C=0
+     *   A=0, B=0, C=1
+     *   ...
+     *   A=1, B=1, C=1
+     * Hence, the first line in the table is for A==0, and the second for A==1.
+     * In each line, the first two entries are for B==0, the next two for B==1,
+     * and the last two for B==2. Each pair is for a C value of 0 and 1.
+     */
     AlgebraicDecisionTree  //
         (const std::vector<typename Base::LabelC>& labelCs,
-        const std::vector<double>& ys) {
+         const std::vector<double>& ys) {
       this->root_ =
           Base::create(labelCs.begin(), labelCs.end(), ys.begin(), ys.end());
     }
 
-    /** Create from keys and string table */
+    /** 
+     * @brief Create from keys and string table
+     * 
+     * @param labelCs: The keys, with cardinalities, given as pairs
+     * @param table: The string table, given as a string of doubles.
+     * 
+     * @note Table needs to be in same order as the vector table in the other constructor.
+     */
     AlgebraicDecisionTree  //
         (const std::vector<typename Base::LabelC>& labelCs,
         const std::string& table) {
@@ -109,7 +151,13 @@ namespace gtsam {
           Base::create(labelCs.begin(), labelCs.end(), ys.begin(), ys.end());
     }
 
-    /** Create a new function splitting on a variable */
+    /** 
+     * @brief Create a range of decision trees, splitting on a single variable.
+     * 
+     * @param begin: Iterator to beginning of a range of decision trees
+     * @param end: Iterator to end of a range of decision trees
+     * @param label: The label to split on
+     */
     template <typename Iterator>
     AlgebraicDecisionTree(Iterator begin, Iterator end, const L& label)
         : Base(nullptr) {
diff --git a/gtsam/discrete/DecisionTree-inl.h b/gtsam/discrete/DecisionTree-inl.h
index 9d618dea0..c99a51501 100644
--- a/gtsam/discrete/DecisionTree-inl.h
+++ b/gtsam/discrete/DecisionTree-inl.h
@@ -626,7 +626,7 @@ namespace gtsam {
   // B=1
   //  A=0: 3
   //  A=1: 4
-  // Note, through the magic of "compose", create([A B],[1 2 3 4]) will produce
+  // Note, through the magic of "compose", create([A B],[1 3 2 4]) will produce
   // exactly the same tree as above: the highest label is always the root.
   // However, it will be *way* faster if labels are given highest to lowest.
   template<typename L, typename Y>
diff --git a/gtsam/discrete/DecisionTree.h b/gtsam/discrete/DecisionTree.h
index ed1908485..68f3ee73f 100644
--- a/gtsam/discrete/DecisionTree.h
+++ b/gtsam/discrete/DecisionTree.h
@@ -39,9 +39,23 @@
 namespace gtsam {
 
   /**
-   * Decision Tree
-   * L = label for variables
-   * Y = function range (any algebra), e.g., bool, int, double
+   * @brief a decision tree is a function from assignments to values.
+   * @tparam L label for variables
+   * @tparam Y function range (any algebra), e.g., bool, int, double
+   * 
+   * After creating a decision tree on some variables, the tree can be evaluated
+   * on an assignment to those variables. Example:
+   * 
+   * @code{.cpp}
+   * // Create a decision stump one one variable 'a' with values 10 and 20.
+   * DecisionTree<char, int> tree('a', 10, 20);
+   * 
+   * // Evaluate the tree on an assignment to the variable.
+   * int value0 = tree({{'a', 0}}); // value0 = 10
+   * int value1 = tree({{'a', 1}}); // value1 = 20
+   * @endcode
+   * 
+   * More examples can be found in testDecisionTree.cpp
    *
    * @ingroup discrete
    */
@@ -136,7 +150,8 @@ namespace gtsam {
     NodePtr root_;
 
    protected:
-    /** Internal recursive function to create from keys, cardinalities, 
+    /** 
+     * Internal recursive function to create from keys, cardinalities, 
      * and Y values 
      */
     template<typename It, typename ValueIt>
@@ -167,7 +182,13 @@ namespace gtsam {
     /** Create a constant */
     explicit DecisionTree(const Y& y);
 
-    /// Create tree with 2 assignments `y1`, `y2`, splitting on variable `label`
+    /**
+     * @brief Create tree with 2 assignments `y1`, `y2`, splitting on variable `label`
+     * 
+     * @param label The variable to split on.
+     * @param y1 The value for the first assignment.
+     * @param y2 The value for the second assignment.
+     */
     DecisionTree(const L& label, const Y& y1, const Y& y2);
 
     /** Allow Label+Cardinality for convenience */
diff --git a/gtsam/discrete/tests/testDecisionTree.cpp b/gtsam/discrete/tests/testDecisionTree.cpp
index d2a94ddc3..6ca8d843e 100644
--- a/gtsam/discrete/tests/testDecisionTree.cpp
+++ b/gtsam/discrete/tests/testDecisionTree.cpp
@@ -75,6 +75,19 @@ struct traits<CrazyDecisionTree> : public Testable<CrazyDecisionTree> {};
 
 GTSAM_CONCEPT_TESTABLE_INST(CrazyDecisionTree)
 
+/* ************************************************************************** */
+// Test char labels and int range
+/* ************************************************************************** */
+
+// Create a decision stump one one variable 'a' with values 10 and 20.
+TEST(DecisionTree, constructor) {
+  DecisionTree<char, int> tree('a', 10, 20);
+
+  // Evaluate the tree on an assignment to the variable.
+  EXPECT_LONGS_EQUAL(10, tree({{'a', 0}}));
+  EXPECT_LONGS_EQUAL(20, tree({{'a', 1}}));
+}
+
 /* ************************************************************************** */
 // Test string labels and int range
 /* ************************************************************************** */
@@ -118,18 +131,47 @@ struct Ring {
   static inline int mul(const int& a, const int& b) { return a * b; }
 };
 
+/* ************************************************************************** */
+// Check that creating decision trees respects key order.
+TEST(DecisionTree, constructor_order) {
+  // Create labels
+  string A("A"), B("B");
+
+  const std::vector<int> ys1 = {1, 2, 3, 4};
+  DT tree1({{B, 2}, {A, 2}}, ys1); // faster version, as B is "higher" than A!
+
+  const std::vector<int> ys2 = {1, 3, 2, 4};
+  DT tree2({{A, 2}, {B, 2}}, ys2); // slower version !
+
+  // Both trees will be the same, tree is order from high to low labels.
+  // Choice(B)
+  //  0 Choice(A)
+  //  0 0 Leaf 1
+  //  0 1 Leaf 2
+  //  1 Choice(A)
+  //  1 0 Leaf 3
+  //  1 1 Leaf 4
+
+  EXPECT(tree2.equals(tree1));
+
+  // Check the values are as expected by calling the () operator:
+  EXPECT_LONGS_EQUAL(1, tree1({{A, 0}, {B, 0}}));
+  EXPECT_LONGS_EQUAL(3, tree1({{A, 0}, {B, 1}}));
+  EXPECT_LONGS_EQUAL(2, tree1({{A, 1}, {B, 0}}));
+  EXPECT_LONGS_EQUAL(4, tree1({{A, 1}, {B, 1}}));
+}
+
 /* ************************************************************************** */
 // test DT
 TEST(DecisionTree, example) {
   // Create labels
   string A("A"), B("B"), C("C");
 
-  // create a value
-  Assignment<string> x00, x01, x10, x11;
-  x00[A] = 0, x00[B] = 0;
-  x01[A] = 0, x01[B] = 1;
-  x10[A] = 1, x10[B] = 0;
-  x11[A] = 1, x11[B] = 1;
+  // Create assignments using brace initialization:
+  Assignment<string> x00{{A, 0}, {B, 0}};
+  Assignment<string> x01{{A, 0}, {B, 1}};
+  Assignment<string> x10{{A, 1}, {B, 0}};
+  Assignment<string> x11{{A, 1}, {B, 1}};
 
   // empty
   DT empty;
@@ -241,8 +283,7 @@ TEST(DecisionTree, ConvertValuesOnly) {
   StringBoolTree f2(f1, bool_of_int);
 
   // Check a value
-  Assignment<string> x00;
-  x00["A"] = 0, x00["B"] = 0;
+  Assignment<string> x00 {{A, 0}, {B, 0}};
   EXPECT(!f2(x00));
 }
 
@@ -266,10 +307,11 @@ TEST(DecisionTree, ConvertBoth) {
 
   // Check some values
   Assignment<Label> x00, x01, x10, x11;
-  x00[X] = 0, x00[Y] = 0;
-  x01[X] = 0, x01[Y] = 1;
-  x10[X] = 1, x10[Y] = 0;
-  x11[X] = 1, x11[Y] = 1;
+  x00 = {{X, 0}, {Y, 0}};
+  x01 = {{X, 0}, {Y, 1}};
+  x10 = {{X, 1}, {Y, 0}};
+  x11 = {{X, 1}, {Y, 1}};
+
   EXPECT(!f2(x00));
   EXPECT(!f2(x01));
   EXPECT(f2(x10));

From 7f169a7a0cf1e77c5d460a39ee1870d502dd0178 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sun, 4 Jun 2023 16:04:18 +0100
Subject: [PATCH 054/206] Better documentation and new test

(cherry picked from commit 6cb0fa7cd7f9d981b843945e8f71183d611412aa)
---
 gtsam/discrete/DecisionTreeFactor.h           | 41 +++++++++++++++++--
 .../discrete/tests/testDecisionTreeFactor.cpp | 25 +++++++----
 2 files changed, 55 insertions(+), 11 deletions(-)

diff --git a/gtsam/discrete/DecisionTreeFactor.h b/gtsam/discrete/DecisionTreeFactor.h
index 95054bcdb..92b02afd1 100644
--- a/gtsam/discrete/DecisionTreeFactor.h
+++ b/gtsam/discrete/DecisionTreeFactor.h
@@ -63,11 +63,46 @@ namespace gtsam {
     /** Constructor from DiscreteKeys and AlgebraicDecisionTree */
     DecisionTreeFactor(const DiscreteKeys& keys, const ADT& potentials);
 
-    /** Constructor from doubles */
+    /**
+     * @brief Constructor from doubles
+     *
+     * @param keys The discrete keys.
+     * @param table The table of values.
+     *
+     * @throw std::invalid_argument if the size of `table` does not match the
+     * number of assignments.
+     *
+     * Example:
+     * @code{.cpp}
+     * DiscreteKey X(0,2), Y(1,3);
+     * const std::vector<double> table {2, 5, 3, 6, 4, 7};
+     * DecisionTreeFactor f1({X, Y}, table);
+     * @endcode
+     *
+     * The values in the table should be laid out so that the first key varies
+     * the slowest. and the last key the fastest.
+     */
     DecisionTreeFactor(const DiscreteKeys& keys,
-                      const std::vector<double>& table);
+                       const std::vector<double>& table);
 
-    /** Constructor from string */
+    /**
+     * @brief Constructor from string
+     *
+     * @param keys The discrete keys.
+     * @param table The table of values.
+     *
+     * @throw std::invalid_argument if the size of `table` does not match the
+     * number of assignments.
+     *
+     * Example:
+     * @code{.cpp}
+     * DiscreteKey X(0,2), Y(1,3);
+     * DecisionTreeFactor factor({X, Y}, "2 5 3 6 4 7");
+     * @endcode
+     *
+     * The values in the table should be laid out so that the first key varies
+     * the slowest. and the last key the fastest.
+     */
     DecisionTreeFactor(const DiscreteKeys& keys, const std::string& table);
 
     /// Single-key specialization
diff --git a/gtsam/discrete/tests/testDecisionTreeFactor.cpp b/gtsam/discrete/tests/testDecisionTreeFactor.cpp
index 3dbb3e64f..8e203c56a 100644
--- a/gtsam/discrete/tests/testDecisionTreeFactor.cpp
+++ b/gtsam/discrete/tests/testDecisionTreeFactor.cpp
@@ -27,6 +27,18 @@
 using namespace std;
 using namespace gtsam;
 
+/* ************************************************************************* */
+TEST(DecisionTreeFactor, constructors_match) {
+  // Declare two keys
+  DiscreteKey X(0, 2), Y(1, 3);
+
+  // Create with vector and with string
+  const std::vector<double> table {2, 5, 3, 6, 4, 7};
+  DecisionTreeFactor f1({X, Y}, table);
+  DecisionTreeFactor f2({X, Y}, "2 5 3 6 4 7");
+  EXPECT(assert_equal(f1, f2));
+}
+
 /* ************************************************************************* */
 TEST( DecisionTreeFactor, constructors)
 {
@@ -41,16 +53,13 @@ TEST( DecisionTreeFactor, constructors)
   EXPECT_LONGS_EQUAL(2,f2.size());
   EXPECT_LONGS_EQUAL(3,f3.size());
 
-  DiscreteValues values;
-  values[0] = 1; // x
-  values[1] = 2; // y
-  values[2] = 1; // z
-  EXPECT_DOUBLES_EQUAL(8, f1(values), 1e-9);
-  EXPECT_DOUBLES_EQUAL(7, f2(values), 1e-9);
-  EXPECT_DOUBLES_EQUAL(75, f3(values), 1e-9);
+  DiscreteValues x121{{0, 1}, {1, 2}, {2, 1}};
+  EXPECT_DOUBLES_EQUAL(8, f1(x121), 1e-9);
+  EXPECT_DOUBLES_EQUAL(7, f2(x121), 1e-9);
+  EXPECT_DOUBLES_EQUAL(75, f3(x121), 1e-9);
 
   // Assert that error = -log(value)
-  EXPECT_DOUBLES_EQUAL(-log(f1(values)), f1.error(values), 1e-9);
+  EXPECT_DOUBLES_EQUAL(-log(f1(x121)), f1.error(x121), 1e-9);
 }
 
 /* ************************************************************************* */

From 968a72344c65a11c4dd7725a7c151d4e0abba0e2 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sun, 16 Jul 2023 22:01:38 +0200
Subject: [PATCH 055/206] Fixed regression test

---
 python/gtsam/tests/test_VisualISAMExample.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/python/gtsam/tests/test_VisualISAMExample.py b/python/gtsam/tests/test_VisualISAMExample.py
index 39f563a35..dcf1af6f2 100644
--- a/python/gtsam/tests/test_VisualISAMExample.py
+++ b/python/gtsam/tests/test_VisualISAMExample.py
@@ -84,7 +84,7 @@ class TestVisualISAMExample(GtsamTestCase):
 
             values.insert(key, v)
 
-        self.assertAlmostEqual(isam.error(values), 34212421.14731998)
+        self.assertAlmostEqual(isam.error(values), 34212421.14732)
 
     def test_isam2_update(self):
         """

From d5f62dd4ee0e3fdd011b1fa7e3118ab3bfbb5df5 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sun, 4 Jun 2023 16:27:28 +0100
Subject: [PATCH 056/206] wrapped List[float] constructor

(cherry picked from commit e1802814ca9c2be20208a9dd4e86093985a7291f)
---
 gtsam/discrete/discrete.i                     | 11 ++++++++---
 python/gtsam/tests/test_DecisionTreeFactor.py |  6 ++++++
 2 files changed, 14 insertions(+), 3 deletions(-)

diff --git a/gtsam/discrete/discrete.i b/gtsam/discrete/discrete.i
index 78efd57e2..a89d71b24 100644
--- a/gtsam/discrete/discrete.i
+++ b/gtsam/discrete/discrete.i
@@ -44,14 +44,19 @@ class DiscreteFactor {
 #include <gtsam/discrete/DecisionTreeFactor.h>
 virtual class DecisionTreeFactor : gtsam::DiscreteFactor {
   DecisionTreeFactor();
-  
+
   DecisionTreeFactor(const gtsam::DiscreteKey& key,
                      const std::vector<double>& spec);
   DecisionTreeFactor(const gtsam::DiscreteKey& key, string table);
-  
+
+  DecisionTreeFactor(const gtsam::DiscreteKeys& keys,
+                     const std::vector<double>& table);
   DecisionTreeFactor(const gtsam::DiscreteKeys& keys, string table);
+
+  DecisionTreeFactor(const std::vector<gtsam::DiscreteKey>& keys,
+                     const std::vector<double>& table);
   DecisionTreeFactor(const std::vector<gtsam::DiscreteKey>& keys, string table);
-  
+
   DecisionTreeFactor(const gtsam::DiscreteConditional& c);
   
   void print(string s = "DecisionTreeFactor\n",
diff --git a/python/gtsam/tests/test_DecisionTreeFactor.py b/python/gtsam/tests/test_DecisionTreeFactor.py
index 1b8598953..12308bb3c 100644
--- a/python/gtsam/tests/test_DecisionTreeFactor.py
+++ b/python/gtsam/tests/test_DecisionTreeFactor.py
@@ -26,7 +26,13 @@ class TestDecisionTreeFactor(GtsamTestCase):
         self.B = (5, 2)
         self.factor = DecisionTreeFactor([self.A, self.B], "1 2  3 4  5 6")
 
+    def test_from_floats(self):
+        """Test whether we can construct a factor from floats."""
+        actual = DecisionTreeFactor([self.A, self.B], [1., 2.,  3., 4.,  5., 6.])
+        self.gtsamAssertEquals(actual, self.factor)
+
     def test_enumerate(self):
+        """Test whether we can enumerate the factor."""
         actual = self.factor.enumerate()
         _, values = zip(*actual)
         self.assertEqual(list(values), [1.0, 2.0, 3.0, 4.0, 5.0, 6.0])

From 67faa5c09e5ed488ab6a2899660c59f4fe030606 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sun, 4 Jun 2023 22:38:56 +0100
Subject: [PATCH 057/206] Derive factors from gtsam::Factor

(cherry picked from commit 40e5a1a6abb6cc4e937dc8e876d627835d7b2313)
---
 gtsam/discrete/discrete.i   |  6 +++---
 gtsam/hybrid/hybrid.i       |  5 +----
 gtsam/inference/inference.i | 11 +++++++++++
 gtsam/linear/linear.i       | 10 +---------
 gtsam/nonlinear/nonlinear.i |  5 +----
 gtsam/symbolic/symbolic.i   |  7 ++++---
 6 files changed, 21 insertions(+), 23 deletions(-)

diff --git a/gtsam/discrete/discrete.i b/gtsam/discrete/discrete.i
index a89d71b24..b6c6ee2cd 100644
--- a/gtsam/discrete/discrete.i
+++ b/gtsam/discrete/discrete.i
@@ -31,13 +31,11 @@ string html(const gtsam::DiscreteValues& values,
             std::map<gtsam::Key, std::vector<std::string>> names);
 
 #include <gtsam/discrete/DiscreteFactor.h>
-class DiscreteFactor {
+virtual class DiscreteFactor : gtsam::Factor {
   void print(string s = "DiscreteFactor\n",
              const gtsam::KeyFormatter& keyFormatter =
                  gtsam::DefaultKeyFormatter) const;
   bool equals(const gtsam::DiscreteFactor& other, double tol = 1e-9) const;
-  bool empty() const;
-  size_t size() const;
   double operator()(const gtsam::DiscreteValues& values) const;
 };
 
@@ -225,6 +223,8 @@ class DiscreteBayesTree {
   bool empty() const;
   const DiscreteBayesTreeClique* operator[](size_t j) const;
 
+  double evaluate(const gtsam::DiscreteValues& values) const;
+
   string dot(const gtsam::KeyFormatter& keyFormatter =
                  gtsam::DefaultKeyFormatter) const;
   void saveGraph(string s,
diff --git a/gtsam/hybrid/hybrid.i b/gtsam/hybrid/hybrid.i
index 7cc93d4b0..2855dfb5e 100644
--- a/gtsam/hybrid/hybrid.i
+++ b/gtsam/hybrid/hybrid.i
@@ -35,14 +35,11 @@ class HybridValues {
 };
 
 #include <gtsam/hybrid/HybridFactor.h>
-virtual class HybridFactor {
+virtual class HybridFactor : gtsam::Factor {
   void print(string s = "HybridFactor\n",
              const gtsam::KeyFormatter& keyFormatter =
                  gtsam::DefaultKeyFormatter) const;
   bool equals(const gtsam::HybridFactor& other, double tol = 1e-9) const;
-  bool empty() const;
-  size_t size() const;
-  gtsam::KeyVector keys() const;
 
   // Standard interface:
   double error(const gtsam::HybridValues &values) const;
diff --git a/gtsam/inference/inference.i b/gtsam/inference/inference.i
index f9696258a..e4eeaa480 100644
--- a/gtsam/inference/inference.i
+++ b/gtsam/inference/inference.i
@@ -194,4 +194,15 @@ class VariableIndex {
   size_t nEntries() const;
 };
 
+#include <gtsam/inference/Factor.h>
+virtual class Factor {
+  void print(string s = "Factor\n", const gtsam::KeyFormatter& keyFormatter =
+                                        gtsam::DefaultKeyFormatter) const;
+  void printKeys(string s = "") const;
+  bool equals(const gtsam::Factor& other, double tol = 1e-9) const;
+  bool empty() const;
+  size_t size() const;
+  gtsam::KeyVector keys() const;
+};
+
 }  // namespace gtsam
diff --git a/gtsam/linear/linear.i b/gtsam/linear/linear.i
index c0230f1c2..cd5000d9f 100644
--- a/gtsam/linear/linear.i
+++ b/gtsam/linear/linear.i
@@ -261,8 +261,7 @@ class VectorValues {
 };
 
 #include <gtsam/linear/GaussianFactor.h>
-virtual class GaussianFactor {
-  gtsam::KeyVector keys() const;
+virtual class GaussianFactor : gtsam::Factor {
   void print(string s = "", const gtsam::KeyFormatter& keyFormatter =
                                 gtsam::DefaultKeyFormatter) const;
   bool equals(const gtsam::GaussianFactor& lf, double tol) const;
@@ -273,8 +272,6 @@ virtual class GaussianFactor {
   Matrix information() const;
   Matrix augmentedJacobian() const;
   pair<Matrix, Vector> jacobian() const;
-  size_t size() const;
-  bool empty() const;
 };
 
 #include <gtsam/linear/JacobianFactor.h>
@@ -301,10 +298,7 @@ virtual class JacobianFactor : gtsam::GaussianFactor {
   //Testable
   void print(string s = "", const gtsam::KeyFormatter& keyFormatter =
                                 gtsam::DefaultKeyFormatter) const;
-  void printKeys(string s) const;
-  gtsam::KeyVector& keys() const;
   bool equals(const gtsam::GaussianFactor& lf, double tol) const;
-  size_t size() const;
   Vector unweighted_error(const gtsam::VectorValues& c) const;
   Vector error_vector(const gtsam::VectorValues& c) const;
   double error(const gtsam::VectorValues& c) const;
@@ -346,10 +340,8 @@ virtual class HessianFactor : gtsam::GaussianFactor {
   HessianFactor(const gtsam::GaussianFactorGraph& factors);
 
   //Testable
-  size_t size() const;
   void print(string s = "", const gtsam::KeyFormatter& keyFormatter =
                                 gtsam::DefaultKeyFormatter) const;
-  void printKeys(string s) const;
   bool equals(const gtsam::GaussianFactor& lf, double tol) const;
   double error(const gtsam::VectorValues& c) const;
 
diff --git a/gtsam/nonlinear/nonlinear.i b/gtsam/nonlinear/nonlinear.i
index 4d0d847c1..06451ab1f 100644
--- a/gtsam/nonlinear/nonlinear.i
+++ b/gtsam/nonlinear/nonlinear.i
@@ -109,13 +109,10 @@ class NonlinearFactorGraph {
 };
 
 #include <gtsam/nonlinear/NonlinearFactor.h>
-virtual class NonlinearFactor {
+virtual class NonlinearFactor : gtsam::Factor {
   // Factor base class
-  size_t size() const;
-  gtsam::KeyVector keys() const;
   void print(string s = "", const gtsam::KeyFormatter& keyFormatter =
                                 gtsam::DefaultKeyFormatter) const;
-  void printKeys(string s) const;
   // NonlinearFactor
   bool equals(const gtsam::NonlinearFactor& other, double tol) const;
   double error(const gtsam::Values& c) const;
diff --git a/gtsam/symbolic/symbolic.i b/gtsam/symbolic/symbolic.i
index 1f1d4b48f..839e75672 100644
--- a/gtsam/symbolic/symbolic.i
+++ b/gtsam/symbolic/symbolic.i
@@ -4,7 +4,7 @@
 namespace gtsam {
 
 #include <gtsam/symbolic/SymbolicFactor.h>
-virtual class SymbolicFactor {
+virtual class SymbolicFactor : gtsam::Factor {
   // Standard Constructors and Named Constructors
   SymbolicFactor(const gtsam::SymbolicFactor& f);
   SymbolicFactor();
@@ -18,12 +18,10 @@ virtual class SymbolicFactor {
   static gtsam::SymbolicFactor FromKeys(const gtsam::KeyVector& js);
 
   // From Factor
-  size_t size() const;
   void print(string s = "SymbolicFactor",
              const gtsam::KeyFormatter& keyFormatter =
                  gtsam::DefaultKeyFormatter) const;
   bool equals(const gtsam::SymbolicFactor& other, double tol) const;
-  gtsam::KeyVector keys();
 };
 
 #include <gtsam/symbolic/SymbolicFactorGraph.h>
@@ -161,6 +159,9 @@ class SymbolicBayesTree {
   gtsam::SymbolicConditional* marginalFactor(size_t key) const;
   gtsam::SymbolicFactorGraph* joint(size_t key1, size_t key2) const;
   gtsam::SymbolicBayesNet* jointBayesNet(size_t key1, size_t key2) const;
+
+  string dot(const gtsam::KeyFormatter& keyFormatter =
+                 gtsam::DefaultKeyFormatter) const;
 };
 
 class SymbolicBayesTreeClique {

From ea12d0dac9b4191f6779fb3c4392ea48eb30ae79 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sun, 4 Jun 2023 22:39:14 +0100
Subject: [PATCH 058/206] Test more things in BayesTree

(cherry picked from commit c8fe2fcff292fcd0917d76f916e83efe9c4df7e4)
---
 python/gtsam/tests/test_DiscreteBayesTree.py | 36 +++++++++++++++++---
 1 file changed, 31 insertions(+), 5 deletions(-)

diff --git a/python/gtsam/tests/test_DiscreteBayesTree.py b/python/gtsam/tests/test_DiscreteBayesTree.py
index b1ed4fe69..e1754ca64 100644
--- a/python/gtsam/tests/test_DiscreteBayesTree.py
+++ b/python/gtsam/tests/test_DiscreteBayesTree.py
@@ -13,10 +13,17 @@ Author: Frank Dellaert
 
 import unittest
 
-from gtsam import (DiscreteBayesNet, DiscreteBayesTreeClique,
-                   DiscreteConditional, DiscreteFactorGraph, Ordering)
 from gtsam.utils.test_case import GtsamTestCase
 
+from gtsam import (
+    DiscreteBayesNet,
+    DiscreteBayesTreeClique,
+    DiscreteConditional,
+    DiscreteFactorGraph,
+    DiscreteValues,
+    Ordering,
+)
+
 
 class TestDiscreteBayesNet(GtsamTestCase):
     """Tests for Discrete Bayes Nets."""
@@ -65,15 +72,34 @@ class TestDiscreteBayesNet(GtsamTestCase):
         #     bayesTree[key].printSignature()
         # bayesTree.saveGraph("test_DiscreteBayesTree.dot")
 
-        self.assertFalse(bayesTree.empty())
-        self.assertEqual(12, bayesTree.size())
-
         # The root is P( 8 12 14), we can retrieve it by key:
         root = bayesTree[8]
         self.assertIsInstance(root, DiscreteBayesTreeClique)
         self.assertTrue(root.isRoot())
         self.assertIsInstance(root.conditional(), DiscreteConditional)
 
+        # Test all methods in DiscreteBayesTree
+        self.gtsamAssertEquals(bayesTree, bayesTree)
+
+        # Check value at 0
+        zero_values = DiscreteValues()
+        for j in range(15):
+            zero_values[j] = 0
+        value_at_zeros = bayesTree.evaluate(zero_values)
+        self.assertAlmostEqual(value_at_zeros, 0.0)
+
+        # Check value at max
+        values_star = factorGraph.optimize()
+        max_value = bayesTree.evaluate(values_star)
+        self.assertAlmostEqual(max_value, 0.002548)
+
+        # Check operator sugar
+        max_value = bayesTree(values_star)
+        self.assertAlmostEqual(max_value, 0.002548)
+
+        self.assertFalse(bayesTree.empty())
+        self.assertEqual(12, bayesTree.size())
+
 
 if __name__ == "__main__":
     unittest.main()

From b7e2650a021fdfdaeaac7892e30356c1b9812461 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sun, 4 Jun 2023 23:00:32 +0100
Subject: [PATCH 059/206] wrap operator[] in DiscreteBayesTree

(cherry picked from commit fa7bde7529fefc4dde1a0b9aede2ceba344a3905)
---
 gtsam/symbolic/symbolic.i | 49 +++++++++++++++++++--------------------
 1 file changed, 24 insertions(+), 25 deletions(-)

diff --git a/gtsam/symbolic/symbolic.i b/gtsam/symbolic/symbolic.i
index 839e75672..c05f35895 100644
--- a/gtsam/symbolic/symbolic.i
+++ b/gtsam/symbolic/symbolic.i
@@ -138,6 +138,22 @@ class SymbolicBayesNet {
 };
 
 #include <gtsam/symbolic/SymbolicBayesTree.h>
+
+class SymbolicBayesTreeClique {
+  SymbolicBayesTreeClique();
+  SymbolicBayesTreeClique(const gtsam::SymbolicConditional* conditional);
+  bool equals(const gtsam::SymbolicBayesTreeClique& other, double tol) const;
+  void print(string s = "", const gtsam::KeyFormatter& keyFormatter =
+                                gtsam::DefaultKeyFormatter);
+  const gtsam::SymbolicConditional* conditional() const;
+  bool isRoot() const;
+  gtsam::SymbolicBayesTreeClique* parent() const;
+  size_t treeSize() const;
+  size_t numCachedSeparatorMarginals() const;
+  void deleteCachedShortcuts();
+};
+
+
 class SymbolicBayesTree {
   // Constructors
   SymbolicBayesTree();
@@ -149,9 +165,14 @@ class SymbolicBayesTree {
   bool equals(const gtsam::SymbolicBayesTree& other, double tol) const;
 
   // Standard Interface
-  // size_t findParentClique(const gtsam::IndexVector& parents) const;
-  size_t size();
-  void saveGraph(string s) const;
+  bool empty() const;
+  size_t size() const;
+
+  const gtsam::SymbolicBayesTreeClique* operator[](size_t j) const;
+
+  void saveGraph(string s,
+                const gtsam::KeyFormatter& keyFormatter =
+                 gtsam::DefaultKeyFormatter) const;
   void clear();
   void deleteCachedShortcuts();
   size_t numCachedSeparatorMarginals() const;
@@ -164,26 +185,4 @@ class SymbolicBayesTree {
                  gtsam::DefaultKeyFormatter) const;
 };
 
-class SymbolicBayesTreeClique {
-  SymbolicBayesTreeClique();
-  // SymbolicBayesTreeClique(gtsam::sharedConditional* conditional);
-
-  bool equals(const gtsam::SymbolicBayesTreeClique& other, double tol) const;
-  void print(string s = "", const gtsam::KeyFormatter& keyFormatter =
-                                gtsam::DefaultKeyFormatter) const;
-  size_t numCachedSeparatorMarginals() const;
-  // gtsam::sharedConditional* conditional() const;
-  bool isRoot() const;
-  size_t treeSize() const;
-  gtsam::SymbolicBayesTreeClique* parent() const;
-
-  //   // TODO: need wrapped versions graphs, BayesNet
-  //  BayesNet<ConditionalType> shortcut(derived_ptr root, Eliminate function)
-  //  const; FactorGraph<FactorType> marginal(derived_ptr root, Eliminate
-  //  function) const; FactorGraph<FactorType> joint(derived_ptr C2, derived_ptr
-  //  root, Eliminate function) const;
-  //
-  void deleteCachedShortcuts();
-};
-
 }  // namespace gtsam

From 07e8d24cbf7c721f80a8e2c0bd05bff456cb6d0f Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Mon, 5 Jun 2023 02:11:13 +0100
Subject: [PATCH 060/206] Wrapped elimination and junction trees

(cherry picked from commit 93d9ab6a2e6eb787345114d0e6303ce671f2f82f)
---
 gtsam/discrete/DiscreteJunctionTree.h |  2 ++
 gtsam/discrete/discrete.i             | 45 +++++++++++++++++++++++++--
 gtsam/inference/ClusterTree.h         |  4 +--
 gtsam/inference/inference.i           |  2 +-
 gtsam/symbolic/SymbolicJunctionTree.h |  2 ++
 gtsam/symbolic/symbolic.i             | 37 ++++++++++++++++++++++
 6 files changed, 86 insertions(+), 6 deletions(-)

diff --git a/gtsam/discrete/DiscreteJunctionTree.h b/gtsam/discrete/DiscreteJunctionTree.h
index 385c659e4..f6171c672 100644
--- a/gtsam/discrete/DiscreteJunctionTree.h
+++ b/gtsam/discrete/DiscreteJunctionTree.h
@@ -66,4 +66,6 @@ namespace gtsam {
     DiscreteJunctionTree(const DiscreteEliminationTree& eliminationTree);
   };
 
+  /// typedef for wrapper:
+  using DiscreteCluster = DiscreteJunctionTree::Cluster;
 }
diff --git a/gtsam/discrete/discrete.i b/gtsam/discrete/discrete.i
index b6c6ee2cd..6df443300 100644
--- a/gtsam/discrete/discrete.i
+++ b/gtsam/discrete/discrete.i
@@ -62,6 +62,8 @@ virtual class DecisionTreeFactor : gtsam::DiscreteFactor {
                  gtsam::DefaultKeyFormatter) const;
   bool equals(const gtsam::DecisionTreeFactor& other, double tol = 1e-9) const;
 
+  size_t cardinality(gtsam::Key j) const;
+  
   double operator()(const gtsam::DiscreteValues& values) const;
   gtsam::DecisionTreeFactor operator*(const gtsam::DecisionTreeFactor& f) const;
   size_t cardinality(gtsam::Key j) const;
@@ -247,9 +249,9 @@ class DiscreteBayesTree {
 class DiscreteLookupTable : gtsam::DiscreteConditional{
   DiscreteLookupTable(size_t nFrontals, const gtsam::DiscreteKeys& keys,
                       const gtsam::DecisionTreeFactor::ADT& potentials);
-  void print(
-    const std::string& s = "Discrete Lookup Table: ",
-    const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter) const;
+  void print(string s = "Discrete Lookup Table: ",
+             const gtsam::KeyFormatter& keyFormatter =
+                 gtsam::DefaultKeyFormatter) const;
   size_t argmax(const gtsam::DiscreteValues& parentsValues) const;
 };
 
@@ -333,4 +335,41 @@ class DiscreteFactorGraph {
               std::map<gtsam::Key, std::vector<std::string>> names) const;
 };
 
+#include <gtsam/discrete/DiscreteEliminationTree.h>
+
+class DiscreteEliminationTree {
+  DiscreteEliminationTree(const gtsam::DiscreteFactorGraph& factorGraph,
+                          const gtsam::VariableIndex& structure,
+                          const gtsam::Ordering& order);
+
+  DiscreteEliminationTree(const gtsam::DiscreteFactorGraph& factorGraph,
+                          const gtsam::Ordering& order);
+
+  void print(
+      string name = "EliminationTree: ",
+      const gtsam::KeyFormatter& formatter = gtsam::DefaultKeyFormatter) const;
+  bool equals(const gtsam::DiscreteEliminationTree& other,
+              double tol = 1e-9) const;
+};
+
+#include <gtsam/discrete/DiscreteJunctionTree.h>
+
+class DiscreteCluster {
+  gtsam::Ordering orderedFrontalKeys;
+  gtsam::DiscreteFactorGraph factors;
+  const gtsam::DiscreteCluster& operator[](size_t i) const;
+  size_t nrChildren() const;
+  void print(string s = "", const gtsam::KeyFormatter& keyFormatter =
+                                gtsam::DefaultKeyFormatter) const;
+};
+
+class DiscreteJunctionTree {
+  DiscreteJunctionTree(const gtsam::DiscreteEliminationTree& eliminationTree);
+  void print(
+      string name = "JunctionTree: ",
+      const gtsam::KeyFormatter& formatter = gtsam::DefaultKeyFormatter) const;
+  size_t nrRoots() const;
+  const gtsam::DiscreteCluster& operator[](size_t i) const;
+};
+
 }  // namespace gtsam
diff --git a/gtsam/inference/ClusterTree.h b/gtsam/inference/ClusterTree.h
index db80cee3b..43859f3d3 100644
--- a/gtsam/inference/ClusterTree.h
+++ b/gtsam/inference/ClusterTree.h
@@ -49,7 +49,7 @@ class ClusterTree {
     virtual ~Cluster() {}
 
     const Cluster& operator[](size_t i) const {
-      return *(children[i]);
+      return *(children.at(i));
     }
 
     /// Construct from factors associated with a single key
@@ -161,7 +161,7 @@ class ClusterTree {
   }
 
   const Cluster& operator[](size_t i) const {
-    return *(roots_[i]);
+    return *(roots_.at(i));
   }
 
   /// @}
diff --git a/gtsam/inference/inference.i b/gtsam/inference/inference.i
index e4eeaa480..13d8e032b 100644
--- a/gtsam/inference/inference.i
+++ b/gtsam/inference/inference.i
@@ -148,7 +148,7 @@ class Ordering {
 
   // Standard interface
   size_t size() const;
-  size_t at(size_t key) const;
+  size_t at(size_t i) const;
   void push_back(size_t key);
 
   // enabling serialization functionality
diff --git a/gtsam/symbolic/SymbolicJunctionTree.h b/gtsam/symbolic/SymbolicJunctionTree.h
index a6ca49e62..8c274599a 100644
--- a/gtsam/symbolic/SymbolicJunctionTree.h
+++ b/gtsam/symbolic/SymbolicJunctionTree.h
@@ -65,4 +65,6 @@ namespace gtsam {
     SymbolicJunctionTree(const SymbolicEliminationTree& eliminationTree);
   };
 
+  /// typedef for wrapper:
+  using SymbolicCluster = SymbolicJunctionTree::Cluster;
 }
diff --git a/gtsam/symbolic/symbolic.i b/gtsam/symbolic/symbolic.i
index c05f35895..4da59dfa9 100644
--- a/gtsam/symbolic/symbolic.i
+++ b/gtsam/symbolic/symbolic.i
@@ -137,6 +137,43 @@ class SymbolicBayesNet {
       const gtsam::DotWriter& writer = gtsam::DotWriter()) const;
 };
 
+#include <gtsam/symbolic/SymbolicEliminationTree.h>
+
+class SymbolicEliminationTree {
+  SymbolicEliminationTree(const gtsam::SymbolicFactorGraph& factorGraph,
+                          const gtsam::VariableIndex& structure,
+                          const gtsam::Ordering& order);
+
+  SymbolicEliminationTree(const gtsam::SymbolicFactorGraph& factorGraph,
+                          const gtsam::Ordering& order);
+
+  void print(
+      string name = "EliminationTree: ",
+      const gtsam::KeyFormatter& formatter = gtsam::DefaultKeyFormatter) const;
+  bool equals(const gtsam::SymbolicEliminationTree& other,
+              double tol = 1e-9) const;
+};
+
+#include <gtsam/symbolic/SymbolicJunctionTree.h>
+
+class SymbolicCluster {
+  gtsam::Ordering orderedFrontalKeys;
+  gtsam::SymbolicFactorGraph factors;
+  const gtsam::SymbolicCluster& operator[](size_t i) const;
+  size_t nrChildren() const;
+  void print(string s = "", const gtsam::KeyFormatter& keyFormatter =
+                                gtsam::DefaultKeyFormatter) const;
+};
+
+class SymbolicJunctionTree {
+  SymbolicJunctionTree(const gtsam::SymbolicEliminationTree& eliminationTree);
+  void print(
+      string name = "JunctionTree: ",
+      const gtsam::KeyFormatter& formatter = gtsam::DefaultKeyFormatter) const;
+  size_t nrRoots() const;
+  const gtsam::SymbolicCluster& operator[](size_t i) const;
+};
+
 #include <gtsam/symbolic/SymbolicBayesTree.h>
 
 class SymbolicBayesTreeClique {

From 4d99bb1db4cd1aae65675ab5d67568f09b7e45e6 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Mon, 5 Jun 2023 15:17:05 -0700
Subject: [PATCH 061/206] cartesianProduct

(cherry picked from commit 1f5e924eac4d4beb3e5a380cd423684855f195c7)
---
 gtsam/discrete/DiscreteValues.h | 5 +++++
 gtsam/discrete/discrete.i       | 2 ++
 2 files changed, 7 insertions(+)

diff --git a/gtsam/discrete/DiscreteValues.h b/gtsam/discrete/DiscreteValues.h
index 8a6d6f930..9ec08302b 100644
--- a/gtsam/discrete/DiscreteValues.h
+++ b/gtsam/discrete/DiscreteValues.h
@@ -120,6 +120,11 @@ class GTSAM_EXPORT DiscreteValues : public Assignment<Key> {
   /// @}
 };
 
+/// Free version of CartesianProduct.
+inline std::vector<DiscreteValues> cartesianProduct(const DiscreteKeys& keys) {
+  return DiscreteValues::CartesianProduct(keys);
+}
+
 /// Free version of markdown.
 std::string markdown(const DiscreteValues& values,
                      const KeyFormatter& keyFormatter = DefaultKeyFormatter,
diff --git a/gtsam/discrete/discrete.i b/gtsam/discrete/discrete.i
index 6df443300..158dc9016 100644
--- a/gtsam/discrete/discrete.i
+++ b/gtsam/discrete/discrete.i
@@ -17,6 +17,8 @@ class DiscreteKeys {
 };
 
 // DiscreteValues is added in specializations/discrete.h as a std::map
+std::vector<gtsam::DiscreteValues> cartesianProduct(
+    const gtsam::DiscreteKeys& keys);
 string markdown(
     const gtsam::DiscreteValues& values,
     const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter);

From 340635859c4ca3bd363833d3e2c361b3c0d7ccfe Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Mon, 5 Jun 2023 19:10:18 -0700
Subject: [PATCH 062/206] Wrap forgotten max

(cherry picked from commit 3fd5c2501e8d6324ee97a8442c83b1ca65d02b34)
---
 gtsam/discrete/discrete.i | 1 +
 1 file changed, 1 insertion(+)

diff --git a/gtsam/discrete/discrete.i b/gtsam/discrete/discrete.i
index 158dc9016..040dabf48 100644
--- a/gtsam/discrete/discrete.i
+++ b/gtsam/discrete/discrete.i
@@ -73,6 +73,7 @@ virtual class DecisionTreeFactor : gtsam::DiscreteFactor {
   gtsam::DecisionTreeFactor* sum(size_t nrFrontals) const;
   gtsam::DecisionTreeFactor* sum(const gtsam::Ordering& keys) const;
   gtsam::DecisionTreeFactor* max(size_t nrFrontals) const;
+  gtsam::DecisionTreeFactor* max(const gtsam::Ordering& keys) const;
 
   string dot(
       const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter,

From 159a78581f0fd35e1c8cd266cc9a399ea6bfaa41 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sat, 10 Jun 2023 09:39:13 -0700
Subject: [PATCH 063/206] refactor into smaller tests

(cherry picked from commit 9857e62a5636d50a7f12660b4dd836c24c31ef29)
---
 .../discrete/tests/testDiscreteBayesTree.cpp  | 173 +++++++++++-------
 1 file changed, 109 insertions(+), 64 deletions(-)

diff --git a/gtsam/discrete/tests/testDiscreteBayesTree.cpp b/gtsam/discrete/tests/testDiscreteBayesTree.cpp
index 99038566e..67f00c8a0 100644
--- a/gtsam/discrete/tests/testDiscreteBayesTree.cpp
+++ b/gtsam/discrete/tests/testDiscreteBayesTree.cpp
@@ -16,10 +16,10 @@
  */
 
 #include <gtsam/base/Vector.h>
+#include <gtsam/inference/BayesNet.h>
 #include <gtsam/discrete/DiscreteBayesNet.h>
 #include <gtsam/discrete/DiscreteBayesTree.h>
 #include <gtsam/discrete/DiscreteFactorGraph.h>
-#include <gtsam/inference/BayesNet.h>
 
 #include <CppUnitLite/TestHarness.h>
 
@@ -32,7 +32,8 @@ static constexpr bool debug = false;
 
 /* ************************************************************************* */
 struct TestFixture {
-  vector<DiscreteKey> keys;
+  DiscreteKeys keys;
+  std::vector<DiscreteValues> assignments;
   DiscreteBayesNet bayesNet;
   std::shared_ptr<DiscreteBayesTree> bayesTree;
 
@@ -47,6 +48,9 @@ struct TestFixture {
       keys.push_back(key_i);
     }
 
+    // Enumerate all assignments.
+    assignments = DiscreteValues::CartesianProduct(keys);
+
     // Create thin-tree Bayesnet.
     bayesNet.add(keys[14] % "1/3");
 
@@ -74,9 +78,9 @@ struct TestFixture {
 };
 
 /* ************************************************************************* */
+// Check that BN and BT give the same answer on all configurations
 TEST(DiscreteBayesTree, ThinTree) {
-  const TestFixture self;
-  const auto& keys = self.keys;
+  TestFixture self;
 
   if (debug) {
     GTSAM_PRINT(self.bayesNet);
@@ -95,47 +99,56 @@ TEST(DiscreteBayesTree, ThinTree) {
     EXPECT_LONGS_EQUAL(i, *(clique_i->conditional_->beginFrontals()));
   }
 
-  auto R = self.bayesTree->roots().front();
-
-  // Check whether BN and BT give the same answer on all configurations
-  auto allPosbValues = DiscreteValues::CartesianProduct(
-      keys[0] & keys[1] & keys[2] & keys[3] & keys[4] & keys[5] & keys[6] &
-      keys[7] & keys[8] & keys[9] & keys[10] & keys[11] & keys[12] & keys[13] &
-      keys[14]);
-  for (size_t i = 0; i < allPosbValues.size(); ++i) {
-    DiscreteValues x = allPosbValues[i];
+  for (const auto& x : self.assignments) {
     double expected = self.bayesNet.evaluate(x);
     double actual = self.bayesTree->evaluate(x);
     DOUBLES_EQUAL(expected, actual, 1e-9);
   }
+}
 
-  // Calculate all some marginals for DiscreteValues==all1
-  Vector marginals = Vector::Zero(15);
-  double joint_12_14 = 0, joint_9_12_14 = 0, joint_8_12_14 = 0, joint_8_12 = 0,
-         joint82 = 0, joint12 = 0, joint24 = 0, joint45 = 0, joint46 = 0,
-         joint_4_11 = 0, joint_11_13 = 0, joint_11_13_14 = 0,
-         joint_11_12_13_14 = 0, joint_9_11_12_13 = 0, joint_8_11_12_13 = 0;
-  for (size_t i = 0; i < allPosbValues.size(); ++i) {
-    DiscreteValues x = allPosbValues[i];
+/* ************************************************************************* */
+// Check calculation of separator marginals
+TEST(DiscreteBayesTree, separatorMarginal) {
+  TestFixture self;
+
+  // Calculate some marginals for DiscreteValues==all1
+  double marginal_14 = 0, joint_8_12 = 0;
+  for (auto& x : self.assignments) {
     double px = self.bayesTree->evaluate(x);
-    for (size_t i = 0; i < 15; i++)
-      if (x[i]) marginals[i] += px;
-    if (x[12] && x[14]) {
-      joint_12_14 += px;
-      if (x[9]) joint_9_12_14 += px;
-      if (x[8]) joint_8_12_14 += px;
-    }
     if (x[8] && x[12]) joint_8_12 += px;
-    if (x[2]) {
-      if (x[8]) joint82 += px;
-      if (x[1]) joint12 += px;
-    }
-    if (x[4]) {
-      if (x[2]) joint24 += px;
-      if (x[5]) joint45 += px;
-      if (x[6]) joint46 += px;
-      if (x[11]) joint_4_11 += px;
-    }
+    if (x[14]) marginal_14 += px;
+  }
+  DiscreteValues all1 = self.assignments.back();
+
+  // check separator marginal P(S0)
+  auto clique = (*self.bayesTree)[0];
+  DiscreteFactorGraph separatorMarginal0 =
+      clique->separatorMarginal(EliminateDiscrete);
+  DOUBLES_EQUAL(joint_8_12, separatorMarginal0(all1), 1e-9);
+
+  // check separator marginal P(S9), should be P(14)
+  clique = (*self.bayesTree)[9];
+  DiscreteFactorGraph separatorMarginal9 =
+      clique->separatorMarginal(EliminateDiscrete);
+  DOUBLES_EQUAL(marginal_14, separatorMarginal9(all1), 1e-9);
+
+  // check separator marginal of root, should be empty
+  clique = (*self.bayesTree)[11];
+  DiscreteFactorGraph separatorMarginal11 =
+      clique->separatorMarginal(EliminateDiscrete);
+  LONGS_EQUAL(0, separatorMarginal11.size());
+}
+
+/* ************************************************************************* */
+// Check shortcuts in the tree
+TEST(DiscreteBayesTree, shortcut) {
+  TestFixture self;
+
+  // Calculate some marginals for DiscreteValues==all1
+  double joint_11_13 = 0, joint_11_13_14 = 0, joint_11_12_13_14 = 0,
+         joint_9_11_12_13 = 0, joint_8_11_12_13 = 0;
+  for (auto& x : self.assignments) {
+    double px = self.bayesTree->evaluate(x);
     if (x[11] && x[13]) {
       joint_11_13 += px;
       if (x[8] && x[12]) joint_8_11_12_13 += px;
@@ -148,32 +161,12 @@ TEST(DiscreteBayesTree, ThinTree) {
       }
     }
   }
-  DiscreteValues all1 = allPosbValues.back();
+  DiscreteValues all1 = self.assignments.back();
 
-  // check separator marginal P(S0)
-  auto clique = (*self.bayesTree)[0];
-  DiscreteFactorGraph separatorMarginal0 =
-      clique->separatorMarginal(EliminateDiscrete);
-  DOUBLES_EQUAL(joint_8_12, separatorMarginal0(all1), 1e-9);
-
-  DOUBLES_EQUAL(joint_12_14, 0.1875, 1e-9);
-  DOUBLES_EQUAL(joint_8_12_14, 0.0375, 1e-9);
-  DOUBLES_EQUAL(joint_9_12_14, 0.15, 1e-9);
-
-  // check separator marginal P(S9), should be P(14)
-  clique = (*self.bayesTree)[9];
-  DiscreteFactorGraph separatorMarginal9 =
-      clique->separatorMarginal(EliminateDiscrete);
-  DOUBLES_EQUAL(marginals[14], separatorMarginal9(all1), 1e-9);
-
-  // check separator marginal of root, should be empty
-  clique = (*self.bayesTree)[11];
-  DiscreteFactorGraph separatorMarginal11 =
-      clique->separatorMarginal(EliminateDiscrete);
-  LONGS_EQUAL(0, separatorMarginal11.size());
+  auto R = self.bayesTree->roots().front();
 
   // check shortcut P(S9||R) to root
-  clique = (*self.bayesTree)[9];
+  auto clique = (*self.bayesTree)[9];
   DiscreteBayesNet shortcut = clique->shortcut(R, EliminateDiscrete);
   LONGS_EQUAL(1, shortcut.size());
   DOUBLES_EQUAL(joint_11_13_14 / joint_11_13, shortcut.evaluate(all1), 1e-9);
@@ -202,15 +195,67 @@ TEST(DiscreteBayesTree, ThinTree) {
       shortcut.print("shortcut:");
     }
   }
+}
+
+/* ************************************************************************* */
+// Check all marginals
+TEST(DiscreteBayesTree, marginalFactor) {
+  TestFixture self;
+
+  Vector marginals = Vector::Zero(15);
+  for (size_t i = 0; i < self.assignments.size(); ++i) {
+    DiscreteValues& x = self.assignments[i];
+    double px = self.bayesTree->evaluate(x);
+    for (size_t i = 0; i < 15; i++)
+      if (x[i]) marginals[i] += px;
+  }
 
   // Check all marginals
-  DiscreteFactor::shared_ptr marginalFactor;
+  DiscreteValues all1 = self.assignments.back();
   for (size_t i = 0; i < 15; i++) {
-    marginalFactor = self.bayesTree->marginalFactor(i, EliminateDiscrete);
+    auto marginalFactor = self.bayesTree->marginalFactor(i, EliminateDiscrete);
     double actual = (*marginalFactor)(all1);
     DOUBLES_EQUAL(marginals[i], actual, 1e-9);
   }
+}
 
+/* ************************************************************************* */
+// Check a number of joint marginals.
+TEST(DiscreteBayesTree, Joints) {
+  TestFixture self;
+
+  // Calculate some marginals for DiscreteValues==all1
+  Vector marginals = Vector::Zero(15);
+  double joint_12_14 = 0, joint_9_12_14 = 0, joint_8_12_14 = 0, joint82 = 0,
+         joint12 = 0, joint24 = 0, joint45 = 0, joint46 = 0, joint_4_11 = 0;
+  for (size_t i = 0; i < self.assignments.size(); ++i) {
+    DiscreteValues& x = self.assignments[i];
+    double px = self.bayesTree->evaluate(x);
+    for (size_t i = 0; i < 15; i++)
+      if (x[i]) marginals[i] += px;
+    if (x[12] && x[14]) {
+      joint_12_14 += px;
+      if (x[9]) joint_9_12_14 += px;
+      if (x[8]) joint_8_12_14 += px;
+    }
+    if (x[2]) {
+      if (x[8]) joint82 += px;
+      if (x[1]) joint12 += px;
+    }
+    if (x[4]) {
+      if (x[2]) joint24 += px;
+      if (x[5]) joint45 += px;
+      if (x[6]) joint46 += px;
+      if (x[11]) joint_4_11 += px;
+    }
+  }
+
+  // regression tests:
+  DOUBLES_EQUAL(joint_12_14, 0.1875, 1e-9);
+  DOUBLES_EQUAL(joint_8_12_14, 0.0375, 1e-9);
+  DOUBLES_EQUAL(joint_9_12_14, 0.15, 1e-9);
+
+  DiscreteValues all1 = self.assignments.back();
   DiscreteBayesNet::shared_ptr actualJoint;
 
   // Check joint P(8, 2)
@@ -240,7 +285,7 @@ TEST(DiscreteBayesTree, ThinTree) {
 
 /* ************************************************************************* */
 TEST(DiscreteBayesTree, Dot) {
-  const TestFixture self;
+  TestFixture self;
   string actual = self.bayesTree->dot();
   EXPECT(actual ==
          "digraph G{\n"

From bd4230baaefac6fd4e3221282b5a9ae064e9d09a Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sat, 10 Jun 2023 12:34:30 -0700
Subject: [PATCH 064/206] multifrontal lookup table tests

(cherry picked from commit 0a24a8ac434f01f31ba47b3034476305efe644aa)
---
 gtsam/discrete/DecisionTreeFactor.h           |  4 +-
 gtsam/discrete/DiscreteBayesTree.h            |  5 ++
 gtsam/discrete/discrete.i                     |  2 +
 .../discrete/tests/testDiscreteBayesTree.cpp  | 65 +++++++++++++++++--
 4 files changed, 69 insertions(+), 7 deletions(-)

diff --git a/gtsam/discrete/DecisionTreeFactor.h b/gtsam/discrete/DecisionTreeFactor.h
index 92b02afd1..7988757b5 100644
--- a/gtsam/discrete/DecisionTreeFactor.h
+++ b/gtsam/discrete/DecisionTreeFactor.h
@@ -80,7 +80,7 @@ namespace gtsam {
      * @endcode
      *
      * The values in the table should be laid out so that the first key varies
-     * the slowest. and the last key the fastest.
+     * the slowest, and the last key the fastest.
      */
     DecisionTreeFactor(const DiscreteKeys& keys,
                        const std::vector<double>& table);
@@ -101,7 +101,7 @@ namespace gtsam {
      * @endcode
      *
      * The values in the table should be laid out so that the first key varies
-     * the slowest. and the last key the fastest.
+     * the slowest, and the last key the fastest.
      */
     DecisionTreeFactor(const DiscreteKeys& keys, const std::string& table);
 
diff --git a/gtsam/discrete/DiscreteBayesTree.h b/gtsam/discrete/DiscreteBayesTree.h
index e9b1325a0..34f8f5d4a 100644
--- a/gtsam/discrete/DiscreteBayesTree.h
+++ b/gtsam/discrete/DiscreteBayesTree.h
@@ -58,6 +58,11 @@ class GTSAM_EXPORT DiscreteBayesTreeClique
 
   //** evaluate conditional probability of subtree for given DiscreteValues */
   double evaluate(const DiscreteValues& values) const;
+
+  //** (Preferred) sugar for the above for given DiscreteValues */
+  double operator()(const DiscreteValues& values) const {
+    return evaluate(values);
+  }
 };
 
 /* ************************************************************************* */
diff --git a/gtsam/discrete/discrete.i b/gtsam/discrete/discrete.i
index 040dabf48..32f0439ea 100644
--- a/gtsam/discrete/discrete.i
+++ b/gtsam/discrete/discrete.i
@@ -215,6 +215,7 @@ class DiscreteBayesTreeClique {
       const string& s = "Clique: ",
       const gtsam::KeyFormatter& formatter = gtsam::DefaultKeyFormatter) const;
   double evaluate(const gtsam::DiscreteValues& values) const;
+  double operator()(const gtsam::DiscreteValues& values) const;
 };
 
 class DiscreteBayesTree {
@@ -229,6 +230,7 @@ class DiscreteBayesTree {
   const DiscreteBayesTreeClique* operator[](size_t j) const;
 
   double evaluate(const gtsam::DiscreteValues& values) const;
+  double operator()(const gtsam::DiscreteValues& values) const;
 
   string dot(const gtsam::KeyFormatter& keyFormatter =
                  gtsam::DefaultKeyFormatter) const;
diff --git a/gtsam/discrete/tests/testDiscreteBayesTree.cpp b/gtsam/discrete/tests/testDiscreteBayesTree.cpp
index 67f00c8a0..f0a630762 100644
--- a/gtsam/discrete/tests/testDiscreteBayesTree.cpp
+++ b/gtsam/discrete/tests/testDiscreteBayesTree.cpp
@@ -16,6 +16,7 @@
  */
 
 #include <gtsam/base/Vector.h>
+#include <gtsam/inference/Symbol.h>
 #include <gtsam/inference/BayesNet.h>
 #include <gtsam/discrete/DiscreteBayesNet.h>
 #include <gtsam/discrete/DiscreteBayesTree.h>
@@ -26,7 +27,6 @@
 #include <iostream>
 #include <vector>
 
-using namespace std;
 using namespace gtsam;
 static constexpr bool debug = false;
 
@@ -108,7 +108,7 @@ TEST(DiscreteBayesTree, ThinTree) {
 
 /* ************************************************************************* */
 // Check calculation of separator marginals
-TEST(DiscreteBayesTree, separatorMarginal) {
+TEST(DiscreteBayesTree, SeparatorMarginals) {
   TestFixture self;
 
   // Calculate some marginals for DiscreteValues==all1
@@ -141,7 +141,7 @@ TEST(DiscreteBayesTree, separatorMarginal) {
 
 /* ************************************************************************* */
 // Check shortcuts in the tree
-TEST(DiscreteBayesTree, shortcut) {
+TEST(DiscreteBayesTree, Shortcuts) {
   TestFixture self;
 
   // Calculate some marginals for DiscreteValues==all1
@@ -199,7 +199,7 @@ TEST(DiscreteBayesTree, shortcut) {
 
 /* ************************************************************************* */
 // Check all marginals
-TEST(DiscreteBayesTree, marginalFactor) {
+TEST(DiscreteBayesTree, MarginalFactors) {
   TestFixture self;
 
   Vector marginals = Vector::Zero(15);
@@ -286,7 +286,7 @@ TEST(DiscreteBayesTree, Joints) {
 /* ************************************************************************* */
 TEST(DiscreteBayesTree, Dot) {
   TestFixture self;
-  string actual = self.bayesTree->dot();
+  std::string actual = self.bayesTree->dot();
   EXPECT(actual ==
          "digraph G{\n"
          "0[label=\"13, 11, 6, 7\"];\n"
@@ -313,6 +313,61 @@ TEST(DiscreteBayesTree, Dot) {
          "}");
 }
 
+/* ************************************************************************* */
+// Check that we can have a multi-frontal lookup table
+TEST(DiscreteBayesTree, Lookup) {
+  using gtsam::symbol_shorthand::A;
+  using gtsam::symbol_shorthand::X;
+
+  // Make a small planning-like graph: 3 states, 2 actions
+  DiscreteFactorGraph graph;
+  const DiscreteKey x1{X(1), 3}, x2{X(2), 3}, x3{X(3), 3};
+  const DiscreteKey a1{A(1), 2}, a2{A(2), 2};
+  const DiscreteKeys keys{x1, x2, x3, a1, a2};
+  // Constraint on start and goal
+  graph.add(DiscreteKeys{x1}, std::vector<double>{1, 0, 0});
+  graph.add(DiscreteKeys{x3}, std::vector<double>{0, 0, 1});
+  // Should I stay or should I go?
+  // "Reward" (exp(-cost)) for an action is 10, and rewards multiply:
+  const double r = 10;
+  std::vector<double> table{
+      r, 0, 0, 0, r, 0,  // x1 = 0
+      0, r, 0, 0, 0, r,  // x1 = 1
+      0, 0, r, 0, 0, r   // x1 = 2
+  };
+  graph.add(DiscreteKeys{x1, a1, x2}, table);
+  graph.add(DiscreteKeys{x2, a2, x3}, table);
+
+  // eliminate for MPE (maximum probable explanation).
+  Ordering ordering{A(2), X(3), X(1), A(1), X(2)};
+  auto lookup = graph.eliminateMultifrontal(ordering, EliminateForMPE);
+
+  // Check that the lookup table is correct
+  EXPECT_LONGS_EQUAL(2, lookup->size());
+  auto lookup_x1_a1_x2 = (*lookup)[X(1)]->conditional();
+  EXPECT_LONGS_EQUAL(3, lookup_x1_a1_x2->frontals().size());
+  // check that sum is 100
+  DiscreteValues empty;
+  EXPECT_DOUBLES_EQUAL(100, (*lookup_x1_a1_x2->sum(3))(empty), 1e-9);
+  // And that only non-zero reward is for x1 a1 x2 == 0 1 1
+  EXPECT_DOUBLES_EQUAL(100, (*lookup_x1_a1_x2)({{X(1),0},{A(1),1},{X(2),1}}), 1e-9);
+
+  auto lookup_a2_x3 = (*lookup)[X(3)]->conditional();
+  // check that the sum depends on x2 and is non-zero only for x2 \in {1,2}
+  auto sum_x2 = lookup_a2_x3->sum(2);
+  EXPECT_DOUBLES_EQUAL(0, (*sum_x2)({{X(2),0}}), 1e-9);
+  EXPECT_DOUBLES_EQUAL(10, (*sum_x2)({{X(2),1}}), 1e-9);
+  EXPECT_DOUBLES_EQUAL(20, (*sum_x2)({{X(2),2}}), 1e-9);
+  EXPECT_LONGS_EQUAL(2, lookup_a2_x3->frontals().size());
+  // And that the non-zero rewards are for 
+  // x2 a2 x3 == 1 1 2
+  EXPECT_DOUBLES_EQUAL(10, (*lookup_a2_x3)({{X(2),1},{A(2),1},{X(3),2}}), 1e-9);
+  // x2 a2 x3 == 2 0 2
+  EXPECT_DOUBLES_EQUAL(10, (*lookup_a2_x3)({{X(2),2},{A(2),0},{X(3),2}}), 1e-9);
+  // x2 a2 x3 == 2 1 2
+  EXPECT_DOUBLES_EQUAL(10, (*lookup_a2_x3)({{X(2),2},{A(2),1},{X(3),2}}), 1e-9);
+}
+
 /* ************************************************************************* */
 int main() {
   TestResult tr;

From 3a9f5578d664bfbd585ff68aed192fff498abc66 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sat, 10 Jun 2023 13:56:14 -0700
Subject: [PATCH 065/206] multifrontal MPE in python

(cherry picked from commit 10f30e1ca93f7c335684f814b64944c3a5b7a51e)
---
 gtsam/discrete/DiscreteFactorGraph.h          | 39 +++++++----
 gtsam/discrete/discrete.i                     | 52 +++++++++++----
 .../discrete/tests/testDiscreteBayesTree.cpp  |  3 +-
 gtsam/inference/EliminateableFactorGraph.h    |  6 +-
 gtsam/inference/inference.i                   |  1 +
 python/gtsam/tests/test_DiscreteBayesTree.py  | 64 ++++++++++++++++---
 6 files changed, 128 insertions(+), 37 deletions(-)

diff --git a/gtsam/discrete/DiscreteFactorGraph.h b/gtsam/discrete/DiscreteFactorGraph.h
index 650fe7636..d0dc282b4 100644
--- a/gtsam/discrete/DiscreteFactorGraph.h
+++ b/gtsam/discrete/DiscreteFactorGraph.h
@@ -41,16 +41,30 @@ class DiscreteJunctionTree;
 
 /**
  * @brief Main elimination function for DiscreteFactorGraph.
- * 
- * @param factors 
- * @param keys 
- * @return GTSAM_EXPORT
+ *
+ * @param factors The factor graph to eliminate.
+ * @param frontalKeys An ordering for which variables to eliminate.
+ * @return A pair of the resulting conditional and the separator factor.
  * @ingroup discrete
  */
-GTSAM_EXPORT std::pair<std::shared_ptr<DiscreteConditional>, DecisionTreeFactor::shared_ptr>
-EliminateDiscrete(const DiscreteFactorGraph& factors, const Ordering& keys);
+GTSAM_EXPORT
+std::pair<DiscreteConditional::shared_ptr, DecisionTreeFactor::shared_ptr>
+EliminateDiscrete(const DiscreteFactorGraph& factors,
+                  const Ordering& frontalKeys);
+
+/**
+ * @brief Alternate elimination function for that creates non-normalized lookup tables.
+ *
+ * @param factors The factor graph to eliminate.
+ * @param frontalKeys An ordering for which variables to eliminate.
+ * @return A pair of the resulting lookup table and the separator factor.
+ * @ingroup discrete
+ */
+GTSAM_EXPORT
+std::pair<DiscreteConditional::shared_ptr, DecisionTreeFactor::shared_ptr>
+EliminateForMPE(const DiscreteFactorGraph& factors,
+                const Ordering& frontalKeys);
 
-/* ************************************************************************* */
 template<> struct EliminationTraits<DiscreteFactorGraph>
 {
   typedef DiscreteFactor FactorType;                   ///< Type of factors in factor graph
@@ -60,12 +74,14 @@ template<> struct EliminationTraits<DiscreteFactorGraph>
   typedef DiscreteEliminationTree EliminationTreeType; ///< Type of elimination tree
   typedef DiscreteBayesTree BayesTreeType;             ///< Type of Bayes tree
   typedef DiscreteJunctionTree JunctionTreeType;       ///< Type of Junction tree
+  
   /// The default dense elimination function
   static std::pair<std::shared_ptr<ConditionalType>,
                    std::shared_ptr<FactorType> >
   DefaultEliminate(const FactorGraphType& factors, const Ordering& keys) {
     return EliminateDiscrete(factors, keys);
   }
+  
   /// The default ordering generation function
   static Ordering DefaultOrderingFunc(
       const FactorGraphType& graph,
@@ -74,7 +90,6 @@ template<> struct EliminationTraits<DiscreteFactorGraph>
   }
 };
 
-/* ************************************************************************* */
 /**
  * A Discrete Factor Graph is a factor graph where all factors are Discrete, i.e.
  *   Factor == DiscreteFactor
@@ -108,8 +123,8 @@ class GTSAM_EXPORT DiscreteFactorGraph
 
   /** Implicit copy/downcast constructor to override explicit template container
    * constructor */
-  template <class DERIVEDFACTOR>
-  DiscreteFactorGraph(const FactorGraph<DERIVEDFACTOR>& graph) : Base(graph) {}
+  template <class DERIVED_FACTOR>
+  DiscreteFactorGraph(const FactorGraph<DERIVED_FACTOR>& graph) : Base(graph) {}
 
   /// @name Testable
   /// @{
@@ -227,10 +242,6 @@ class GTSAM_EXPORT DiscreteFactorGraph
   /// @}
 };  // \ DiscreteFactorGraph
 
-std::pair<DiscreteConditional::shared_ptr, DecisionTreeFactor::shared_ptr>  //
-EliminateForMPE(const DiscreteFactorGraph& factors,
-                const Ordering& frontalKeys);
-
 /// traits
 template <>
 struct traits<DiscreteFactorGraph> : public Testable<DiscreteFactorGraph> {};
diff --git a/gtsam/discrete/discrete.i b/gtsam/discrete/discrete.i
index 32f0439ea..b66069340 100644
--- a/gtsam/discrete/discrete.i
+++ b/gtsam/discrete/discrete.i
@@ -275,6 +275,14 @@ class DiscreteLookupDAG {
 };
 
 #include <gtsam/discrete/DiscreteFactorGraph.h>
+std::pair<gtsam::DiscreteConditional*, gtsam::DecisionTreeFactor*>
+EliminateDiscrete(const gtsam::DiscreteFactorGraph& factors,
+                  const gtsam::Ordering& frontalKeys);
+
+std::pair<gtsam::DiscreteConditional*, gtsam::DecisionTreeFactor*>
+EliminateForMPE(const gtsam::DiscreteFactorGraph& factors,
+                const gtsam::Ordering& frontalKeys);
+
 class DiscreteFactorGraph {
   DiscreteFactorGraph();
   DiscreteFactorGraph(const gtsam::DiscreteBayesNet& bayesNet);
@@ -289,6 +297,7 @@ class DiscreteFactorGraph {
   void add(const gtsam::DiscreteKey& j, const std::vector<double>& spec);
   void add(const gtsam::DiscreteKeys& keys, string spec);
   void add(const std::vector<gtsam::DiscreteKey>& keys, string spec);
+  void add(const std::vector<gtsam::DiscreteKey>& keys, const std::vector<double>& spec);
 
   bool empty() const;
   size_t size() const;
@@ -302,25 +311,46 @@ class DiscreteFactorGraph {
   double operator()(const gtsam::DiscreteValues& values) const;
   gtsam::DiscreteValues optimize() const;
 
-  gtsam::DiscreteBayesNet sumProduct();
-  gtsam::DiscreteBayesNet sumProduct(gtsam::Ordering::OrderingType type);
+  gtsam::DiscreteBayesNet sumProduct(
+      gtsam::Ordering::OrderingType type = gtsam::Ordering::COLAMD);
   gtsam::DiscreteBayesNet sumProduct(const gtsam::Ordering& ordering);
 
-  gtsam::DiscreteLookupDAG maxProduct();
-  gtsam::DiscreteLookupDAG maxProduct(gtsam::Ordering::OrderingType type);
+  gtsam::DiscreteLookupDAG maxProduct(
+      gtsam::Ordering::OrderingType type = gtsam::Ordering::COLAMD);
   gtsam::DiscreteLookupDAG maxProduct(const gtsam::Ordering& ordering);
 
-  gtsam::DiscreteBayesNet* eliminateSequential();
-  gtsam::DiscreteBayesNet* eliminateSequential(gtsam::Ordering::OrderingType type);
+  gtsam::DiscreteBayesNet* eliminateSequential(
+      gtsam::Ordering::OrderingType type = gtsam::Ordering::COLAMD);
+  gtsam::DiscreteBayesNet* eliminateSequential(
+      gtsam::Ordering::OrderingType type,
+      const gtsam::DiscreteFactorGraph::Eliminate& function);
   gtsam::DiscreteBayesNet* eliminateSequential(const gtsam::Ordering& ordering);
+  gtsam::DiscreteBayesNet* eliminateSequential(
+      const gtsam::Ordering& ordering,
+      const gtsam::DiscreteFactorGraph::Eliminate& function);
   pair<gtsam::DiscreteBayesNet*, gtsam::DiscreteFactorGraph*>
-      eliminatePartialSequential(const gtsam::Ordering& ordering);
+  eliminatePartialSequential(const gtsam::Ordering& ordering);
+  pair<gtsam::DiscreteBayesNet*, gtsam::DiscreteFactorGraph*>
+  eliminatePartialSequential(
+      const gtsam::Ordering& ordering,
+      const gtsam::DiscreteFactorGraph::Eliminate& function);
 
-  gtsam::DiscreteBayesTree* eliminateMultifrontal();
-  gtsam::DiscreteBayesTree* eliminateMultifrontal(gtsam::Ordering::OrderingType type);  
-  gtsam::DiscreteBayesTree* eliminateMultifrontal(const gtsam::Ordering& ordering);  
+  gtsam::DiscreteBayesTree* eliminateMultifrontal(
+      gtsam::Ordering::OrderingType type = gtsam::Ordering::COLAMD);
+  gtsam::DiscreteBayesTree* eliminateMultifrontal(
+      gtsam::Ordering::OrderingType type,
+      const gtsam::DiscreteFactorGraph::Eliminate& function);
+  gtsam::DiscreteBayesTree* eliminateMultifrontal(
+      const gtsam::Ordering& ordering);
+  gtsam::DiscreteBayesTree* eliminateMultifrontal(
+      const gtsam::Ordering& ordering,
+      const gtsam::DiscreteFactorGraph::Eliminate& function);
   pair<gtsam::DiscreteBayesTree*, gtsam::DiscreteFactorGraph*>
-      eliminatePartialMultifrontal(const gtsam::Ordering& ordering);
+  eliminatePartialMultifrontal(const gtsam::Ordering& ordering);
+  pair<gtsam::DiscreteBayesTree*, gtsam::DiscreteFactorGraph*>
+  eliminatePartialMultifrontal(
+      const gtsam::Ordering& ordering,
+      const gtsam::DiscreteFactorGraph::Eliminate& function);
 
   string dot(
       const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter,
diff --git a/gtsam/discrete/tests/testDiscreteBayesTree.cpp b/gtsam/discrete/tests/testDiscreteBayesTree.cpp
index f0a630762..0288561cd 100644
--- a/gtsam/discrete/tests/testDiscreteBayesTree.cpp
+++ b/gtsam/discrete/tests/testDiscreteBayesTree.cpp
@@ -323,10 +323,11 @@ TEST(DiscreteBayesTree, Lookup) {
   DiscreteFactorGraph graph;
   const DiscreteKey x1{X(1), 3}, x2{X(2), 3}, x3{X(3), 3};
   const DiscreteKey a1{A(1), 2}, a2{A(2), 2};
-  const DiscreteKeys keys{x1, x2, x3, a1, a2};
+
   // Constraint on start and goal
   graph.add(DiscreteKeys{x1}, std::vector<double>{1, 0, 0});
   graph.add(DiscreteKeys{x3}, std::vector<double>{0, 0, 1});
+
   // Should I stay or should I go?
   // "Reward" (exp(-cost)) for an action is 10, and rewards multiply:
   const double r = 10;
diff --git a/gtsam/inference/EliminateableFactorGraph.h b/gtsam/inference/EliminateableFactorGraph.h
index ac4b96d28..52e1479a9 100644
--- a/gtsam/inference/EliminateableFactorGraph.h
+++ b/gtsam/inference/EliminateableFactorGraph.h
@@ -51,12 +51,12 @@ namespace gtsam {
    *  algorithms.  Any factor graph holding eliminateable factors can derive from this class to
    *  expose functions for computing marginals, conditional marginals, doing multifrontal and
    *  sequential elimination, etc. */
-  template<class FACTORGRAPH>
+  template<class FACTOR_GRAPH>
   class EliminateableFactorGraph
   {
   private:
-    typedef EliminateableFactorGraph<FACTORGRAPH> This; ///< Typedef to this class.
-    typedef FACTORGRAPH FactorGraphType; ///< Typedef to factor graph type
+    typedef EliminateableFactorGraph<FACTOR_GRAPH> This; ///< Typedef to this class.
+    typedef FACTOR_GRAPH FactorGraphType; ///< Typedef to factor graph type
     // Base factor type stored in this graph (private because derived classes will get this from
     // their FactorGraph base class)
     typedef typename EliminationTraits<FactorGraphType>::FactorType _FactorType;
diff --git a/gtsam/inference/inference.i b/gtsam/inference/inference.i
index 13d8e032b..b25e2fd62 100644
--- a/gtsam/inference/inference.i
+++ b/gtsam/inference/inference.i
@@ -104,6 +104,7 @@ class Ordering {
   // Standard Constructors and Named Constructors
   Ordering();
   Ordering(const gtsam::Ordering& other);
+  Ordering(const std::vector<size_t>& keys);
 
   template <
       FACTOR_GRAPH = {gtsam::NonlinearFactorGraph, gtsam::DiscreteFactorGraph,
diff --git a/python/gtsam/tests/test_DiscreteBayesTree.py b/python/gtsam/tests/test_DiscreteBayesTree.py
index e1754ca64..720f884e0 100644
--- a/python/gtsam/tests/test_DiscreteBayesTree.py
+++ b/python/gtsam/tests/test_DiscreteBayesTree.py
@@ -13,16 +13,14 @@ Author: Frank Dellaert
 
 import unittest
 
+import numpy as np
+from gtsam.symbol_shorthand import A, X
 from gtsam.utils.test_case import GtsamTestCase
 
-from gtsam import (
-    DiscreteBayesNet,
-    DiscreteBayesTreeClique,
-    DiscreteConditional,
-    DiscreteFactorGraph,
-    DiscreteValues,
-    Ordering,
-)
+import gtsam
+from gtsam import (DiscreteBayesNet, DiscreteBayesTreeClique,
+                   DiscreteConditional, DiscreteFactorGraph,
+                   DiscreteKeys, DiscreteValues, Ordering)
 
 
 class TestDiscreteBayesNet(GtsamTestCase):
@@ -100,6 +98,56 @@ class TestDiscreteBayesNet(GtsamTestCase):
         self.assertFalse(bayesTree.empty())
         self.assertEqual(12, bayesTree.size())
 
+    def test_discrete_bayes_tree_lookup(self):
+        """Check that we can have a multi-frontal lookup table."""
+        # Make a small planning-like graph: 3 states, 2 actions
+        graph = DiscreteFactorGraph()
+        x1, x2, x3 = (X(1), 3), (X(2), 3), (X(3), 3)
+        a1, a2 = (A(1), 2), (A(2), 2)
+
+        # Constraint on start and goal
+        graph.add([x1], np.array([1, 0, 0]))
+        graph.add([x3], np.array([0, 0, 1]))
+
+        # Should I stay or should I go?
+        # "Reward" (exp(-cost)) for an action is 10, and rewards multiply:
+        r = 10
+        table = np.array([
+            r, 0, 0, 0, r, 0,  # x1 = 0
+            0, r, 0, 0, 0, r,  # x1 = 1
+            0, 0, r, 0, 0, r   # x1 = 2
+        ])
+        graph.add([x1, a1, x2], table)
+        graph.add([x2, a2, x3], table)
+
+        # Eliminate for MPE (maximum probable explanation).
+        ordering = Ordering([A(2), X(3), X(1), A(1), X(2)])
+        lookup = graph.eliminateMultifrontal(ordering, gtsam.EliminateForMPE)
+
+        # Check that the lookup table is correct
+        assert len(lookup) == 2
+        lookup_x1_a1_x2 = lookup[X(1)].conditional()
+        assert len(lookup_x1_a1_x2.frontals()) == 3
+        # Check that sum is 100
+        empty = gtsam.DiscreteValues()
+        assert np.isclose(lookup_x1_a1_x2.sum(3)(empty), 100, atol=1e-9)
+        # And that only non-zero reward is for x1 a1 x2 == 0 1 1
+        assert np.isclose(lookup_x1_a1_x2({X(1): 0, A(1): 1, X(2): 1}), 100, atol=1e-9)
+
+        lookup_a2_x3 = lookup[X(3)].conditional()
+        # Check that the sum depends on x2 and is non-zero only for x2 in {1, 2}
+        sum_x2 = lookup_a2_x3.sum(2)
+        assert np.isclose(sum_x2({X(2): 0}), 0, atol=1e-9)
+        assert np.isclose(sum_x2({X(2): 1}), 10, atol=1e-9)
+        assert np.isclose(sum_x2({X(2): 2}), 20, atol=1e-9)
+        assert len(lookup_a2_x3.frontals()) == 2
+        # And that the non-zero rewards are for
+        # x2 a2 x3 == 1 1 2
+        assert np.isclose(lookup_a2_x3({X(2): 1, A(2): 1, X(3): 2}), 10, atol=1e-9)
+        # x2 a2 x3 == 2 0 2
+        assert np.isclose(lookup_a2_x3({X(2): 2, A(2): 0, X(3): 2}), 10, atol=1e-9)
+        # x2 a2 x3 == 2 1 2
+        assert np.isclose(lookup_a2_x3({X(2): 2, A(2): 1, X(3): 2}), 10, atol=1e-9)
 
 if __name__ == "__main__":
     unittest.main()

From a4b9f0c705b8eaf54575807a27d4bd677aaa84a8 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Mon, 19 Jun 2023 07:38:19 -0700
Subject: [PATCH 066/206] more discrete BT wrapper + test

(cherry picked from commit 3d979763f0797af41f250622a99db630af14139d)
---
 gtsam/discrete/discrete.i                    |  5 +++
 gtsam/inference/BayesTreeCliqueBase.h        |  8 ++++-
 python/gtsam/tests/test_DiscreteBayesTree.py | 37 ++++++++++++--------
 3 files changed, 34 insertions(+), 16 deletions(-)

diff --git a/gtsam/discrete/discrete.i b/gtsam/discrete/discrete.i
index b66069340..fe8cbc7f3 100644
--- a/gtsam/discrete/discrete.i
+++ b/gtsam/discrete/discrete.i
@@ -211,6 +211,11 @@ class DiscreteBayesTreeClique {
   DiscreteBayesTreeClique(const gtsam::DiscreteConditional* conditional);
   const gtsam::DiscreteConditional* conditional() const;
   bool isRoot() const;
+  size_t nrChildren() const;
+  const gtsam::DiscreteBayesTreeClique* operator[](size_t i) const;
+  void print(string s = "DiscreteBayesTreeClique",
+             const gtsam::KeyFormatter& keyFormatter =
+                 gtsam::DefaultKeyFormatter) const;
   void printSignature(
       const string& s = "Clique: ",
       const gtsam::KeyFormatter& formatter = gtsam::DefaultKeyFormatter) const;
diff --git a/gtsam/inference/BayesTreeCliqueBase.h b/gtsam/inference/BayesTreeCliqueBase.h
index 976d1a7f2..7f25ad223 100644
--- a/gtsam/inference/BayesTreeCliqueBase.h
+++ b/gtsam/inference/BayesTreeCliqueBase.h
@@ -140,9 +140,15 @@ namespace gtsam {
     /** Access the conditional */
     const sharedConditional& conditional() const { return conditional_; }
 
-    /** is this the root of a Bayes tree ? */
+    /// Is this the root of a Bayes tree? 
     inline bool isRoot() const { return parent_.expired(); }
 
+    /// Return the number of children.
+    size_t nrChildren() const { return children.size(); }
+
+    /// Return the child at index i.
+    const derived_ptr operator[](size_t i) const { return children[i]; }
+
     /** The size of subtree rooted at this clique, i.e., nr of Cliques */
     size_t treeSize() const;
 
diff --git a/python/gtsam/tests/test_DiscreteBayesTree.py b/python/gtsam/tests/test_DiscreteBayesTree.py
index 720f884e0..09fb5a865 100644
--- a/python/gtsam/tests/test_DiscreteBayesTree.py
+++ b/python/gtsam/tests/test_DiscreteBayesTree.py
@@ -125,29 +125,36 @@ class TestDiscreteBayesNet(GtsamTestCase):
         lookup = graph.eliminateMultifrontal(ordering, gtsam.EliminateForMPE)
 
         # Check that the lookup table is correct
-        assert len(lookup) == 2
+        assert lookup.size() == 2
         lookup_x1_a1_x2 = lookup[X(1)].conditional()
-        assert len(lookup_x1_a1_x2.frontals()) == 3
+        assert lookup_x1_a1_x2.nrFrontals() == 3
         # Check that sum is 100
         empty = gtsam.DiscreteValues()
-        assert np.isclose(lookup_x1_a1_x2.sum(3)(empty), 100, atol=1e-9)
+        self.assertAlmostEqual(lookup_x1_a1_x2.sum(3)(empty), 100)
         # And that only non-zero reward is for x1 a1 x2 == 0 1 1
-        assert np.isclose(lookup_x1_a1_x2({X(1): 0, A(1): 1, X(2): 1}), 100, atol=1e-9)
+        values = DiscreteValues()
+        values[X(1)] = 0
+        values[A(1)] = 1
+        values[X(2)] = 1
+        self.assertAlmostEqual(lookup_x1_a1_x2(values), 100)
 
         lookup_a2_x3 = lookup[X(3)].conditional()
         # Check that the sum depends on x2 and is non-zero only for x2 in {1, 2}
         sum_x2 = lookup_a2_x3.sum(2)
-        assert np.isclose(sum_x2({X(2): 0}), 0, atol=1e-9)
-        assert np.isclose(sum_x2({X(2): 1}), 10, atol=1e-9)
-        assert np.isclose(sum_x2({X(2): 2}), 20, atol=1e-9)
-        assert len(lookup_a2_x3.frontals()) == 2
-        # And that the non-zero rewards are for
-        # x2 a2 x3 == 1 1 2
-        assert np.isclose(lookup_a2_x3({X(2): 1, A(2): 1, X(3): 2}), 10, atol=1e-9)
-        # x2 a2 x3 == 2 0 2
-        assert np.isclose(lookup_a2_x3({X(2): 2, A(2): 0, X(3): 2}), 10, atol=1e-9)
-        # x2 a2 x3 == 2 1 2
-        assert np.isclose(lookup_a2_x3({X(2): 2, A(2): 1, X(3): 2}), 10, atol=1e-9)
+        values = DiscreteValues()
+        values[X(2)] = 0
+        self.assertAlmostEqual(sum_x2(values), 0)
+        values[X(2)] = 1
+        self.assertAlmostEqual(sum_x2(values), 10)
+        values[X(2)] = 2
+        self.assertAlmostEqual(sum_x2(values), 20)
+        assert lookup_a2_x3.nrFrontals() == 2
+        # And that the non-zero rewards are for x2 a2 x3 == 1 1 2
+        values = DiscreteValues()
+        values[X(2)] = 1
+        values[A(2)] = 1
+        values[X(3)] = 2
+        self.assertAlmostEqual(lookup_a2_x3(values), 10)
 
 if __name__ == "__main__":
     unittest.main()

From 433ef9050f16c22b1eb549d1ccd12c252da444a3 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sun, 16 Jul 2023 12:37:01 +0200
Subject: [PATCH 067/206] Better test names

(cherry picked from commit 3edde4d69377f6e442ea63104bc8371b2659b55f)
---
 gtsam/discrete/tests/testDecisionTree.cpp       | 6 +++---
 gtsam/discrete/tests/testDecisionTreeFactor.cpp | 2 +-
 gtsam/inference/BayesTreeCliqueBase.h           | 2 +-
 python/gtsam/tests/test_DiscreteBayesTree.py    | 6 +++---
 4 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/gtsam/discrete/tests/testDecisionTree.cpp b/gtsam/discrete/tests/testDecisionTree.cpp
index 6ca8d843e..38833851a 100644
--- a/gtsam/discrete/tests/testDecisionTree.cpp
+++ b/gtsam/discrete/tests/testDecisionTree.cpp
@@ -80,7 +80,7 @@ GTSAM_CONCEPT_TESTABLE_INST(CrazyDecisionTree)
 /* ************************************************************************** */
 
 // Create a decision stump one one variable 'a' with values 10 and 20.
-TEST(DecisionTree, constructor) {
+TEST(DecisionTree, Constructor) {
   DecisionTree<char, int> tree('a', 10, 20);
 
   // Evaluate the tree on an assignment to the variable.
@@ -133,7 +133,7 @@ struct Ring {
 
 /* ************************************************************************** */
 // Check that creating decision trees respects key order.
-TEST(DecisionTree, constructor_order) {
+TEST(DecisionTree, ConstructorOrder) {
   // Create labels
   string A("A"), B("B");
 
@@ -163,7 +163,7 @@ TEST(DecisionTree, constructor_order) {
 
 /* ************************************************************************** */
 // test DT
-TEST(DecisionTree, example) {
+TEST(DecisionTree, Example) {
   // Create labels
   string A("A"), B("B"), C("C");
 
diff --git a/gtsam/discrete/tests/testDecisionTreeFactor.cpp b/gtsam/discrete/tests/testDecisionTreeFactor.cpp
index 8e203c56a..4b86fcbe3 100644
--- a/gtsam/discrete/tests/testDecisionTreeFactor.cpp
+++ b/gtsam/discrete/tests/testDecisionTreeFactor.cpp
@@ -28,7 +28,7 @@ using namespace std;
 using namespace gtsam;
 
 /* ************************************************************************* */
-TEST(DecisionTreeFactor, constructors_match) {
+TEST(DecisionTreeFactor, ConstructorsMatch) {
   // Declare two keys
   DiscreteKey X(0, 2), Y(1, 3);
 
diff --git a/gtsam/inference/BayesTreeCliqueBase.h b/gtsam/inference/BayesTreeCliqueBase.h
index 7f25ad223..171ebdc41 100644
--- a/gtsam/inference/BayesTreeCliqueBase.h
+++ b/gtsam/inference/BayesTreeCliqueBase.h
@@ -140,7 +140,7 @@ namespace gtsam {
     /** Access the conditional */
     const sharedConditional& conditional() const { return conditional_; }
 
-    /// Is this the root of a Bayes tree? 
+    /// Return true if this clique is the root of a Bayes tree. 
     inline bool isRoot() const { return parent_.expired(); }
 
     /// Return the number of children.
diff --git a/python/gtsam/tests/test_DiscreteBayesTree.py b/python/gtsam/tests/test_DiscreteBayesTree.py
index 09fb5a865..c8a93e63b 100644
--- a/python/gtsam/tests/test_DiscreteBayesTree.py
+++ b/python/gtsam/tests/test_DiscreteBayesTree.py
@@ -20,7 +20,7 @@ from gtsam.utils.test_case import GtsamTestCase
 import gtsam
 from gtsam import (DiscreteBayesNet, DiscreteBayesTreeClique,
                    DiscreteConditional, DiscreteFactorGraph,
-                   DiscreteKeys, DiscreteValues, Ordering)
+                   DiscreteValues, Ordering)
 
 
 class TestDiscreteBayesNet(GtsamTestCase):
@@ -32,7 +32,7 @@ class TestDiscreteBayesNet(GtsamTestCase):
         # Define DiscreteKey pairs.
         keys = [(j, 2) for j in range(15)]
 
-        # Create thin-tree Bayesnet.
+        # Create thin-tree Bayes net.
         bayesNet = DiscreteBayesNet()
 
         bayesNet.add(keys[0], [keys[8], keys[12]], "2/3 1/4 3/2 4/1")
@@ -121,7 +121,7 @@ class TestDiscreteBayesNet(GtsamTestCase):
         graph.add([x2, a2, x3], table)
 
         # Eliminate for MPE (maximum probable explanation).
-        ordering = Ordering([A(2), X(3), X(1), A(1), X(2)])
+        ordering = Ordering(keys=[A(2), X(3), X(1), A(1), X(2)])
         lookup = graph.eliminateMultifrontal(ordering, gtsam.EliminateForMPE)
 
         # Check that the lookup table is correct

From 6eeceb679af17ee7c260b8ca46f50600945571e5 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Mon, 17 Jul 2023 16:54:50 +0200
Subject: [PATCH 068/206] Fix unit tests

---
 gtsam/discrete/tests/testDiscreteBayesTree.cpp | 16 ++++++++--------
 gtsam_unstable/linear/tests/testQPSolver.cpp   |  4 ++--
 python/gtsam/tests/test_DiscreteBayesTree.py   | 12 ++++++------
 3 files changed, 16 insertions(+), 16 deletions(-)

diff --git a/gtsam/discrete/tests/testDiscreteBayesTree.cpp b/gtsam/discrete/tests/testDiscreteBayesTree.cpp
index 0288561cd..617eb7c9d 100644
--- a/gtsam/discrete/tests/testDiscreteBayesTree.cpp
+++ b/gtsam/discrete/tests/testDiscreteBayesTree.cpp
@@ -347,26 +347,26 @@ TEST(DiscreteBayesTree, Lookup) {
   EXPECT_LONGS_EQUAL(2, lookup->size());
   auto lookup_x1_a1_x2 = (*lookup)[X(1)]->conditional();
   EXPECT_LONGS_EQUAL(3, lookup_x1_a1_x2->frontals().size());
-  // check that sum is 100
+  // check that sum is 1.0 (not 100, as we now normalize)
   DiscreteValues empty;
-  EXPECT_DOUBLES_EQUAL(100, (*lookup_x1_a1_x2->sum(3))(empty), 1e-9);
+  EXPECT_DOUBLES_EQUAL(1.0, (*lookup_x1_a1_x2->sum(3))(empty), 1e-9);
   // And that only non-zero reward is for x1 a1 x2 == 0 1 1
-  EXPECT_DOUBLES_EQUAL(100, (*lookup_x1_a1_x2)({{X(1),0},{A(1),1},{X(2),1}}), 1e-9);
+  EXPECT_DOUBLES_EQUAL(1.0, (*lookup_x1_a1_x2)({{X(1),0},{A(1),1},{X(2),1}}), 1e-9);
 
   auto lookup_a2_x3 = (*lookup)[X(3)]->conditional();
   // check that the sum depends on x2 and is non-zero only for x2 \in {1,2}
   auto sum_x2 = lookup_a2_x3->sum(2);
   EXPECT_DOUBLES_EQUAL(0, (*sum_x2)({{X(2),0}}), 1e-9);
-  EXPECT_DOUBLES_EQUAL(10, (*sum_x2)({{X(2),1}}), 1e-9);
-  EXPECT_DOUBLES_EQUAL(20, (*sum_x2)({{X(2),2}}), 1e-9);
+  EXPECT_DOUBLES_EQUAL(1.0, (*sum_x2)({{X(2),1}}), 1e-9);
+  EXPECT_DOUBLES_EQUAL(2.0, (*sum_x2)({{X(2),2}}), 1e-9);
   EXPECT_LONGS_EQUAL(2, lookup_a2_x3->frontals().size());
   // And that the non-zero rewards are for 
   // x2 a2 x3 == 1 1 2
-  EXPECT_DOUBLES_EQUAL(10, (*lookup_a2_x3)({{X(2),1},{A(2),1},{X(3),2}}), 1e-9);
+  EXPECT_DOUBLES_EQUAL(1.0, (*lookup_a2_x3)({{X(2),1},{A(2),1},{X(3),2}}), 1e-9);
   // x2 a2 x3 == 2 0 2
-  EXPECT_DOUBLES_EQUAL(10, (*lookup_a2_x3)({{X(2),2},{A(2),0},{X(3),2}}), 1e-9);
+  EXPECT_DOUBLES_EQUAL(1.0, (*lookup_a2_x3)({{X(2),2},{A(2),0},{X(3),2}}), 1e-9);
   // x2 a2 x3 == 2 1 2
-  EXPECT_DOUBLES_EQUAL(10, (*lookup_a2_x3)({{X(2),2},{A(2),1},{X(3),2}}), 1e-9);
+  EXPECT_DOUBLES_EQUAL(1.0, (*lookup_a2_x3)({{X(2),2},{A(2),1},{X(3),2}}), 1e-9);
 }
 
 /* ************************************************************************* */
diff --git a/gtsam_unstable/linear/tests/testQPSolver.cpp b/gtsam_unstable/linear/tests/testQPSolver.cpp
index 12bd93416..b307c7302 100644
--- a/gtsam_unstable/linear/tests/testQPSolver.cpp
+++ b/gtsam_unstable/linear/tests/testQPSolver.cpp
@@ -181,7 +181,7 @@ TEST(QPSolver, iterate) {
   QPSolver::State state(currentSolution, VectorValues(), workingSet, false,
                         100);
 
-  int it = 0;
+  // int it = 0;
   while (!state.converged) {
     state = solver.iterate(state);
     // These checks will fail because the expected solutions obtained from
@@ -190,7 +190,7 @@ TEST(QPSolver, iterate) {
     // do not recompute dual variables after every step!!!
     //    CHECK(assert_equal(expected[it], state.values, 1e-10));
     //    CHECK(assert_equal(expectedDuals[it], state.duals, 1e-10));
-    it++;
+    // it++;
   }
 
   CHECK(assert_equal(expected[3], state.values, 1e-10));
diff --git a/python/gtsam/tests/test_DiscreteBayesTree.py b/python/gtsam/tests/test_DiscreteBayesTree.py
index c8a93e63b..2a9b6ea09 100644
--- a/python/gtsam/tests/test_DiscreteBayesTree.py
+++ b/python/gtsam/tests/test_DiscreteBayesTree.py
@@ -128,15 +128,15 @@ class TestDiscreteBayesNet(GtsamTestCase):
         assert lookup.size() == 2
         lookup_x1_a1_x2 = lookup[X(1)].conditional()
         assert lookup_x1_a1_x2.nrFrontals() == 3
-        # Check that sum is 100
+        # Check that sum is 1.0 (not 100, as we now normalize to prevent underflow)
         empty = gtsam.DiscreteValues()
-        self.assertAlmostEqual(lookup_x1_a1_x2.sum(3)(empty), 100)
+        self.assertAlmostEqual(lookup_x1_a1_x2.sum(3)(empty), 1.0)
         # And that only non-zero reward is for x1 a1 x2 == 0 1 1
         values = DiscreteValues()
         values[X(1)] = 0
         values[A(1)] = 1
         values[X(2)] = 1
-        self.assertAlmostEqual(lookup_x1_a1_x2(values), 100)
+        self.assertAlmostEqual(lookup_x1_a1_x2(values), 1.0)
 
         lookup_a2_x3 = lookup[X(3)].conditional()
         # Check that the sum depends on x2 and is non-zero only for x2 in {1, 2}
@@ -145,16 +145,16 @@ class TestDiscreteBayesNet(GtsamTestCase):
         values[X(2)] = 0
         self.assertAlmostEqual(sum_x2(values), 0)
         values[X(2)] = 1
-        self.assertAlmostEqual(sum_x2(values), 10)
+        self.assertAlmostEqual(sum_x2(values), 1.0)  # not 10, as we normalize
         values[X(2)] = 2
-        self.assertAlmostEqual(sum_x2(values), 20)
+        self.assertAlmostEqual(sum_x2(values), 2.0)  # not 20, as we normalize
         assert lookup_a2_x3.nrFrontals() == 2
         # And that the non-zero rewards are for x2 a2 x3 == 1 1 2
         values = DiscreteValues()
         values[X(2)] = 1
         values[A(2)] = 1
         values[X(3)] = 2
-        self.assertAlmostEqual(lookup_a2_x3(values), 10)
+        self.assertAlmostEqual(lookup_a2_x3(values), 1.0)  # not 10...
 
 if __name__ == "__main__":
     unittest.main()

From cf1292791ef90012d15b642401ac5a123b5d2eea Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 3 Jul 2023 08:50:36 -0400
Subject: [PATCH 069/206] update HybridFactorGraph wrapper

---
 gtsam/hybrid/HybridFactor.h | 1 +
 gtsam/hybrid/hybrid.i       | 1 +
 2 files changed, 2 insertions(+)

diff --git a/gtsam/hybrid/HybridFactor.h b/gtsam/hybrid/HybridFactor.h
index 13d5c2cba..afd1c8032 100644
--- a/gtsam/hybrid/HybridFactor.h
+++ b/gtsam/hybrid/HybridFactor.h
@@ -20,6 +20,7 @@
 #include <gtsam/base/Testable.h>
 #include <gtsam/discrete/DecisionTree.h>
 #include <gtsam/discrete/DiscreteKey.h>
+#include <gtsam/discrete/TableFactor.h>
 #include <gtsam/inference/Factor.h>
 #include <gtsam/linear/GaussianFactorGraph.h>
 #include <gtsam/nonlinear/Values.h>
diff --git a/gtsam/hybrid/hybrid.i b/gtsam/hybrid/hybrid.i
index 7cc93d4b0..5e0e6dca0 100644
--- a/gtsam/hybrid/hybrid.i
+++ b/gtsam/hybrid/hybrid.i
@@ -179,6 +179,7 @@ class HybridGaussianFactorGraph {
   void push_back(const gtsam::HybridBayesTree& bayesTree);
   void push_back(const gtsam::GaussianMixtureFactor* gmm);
   void push_back(gtsam::DecisionTreeFactor* factor);
+  void push_back(gtsam::TableFactor* factor);
   void push_back(gtsam::JacobianFactor* factor);
 
   bool empty() const;

From 73eb40595df5c1dbe9f40a5eb42458f61a126198 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Mon, 17 Jul 2023 17:14:24 +0200
Subject: [PATCH 070/206] use at(i) instead of [i]

---
 gtsam/inference/BayesTreeCliqueBase.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/inference/BayesTreeCliqueBase.h b/gtsam/inference/BayesTreeCliqueBase.h
index 171ebdc41..a7b1cf06c 100644
--- a/gtsam/inference/BayesTreeCliqueBase.h
+++ b/gtsam/inference/BayesTreeCliqueBase.h
@@ -147,7 +147,7 @@ namespace gtsam {
     size_t nrChildren() const { return children.size(); }
 
     /// Return the child at index i.
-    const derived_ptr operator[](size_t i) const { return children[i]; }
+    const derived_ptr operator[](size_t i) const { return children.at(i); }
 
     /** The size of subtree rooted at this clique, i.e., nr of Cliques */
     size_t treeSize() const;

From aafc33db696491bde6d0b89894e070a2f89b3a99 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 11 Jul 2023 21:12:05 -0400
Subject: [PATCH 071/206] unary apply methods for TableFactor

---
 gtsam/discrete/TableFactor.cpp           | 41 +++++++++++++++++++++++-
 gtsam/discrete/TableFactor.h             | 28 ++++++++++++++--
 gtsam/discrete/tests/testTableFactor.cpp | 36 +++++++++++++++++++--
 3 files changed, 100 insertions(+), 5 deletions(-)

diff --git a/gtsam/discrete/TableFactor.cpp b/gtsam/discrete/TableFactor.cpp
index 74eb3ddb3..2be8e077d 100644
--- a/gtsam/discrete/TableFactor.cpp
+++ b/gtsam/discrete/TableFactor.cpp
@@ -64,7 +64,7 @@ TableFactor::TableFactor(const DiscreteConditional& c)
 Eigen::SparseVector<double> TableFactor::Convert(
     const std::vector<double>& table) {
   Eigen::SparseVector<double> sparse_table(table.size());
-  // Count number of nonzero elements in table and reserving the space.
+  // Count number of nonzero elements in table and reserve the space.
   const uint64_t nnz = std::count_if(table.begin(), table.end(),
                                      [](uint64_t i) { return i != 0; });
   sparse_table.reserve(nnz);
@@ -218,6 +218,45 @@ void TableFactor::print(const string& s, const KeyFormatter& formatter) const {
   cout << "number of nnzs: " << sparse_table_.nonZeros() << endl;
 }
 
+/* ************************************************************************ */
+TableFactor TableFactor::apply(Unary op) const {
+  // Initialize new factor.
+  uint64_t cardi = 1;
+  for (auto [key, c] : cardinalities_) cardi *= c;
+  Eigen::SparseVector<double> sparse_table(cardi);
+  sparse_table.reserve(sparse_table_.nonZeros());
+
+  // Populate
+  for (SparseIt it(sparse_table_); it; ++it) {
+    sparse_table.coeffRef(it.index()) = op(it.value());
+  }
+
+  // Free unused memory and return.
+  sparse_table.pruned();
+  sparse_table.data().squeeze();
+  return TableFactor(discreteKeys(), sparse_table);
+}
+
+/* ************************************************************************ */
+TableFactor TableFactor::apply(UnaryAssignment op) const {
+  // Initialize new factor.
+  uint64_t cardi = 1;
+  for (auto [key, c] : cardinalities_) cardi *= c;
+  Eigen::SparseVector<double> sparse_table(cardi);
+  sparse_table.reserve(sparse_table_.nonZeros());
+
+  // Populate
+  for (SparseIt it(sparse_table_); it; ++it) {
+    DiscreteValues assignment = findAssignments(it.index());
+    sparse_table.coeffRef(it.index()) = op(assignment, it.value());
+  }
+
+  // Free unused memory and return.
+  sparse_table.pruned();
+  sparse_table.data().squeeze();
+  return TableFactor(discreteKeys(), sparse_table);
+}
+
 /* ************************************************************************ */
 TableFactor TableFactor::apply(const TableFactor& f, Binary op) const {
   if (keys_.empty() && sparse_table_.nonZeros() == 0)
diff --git a/gtsam/discrete/TableFactor.h b/gtsam/discrete/TableFactor.h
index bd637bb7d..981e1507b 100644
--- a/gtsam/discrete/TableFactor.h
+++ b/gtsam/discrete/TableFactor.h
@@ -93,6 +93,9 @@ class GTSAM_EXPORT TableFactor : public DiscreteFactor {
   typedef std::shared_ptr<TableFactor> shared_ptr;
   typedef Eigen::SparseVector<double>::InnerIterator SparseIt;
   typedef std::vector<std::pair<DiscreteValues, double>> AssignValList;
+  using Unary = std::function<double(const double&)>;
+  using UnaryAssignment =
+      std::function<double(const Assignment<Key>&, const double&)>;
   using Binary = std::function<double(const double, const double)>;
 
  public:
@@ -218,6 +221,18 @@ class GTSAM_EXPORT TableFactor : public DiscreteFactor {
   /// @name Advanced Interface
   /// @{
 
+  /**
+   * Apply unary operator `op(*this)` where `op` accepts the discrete value.
+   * @param op a unary operator that operates on TableFactor
+   */
+  TableFactor apply(Unary op) const;
+  /**
+   * Apply unary operator `op(*this)` where `op` accepts the discrete assignment
+   * and the value at that assignment.
+   * @param op a unary operator that operates on TableFactor
+   */
+  TableFactor apply(UnaryAssignment op) const;
+
   /**
    * Apply binary operator (*this) "op" f
    * @param f the second argument for op
@@ -225,10 +240,19 @@ class GTSAM_EXPORT TableFactor : public DiscreteFactor {
    */
   TableFactor apply(const TableFactor& f, Binary op) const;
 
-  /// Return keys in contract mode.
+  /**
+   * Return keys in contract mode.
+   *
+   * Modes are each of the dimensions of a sparse tensor,
+   * and the contract modes represent which dimensions will
+   * be involved in contraction (aka tensor multiplication).
+   */
   DiscreteKeys contractDkeys(const TableFactor& f) const;
 
-  /// Return keys in free mode.
+  /**
+   * @brief Return keys in free mode which are the dimensions
+   * not involved in the contraction operation.
+   */
   DiscreteKeys freeDkeys(const TableFactor& f) const;
 
   /// Return union of DiscreteKeys in two factors.
diff --git a/gtsam/discrete/tests/testTableFactor.cpp b/gtsam/discrete/tests/testTableFactor.cpp
index b307d78f6..e85e4254c 100644
--- a/gtsam/discrete/tests/testTableFactor.cpp
+++ b/gtsam/discrete/tests/testTableFactor.cpp
@@ -93,8 +93,7 @@ void printTime(map<double, pair<chrono::microseconds, chrono::microseconds>>
   for (auto&& kv : measured_time) {
     cout << "dropout: " << kv.first
          << " | TableFactor time: " << kv.second.first.count()
-         << " | DecisionTreeFactor time: " << kv.second.second.count() <<
-         endl;
+         << " | DecisionTreeFactor time: " << kv.second.second.count() << endl;
   }
 }
 
@@ -361,6 +360,39 @@ TEST(TableFactor, htmlWithValueFormatter) {
   EXPECT(actual == expected);
 }
 
+/* ************************************************************************* */
+TEST(TableFactor, Unary) {
+  // Declare a bunch of keys
+  DiscreteKey X(0, 2), Y(1, 3);
+
+  // Create factors
+  TableFactor f(X & Y, "2 5 3 6 2 7");
+  auto op = [](const double x) { return 2 * x; };
+  auto g = f.apply(op);
+
+  TableFactor expected(X & Y, "4 10 6 12 4 14");
+  EXPECT(assert_equal(g, expected));
+
+  auto sq_op = [](const double x) { return x * x; };
+  auto g_sq = f.apply(sq_op);
+  TableFactor expected_sq(X & Y, "4 25 9 36 4 49");
+  EXPECT(assert_equal(g_sq, expected_sq));
+}
+
+/* ************************************************************************* */
+TEST(TableFactor, UnaryAssignment) {
+  // Declare a bunch of keys
+  DiscreteKey X(0, 2), Y(1, 3);
+
+  // Create factors
+  TableFactor f(X & Y, "2 5 3 6 2 7");
+  auto op = [](const Assignment<Key>& key, const double x) { return 2 * x; };
+  auto g = f.apply(op);
+
+  TableFactor expected(X & Y, "4 10 6 12 4 14");
+  EXPECT(assert_equal(g, expected));
+}
+
 /* ************************************************************************* */
 int main() {
   TestResult tr;

From f6d42d0ee07662bf7baf1055239c73147f4e8705 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 3 Jul 2023 16:40:27 -0400
Subject: [PATCH 072/206] small improvements

---
 gtsam/discrete/DecisionTreeFactor.h |  3 +++
 gtsam/hybrid/HybridBayesNet.cpp     | 10 +++++-----
 gtsam/hybrid/HybridSmoother.cpp     |  3 ++-
 3 files changed, 10 insertions(+), 6 deletions(-)

diff --git a/gtsam/discrete/DecisionTreeFactor.h b/gtsam/discrete/DecisionTreeFactor.h
index 6cce6e5d4..e90a2f96f 100644
--- a/gtsam/discrete/DecisionTreeFactor.h
+++ b/gtsam/discrete/DecisionTreeFactor.h
@@ -147,6 +147,9 @@ namespace gtsam {
     /// @name Advanced Interface
     /// @{
 
+    /// Inherit all the `apply` methods from AlgebraicDecisionTree
+    using ADT::apply;
+
     /**
      * Apply binary operator (*this) "op" f
      * @param f the second argument for op
diff --git a/gtsam/hybrid/HybridBayesNet.cpp b/gtsam/hybrid/HybridBayesNet.cpp
index 266e02b0d..9df58814b 100644
--- a/gtsam/hybrid/HybridBayesNet.cpp
+++ b/gtsam/hybrid/HybridBayesNet.cpp
@@ -155,18 +155,18 @@ void HybridBayesNet::updateDiscreteConditionals(
       auto discrete = conditional->asDiscrete();
 
       // Convert pointer from conditional to factor
-      auto discreteTree =
-          std::dynamic_pointer_cast<DecisionTreeFactor::ADT>(discrete);
+      auto discreteFactor =
+          std::dynamic_pointer_cast<DecisionTreeFactor>(discrete);
       // Apply prunerFunc to the underlying AlgebraicDecisionTree
-      DecisionTreeFactor::ADT prunedDiscreteTree =
-          discreteTree->apply(prunerFunc(prunedDiscreteProbs, *conditional));
+      DecisionTreeFactor::ADT prunedDiscreteFactor =
+          discreteFactor->apply(prunerFunc(prunedDiscreteProbs, *conditional));
 
       gttic_(HybridBayesNet_MakeConditional);
       // Create the new (hybrid) conditional
       KeyVector frontals(discrete->frontals().begin(),
                          discrete->frontals().end());
       auto prunedDiscrete = std::make_shared<DiscreteLookupTable>(
-          frontals.size(), conditional->discreteKeys(), prunedDiscreteTree);
+          frontals.size(), conditional->discreteKeys(), prunedDiscreteFactor);
       conditional = std::make_shared<HybridConditional>(prunedDiscrete);
       gttoc_(HybridBayesNet_MakeConditional);
 
diff --git a/gtsam/hybrid/HybridSmoother.cpp b/gtsam/hybrid/HybridSmoother.cpp
index 56c62cf19..27d3f70fc 100644
--- a/gtsam/hybrid/HybridSmoother.cpp
+++ b/gtsam/hybrid/HybridSmoother.cpp
@@ -72,7 +72,8 @@ void HybridSmoother::update(HybridGaussianFactorGraph graph,
       addConditionals(graph, hybridBayesNet_, ordering);
 
   // Eliminate.
-  auto bayesNetFragment = graph.eliminateSequential(ordering);
+  HybridBayesNet::shared_ptr bayesNetFragment =
+      graph.eliminateSequential(ordering);
 
   /// Prune
   if (maxNrLeaves) {

From 53d00864bbf41d352c8f0bee765691fbcf7002c5 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 5 Jul 2023 11:04:56 -0400
Subject: [PATCH 073/206] small cleanup

---
 gtsam/hybrid/HybridBayesNet.cpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/gtsam/hybrid/HybridBayesNet.cpp b/gtsam/hybrid/HybridBayesNet.cpp
index 9df58814b..0db1b0c48 100644
--- a/gtsam/hybrid/HybridBayesNet.cpp
+++ b/gtsam/hybrid/HybridBayesNet.cpp
@@ -146,8 +146,7 @@ std::function<double(const Assignment<Key> &, double)> prunerFunc(
 /* ************************************************************************* */
 void HybridBayesNet::updateDiscreteConditionals(
     const DecisionTreeFactor &prunedDiscreteProbs) {
-  KeyVector prunedTreeKeys = prunedDiscreteProbs.keys();
-
+  //TODO(Varun) Should prune the joint conditional, maybe during elimination?
   // Loop with index since we need it later.
   for (size_t i = 0; i < this->size(); i++) {
     HybridConditional::shared_ptr conditional = this->at(i);

From 6d69ca16dacc6269b55a85b55b0d8def40e62195 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 5 Jul 2023 11:09:14 -0400
Subject: [PATCH 074/206] add separate Hybrid ISAM and Smoother tests

---
 gtsam/hybrid/tests/testHybridEstimation.cpp | 55 +++++++++++++++++++++
 1 file changed, 55 insertions(+)

diff --git a/gtsam/hybrid/tests/testHybridEstimation.cpp b/gtsam/hybrid/tests/testHybridEstimation.cpp
index b5f5244fa..b8edc39d8 100644
--- a/gtsam/hybrid/tests/testHybridEstimation.cpp
+++ b/gtsam/hybrid/tests/testHybridEstimation.cpp
@@ -140,6 +140,61 @@ TEST(HybridEstimation, IncrementalSmoother) {
   EXPECT(assert_equal(expected_continuous, result));
 }
 
+/****************************************************************************/
+// Test approximate inference with an additional pruning step.
+TEST(HybridEstimation, ISAM) {
+  size_t K = 15;
+  std::vector<double> measurements = {0, 1, 2, 2, 2, 2,  3,  4,  5,  6, 6,
+                                      7, 8, 9, 9, 9, 10, 11, 11, 11, 11};
+  // Ground truth discrete seq
+  std::vector<size_t> discrete_seq = {1, 1, 0, 0, 0, 1, 1, 1, 1, 0,
+                                      1, 1, 1, 0, 0, 1, 1, 0, 0, 0};
+  // Switching example of robot moving in 1D
+  // with given measurements and equal mode priors.
+  Switching switching(K, 1.0, 0.1, measurements, "1/1 1/1");
+  HybridNonlinearISAM isam;
+  HybridNonlinearFactorGraph graph;
+  Values initial;
+
+  // gttic_(Estimation);
+
+  // Add the X(0) prior
+  graph.push_back(switching.nonlinearFactorGraph.at(0));
+  initial.insert(X(0), switching.linearizationPoint.at<double>(X(0)));
+
+  HybridGaussianFactorGraph linearized;
+
+  for (size_t k = 1; k < K; k++) {
+    // Motion Model
+    graph.push_back(switching.nonlinearFactorGraph.at(k));
+    // Measurement
+    graph.push_back(switching.nonlinearFactorGraph.at(k + K - 1));
+
+    initial.insert(X(k), switching.linearizationPoint.at<double>(X(k)));
+
+    isam.update(graph, initial, 3);
+    // isam.bayesTree().print("\n\n");
+
+    graph.resize(0);
+    initial.clear();
+  }
+
+  Values result = isam.estimate();
+  DiscreteValues assignment = isam.assignment();
+
+  DiscreteValues expected_discrete;
+  for (size_t k = 0; k < K - 1; k++) {
+    expected_discrete[M(k)] = discrete_seq[k];
+  }
+  EXPECT(assert_equal(expected_discrete, assignment));
+
+  Values expected_continuous;
+  for (size_t k = 0; k < K; k++) {
+    expected_continuous.insert(X(k), measurements[k]);
+  }
+  EXPECT(assert_equal(expected_continuous, result));
+}
+
 /**
  * @brief A function to get a specific 1D robot motion problem as a linearized
  * factor graph. This is the problem P(X|Z, M), i.e. estimating the continuous

From f751a5bfcf085f429cf48ce51f854587d1b28cad Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 6 Jul 2023 16:37:22 -0400
Subject: [PATCH 075/206] overload apply method in DecisionTreeFactor

---
 gtsam/discrete/DecisionTreeFactor.cpp | 8 ++++++++
 gtsam/discrete/DecisionTreeFactor.h   | 7 +++++--
 2 files changed, 13 insertions(+), 2 deletions(-)

diff --git a/gtsam/discrete/DecisionTreeFactor.cpp b/gtsam/discrete/DecisionTreeFactor.cpp
index ff18268b1..56f1659dc 100644
--- a/gtsam/discrete/DecisionTreeFactor.cpp
+++ b/gtsam/discrete/DecisionTreeFactor.cpp
@@ -101,6 +101,14 @@ namespace gtsam {
     return DecisionTreeFactor(keys, result);
   }
 
+  /* ************************************************************************ */
+  DecisionTreeFactor DecisionTreeFactor::apply(ADT::UnaryAssignment op) const {
+    // apply operand
+    ADT result = ADT::apply(op);
+    // Make a new factor
+    return DecisionTreeFactor(discreteKeys(), result);
+  }
+
   /* ************************************************************************ */
   DecisionTreeFactor::shared_ptr DecisionTreeFactor::combine(
       size_t nrFrontals, ADT::Binary op) const {
diff --git a/gtsam/discrete/DecisionTreeFactor.h b/gtsam/discrete/DecisionTreeFactor.h
index e90a2f96f..e92c82b77 100644
--- a/gtsam/discrete/DecisionTreeFactor.h
+++ b/gtsam/discrete/DecisionTreeFactor.h
@@ -147,8 +147,11 @@ namespace gtsam {
     /// @name Advanced Interface
     /// @{
 
-    /// Inherit all the `apply` methods from AlgebraicDecisionTree
-    using ADT::apply;
+    /**
+     * Apply unary operator (*this) "op" f
+     * @param op a unary operator that operates on AlgebraicDecisionTree
+     */
+    DecisionTreeFactor apply(ADT::UnaryAssignment op) const;
 
     /**
      * Apply binary operator (*this) "op" f

From 4e902fc8a71f2124b066d823474eeab63fec019c Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 6 Jul 2023 22:22:51 -0400
Subject: [PATCH 076/206] fix continuousKeySet method

---
 gtsam/hybrid/HybridFactorGraph.cpp            |  2 ++
 gtsam/hybrid/tests/testHybridFactorGraph.cpp  | 28 +++++++++++++++++++
 .../tests/testHybridGaussianFactorGraph.cpp   |  2 +-
 3 files changed, 31 insertions(+), 1 deletion(-)

diff --git a/gtsam/hybrid/HybridFactorGraph.cpp b/gtsam/hybrid/HybridFactorGraph.cpp
index d96a890f4..235ffc87f 100644
--- a/gtsam/hybrid/HybridFactorGraph.cpp
+++ b/gtsam/hybrid/HybridFactorGraph.cpp
@@ -67,6 +67,8 @@ const KeySet HybridFactorGraph::continuousKeySet() const {
       for (const Key& key : p->continuousKeys()) {
         keys.insert(key);
       }
+    } else if (auto p = std::dynamic_pointer_cast<GaussianFactor>(factor)) {
+      keys.insert(p->keys().begin(), p->keys().end());
     }
   }
   return keys;
diff --git a/gtsam/hybrid/tests/testHybridFactorGraph.cpp b/gtsam/hybrid/tests/testHybridFactorGraph.cpp
index f5b4ec0b1..33c0761eb 100644
--- a/gtsam/hybrid/tests/testHybridFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testHybridFactorGraph.cpp
@@ -18,7 +18,9 @@
 #include <gtsam/base/TestableAssertions.h>
 #include <gtsam/base/utilities.h>
 #include <gtsam/hybrid/HybridFactorGraph.h>
+#include <gtsam/hybrid/HybridGaussianFactorGraph.h>
 #include <gtsam/inference/Symbol.h>
+#include <gtsam/linear/JacobianFactor.h>
 #include <gtsam/nonlinear/PriorFactor.h>
 
 using namespace std;
@@ -37,6 +39,32 @@ TEST(HybridFactorGraph, Constructor) {
   HybridFactorGraph fg;
 }
 
+/* ************************************************************************* */
+// Test if methods to get keys work as expected.
+TEST(HybridFactorGraph, Keys) {
+  HybridGaussianFactorGraph hfg;
+
+  // Add prior on x0
+  hfg.add(JacobianFactor(X(0), I_3x3, Z_3x1));
+
+  // Add factor between x0 and x1
+  hfg.add(JacobianFactor(X(0), I_3x3, X(1), -I_3x3, Z_3x1));
+
+  // Add a gaussian mixture factor ϕ(x1, c1)
+  DiscreteKey m1(M(1), 2);
+  DecisionTree<Key, GaussianFactor::shared_ptr> dt(
+      M(1), std::make_shared<JacobianFactor>(X(1), I_3x3, Z_3x1),
+      std::make_shared<JacobianFactor>(X(1), I_3x3, Vector3::Ones()));
+  hfg.add(GaussianMixtureFactor({X(1)}, {m1}, dt));
+
+  KeySet expected_continuous{X(0), X(1)};
+  EXPECT(
+      assert_container_equality(expected_continuous, hfg.continuousKeySet()));
+
+  KeySet expected_discrete{M(1)};
+  EXPECT(assert_container_equality(expected_discrete, hfg.discreteKeySet()));
+}
+
 /* ************************************************************************* */
 int main() {
   TestResult tr;
diff --git a/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp b/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp
index 8276264ae..1da897103 100644
--- a/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp
@@ -902,7 +902,7 @@ TEST(HybridGaussianFactorGraph, EliminateSwitchingNetwork) {
   // Test resulting posterior Bayes net has correct size:
   EXPECT_LONGS_EQUAL(8, posterior->size());
 
-  // TODO(dellaert): this test fails - no idea why.
+  // Ratio test
   EXPECT(ratioTest(bn, measurements, *posterior));
 }
 

From 4e13fb717bcc1a49358f25acd45a987246d011c5 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 6 Jul 2023 23:07:38 -0400
Subject: [PATCH 077/206] simplify HybridEliminate

---
 gtsam/hybrid/HybridGaussianFactorGraph.cpp | 86 +++++++++++-----------
 1 file changed, 45 insertions(+), 41 deletions(-)

diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index 2b23ed4db..d2ea3d5ef 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -348,64 +348,68 @@ EliminateHybrid(const HybridGaussianFactorGraph &factors,
   // When the number of assignments is large we may encounter stack overflows.
   // However this is also the case with iSAM2, so no pressure :)
 
-  // PREPROCESS: Identify the nature of the current elimination
-
-  // TODO(dellaert): just check the factors:
+  // Check the factors:
   // 1. if all factors are discrete, then we can do discrete elimination:
   // 2. if all factors are continuous, then we can do continuous elimination:
   // 3. if not, we do hybrid elimination:
 
-  // First, identify the separator keys, i.e. all keys that are not frontal.
-  KeySet separatorKeys;
+  bool only_discrete = true, only_continuous = true;
   for (auto &&factor : factors) {
-    separatorKeys.insert(factor->begin(), factor->end());
-  }
-  // remove frontals from separator
-  for (auto &k : frontalKeys) {
-    separatorKeys.erase(k);
-  }
-
-  // Build a map from keys to DiscreteKeys
-  auto mapFromKeyToDiscreteKey = factors.discreteKeyMap();
-
-  // Fill in discrete frontals and continuous frontals.
-  std::set<DiscreteKey> discreteFrontals;
-  KeySet continuousFrontals;
-  for (auto &k : frontalKeys) {
-    if (mapFromKeyToDiscreteKey.find(k) != mapFromKeyToDiscreteKey.end()) {
-      discreteFrontals.insert(mapFromKeyToDiscreteKey.at(k));
-    } else {
-      continuousFrontals.insert(k);
+    if (auto hybrid_factor = std::dynamic_pointer_cast<HybridFactor>(factor)) {
+      if (hybrid_factor->isDiscrete()) {
+        only_continuous = false;
+      } else if (hybrid_factor->isContinuous()) {
+        only_discrete = false;
+      } else if (hybrid_factor->isHybrid()) {
+        only_continuous = false;
+        only_discrete = false;
+      }
+    } else if (auto cont_factor =
+                   std::dynamic_pointer_cast<GaussianFactor>(factor)) {
+      only_discrete = false;
+    } else if (auto discrete_factor =
+                   std::dynamic_pointer_cast<DiscreteFactor>(factor)) {
+      only_continuous = false;
     }
   }
 
-  // Fill in discrete discrete separator keys and continuous separator keys.
-  std::set<DiscreteKey> discreteSeparatorSet;
-  KeyVector continuousSeparator;
-  for (auto &k : separatorKeys) {
-    if (mapFromKeyToDiscreteKey.find(k) != mapFromKeyToDiscreteKey.end()) {
-      discreteSeparatorSet.insert(mapFromKeyToDiscreteKey.at(k));
-    } else {
-      continuousSeparator.push_back(k);
-    }
-  }
-
-  // Check if we have any continuous keys:
-  const bool discrete_only =
-      continuousFrontals.empty() && continuousSeparator.empty();
-
   // NOTE: We should really defer the product here because of pruning
 
-  if (discrete_only) {
+  if (only_discrete) {
     // Case 1: we are only dealing with discrete
     return discreteElimination(factors, frontalKeys);
-  } else if (mapFromKeyToDiscreteKey.empty()) {
+  } else if (only_continuous) {
     // Case 2: we are only dealing with continuous
     return continuousElimination(factors, frontalKeys);
   } else {
     // Case 3: We are now in the hybrid land!
+    KeySet frontalKeysSet(frontalKeys.begin(), frontalKeys.end());
+
+    // Find all the keys in the set of continuous keys
+    // which are not in the frontal keys. This is our continuous separator.
+    KeyVector continuousSeparator;
+    auto continuousKeySet = factors.continuousKeySet();
+    std::set_difference(
+        continuousKeySet.begin(), continuousKeySet.end(),
+        frontalKeysSet.begin(), frontalKeysSet.end(),
+        std::inserter(continuousSeparator, continuousSeparator.begin()));
+
+    // Similarly for the discrete separator.
+    KeySet discreteSeparatorSet;
+    std::set<DiscreteKey> discreteSeparator;
+    auto discreteKeySet = factors.discreteKeySet();
+    std::set_difference(
+        discreteKeySet.begin(), discreteKeySet.end(), frontalKeysSet.begin(),
+        frontalKeysSet.end(),
+        std::inserter(discreteSeparatorSet, discreteSeparatorSet.begin()));
+    // Convert from set of keys to set of DiscreteKeys
+    auto discreteKeyMap = factors.discreteKeyMap();
+    for (auto key : discreteSeparatorSet) {
+      discreteSeparator.insert(discreteKeyMap.at(key));
+    }
+
     return hybridElimination(factors, frontalKeys, continuousSeparator,
-                             discreteSeparatorSet);
+                             discreteSeparator);
   }
 }
 

From f6b1872b1335ab22045aef998832b3aff8020558 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 8 Jul 2023 13:09:35 -0400
Subject: [PATCH 078/206] initial changes

---
 gtsam/hybrid/HybridFactorGraph.cpp          |  3 +--
 gtsam/hybrid/HybridGaussianFactorGraph.cpp  | 16 +++++++++-------
 gtsam/hybrid/HybridGaussianFactorGraph.h    |  1 +
 gtsam/hybrid/HybridJunctionTree.cpp         |  4 ++--
 gtsam/hybrid/HybridNonlinearFactorGraph.cpp |  3 ++-
 gtsam/hybrid/tests/testHybridBayesTree.cpp  |  2 +-
 6 files changed, 16 insertions(+), 13 deletions(-)

diff --git a/gtsam/hybrid/HybridFactorGraph.cpp b/gtsam/hybrid/HybridFactorGraph.cpp
index 235ffc87f..f7b96f694 100644
--- a/gtsam/hybrid/HybridFactorGraph.cpp
+++ b/gtsam/hybrid/HybridFactorGraph.cpp
@@ -17,7 +17,6 @@
  * @date   January, 2023
  */
 
-#include <gtsam/discrete/DecisionTreeFactor.h>
 #include <gtsam/hybrid/HybridFactorGraph.h>
 
 namespace gtsam {
@@ -26,7 +25,7 @@ namespace gtsam {
 std::set<DiscreteKey> HybridFactorGraph::discreteKeys() const {
   std::set<DiscreteKey> keys;
   for (auto& factor : factors_) {
-    if (auto p = std::dynamic_pointer_cast<DecisionTreeFactor>(factor)) {
+    if (auto p = std::dynamic_pointer_cast<DiscreteFactor>(factor)) {
       for (const DiscreteKey& key : p->discreteKeys()) {
         keys.insert(key);
       }
diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index d2ea3d5ef..fb4b69aaf 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -48,8 +48,6 @@
 #include <utility>
 #include <vector>
 
-// #define HYBRID_TIMING
-
 namespace gtsam {
 
 /// Specialize EliminateableFactorGraph for HybridGaussianFactorGraph:
@@ -120,7 +118,7 @@ GaussianFactorGraphTree HybridGaussianFactorGraph::assembleGraphTree() const {
         // TODO(dellaert): in C++20, we can use std::visit.
         continue;
       }
-    } else if (dynamic_pointer_cast<DecisionTreeFactor>(f)) {
+    } else if (dynamic_pointer_cast<DiscreteFactor>(f)) {
       // Don't do anything for discrete-only factors
       // since we want to eliminate continuous values only.
       continue;
@@ -167,8 +165,8 @@ discreteElimination(const HybridGaussianFactorGraph &factors,
   DiscreteFactorGraph dfg;
 
   for (auto &f : factors) {
-    if (auto dtf = dynamic_pointer_cast<DecisionTreeFactor>(f)) {
-      dfg.push_back(dtf);
+    if (auto df = dynamic_pointer_cast<DiscreteFactor>(f)) {
+      dfg.push_back(df);
     } else if (auto orphan = dynamic_pointer_cast<OrphanWrapper>(f)) {
       // Ignore orphaned clique.
       // TODO(dellaert): is this correct? If so explain here.
@@ -262,9 +260,13 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
     };
 
     DecisionTree<Key, double> probabilities(eliminationResults, probability);
+
+    auto dtf =
+        std::make_shared<DecisionTreeFactor>(discreteSeparator, probabilities);
+
     return {
         std::make_shared<HybridConditional>(gaussianMixture),
-        std::make_shared<DecisionTreeFactor>(discreteSeparator, probabilities)};
+        std::make_shared<TableFactor>(discreteSeparator, dtf->probabilities())};
   } else {
     // Otherwise, we create a resulting GaussianMixtureFactor on the separator,
     // taking care to correct for conditional constant.
@@ -433,7 +435,7 @@ AlgebraicDecisionTree<Key> HybridGaussianFactorGraph::error(
       // Add the gaussian factor error to every leaf of the error tree.
       error_tree = error_tree.apply(
           [error](double leaf_value) { return leaf_value + error; });
-    } else if (dynamic_pointer_cast<DecisionTreeFactor>(f)) {
+    } else if (dynamic_pointer_cast<DiscreteFactor>(f)) {
       // If factor at `idx` is discrete-only, we skip.
       continue;
     } else {
diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.h b/gtsam/hybrid/HybridGaussianFactorGraph.h
index 421e69aa0..b3f159150 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.h
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.h
@@ -40,6 +40,7 @@ class HybridEliminationTree;
 class HybridBayesTree;
 class HybridJunctionTree;
 class DecisionTreeFactor;
+class TableFactor;
 class JacobianFactor;
 class HybridValues;
 
diff --git a/gtsam/hybrid/HybridJunctionTree.cpp b/gtsam/hybrid/HybridJunctionTree.cpp
index 6f2898bf1..22d3c7dd2 100644
--- a/gtsam/hybrid/HybridJunctionTree.cpp
+++ b/gtsam/hybrid/HybridJunctionTree.cpp
@@ -66,7 +66,7 @@ struct HybridConstructorTraversalData {
         for (auto& k : hf->discreteKeys()) {
           data.discreteKeys.insert(k.first);
         }
-      } else if (auto hf = std::dynamic_pointer_cast<DecisionTreeFactor>(f)) {
+      } else if (auto hf = std::dynamic_pointer_cast<DiscreteFactor>(f)) {
         for (auto& k : hf->discreteKeys()) {
           data.discreteKeys.insert(k.first);
         }
@@ -161,7 +161,7 @@ HybridJunctionTree::HybridJunctionTree(
   Data rootData(0);
   rootData.junctionTreeNode =
       std::make_shared<typename Base::Node>();  // Make a dummy node to gather
-                                                  // the junction tree roots
+                                                // the junction tree roots
   treeTraversal::DepthFirstForest(eliminationTree, rootData,
                                   Data::ConstructorTraversalVisitorPre,
                                   Data::ConstructorTraversalVisitorPost);
diff --git a/gtsam/hybrid/HybridNonlinearFactorGraph.cpp b/gtsam/hybrid/HybridNonlinearFactorGraph.cpp
index 260f534e3..2459e4ec9 100644
--- a/gtsam/hybrid/HybridNonlinearFactorGraph.cpp
+++ b/gtsam/hybrid/HybridNonlinearFactorGraph.cpp
@@ -17,6 +17,7 @@
  */
 
 #include <gtsam/discrete/DecisionTreeFactor.h>
+#include <gtsam/discrete/TableFactor.h>
 #include <gtsam/hybrid/GaussianMixture.h>
 #include <gtsam/hybrid/HybridGaussianFactorGraph.h>
 #include <gtsam/hybrid/HybridNonlinearFactorGraph.h>
@@ -67,7 +68,7 @@ HybridGaussianFactorGraph::shared_ptr HybridNonlinearFactorGraph::linearize(
     } else if (auto nlf = dynamic_pointer_cast<NonlinearFactor>(f)) {
       const GaussianFactor::shared_ptr& gf = nlf->linearize(continuousValues);
       linearFG->push_back(gf);
-    } else if (dynamic_pointer_cast<DecisionTreeFactor>(f)) {
+    } else if (dynamic_pointer_cast<DiscreteFactor>(f)) {
       // If discrete-only: doesn't need linearization.
       linearFG->push_back(f);
     } else if (auto gmf = dynamic_pointer_cast<GaussianMixtureFactor>(f)) {
diff --git a/gtsam/hybrid/tests/testHybridBayesTree.cpp b/gtsam/hybrid/tests/testHybridBayesTree.cpp
index 578f5d605..81b257c32 100644
--- a/gtsam/hybrid/tests/testHybridBayesTree.cpp
+++ b/gtsam/hybrid/tests/testHybridBayesTree.cpp
@@ -146,7 +146,7 @@ TEST(HybridBayesTree, Optimize) {
 
   DiscreteFactorGraph dfg;
   for (auto&& f : *remainingFactorGraph) {
-    auto discreteFactor = dynamic_pointer_cast<DecisionTreeFactor>(f);
+    auto discreteFactor = dynamic_pointer_cast<DiscreteFactor>(f);
     assert(discreteFactor);
     dfg.push_back(discreteFactor);
   }

From 2940e69a73479b88f20b7c46474e4eae5e0d9845 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 9 Jul 2023 20:24:24 -0400
Subject: [PATCH 079/206] discreteConditionals returns DiscreteConditional

---
 gtsam/hybrid/HybridBayesNet.cpp | 18 +++++++-----------
 gtsam/hybrid/HybridBayesNet.h   |  4 ++--
 2 files changed, 9 insertions(+), 13 deletions(-)

diff --git a/gtsam/hybrid/HybridBayesNet.cpp b/gtsam/hybrid/HybridBayesNet.cpp
index 0db1b0c48..3b5ab5b80 100644
--- a/gtsam/hybrid/HybridBayesNet.cpp
+++ b/gtsam/hybrid/HybridBayesNet.cpp
@@ -38,21 +38,17 @@ bool HybridBayesNet::equals(const This &bn, double tol) const {
 }
 
 /* ************************************************************************* */
-DecisionTreeFactor::shared_ptr HybridBayesNet::discreteConditionals() const {
-  AlgebraicDecisionTree<Key> discreteProbs;
-
+DiscreteConditional::shared_ptr HybridBayesNet::discreteConditionals() const {
   // The canonical decision tree factor which will get
   // the discrete conditionals added to it.
-  DecisionTreeFactor discreteProbsFactor;
+  DiscreteConditional discreteProbs;
 
   for (auto &&conditional : *this) {
     if (conditional->isDiscrete()) {
-      // Convert to a DecisionTreeFactor and add it to the main factor.
-      DecisionTreeFactor f(*conditional->asDiscrete());
-      discreteProbsFactor = discreteProbsFactor * f;
+      discreteProbs = discreteProbs * (*conditional->asDiscrete());
     }
   }
-  return std::make_shared<DecisionTreeFactor>(discreteProbsFactor);
+  return std::make_shared<DiscreteConditional>(discreteProbs);
 }
 
 /* ************************************************************************* */
@@ -146,8 +142,8 @@ std::function<double(const Assignment<Key> &, double)> prunerFunc(
 /* ************************************************************************* */
 void HybridBayesNet::updateDiscreteConditionals(
     const DecisionTreeFactor &prunedDiscreteProbs) {
-  //TODO(Varun) Should prune the joint conditional, maybe during elimination?
-  // Loop with index since we need it later.
+  // TODO(Varun) Should prune the joint conditional, maybe during elimination?
+  //  Loop with index since we need it later.
   for (size_t i = 0; i < this->size(); i++) {
     HybridConditional::shared_ptr conditional = this->at(i);
     if (conditional->isDiscrete()) {
@@ -179,7 +175,7 @@ void HybridBayesNet::updateDiscreteConditionals(
 HybridBayesNet HybridBayesNet::prune(size_t maxNrLeaves) {
   // Get the decision tree of only the discrete keys
   gttic_(HybridBayesNet_PruneDiscreteConditionals);
-  DecisionTreeFactor::shared_ptr discreteConditionals =
+  DiscreteConditional::shared_ptr discreteConditionals =
       this->discreteConditionals();
   const DecisionTreeFactor prunedDiscreteProbs =
       discreteConditionals->prune(maxNrLeaves);
diff --git a/gtsam/hybrid/HybridBayesNet.h b/gtsam/hybrid/HybridBayesNet.h
index 23fc4d5d3..19e88d754 100644
--- a/gtsam/hybrid/HybridBayesNet.h
+++ b/gtsam/hybrid/HybridBayesNet.h
@@ -139,9 +139,9 @@ class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
   /**
    * @brief Get all the discrete conditionals as a decision tree factor.
    *
-   * @return DecisionTreeFactor::shared_ptr
+   * @return DiscreteConditional::shared_ptr
    */
-  DecisionTreeFactor::shared_ptr discreteConditionals() const;
+  DiscreteConditional::shared_ptr discreteConditionals() const;
 
   /**
    * @brief Sample from an incomplete BayesNet, given missing variables.

From 2f4133fd49ee3367c7ff7684187f84f4eeb49dc2 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 10 Jul 2023 19:39:28 -0400
Subject: [PATCH 080/206] Revert "remove nrAssignments from the DecisionTree"

This reverts commit 647d3c0744171ffa78f585a39a88bfa4be4d2002.
---
 gtsam/discrete/DecisionTree-inl.h         | 13 +++++++-
 gtsam/discrete/DecisionTree.h             | 36 +++++++++++++++++++++++
 gtsam/discrete/tests/testDecisionTree.cpp | 32 ++++++++++++++++++++
 3 files changed, 80 insertions(+), 1 deletion(-)

diff --git a/gtsam/discrete/DecisionTree-inl.h b/gtsam/discrete/DecisionTree-inl.h
index 9d618dea0..19e3e2887 100644
--- a/gtsam/discrete/DecisionTree-inl.h
+++ b/gtsam/discrete/DecisionTree-inl.h
@@ -93,7 +93,8 @@ namespace gtsam {
     /// print
     void print(const std::string& s, const LabelFormatter& labelFormatter,
                const ValueFormatter& valueFormatter) const override {
-      std::cout << s << " Leaf " << valueFormatter(constant_) << std::endl;
+      std::cout << s << " Leaf [" << nrAssignments() << "]"
+                << valueFormatter(constant_) << std::endl;
     }
 
     /** Write graphviz format to stream `os`. */
@@ -827,6 +828,16 @@ namespace gtsam {
     return total;
   }
 
+  /****************************************************************************/
+  template <typename L, typename Y>
+  size_t DecisionTree<L, Y>::nrAssignments() const {
+    size_t n = 0;
+    this->visitLeaf([&n](const DecisionTree<L, Y>::Leaf& leaf) {
+      n += leaf.nrAssignments();
+    });
+    return n;
+  }
+
   /****************************************************************************/
   // fold is just done with a visit
   template <typename L, typename Y>
diff --git a/gtsam/discrete/DecisionTree.h b/gtsam/discrete/DecisionTree.h
index ed1908485..bee0ce5c7 100644
--- a/gtsam/discrete/DecisionTree.h
+++ b/gtsam/discrete/DecisionTree.h
@@ -299,6 +299,42 @@ namespace gtsam {
     /// Return the number of leaves in the tree.
     size_t nrLeaves() const;
 
+    /**
+     * @brief This is a convenience function which returns the total number of
+     * leaf assignments in the decision tree.
+     * This function is not used for anymajor operations within the discrete
+     * factor graph framework.
+     *
+     * Leaf assignments represent the cardinality of each leaf node, e.g. in a
+     * binary tree each leaf has 2 assignments. This includes counts removed
+     * from implicit pruning hence, it will always be >= nrLeaves().
+     *
+     * E.g. we have a decision tree as below, where each node has 2 branches:
+     *
+     * Choice(m1)
+     * 0 Choice(m0)
+     * 0 0 Leaf 0.0
+     * 0 1 Leaf 0.0
+     * 1 Choice(m0)
+     * 1 0 Leaf 1.0
+     * 1 1 Leaf 2.0
+     *
+     * In the unpruned form, the tree will have 4 assignments, 2 for each key,
+     * and 4 leaves.
+     *
+     * In the pruned form, the number of assignments is still 4 but the number
+     * of leaves is now 3, as below:
+     *
+     * Choice(m1)
+     * 0 Leaf 0.0
+     * 1 Choice(m0)
+     * 1 0 Leaf 1.0
+     * 1 1 Leaf 2.0
+     *
+     * @return size_t
+     */
+    size_t nrAssignments() const;
+
     /**
      * @brief Fold a binary function over the tree, returning accumulator.
      *
diff --git a/gtsam/discrete/tests/testDecisionTree.cpp b/gtsam/discrete/tests/testDecisionTree.cpp
index d2a94ddc3..395915068 100644
--- a/gtsam/discrete/tests/testDecisionTree.cpp
+++ b/gtsam/discrete/tests/testDecisionTree.cpp
@@ -531,6 +531,38 @@ TEST(DecisionTree, ApplyWithAssignment) {
   EXPECT_LONGS_EQUAL(5, count);
 }
 
+/* ************************************************************************** */
+// Test number of assignments.
+TEST(DecisionTree, NrAssignments2) {
+  using gtsam::symbol_shorthand::M;
+
+  std::vector<double> probs = {0, 0, 1, 2};
+
+  /* Create the decision tree
+    Choice(m1)
+    0 Leaf 0.000000
+    1 Choice(m0)
+    1 0 Leaf 1.000000
+    1 1 Leaf 2.000000
+  */
+  DiscreteKeys keys{{M(1), 2}, {M(0), 2}};
+  DecisionTree<Key, double> dt1(keys, probs);
+  EXPECT_LONGS_EQUAL(4, dt1.nrAssignments());
+
+  /* Create the DecisionTree
+    Choice(m1)
+    0 Choice(m0)
+    0 0 Leaf 0.000000
+    0 1 Leaf 1.000000
+    1 Choice(m0)
+    1 0 Leaf 0.000000
+    1 1 Leaf 2.000000
+  */
+  DiscreteKeys keys2{{M(0), 2}, {M(1), 2}};
+  DecisionTree<Key, double> dt2(keys2, probs);
+  EXPECT_LONGS_EQUAL(4, dt2.nrAssignments());
+}
+
 /* ************************************************************************* */
 int main() {
   TestResult tr;

From ddb36c2e7b20606bd31baeac0b190083f5d9c780 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 10 Jul 2023 19:39:36 -0400
Subject: [PATCH 081/206] Revert "enumerate all assignments for computing
 probabilities to prune"

This reverts commit 8c38e45c83c6bbeb2ef5e7c7d73807b2eed6831f.
---
 .../tests/testGaussianMixtureFactor.cpp       |  4 +-
 .../tests/testHybridNonlinearFactorGraph.cpp  | 38 +++++++++----------
 2 files changed, 21 insertions(+), 21 deletions(-)

diff --git a/gtsam/hybrid/tests/testGaussianMixtureFactor.cpp b/gtsam/hybrid/tests/testGaussianMixtureFactor.cpp
index 75ba5a059..5207e9372 100644
--- a/gtsam/hybrid/tests/testGaussianMixtureFactor.cpp
+++ b/gtsam/hybrid/tests/testGaussianMixtureFactor.cpp
@@ -108,7 +108,7 @@ TEST(GaussianMixtureFactor, Printing) {
   std::string expected =
       R"(Hybrid [x1 x2; 1]{
  Choice(1) 
- 0 Leaf :
+ 0 Leaf [1]:
   A[x1] = [
 	0;
 	0
@@ -120,7 +120,7 @@ TEST(GaussianMixtureFactor, Printing) {
   b = [ 0 0 ]
   No noise model
 
- 1 Leaf :
+ 1 Leaf [1]:
   A[x1] = [
 	0;
 	0
diff --git a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
index af3a23b94..7bcaf1762 100644
--- a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
@@ -492,7 +492,7 @@ factor 0:
 factor 1: 
 Hybrid [x0 x1; m0]{
  Choice(m0) 
- 0 Leaf :
+ 0 Leaf [1]:
   A[x0] = [
 	-1
 ]
@@ -502,7 +502,7 @@ Hybrid [x0 x1; m0]{
   b = [ -1 ]
   No noise model
 
- 1 Leaf :
+ 1 Leaf [1]:
   A[x0] = [
 	-1
 ]
@@ -516,7 +516,7 @@ Hybrid [x0 x1; m0]{
 factor 2: 
 Hybrid [x1 x2; m1]{
  Choice(m1) 
- 0 Leaf :
+ 0 Leaf [1]:
   A[x1] = [
 	-1
 ]
@@ -526,7 +526,7 @@ Hybrid [x1 x2; m1]{
   b = [ -1 ]
   No noise model
 
- 1 Leaf :
+ 1 Leaf [1]:
   A[x1] = [
 	-1
 ]
@@ -550,16 +550,16 @@ factor 4:
   b = [ -10 ]
   No noise model
 factor 5:  P( m0 ):
- Leaf  0.5
+ Leaf [2] 0.5
 
 factor 6:  P( m1 | m0 ):
  Choice(m1) 
  0 Choice(m0) 
- 0 0 Leaf 0.33333333
- 0 1 Leaf  0.6
+ 0 0 Leaf [1]0.33333333
+ 0 1 Leaf [1] 0.6
  1 Choice(m0) 
- 1 0 Leaf 0.66666667
- 1 1 Leaf  0.4
+ 1 0 Leaf [1]0.66666667
+ 1 1 Leaf [1] 0.4
 
 )";
   EXPECT(assert_print_equal(expected_hybridFactorGraph, linearizedFactorGraph));
@@ -570,13 +570,13 @@ size: 3
 conditional 0: Hybrid  P( x0 | x1 m0)
  Discrete Keys = (m0, 2), 
  Choice(m0) 
- 0 Leaf  p(x0 | x1)
+ 0 Leaf [1] p(x0 | x1)
   R = [ 10.0499 ]
   S[x1] = [ -0.0995037 ]
   d = [ -9.85087 ]
   No noise model
 
- 1 Leaf  p(x0 | x1)
+ 1 Leaf [1] p(x0 | x1)
   R = [ 10.0499 ]
   S[x1] = [ -0.0995037 ]
   d = [ -9.95037 ]
@@ -586,26 +586,26 @@ conditional 1: Hybrid  P( x1 | x2 m0 m1)
  Discrete Keys = (m0, 2), (m1, 2), 
  Choice(m1) 
  0 Choice(m0) 
- 0 0 Leaf  p(x1 | x2)
+ 0 0 Leaf [1] p(x1 | x2)
   R = [ 10.099 ]
   S[x2] = [ -0.0990196 ]
   d = [ -9.99901 ]
   No noise model
 
- 0 1 Leaf  p(x1 | x2)
+ 0 1 Leaf [1] p(x1 | x2)
   R = [ 10.099 ]
   S[x2] = [ -0.0990196 ]
   d = [ -9.90098 ]
   No noise model
 
  1 Choice(m0) 
- 1 0 Leaf  p(x1 | x2)
+ 1 0 Leaf [1] p(x1 | x2)
   R = [ 10.099 ]
   S[x2] = [ -0.0990196 ]
   d = [ -10.098 ]
   No noise model
 
- 1 1 Leaf  p(x1 | x2)
+ 1 1 Leaf [1] p(x1 | x2)
   R = [ 10.099 ]
   S[x2] = [ -0.0990196 ]
   d = [ -10 ]
@@ -615,14 +615,14 @@ conditional 2: Hybrid  P( x2 | m0 m1)
  Discrete Keys = (m0, 2), (m1, 2), 
  Choice(m1) 
  0 Choice(m0) 
- 0 0 Leaf  p(x2)
+ 0 0 Leaf [1] p(x2)
   R = [ 10.0494 ]
   d = [ -10.1489 ]
   mean: 1 elements
   x2: -1.0099
   No noise model
 
- 0 1 Leaf  p(x2)
+ 0 1 Leaf [1] p(x2)
   R = [ 10.0494 ]
   d = [ -10.1479 ]
   mean: 1 elements
@@ -630,14 +630,14 @@ conditional 2: Hybrid  P( x2 | m0 m1)
   No noise model
 
  1 Choice(m0) 
- 1 0 Leaf  p(x2)
+ 1 0 Leaf [1] p(x2)
   R = [ 10.0494 ]
   d = [ -10.0504 ]
   mean: 1 elements
   x2: -1.0001
   No noise model
 
- 1 1 Leaf  p(x2)
+ 1 1 Leaf [1] p(x2)
   R = [ 10.0494 ]
   d = [ -10.0494 ]
   mean: 1 elements

From f4adfac4fa4fff940165fa99283c31b7fd18123f Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 12 Jul 2023 22:54:39 -0400
Subject: [PATCH 082/206] Undo TableFactor return in Hybrid GFG so we can group
 the changes together

---
 gtsam/hybrid/HybridGaussianFactorGraph.cpp | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index fb4b69aaf..2d4ac83f6 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -261,12 +261,9 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
 
     DecisionTree<Key, double> probabilities(eliminationResults, probability);
 
-    auto dtf =
-        std::make_shared<DecisionTreeFactor>(discreteSeparator, probabilities);
-
     return {
         std::make_shared<HybridConditional>(gaussianMixture),
-        std::make_shared<TableFactor>(discreteSeparator, dtf->probabilities())};
+        std::make_shared<DecisionTreeFactor>(discreteSeparator, probabilities)};
   } else {
     // Otherwise, we create a resulting GaussianMixtureFactor on the separator,
     // taking care to correct for conditional constant.

From 6a26ecf971a30d822b586768a508338068c4a56f Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 13 Jul 2023 15:31:06 -0400
Subject: [PATCH 083/206] templetize functions in Switching fixture

---
 gtsam/hybrid/tests/Switching.h | 27 ++++++---------------------
 1 file changed, 6 insertions(+), 21 deletions(-)

diff --git a/gtsam/hybrid/tests/Switching.h b/gtsam/hybrid/tests/Switching.h
index 5842e1f1a..4b2d3f11b 100644
--- a/gtsam/hybrid/tests/Switching.h
+++ b/gtsam/hybrid/tests/Switching.h
@@ -202,31 +202,16 @@ struct Switching {
    * @brief Add "mode chain" to HybridNonlinearFactorGraph from M(0) to M(K-2).
    * E.g. if K=4, we want M0, M1 and M2.
    *
-   * @param fg The nonlinear factor graph to which the mode chain is added.
+   * @param fg The factor graph to which the mode chain is added.
    */
-  void addModeChain(HybridNonlinearFactorGraph *fg,
+  template <typename FACTORGRAPH>
+  void addModeChain(FACTORGRAPH *fg,
                     std::string discrete_transition_prob = "1/2 3/2") {
-    fg->emplace_shared<DiscreteDistribution>(modes[0], "1/1");
+    fg->template emplace_shared<DiscreteDistribution>(modes[0], "1/1");
     for (size_t k = 0; k < K - 2; k++) {
       auto parents = {modes[k]};
-      fg->emplace_shared<DiscreteConditional>(modes[k + 1], parents,
-                                              discrete_transition_prob);
-    }
-  }
-
-  /**
-   * @brief Add "mode chain" to HybridGaussianFactorGraph from M(0) to M(K-2).
-   * E.g. if K=4, we want M0, M1 and M2.
-   *
-   * @param fg The gaussian factor graph to which the mode chain is added.
-   */
-  void addModeChain(HybridGaussianFactorGraph *fg,
-                    std::string discrete_transition_prob = "1/2 3/2") {
-    fg->emplace_shared<DiscreteDistribution>(modes[0], "1/1");
-    for (size_t k = 0; k < K - 2; k++) {
-      auto parents = {modes[k]};
-      fg->emplace_shared<DiscreteConditional>(modes[k + 1], parents,
-                                              discrete_transition_prob);
+      fg->template emplace_shared<DiscreteConditional>(
+          modes[k + 1], parents, discrete_transition_prob);
     }
   }
 };

From f7071298c3b63bda597b7e6c9e33740ea62f1381 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 13 Jul 2023 16:06:16 -0400
Subject: [PATCH 084/206] small improvements to comments and code structure

---
 gtsam/hybrid/HybridBayesNet.cpp | 7 +++----
 gtsam/hybrid/HybridSmoother.cpp | 3 ++-
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/gtsam/hybrid/HybridBayesNet.cpp b/gtsam/hybrid/HybridBayesNet.cpp
index 3b5ab5b80..ff2752bcb 100644
--- a/gtsam/hybrid/HybridBayesNet.cpp
+++ b/gtsam/hybrid/HybridBayesNet.cpp
@@ -39,8 +39,7 @@ bool HybridBayesNet::equals(const This &bn, double tol) const {
 
 /* ************************************************************************* */
 DiscreteConditional::shared_ptr HybridBayesNet::discreteConditionals() const {
-  // The canonical decision tree factor which will get
-  // the discrete conditionals added to it.
+  // The joint discrete probability.
   DiscreteConditional discreteProbs;
 
   for (auto &&conditional : *this) {
@@ -152,7 +151,7 @@ void HybridBayesNet::updateDiscreteConditionals(
       // Convert pointer from conditional to factor
       auto discreteFactor =
           std::dynamic_pointer_cast<DecisionTreeFactor>(discrete);
-      // Apply prunerFunc to the underlying AlgebraicDecisionTree
+      // Apply prunerFunc to the underlying conditional
       DecisionTreeFactor::ADT prunedDiscreteFactor =
           discreteFactor->apply(prunerFunc(prunedDiscreteProbs, *conditional));
 
@@ -173,7 +172,7 @@ void HybridBayesNet::updateDiscreteConditionals(
 
 /* ************************************************************************* */
 HybridBayesNet HybridBayesNet::prune(size_t maxNrLeaves) {
-  // Get the decision tree of only the discrete keys
+  // Get the joint distribution of only the discrete keys
   gttic_(HybridBayesNet_PruneDiscreteConditionals);
   DiscreteConditional::shared_ptr discreteConditionals =
       this->discreteConditionals();
diff --git a/gtsam/hybrid/HybridSmoother.cpp b/gtsam/hybrid/HybridSmoother.cpp
index 27d3f70fc..afa8340d2 100644
--- a/gtsam/hybrid/HybridSmoother.cpp
+++ b/gtsam/hybrid/HybridSmoother.cpp
@@ -97,7 +97,8 @@ HybridSmoother::addConditionals(const HybridGaussianFactorGraph &originalGraph,
   HybridGaussianFactorGraph graph(originalGraph);
   HybridBayesNet hybridBayesNet(originalHybridBayesNet);
 
-  // If we are not at the first iteration, means we have conditionals to add.
+  // If hybridBayesNet is not empty,
+  // it means we have conditionals to add to the factor graph.
   if (!hybridBayesNet.empty()) {
     // We add all relevant conditional mixtures on the last continuous variable
     // in the previous `hybridBayesNet` to the graph

From 3fe2682d93d30e6ad011dd099cf428f680fe7bd2 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 14 Jul 2023 17:52:22 -0400
Subject: [PATCH 085/206] prune joint discrete probability which is faster

---
 gtsam/hybrid/HybridBayesNet.cpp           | 85 ++++++++++-------------
 gtsam/hybrid/HybridBayesNet.h             | 13 +---
 gtsam/hybrid/tests/testHybridBayesNet.cpp | 26 +++++--
 3 files changed, 58 insertions(+), 66 deletions(-)

diff --git a/gtsam/hybrid/HybridBayesNet.cpp b/gtsam/hybrid/HybridBayesNet.cpp
index ff2752bcb..b4bf61220 100644
--- a/gtsam/hybrid/HybridBayesNet.cpp
+++ b/gtsam/hybrid/HybridBayesNet.cpp
@@ -37,19 +37,6 @@ bool HybridBayesNet::equals(const This &bn, double tol) const {
   return Base::equals(bn, tol);
 }
 
-/* ************************************************************************* */
-DiscreteConditional::shared_ptr HybridBayesNet::discreteConditionals() const {
-  // The joint discrete probability.
-  DiscreteConditional discreteProbs;
-
-  for (auto &&conditional : *this) {
-    if (conditional->isDiscrete()) {
-      discreteProbs = discreteProbs * (*conditional->asDiscrete());
-    }
-  }
-  return std::make_shared<DiscreteConditional>(discreteProbs);
-}
-
 /* ************************************************************************* */
 /**
  * @brief Helper function to get the pruner functional.
@@ -139,52 +126,52 @@ std::function<double(const Assignment<Key> &, double)> prunerFunc(
 }
 
 /* ************************************************************************* */
-void HybridBayesNet::updateDiscreteConditionals(
-    const DecisionTreeFactor &prunedDiscreteProbs) {
-  // TODO(Varun) Should prune the joint conditional, maybe during elimination?
-  //  Loop with index since we need it later.
+DecisionTreeFactor HybridBayesNet::pruneDiscreteConditionals(
+    size_t maxNrLeaves) {
+  // Get the joint distribution of only the discrete keys
+  gttic_(HybridBayesNet_PruneDiscreteConditionals);
+  // The joint discrete probability.
+  DiscreteConditional discreteProbs;
+
+  std::vector<size_t> discrete_factor_idxs;
+  // Record frontal keys so we can maintain ordering
+  Ordering discrete_frontals;
+
   for (size_t i = 0; i < this->size(); i++) {
-    HybridConditional::shared_ptr conditional = this->at(i);
+    auto conditional = this->at(i);
     if (conditional->isDiscrete()) {
-      auto discrete = conditional->asDiscrete();
+      discreteProbs = discreteProbs * (*conditional->asDiscrete());
 
-      // Convert pointer from conditional to factor
-      auto discreteFactor =
-          std::dynamic_pointer_cast<DecisionTreeFactor>(discrete);
-      // Apply prunerFunc to the underlying conditional
-      DecisionTreeFactor::ADT prunedDiscreteFactor =
-          discreteFactor->apply(prunerFunc(prunedDiscreteProbs, *conditional));
-
-      gttic_(HybridBayesNet_MakeConditional);
-      // Create the new (hybrid) conditional
-      KeyVector frontals(discrete->frontals().begin(),
-                         discrete->frontals().end());
-      auto prunedDiscrete = std::make_shared<DiscreteLookupTable>(
-          frontals.size(), conditional->discreteKeys(), prunedDiscreteFactor);
-      conditional = std::make_shared<HybridConditional>(prunedDiscrete);
-      gttoc_(HybridBayesNet_MakeConditional);
-
-      // Add it back to the BayesNet
-      this->at(i) = conditional;
+      Ordering conditional_keys(conditional->frontals());
+      discrete_frontals += conditional_keys;
+      discrete_factor_idxs.push_back(i);
     }
   }
+  const DecisionTreeFactor prunedDiscreteProbs =
+      discreteProbs.prune(maxNrLeaves);
+  gttoc_(HybridBayesNet_PruneDiscreteConditionals);
+
+  // Eliminate joint probability back into conditionals
+  gttic_(HybridBayesNet_UpdateDiscreteConditionals);
+  DiscreteFactorGraph dfg{prunedDiscreteProbs};
+  DiscreteBayesNet::shared_ptr dbn = dfg.eliminateSequential(discrete_frontals);
+
+  // Assign pruned discrete conditionals back at the correct indices.
+  for (size_t i = 0; i < discrete_factor_idxs.size(); i++) {
+    size_t idx = discrete_factor_idxs.at(i);
+    this->at(idx) = std::make_shared<HybridConditional>(dbn->at(i));
+  }
+  gttoc_(HybridBayesNet_UpdateDiscreteConditionals);
+
+  return prunedDiscreteProbs;
 }
 
 /* ************************************************************************* */
 HybridBayesNet HybridBayesNet::prune(size_t maxNrLeaves) {
-  // Get the joint distribution of only the discrete keys
-  gttic_(HybridBayesNet_PruneDiscreteConditionals);
-  DiscreteConditional::shared_ptr discreteConditionals =
-      this->discreteConditionals();
-  const DecisionTreeFactor prunedDiscreteProbs =
-      discreteConditionals->prune(maxNrLeaves);
-  gttoc_(HybridBayesNet_PruneDiscreteConditionals);
+  DecisionTreeFactor prunedDiscreteProbs =
+      this->pruneDiscreteConditionals(maxNrLeaves);
 
-  gttic_(HybridBayesNet_UpdateDiscreteConditionals);
-  this->updateDiscreteConditionals(prunedDiscreteProbs);
-  gttoc_(HybridBayesNet_UpdateDiscreteConditionals);
-
-  /* To Prune, we visitWith every leaf in the GaussianMixture.
+  /* To prune, we visitWith every leaf in the GaussianMixture.
    * For each leaf, using the assignment we can check the discrete decision tree
    * for 0.0 probability, then just set the leaf to a nullptr.
    *
diff --git a/gtsam/hybrid/HybridBayesNet.h b/gtsam/hybrid/HybridBayesNet.h
index 19e88d754..e71cfe9b4 100644
--- a/gtsam/hybrid/HybridBayesNet.h
+++ b/gtsam/hybrid/HybridBayesNet.h
@@ -136,13 +136,6 @@ class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
    */
   VectorValues optimize(const DiscreteValues &assignment) const;
 
-  /**
-   * @brief Get all the discrete conditionals as a decision tree factor.
-   *
-   * @return DiscreteConditional::shared_ptr
-   */
-  DiscreteConditional::shared_ptr discreteConditionals() const;
-
   /**
    * @brief Sample from an incomplete BayesNet, given missing variables.
    *
@@ -222,11 +215,11 @@ class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
 
  private:
   /**
-   * @brief Update the discrete conditionals with the pruned versions.
+   * @brief Prune all the discrete conditionals.
    *
-   * @param prunedDiscreteProbs
+   * @param maxNrLeaves
    */
-  void updateDiscreteConditionals(const DecisionTreeFactor &prunedDiscreteProbs);
+  DecisionTreeFactor pruneDiscreteConditionals(size_t maxNrLeaves);
 
 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */
diff --git a/gtsam/hybrid/tests/testHybridBayesNet.cpp b/gtsam/hybrid/tests/testHybridBayesNet.cpp
index f25675a55..1dfcbd6b7 100644
--- a/gtsam/hybrid/tests/testHybridBayesNet.cpp
+++ b/gtsam/hybrid/tests/testHybridBayesNet.cpp
@@ -231,7 +231,7 @@ TEST(HybridBayesNet, Pruning) {
   auto prunedTree = prunedBayesNet.evaluate(delta.continuous());
 
   // Regression test on pruned logProbability tree
-  std::vector<double> pruned_leaves = {0.0, 20.346113, 0.0, 19.738098};
+  std::vector<double> pruned_leaves = {0.0, 32.713418, 0.0, 31.735823};
   AlgebraicDecisionTree<Key> expected_pruned(discrete_keys, pruned_leaves);
   EXPECT(assert_equal(expected_pruned, prunedTree, 1e-6));
 
@@ -248,8 +248,10 @@ TEST(HybridBayesNet, Pruning) {
   logProbability +=
       posterior->at(4)->asDiscrete()->logProbability(hybridValues);
 
+  // Regression
   double density = exp(logProbability);
-  EXPECT_DOUBLES_EQUAL(density, actualTree(discrete_values), 1e-9);
+  EXPECT_DOUBLES_EQUAL(density,
+                       1.6078460548731697 * actualTree(discrete_values), 1e-6);
   EXPECT_DOUBLES_EQUAL(density, prunedTree(discrete_values), 1e-9);
   EXPECT_DOUBLES_EQUAL(logProbability, posterior->logProbability(hybridValues),
                        1e-9);
@@ -283,20 +285,30 @@ TEST(HybridBayesNet, UpdateDiscreteConditionals) {
   EXPECT_LONGS_EQUAL(7, posterior->size());
 
   size_t maxNrLeaves = 3;
-  auto discreteConditionals = posterior->discreteConditionals();
+  DiscreteConditional discreteConditionals;
+  for (auto&& conditional : *posterior) {
+    if (conditional->isDiscrete()) {
+      discreteConditionals =
+          discreteConditionals * (*conditional->asDiscrete());
+    }
+  }
   const DecisionTreeFactor::shared_ptr prunedDecisionTree =
       std::make_shared<DecisionTreeFactor>(
-          discreteConditionals->prune(maxNrLeaves));
+          discreteConditionals.prune(maxNrLeaves));
 
   EXPECT_LONGS_EQUAL(maxNrLeaves + 2 /*2 zero leaves*/,
                      prunedDecisionTree->nrLeaves());
 
-  auto original_discrete_conditionals = *(posterior->at(4)->asDiscrete());
+  // regression
+  DiscreteKeys dkeys{{M(0), 2}, {M(1), 2}, {M(2), 2}};
+  DecisionTreeFactor::ADT potentials(
+      dkeys, std::vector<double>{0, 0, 0, 0.505145423, 0, 1, 0, 0.494854577});
+  DiscreteConditional expected_discrete_conditionals(1, dkeys, potentials);
 
   // Prune!
   posterior->prune(maxNrLeaves);
 
-  // Functor to verify values against the original_discrete_conditionals
+  // Functor to verify values against the expected_discrete_conditionals
   auto checker = [&](const Assignment<Key>& assignment,
                      double probability) -> double {
     // typecast so we can use this to get probability value
@@ -304,7 +316,7 @@ TEST(HybridBayesNet, UpdateDiscreteConditionals) {
     if (prunedDecisionTree->operator()(choices) == 0) {
       EXPECT_DOUBLES_EQUAL(0.0, probability, 1e-9);
     } else {
-      EXPECT_DOUBLES_EQUAL(original_discrete_conditionals(choices), probability,
+      EXPECT_DOUBLES_EQUAL(expected_discrete_conditionals(choices), probability,
                            1e-9);
     }
     return 0.0;

From 2f3fcff9160a623eb6021c013240a5965e6876ec Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 17 Jul 2023 12:47:19 -0400
Subject: [PATCH 086/206] fix tests

---
 gtsam/discrete/tests/testDecisionTree.cpp | 33 +----------------------
 gtsam/hybrid/tests/testMixtureFactor.cpp  |  4 +--
 2 files changed, 3 insertions(+), 34 deletions(-)

diff --git a/gtsam/discrete/tests/testDecisionTree.cpp b/gtsam/discrete/tests/testDecisionTree.cpp
index 395915068..efa7a1c44 100644
--- a/gtsam/discrete/tests/testDecisionTree.cpp
+++ b/gtsam/discrete/tests/testDecisionTree.cpp
@@ -25,6 +25,7 @@
 #include <gtsam/base/serializationTestHelpers.h>
 #include <gtsam/discrete/DecisionTree-inl.h>
 #include <gtsam/discrete/Signature.h>
+#include <gtsam/inference/Symbol.h>
 
 #include <iomanip>
 
@@ -531,38 +532,6 @@ TEST(DecisionTree, ApplyWithAssignment) {
   EXPECT_LONGS_EQUAL(5, count);
 }
 
-/* ************************************************************************** */
-// Test number of assignments.
-TEST(DecisionTree, NrAssignments2) {
-  using gtsam::symbol_shorthand::M;
-
-  std::vector<double> probs = {0, 0, 1, 2};
-
-  /* Create the decision tree
-    Choice(m1)
-    0 Leaf 0.000000
-    1 Choice(m0)
-    1 0 Leaf 1.000000
-    1 1 Leaf 2.000000
-  */
-  DiscreteKeys keys{{M(1), 2}, {M(0), 2}};
-  DecisionTree<Key, double> dt1(keys, probs);
-  EXPECT_LONGS_EQUAL(4, dt1.nrAssignments());
-
-  /* Create the DecisionTree
-    Choice(m1)
-    0 Choice(m0)
-    0 0 Leaf 0.000000
-    0 1 Leaf 1.000000
-    1 Choice(m0)
-    1 0 Leaf 0.000000
-    1 1 Leaf 2.000000
-  */
-  DiscreteKeys keys2{{M(0), 2}, {M(1), 2}};
-  DecisionTree<Key, double> dt2(keys2, probs);
-  EXPECT_LONGS_EQUAL(4, dt2.nrAssignments());
-}
-
 /* ************************************************************************* */
 int main() {
   TestResult tr;
diff --git a/gtsam/hybrid/tests/testMixtureFactor.cpp b/gtsam/hybrid/tests/testMixtureFactor.cpp
index 67a7fd8ae..79188b909 100644
--- a/gtsam/hybrid/tests/testMixtureFactor.cpp
+++ b/gtsam/hybrid/tests/testMixtureFactor.cpp
@@ -63,8 +63,8 @@ TEST(MixtureFactor, Printing) {
       R"(Hybrid [x1 x2; 1]
 MixtureFactor
  Choice(1) 
- 0 Leaf Nonlinear factor on 2 keys
- 1 Leaf Nonlinear factor on 2 keys
+ 0 Leaf [1]Nonlinear factor on 2 keys
+ 1 Leaf [1]Nonlinear factor on 2 keys
 )";
   EXPECT(assert_print_equal(expected, mixtureFactor));
 }

From 103641c51ad89738fd90c414fede5de957c1e7c2 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 17 Jul 2023 13:31:19 -0400
Subject: [PATCH 087/206] include fix

---
 gtsam/hybrid/HybridFactor.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/gtsam/hybrid/HybridFactor.h b/gtsam/hybrid/HybridFactor.h
index 13d5c2cba..afd1c8032 100644
--- a/gtsam/hybrid/HybridFactor.h
+++ b/gtsam/hybrid/HybridFactor.h
@@ -20,6 +20,7 @@
 #include <gtsam/base/Testable.h>
 #include <gtsam/discrete/DecisionTree.h>
 #include <gtsam/discrete/DiscreteKey.h>
+#include <gtsam/discrete/TableFactor.h>
 #include <gtsam/inference/Factor.h>
 #include <gtsam/linear/GaussianFactorGraph.h>
 #include <gtsam/nonlinear/Values.h>

From 89941683a218f22bc37e6dc827c7c198373da4f0 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 17 Jul 2023 17:56:19 -0400
Subject: [PATCH 088/206] improved exception message when there are lots of
 keys

---
 gtsam/inference/inferenceExceptions.h         | 24 ++++++++++-------
 .../linear/tests/testGaussianFactorGraph.cpp  | 26 ++++++++++++++++++-
 2 files changed, 40 insertions(+), 10 deletions(-)

diff --git a/gtsam/inference/inferenceExceptions.h b/gtsam/inference/inferenceExceptions.h
index 061abeb85..339accad6 100644
--- a/gtsam/inference/inferenceExceptions.h
+++ b/gtsam/inference/inferenceExceptions.h
@@ -29,7 +29,7 @@ namespace gtsam {
  * full elimination routine was called with an ordering that does not include
  * all of the variables. */
 class InconsistentEliminationRequested : public std::exception {
-  KeySet keys_;
+  KeyVector keys_;
   const KeyFormatter& keyFormatter = DefaultKeyFormatter;
 
  public:
@@ -38,21 +38,26 @@ class InconsistentEliminationRequested : public std::exception {
   InconsistentEliminationRequested(
       const KeySet& keys,
       const KeyFormatter& key_formatter = DefaultKeyFormatter)
-      : keys_(keys), keyFormatter(key_formatter) {}
+      : keys_(keys.begin(), keys.end()), keyFormatter(key_formatter) {}
 
   ~InconsistentEliminationRequested() noexcept override {}
   const char* what() const noexcept override {
     // Format keys for printing
     std::stringstream sstr;
-    for (auto key : keys_) {
-      sstr << keyFormatter(key) << ", ";
+    size_t nrKeysToDisplay = std::min(size_t(4), keys_.size());
+    for (size_t i = 0; i < nrKeysToDisplay; i++) {
+      sstr << keyFormatter(keys_.at(i));
+      if (i < nrKeysToDisplay - 1) {
+        sstr << ", ";
+      }
     }
+    if (keys_.size() > nrKeysToDisplay) {
+      sstr << ", ... (total " << keys_.size() << " keys)";
+    }
+    sstr << ".";
     std::string keys = sstr.str();
-    // remove final comma and space.
-    keys.pop_back();
-    keys.pop_back();
 
-    static std::string msg =
+    std::string msg =
         "An inference algorithm was called with inconsistent "
         "arguments.  "
         "The\n"
@@ -64,7 +69,8 @@ class InconsistentEliminationRequested : public std::exception {
         "that\n"
         "does not include all of the variables.\n";
     msg += ("Leftover keys after elimination: " + keys);
-    return msg.c_str();
+    // `new` to allocate memory on heap instead of stack
+    return (new std::string(msg))->c_str();
   }
 };
 }  // namespace gtsam
diff --git a/gtsam/linear/tests/testGaussianFactorGraph.cpp b/gtsam/linear/tests/testGaussianFactorGraph.cpp
index b140c3d85..65d05b018 100644
--- a/gtsam/linear/tests/testGaussianFactorGraph.cpp
+++ b/gtsam/linear/tests/testGaussianFactorGraph.cpp
@@ -465,7 +465,31 @@ TEST(GaussianFactorGraph, InconsistentEliminationMessage) {
         "an ordering "
         "that\n"
         "does not include all of the variables.\n"
-        "Leftover keys after elimination: 2, x3";
+        "Leftover keys after elimination: 2, x3.";
+    EXPECT(expected_exception_message == exc.what());
+  }
+
+  // Test large number of keys
+  fg = GaussianFactorGraph();
+  for (size_t i = 0; i < 1000; i++) {
+    fg.emplace_shared<JacobianFactor>(i, -I_2x2, i + 1, I_2x2,
+                                      Vector2(2.0, -1.0), unit2);
+  }
+
+  try {
+    fg.eliminateSequential(ordering);
+  } catch (const exception& exc) {
+    std::string expected_exception_message = "An inference algorithm was called with inconsistent "
+        "arguments.  "
+        "The\n"
+        "factor graph, ordering, or variable index were "
+        "inconsistent with "
+        "each\n"
+        "other, or a full elimination routine was called with "
+        "an ordering "
+        "that\n"
+        "does not include all of the variables.\n"
+        "Leftover keys after elimination: 2, 3, 4, 5, ... (total 999 keys).";
     EXPECT(expected_exception_message == exc.what());
   }
 }

From cb084b3c16bc532f82bff256038ddd771697d12b Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 18 Jul 2023 10:21:56 -0400
Subject: [PATCH 089/206] Fix spacing in DecisionTree::print

---
 gtsam/discrete/DecisionTree-inl.h              |  2 +-
 .../hybrid/tests/testGaussianMixtureFactor.cpp |  4 ++--
 .../tests/testHybridNonlinearFactorGraph.cpp   | 18 +++++++++---------
 gtsam/hybrid/tests/testMixtureFactor.cpp       |  4 ++--
 gtsam/linear/GaussianConditional.cpp           |  2 +-
 5 files changed, 15 insertions(+), 15 deletions(-)

diff --git a/gtsam/discrete/DecisionTree-inl.h b/gtsam/discrete/DecisionTree-inl.h
index 19e3e2887..f998a6065 100644
--- a/gtsam/discrete/DecisionTree-inl.h
+++ b/gtsam/discrete/DecisionTree-inl.h
@@ -93,7 +93,7 @@ namespace gtsam {
     /// print
     void print(const std::string& s, const LabelFormatter& labelFormatter,
                const ValueFormatter& valueFormatter) const override {
-      std::cout << s << " Leaf [" << nrAssignments() << "]"
+      std::cout << s << " Leaf [" << nrAssignments() << "] "
                 << valueFormatter(constant_) << std::endl;
     }
 
diff --git a/gtsam/hybrid/tests/testGaussianMixtureFactor.cpp b/gtsam/hybrid/tests/testGaussianMixtureFactor.cpp
index 5207e9372..549223497 100644
--- a/gtsam/hybrid/tests/testGaussianMixtureFactor.cpp
+++ b/gtsam/hybrid/tests/testGaussianMixtureFactor.cpp
@@ -108,7 +108,7 @@ TEST(GaussianMixtureFactor, Printing) {
   std::string expected =
       R"(Hybrid [x1 x2; 1]{
  Choice(1) 
- 0 Leaf [1]:
+ 0 Leaf [1] :
   A[x1] = [
 	0;
 	0
@@ -120,7 +120,7 @@ TEST(GaussianMixtureFactor, Printing) {
   b = [ 0 0 ]
   No noise model
 
- 1 Leaf [1]:
+ 1 Leaf [1] :
   A[x1] = [
 	0;
 	0
diff --git a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
index 7bcaf1762..12506b8af 100644
--- a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
@@ -492,7 +492,7 @@ factor 0:
 factor 1: 
 Hybrid [x0 x1; m0]{
  Choice(m0) 
- 0 Leaf [1]:
+ 0 Leaf [1] :
   A[x0] = [
 	-1
 ]
@@ -502,7 +502,7 @@ Hybrid [x0 x1; m0]{
   b = [ -1 ]
   No noise model
 
- 1 Leaf [1]:
+ 1 Leaf [1] :
   A[x0] = [
 	-1
 ]
@@ -516,7 +516,7 @@ Hybrid [x0 x1; m0]{
 factor 2: 
 Hybrid [x1 x2; m1]{
  Choice(m1) 
- 0 Leaf [1]:
+ 0 Leaf [1] :
   A[x1] = [
 	-1
 ]
@@ -526,7 +526,7 @@ Hybrid [x1 x2; m1]{
   b = [ -1 ]
   No noise model
 
- 1 Leaf [1]:
+ 1 Leaf [1] :
   A[x1] = [
 	-1
 ]
@@ -550,16 +550,16 @@ factor 4:
   b = [ -10 ]
   No noise model
 factor 5:  P( m0 ):
- Leaf [2] 0.5
+ Leaf [2]  0.5
 
 factor 6:  P( m1 | m0 ):
  Choice(m1) 
  0 Choice(m0) 
- 0 0 Leaf [1]0.33333333
- 0 1 Leaf [1] 0.6
+ 0 0 Leaf [1] 0.33333333
+ 0 1 Leaf [1]  0.6
  1 Choice(m0) 
- 1 0 Leaf [1]0.66666667
- 1 1 Leaf [1] 0.4
+ 1 0 Leaf [1] 0.66666667
+ 1 1 Leaf [1]  0.4
 
 )";
   EXPECT(assert_print_equal(expected_hybridFactorGraph, linearizedFactorGraph));
diff --git a/gtsam/hybrid/tests/testMixtureFactor.cpp b/gtsam/hybrid/tests/testMixtureFactor.cpp
index 79188b909..03fdccff2 100644
--- a/gtsam/hybrid/tests/testMixtureFactor.cpp
+++ b/gtsam/hybrid/tests/testMixtureFactor.cpp
@@ -63,8 +63,8 @@ TEST(MixtureFactor, Printing) {
       R"(Hybrid [x1 x2; 1]
 MixtureFactor
  Choice(1) 
- 0 Leaf [1]Nonlinear factor on 2 keys
- 1 Leaf [1]Nonlinear factor on 2 keys
+ 0 Leaf [1] Nonlinear factor on 2 keys
+ 1 Leaf [1] Nonlinear factor on 2 keys
 )";
   EXPECT(assert_print_equal(expected, mixtureFactor));
 }
diff --git a/gtsam/linear/GaussianConditional.cpp b/gtsam/linear/GaussianConditional.cpp
index 188c31abe..0112835aa 100644
--- a/gtsam/linear/GaussianConditional.cpp
+++ b/gtsam/linear/GaussianConditional.cpp
@@ -99,7 +99,7 @@ namespace gtsam {
 
   /* ************************************************************************ */
   void GaussianConditional::print(const string &s, const KeyFormatter& formatter) const {
-    cout << s << " p(";
+    cout << (s.empty() ? "" : s + " ") << "p(";
     for (const_iterator it = beginFrontals(); it != endFrontals(); ++it) {
       cout << formatter(*it) << (nrFrontals() > 1 ? " " : "");
     }

From e693e1bf8cbced77a3d87cefa68b64259f5a2f88 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 18 Jul 2023 11:05:41 -0400
Subject: [PATCH 090/206] break inferenceExceptions into .h and .cpp files

---
 gtsam/inference/inferenceExceptions.cpp | 60 +++++++++++++++++++++++++
 gtsam/inference/inferenceExceptions.h   | 36 ++-------------
 2 files changed, 63 insertions(+), 33 deletions(-)
 create mode 100644 gtsam/inference/inferenceExceptions.cpp

diff --git a/gtsam/inference/inferenceExceptions.cpp b/gtsam/inference/inferenceExceptions.cpp
new file mode 100644
index 000000000..8c2a95337
--- /dev/null
+++ b/gtsam/inference/inferenceExceptions.cpp
@@ -0,0 +1,60 @@
+/* ----------------------------------------------------------------------------
+
+ * 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    inferenceExceptions.cpp
+ * @brief   Exceptions that may be thrown by inference algorithms
+ * @author  Richard Roberts, Varun Agrawal
+ * @date    Apr 25, 2013
+ */
+
+#include <gtsam/inference/inferenceExceptions.h>
+
+#include <sstream>
+
+namespace gtsam {
+
+InconsistentEliminationRequested::InconsistentEliminationRequested(
+    const KeySet& keys, const KeyFormatter& key_formatter)
+    : keys_(keys.begin(), keys.end()), keyFormatter(key_formatter) {}
+
+const char* InconsistentEliminationRequested::what() const noexcept {
+  // Format keys for printing
+  std::stringstream sstr;
+  size_t nrKeysToDisplay = std::min(size_t(4), keys_.size());
+  for (size_t i = 0; i < nrKeysToDisplay; i++) {
+    sstr << keyFormatter(keys_.at(i));
+    if (i < nrKeysToDisplay - 1) {
+      sstr << ", ";
+    }
+  }
+  if (keys_.size() > nrKeysToDisplay) {
+    sstr << ", ... (total " << keys_.size() << " keys)";
+  }
+  sstr << ".";
+  std::string keys = sstr.str();
+
+  std::string msg =
+      "An inference algorithm was called with inconsistent "
+      "arguments.  "
+      "The\n"
+      "factor graph, ordering, or variable index were "
+      "inconsistent with "
+      "each\n"
+      "other, or a full elimination routine was called with "
+      "an ordering "
+      "that\n"
+      "does not include all of the variables.\n";
+  msg += ("Leftover keys after elimination: " + keys);
+  // `new` to allocate memory on heap instead of stack
+  return (new std::string(msg))->c_str();
+}
+}  // namespace gtsam
diff --git a/gtsam/inference/inferenceExceptions.h b/gtsam/inference/inferenceExceptions.h
index 339accad6..eb5d79e6f 100644
--- a/gtsam/inference/inferenceExceptions.h
+++ b/gtsam/inference/inferenceExceptions.h
@@ -18,9 +18,9 @@
 #pragma once
 
 #include <gtsam/global_includes.h>
+#include <gtsam/inference/Key.h>
 
 #include <exception>
-#include <sstream>
 
 namespace gtsam {
 
@@ -37,40 +37,10 @@ class InconsistentEliminationRequested : public std::exception {
 
   InconsistentEliminationRequested(
       const KeySet& keys,
-      const KeyFormatter& key_formatter = DefaultKeyFormatter)
-      : keys_(keys.begin(), keys.end()), keyFormatter(key_formatter) {}
+      const KeyFormatter& key_formatter = DefaultKeyFormatter);
 
   ~InconsistentEliminationRequested() noexcept override {}
-  const char* what() const noexcept override {
-    // Format keys for printing
-    std::stringstream sstr;
-    size_t nrKeysToDisplay = std::min(size_t(4), keys_.size());
-    for (size_t i = 0; i < nrKeysToDisplay; i++) {
-      sstr << keyFormatter(keys_.at(i));
-      if (i < nrKeysToDisplay - 1) {
-        sstr << ", ";
-      }
-    }
-    if (keys_.size() > nrKeysToDisplay) {
-      sstr << ", ... (total " << keys_.size() << " keys)";
-    }
-    sstr << ".";
-    std::string keys = sstr.str();
 
-    std::string msg =
-        "An inference algorithm was called with inconsistent "
-        "arguments.  "
-        "The\n"
-        "factor graph, ordering, or variable index were "
-        "inconsistent with "
-        "each\n"
-        "other, or a full elimination routine was called with "
-        "an ordering "
-        "that\n"
-        "does not include all of the variables.\n";
-    msg += ("Leftover keys after elimination: " + keys);
-    // `new` to allocate memory on heap instead of stack
-    return (new std::string(msg))->c_str();
-  }
+  const char* what() const noexcept override;
 };
 }  // namespace gtsam

From 53f89d0454aa1930ec0cd66c25bb2aebfaa31fad Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 18 Jul 2023 11:11:42 -0400
Subject: [PATCH 091/206] restore header ordering

---
 .../linear/tests/testGaussianFactorGraph.cpp  | 19 ++++++++++---------
 1 file changed, 10 insertions(+), 9 deletions(-)

diff --git a/gtsam/linear/tests/testGaussianFactorGraph.cpp b/gtsam/linear/tests/testGaussianFactorGraph.cpp
index 65d05b018..e4a3d14e8 100644
--- a/gtsam/linear/tests/testGaussianFactorGraph.cpp
+++ b/gtsam/linear/tests/testGaussianFactorGraph.cpp
@@ -18,16 +18,17 @@
  *  @author Richard Roberts
  **/
 
-#include <CppUnitLite/TestHarness.h>
-#include <gtsam/base/TestableAssertions.h>
-#include <gtsam/base/VerticalBlockMatrix.h>
-#include <gtsam/base/debug.h>
-#include <gtsam/inference/Symbol.h>
-#include <gtsam/inference/VariableIndex.h>
-#include <gtsam/inference/VariableSlots.h>
-#include <gtsam/linear/GaussianBayesNet.h>
-#include <gtsam/linear/GaussianConditional.h>
 #include <gtsam/linear/GaussianFactorGraph.h>
+#include <gtsam/linear/GaussianConditional.h>
+#include <gtsam/linear/GaussianBayesNet.h>
+#include <gtsam/inference/Symbol.h>
+#include <gtsam/inference/VariableSlots.h>
+#include <gtsam/inference/VariableIndex.h>
+#include <gtsam/base/debug.h>
+#include <gtsam/base/VerticalBlockMatrix.h>
+
+#include <gtsam/base/TestableAssertions.h>
+#include <CppUnitLite/TestHarness.h>
 
 using namespace std;
 using namespace gtsam;

From 57291e132faf3b395e9edbd04c4b3daaa249f8c5 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Wed, 19 Jul 2023 13:09:13 +0200
Subject: [PATCH 092/206] added examples and a test on pMin

---
 gtsam/sfm/ShonanAveraging.cpp              |  3 +++
 gtsam/sfm/tests/testShonanAveraging.cpp    | 14 ++++++++++++++
 python/gtsam/tests/test_ShonanAveraging.py | 19 +++++++++++++++++--
 3 files changed, 34 insertions(+), 2 deletions(-)

diff --git a/gtsam/sfm/ShonanAveraging.cpp b/gtsam/sfm/ShonanAveraging.cpp
index 8ace9d98c..7c8b07f37 100644
--- a/gtsam/sfm/ShonanAveraging.cpp
+++ b/gtsam/sfm/ShonanAveraging.cpp
@@ -894,6 +894,9 @@ template <size_t d>
 std::pair<Values, double> ShonanAveraging<d>::run(const Values &initialEstimate,
                                                   size_t pMin,
                                                   size_t pMax) const {
+  if (pMin < d) {
+    throw std::runtime_error("pMin is smaller than the base dimension d");
+  }
   Values Qstar;
   Values initialSOp = LiftTo<Rot>(pMin, initialEstimate);  // lift to pMin!
   for (size_t p = pMin; p <= pMax; p++) {
diff --git a/gtsam/sfm/tests/testShonanAveraging.cpp b/gtsam/sfm/tests/testShonanAveraging.cpp
index d398a2a87..dd4759daa 100644
--- a/gtsam/sfm/tests/testShonanAveraging.cpp
+++ b/gtsam/sfm/tests/testShonanAveraging.cpp
@@ -415,6 +415,20 @@ TEST(ShonanAveraging3, PriorWeights) {
   auto result = shonan.run(initial, 3, 3);
   EXPECT_DOUBLES_EQUAL(0.0015, shonan.cost(result.first), 1e-4);
 }
+
+/* ************************************************************************* */
+// Check a small graph created using binary measurements
+TEST(ShonanAveraging3, BinaryMeasurements) {
+  std::vector<BinaryMeasurement<Rot3>> measurements;
+  auto unit3 = noiseModel::Unit::Create(3);
+  measurements.emplace_back(0, 1, Rot3::Yaw(M_PI_2), unit3);
+  measurements.emplace_back(1, 2, Rot3::Yaw(M_PI_2), unit3);
+  ShonanAveraging3 shonan(measurements);
+  Values initial = shonan.initializeRandomly();
+  auto result = shonan.run(initial, 3, 5);
+  EXPECT_DOUBLES_EQUAL(0.0, shonan.cost(result.first), 1e-4);
+}
+
 /* ************************************************************************* */
 int main() {
   TestResult tr;
diff --git a/python/gtsam/tests/test_ShonanAveraging.py b/python/gtsam/tests/test_ShonanAveraging.py
index 845f6cf1c..fc0943772 100644
--- a/python/gtsam/tests/test_ShonanAveraging.py
+++ b/python/gtsam/tests/test_ShonanAveraging.py
@@ -10,14 +10,16 @@ Author: Frank Dellaert
 """
 # pylint: disable=invalid-name, no-name-in-module, no-member
 
+import math
 import unittest
 
 import numpy as np
 from gtsam.utils.test_case import GtsamTestCase
 
 import gtsam
-from gtsam import (BetweenFactorPose2, LevenbergMarquardtParams, Pose2, Rot2,
-                   ShonanAveraging2, ShonanAveraging3,
+from gtsam import (BetweenFactorPose2, BetweenFactorPose3,
+                   BinaryMeasurementRot3, LevenbergMarquardtParams, Pose2,
+                   Pose3, Rot2, Rot3, ShonanAveraging2, ShonanAveraging3,
                    ShonanAveragingParameters2, ShonanAveragingParameters3)
 
 DEFAULT_PARAMS = ShonanAveragingParameters3(
@@ -197,6 +199,19 @@ class TestShonanAveraging(GtsamTestCase):
         expected_thetas_deg = np.array([0.0, 90.0, 0.0])
         np.testing.assert_allclose(thetas_deg, expected_thetas_deg, atol=0.1)
 
+    def test_measurements3(self):
+        """Create from Measurements."""
+        measurements = []
+        unit3 = gtsam.noiseModel.Unit.Create(3)
+        m01 = BinaryMeasurementRot3(0, 1, Rot3.Yaw(math.radians(90)), unit3)
+        m12 = BinaryMeasurementRot3(1, 2, Rot3.Yaw(math.radians(90)), unit3)
+        measurements.append(m01)
+        measurements.append(m12)
+        obj = ShonanAveraging3(measurements)
+        self.assertIsInstance(obj, ShonanAveraging3)
+        initial = obj.initializeRandomly()
+        _, cost = obj.run(initial, min_p=3, max_p=5)
+        self.assertAlmostEqual(cost, 0)
 
 if __name__ == "__main__":
     unittest.main()

From 62d59c62d4497b76d07f736e900f897845e8d6b3 Mon Sep 17 00:00:00 2001
From: Tal Regev <tal.regev@gmail.com>
Date: Thu, 20 Jul 2023 08:03:42 +0300
Subject: [PATCH 093/206] Fix windows test

---
 .github/workflows/build-windows.yml           | 78 ++++++++++++++-----
 CMakeLists.txt                                |  8 ++
 gtsam/basis/Basis.h                           |  2 +-
 gtsam/discrete/SignatureParser.h              |  4 +-
 gtsam/geometry/Line3.h                        |  2 +-
 gtsam/geometry/Pose2.h                        | 40 +++++-----
 gtsam/geometry/Pose3.h                        |  2 +-
 gtsam/hybrid/HybridFactorGraph.h              |  2 +-
 gtsam/hybrid/HybridSmoother.h                 |  2 +-
 .../tests/testHybridGaussianFactorGraph.cpp   |  1 +
 gtsam/inference/Ordering.h                    | 21 +++--
 gtsam_unstable/linear/LPInitSolver.h          |  3 +-
 gtsam_unstable/linear/QPSParser.h             |  3 +-
 13 files changed, 108 insertions(+), 60 deletions(-)

diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index cbe0c10f1..565a02756 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -99,26 +99,64 @@ jobs:
           cmake -B build -S . -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DBOOST_ROOT="${env:BOOST_ROOT}" -DBOOST_INCLUDEDIR="${env:BOOST_ROOT}\boost\include" -DBOOST_LIBRARYDIR="${env:BOOST_ROOT}\lib"
 
       - name: Build
+        shell: cmd
         run: |
-          # Since Visual Studio is a multi-generator, we need to use --config
-          # https://stackoverflow.com/a/24470998/1236990
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target gtsam
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target gtsam_unstable
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target wrap
+          :: Since Visual Studio is a multi-generator, we need to use --config
+          :: https://stackoverflow.com/a/24470998/1236990
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target gtsam
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target gtsam_unstable
 
-          # Run GTSAM tests
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.base
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.basis
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.discrete
-          #cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.geometry
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.inference
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.linear
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.navigation
-          #cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.nonlinear
-          #cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.sam
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.sfm
-          #cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.slam
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.symbolic
+          :: Target doesn't exist
+          :: cmake --build build -j4 --config ${{ matrix.build_type }} --target wrap
 
-          # Run GTSAM_UNSTABLE tests
-          #cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.base_unstable
+      - name: Test
+        shell: cmd
+        run: |
+          :: Run GTSAM tests
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.base
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.basis
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.discrete
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.geometry
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.inference
+
+          :: Compile. Fail with exception
+          :: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.linear
+          
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.navigation          
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.sam
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.sfm          
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.symbolic
+
+          :: Compile. Fail with exception
+          :: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.hybrid
+
+          :: Compile. Fail with exception
+          :: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear
+
+          :: Compilation error
+          :: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam
+
+
+          :: Run GTSAM_UNSTABLE tests
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.base_unstable
+
+          :: Compile. Fail with exception
+          :: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.geometry_unstable
+
+          :: Compile. Fail with exception
+          :: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.linear_unstable
+
+          :: Compile. Fail with exception
+          :: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.discrete_unstable
+
+          :: Compile. Fail with exception
+          :: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.dynamics_unstable
+
+          :: Compile. Fail with exception
+          :: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear_unstable
+
+          :: Compilation error
+          :: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam_unstable
+
+          :: Compilation error
+          :: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.partition          
diff --git a/CMakeLists.txt b/CMakeLists.txt
index ebe27443a..8b56ea9df 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -32,6 +32,14 @@ set (CMAKE_PROJECT_VERSION_PATCH ${GTSAM_VERSION_PATCH})
 ###############################################################################
 # Gather information, perform checks, set defaults
 
+if(MSVC)
+  set(MSVC_LINKER_FLAGS "/FORCE:MULTIPLE")
+  set(CMAKE_EXE_LINKER_FLAGS ${MSVC_LINKER_FLAGS})
+  set(CMAKE_MODULE_LINKER_FLAGS ${MSVC_LINKER_FLAGS})
+  set(CMAKE_SHARED_LINKER_FLAGS ${MSVC_LINKER_FLAGS})
+  set(CMAKE_STATIC_LINKER_FLAGS ${MSVC_LINKER_FLAGS})
+endif()
+
 set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 include(GtsamMakeConfigFile)
 include(GNUInstallDirs)
diff --git a/gtsam/basis/Basis.h b/gtsam/basis/Basis.h
index 41cdeeaaa..0b2b3606b 100644
--- a/gtsam/basis/Basis.h
+++ b/gtsam/basis/Basis.h
@@ -80,7 +80,7 @@ using Weights = Eigen::Matrix<double, 1, -1>; /* 1xN vector */
  *
  * @ingroup basis
  */
-Matrix kroneckerProductIdentity(size_t M, const Weights& w);
+Matrix GTSAM_EXPORT kroneckerProductIdentity(size_t M, const Weights& w);
 
 /**
  * CRTP Base class for function bases
diff --git a/gtsam/discrete/SignatureParser.h b/gtsam/discrete/SignatureParser.h
index e6b402e44..ddc548fc6 100644
--- a/gtsam/discrete/SignatureParser.h
+++ b/gtsam/discrete/SignatureParser.h
@@ -22,6 +22,8 @@
 #include <string>
 #include <vector>
 
+#include <gtsam/dllexport.h>
+
 namespace gtsam {
 /**
  * @brief A simple parser that replaces the boost spirit parser.
@@ -47,7 +49,7 @@ namespace gtsam {
  *
  * Also fails if the rows are not of the same size.
  */
-struct SignatureParser {
+struct GTSAM_EXPORT SignatureParser {
   using Row = std::vector<double>;
   using Table = std::vector<Row>;
 
diff --git a/gtsam/geometry/Line3.h b/gtsam/geometry/Line3.h
index b1a1e4f6e..def49d268 100644
--- a/gtsam/geometry/Line3.h
+++ b/gtsam/geometry/Line3.h
@@ -146,7 +146,7 @@ class GTSAM_EXPORT Line3 {
    * @param Dline -  OptionalJacobian of transformed line with respect to l
    * @return Transformed line in camera frame
    */
-  friend Line3 transformTo(const Pose3 &wTc, const Line3 &wL,
+  GTSAM_EXPORT friend Line3 transformTo(const Pose3 &wTc, const Line3 &wL,
                            OptionalJacobian<4, 6> Dpose,
                            OptionalJacobian<4, 4> Dline);
 };
diff --git a/gtsam/geometry/Pose2.h b/gtsam/geometry/Pose2.h
index f1b38c5a6..aad81493f 100644
--- a/gtsam/geometry/Pose2.h
+++ b/gtsam/geometry/Pose2.h
@@ -36,7 +36,7 @@ namespace gtsam {
  * @ingroup geometry
  * \nosubgrouping
  */
-class Pose2: public LieGroup<Pose2, 3> {
+class GTSAM_EXPORT Pose2: public LieGroup<Pose2, 3> {
 
 public:
 
@@ -112,10 +112,10 @@ public:
   /// @{
 
   /** print with optional string */
-  GTSAM_EXPORT void print(const std::string& s = "") const;
+  void print(const std::string& s = "") const;
 
   /** assert equality up to a tolerance */
-  GTSAM_EXPORT bool equals(const Pose2& pose, double tol = 1e-9) const;
+  bool equals(const Pose2& pose, double tol = 1e-9) const;
 
   /// @}
   /// @name Group
@@ -125,7 +125,7 @@ public:
   inline static Pose2 Identity() { return Pose2(); }
 
   /// inverse
-  GTSAM_EXPORT Pose2 inverse() const;
+  Pose2 inverse() const;
 
   /// compose syntactic sugar
   inline Pose2 operator*(const Pose2& p2) const {
@@ -137,16 +137,16 @@ public:
   /// @{
 
   ///Exponential map at identity - create a rotation from canonical coordinates \f$ [T_x,T_y,\theta] \f$
-  GTSAM_EXPORT static Pose2 Expmap(const Vector3& xi, ChartJacobian H = {});
+  static Pose2 Expmap(const Vector3& xi, ChartJacobian H = {});
 
   ///Log map at identity - return the canonical coordinates \f$ [T_x,T_y,\theta] \f$ of this rotation
-  GTSAM_EXPORT static Vector3 Logmap(const Pose2& p, ChartJacobian H = {});
+  static Vector3 Logmap(const Pose2& p, ChartJacobian H = {});
 
   /**
    * Calculate Adjoint map
    * Ad_pose is 3*3 matrix that when applied to twist xi \f$ [T_x,T_y,\theta] \f$, returns Ad_pose(xi)
    */
-  GTSAM_EXPORT Matrix3 AdjointMap() const;
+  Matrix3 AdjointMap() const;
 
   /// Apply AdjointMap to twist xi
   inline Vector3 Adjoint(const Vector3& xi) const {
@@ -156,7 +156,7 @@ public:
   /**
    * Compute the [ad(w,v)] operator for SE2 as in [Kobilarov09siggraph], pg 19
    */
-  GTSAM_EXPORT static Matrix3 adjointMap(const Vector3& v);
+  static Matrix3 adjointMap(const Vector3& v);
 
   /**
    * Action of the adjointMap on a Lie-algebra vector y, with optional derivatives
@@ -192,15 +192,15 @@ public:
   }
 
   /// Derivative of Expmap
-  GTSAM_EXPORT static Matrix3 ExpmapDerivative(const Vector3& v);
+  static Matrix3 ExpmapDerivative(const Vector3& v);
 
   /// Derivative of Logmap
-  GTSAM_EXPORT static Matrix3 LogmapDerivative(const Pose2& v);
+  static Matrix3 LogmapDerivative(const Pose2& v);
 
   // Chart at origin, depends on compile-time flag SLOW_BUT_CORRECT_EXPMAP
-  struct ChartAtOrigin {
-	GTSAM_EXPORT static Pose2 Retract(const Vector3& v, ChartJacobian H = {});
-	GTSAM_EXPORT static Vector3 Local(const Pose2& r, ChartJacobian H = {});
+  struct GTSAM_EXPORT ChartAtOrigin {
+    static Pose2 Retract(const Vector3& v, ChartJacobian H = {});
+    static Vector3 Local(const Pose2& r, ChartJacobian H = {});
   };
 
   using LieGroup<Pose2, 3>::inverse; // version with derivative
@@ -210,7 +210,7 @@ public:
   /// @{
 
   /** Return point coordinates in pose coordinate frame */
-  GTSAM_EXPORT Point2 transformTo(const Point2& point,
+  Point2 transformTo(const Point2& point,
       OptionalJacobian<2, 3> Dpose = {},
       OptionalJacobian<2, 2> Dpoint = {}) const;
 
@@ -222,7 +222,7 @@ public:
   Matrix transformTo(const Matrix& points) const;
 
   /** Return point coordinates in global frame */
-  GTSAM_EXPORT Point2 transformFrom(const Point2& point,
+  Point2 transformFrom(const Point2& point,
       OptionalJacobian<2, 3> Dpose = {},
       OptionalJacobian<2, 2> Dpoint = {}) const;
 
@@ -273,14 +273,14 @@ public:
   }
 
   //// return transformation matrix
-  GTSAM_EXPORT Matrix3 matrix() const;
+  Matrix3 matrix() const;
 
   /**
    * Calculate bearing to a landmark
    * @param point 2D location of landmark
    * @return 2D rotation \f$ \in SO(2) \f$
    */
-  GTSAM_EXPORT Rot2 bearing(const Point2& point,
+  Rot2 bearing(const Point2& point,
                OptionalJacobian<1, 3> H1={}, OptionalJacobian<1, 2> H2={}) const;
 
   /**
@@ -288,7 +288,7 @@ public:
    * @param point SO(2) location of other pose
    * @return 2D rotation \f$ \in SO(2) \f$
    */
-  GTSAM_EXPORT Rot2 bearing(const Pose2& pose,
+  Rot2 bearing(const Pose2& pose,
                OptionalJacobian<1, 3> H1={}, OptionalJacobian<1, 3> H2={}) const;
 
   /**
@@ -296,7 +296,7 @@ public:
    * @param point 2D location of landmark
    * @return range (double)
    */
-  GTSAM_EXPORT double range(const Point2& point,
+  double range(const Point2& point,
       OptionalJacobian<1, 3> H1={},
       OptionalJacobian<1, 2> H2={}) const;
 
@@ -305,7 +305,7 @@ public:
    * @param point 2D location of other pose
    * @return range (double)
    */
-  GTSAM_EXPORT double range(const Pose2& point,
+  double range(const Pose2& point,
       OptionalJacobian<1, 3> H1={},
       OptionalJacobian<1, 3> H2={}) const;
 
diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h
index 6c91d7468..8a807cc23 100644
--- a/gtsam/geometry/Pose3.h
+++ b/gtsam/geometry/Pose3.h
@@ -204,7 +204,7 @@ public:
   static Matrix6 LogmapDerivative(const Pose3& xi);
 
   // Chart at origin, depends on compile-time flag GTSAM_POSE3_EXPMAP
-  struct ChartAtOrigin {
+  struct GTSAM_EXPORT ChartAtOrigin {
     static Pose3 Retract(const Vector6& xi, ChartJacobian Hxi = {});
     static Vector6 Local(const Pose3& pose, ChartJacobian Hpose = {});
   };
diff --git a/gtsam/hybrid/HybridFactorGraph.h b/gtsam/hybrid/HybridFactorGraph.h
index b8e7ff588..8b59fd4f9 100644
--- a/gtsam/hybrid/HybridFactorGraph.h
+++ b/gtsam/hybrid/HybridFactorGraph.h
@@ -35,7 +35,7 @@ using SharedFactor = std::shared_ptr<Factor>;
  * Hybrid Factor Graph
  * Factor graph with utilities for hybrid factors.
  */
-class HybridFactorGraph : public FactorGraph<Factor> {
+class GTSAM_EXPORT HybridFactorGraph : public FactorGraph<Factor> {
  public:
   using Base = FactorGraph<Factor>;
   using This = HybridFactorGraph;              ///< this class
diff --git a/gtsam/hybrid/HybridSmoother.h b/gtsam/hybrid/HybridSmoother.h
index 0767da12f..5c2e4f546 100644
--- a/gtsam/hybrid/HybridSmoother.h
+++ b/gtsam/hybrid/HybridSmoother.h
@@ -24,7 +24,7 @@
 
 namespace gtsam {
 
-class HybridSmoother {
+class GTSAM_EXPORT HybridSmoother {
  private:
   HybridBayesNet hybridBayesNet_;
   HybridGaussianFactorGraph remainingFactorGraph_;
diff --git a/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp b/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp
index 1da897103..df38c171e 100644
--- a/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp
@@ -43,6 +43,7 @@
 #include <iostream>
 #include <iterator>
 #include <vector>
+#include <numeric>
 
 #include "Switching.h"
 #include "TinyHybridExample.h"
diff --git a/gtsam/inference/Ordering.h b/gtsam/inference/Ordering.h
index 86d44e072..c3df1b8a0 100644
--- a/gtsam/inference/Ordering.h
+++ b/gtsam/inference/Ordering.h
@@ -30,7 +30,7 @@
 
 namespace gtsam {
 
-class Ordering: public KeyVector {
+class GTSAM_EXPORT Ordering: public KeyVector {
 protected:
   typedef KeyVector Base;
 
@@ -44,8 +44,7 @@ public:
   typedef Ordering This; ///< Typedef to this class
   typedef std::shared_ptr<This> shared_ptr; ///< shared_ptr to this class
 
-  /// Create an empty ordering
-  GTSAM_EXPORT
+  /// Create an empty ordering  
   Ordering() {
   }
 
@@ -99,7 +98,7 @@ public:
   }
 
   /// Compute a fill-reducing ordering using COLAMD from a VariableIndex.
-  static GTSAM_EXPORT Ordering Colamd(const VariableIndex& variableIndex);
+  static Ordering Colamd(const VariableIndex& variableIndex);
 
   /// Compute a fill-reducing ordering using constrained COLAMD from a factor graph (see details
   /// for note on performance).  This internally builds a VariableIndex so if you already have a
@@ -124,7 +123,7 @@ public:
   /// variables in \c constrainLast will be ordered in the same order specified in the KeyVector
   /// \c constrainLast.   If \c forceOrder is false, the variables in \c constrainLast will be
   /// ordered after all the others, but will be rearranged by CCOLAMD to reduce fill-in as well.
-  static GTSAM_EXPORT Ordering ColamdConstrainedLast(
+  static Ordering ColamdConstrainedLast(
       const VariableIndex& variableIndex, const KeyVector& constrainLast,
       bool forceOrder = false);
 
@@ -152,7 +151,7 @@ public:
   /// KeyVector \c constrainFirst.   If \c forceOrder is false, the variables in \c
   /// constrainFirst will be ordered before all the others, but will be rearranged by CCOLAMD to
   /// reduce fill-in as well.
-  static GTSAM_EXPORT Ordering ColamdConstrainedFirst(
+  static Ordering ColamdConstrainedFirst(
       const VariableIndex& variableIndex,
       const KeyVector& constrainFirst, bool forceOrder = false);
 
@@ -181,7 +180,7 @@ public:
   /// appear in \c groups in arbitrary order.  Any variables not present in \c groups will be
   /// assigned to group 0.  This function simply fills the \c cmember argument to CCOLAMD with the
   /// supplied indices, see the CCOLAMD documentation for more information.
-  static GTSAM_EXPORT Ordering ColamdConstrained(
+  static Ordering ColamdConstrained(
       const VariableIndex& variableIndex, const FastMap<Key, int>& groups);
 
   /// Return a natural Ordering. Typically used by iterative solvers
@@ -195,11 +194,11 @@ public:
 
   /// METIS Formatting function
   template<class FACTOR_GRAPH>
-  static GTSAM_EXPORT void CSRFormat(std::vector<int>& xadj,
+  static void CSRFormat(std::vector<int>& xadj,
       std::vector<int>& adj, const FACTOR_GRAPH& graph);
 
   /// Compute an ordering determined by METIS from a VariableIndex
-  static GTSAM_EXPORT Ordering Metis(const MetisIndex& met);
+  static Ordering Metis(const MetisIndex& met);
 
   template<class FACTOR_GRAPH>
   static Ordering Metis(const FACTOR_GRAPH& graph) {
@@ -241,18 +240,16 @@ public:
   /// @name Testable
   /// @{
 
-  GTSAM_EXPORT
   void print(const std::string& str = "", const KeyFormatter& keyFormatter =
       DefaultKeyFormatter) const;
 
-  GTSAM_EXPORT
   bool equals(const Ordering& other, double tol = 1e-9) const;
 
   /// @}
 
 private:
   /// Internal COLAMD function
-  static GTSAM_EXPORT Ordering ColamdConstrained(
+  static Ordering ColamdConstrained(
       const VariableIndex& variableIndex, std::vector<int>& cmember);
 
 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
diff --git a/gtsam_unstable/linear/LPInitSolver.h b/gtsam_unstable/linear/LPInitSolver.h
index 7e326117b..9db2a34f0 100644
--- a/gtsam_unstable/linear/LPInitSolver.h
+++ b/gtsam_unstable/linear/LPInitSolver.h
@@ -19,6 +19,7 @@
 
 #pragma once
 
+#include <gtsam_unstable/dllexport.h>
 #include <gtsam_unstable/linear/LP.h>
 #include <gtsam/linear/GaussianFactorGraph.h>
 
@@ -49,7 +50,7 @@ namespace gtsam {
  * inequality constraint, we can't conclude that the problem is infeasible.
  * However, whether it is infeasible or unbounded, we don't have a unique solution anyway.
  */
-class LPInitSolver {
+class GTSAM_UNSTABLE_EXPORT LPInitSolver {
 private:
   const LP& lp_;
 
diff --git a/gtsam_unstable/linear/QPSParser.h b/gtsam_unstable/linear/QPSParser.h
index bd4254d0f..e751f34d2 100644
--- a/gtsam_unstable/linear/QPSParser.h
+++ b/gtsam_unstable/linear/QPSParser.h
@@ -18,12 +18,13 @@
 
 #pragma once
 
+#include <gtsam_unstable/dllexport.h>
 #include <gtsam_unstable/linear/QP.h>
 #include <fstream>
 
 namespace gtsam {
 
-class QPSParser {
+class GTSAM_UNSTABLE_EXPORT QPSParser {
 
 private:
   std::string fileName_;

From 0443bcd11e50e8a3b1e1dc33732a60565aebb6db Mon Sep 17 00:00:00 2001
From: Nathan Hughes <nathan.h.hughes@gmail.com>
Date: Thu, 20 Jul 2023 15:58:31 +0000
Subject: [PATCH 094/206] fixes issues with TBB not being found when building
 downstream packages

---
 cmake/Config.cmake.in | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/cmake/Config.cmake.in b/cmake/Config.cmake.in
index cc2a7df8f..36906d090 100644
--- a/cmake/Config.cmake.in
+++ b/cmake/Config.cmake.in
@@ -21,6 +21,10 @@ else()
 find_dependency(Boost @BOOST_FIND_MINIMUM_VERSION@ COMPONENTS @BOOST_FIND_MINIMUM_COMPONENTS@)
 endif()
 
+if(@GTSAM_USE_TBB@)
+    find_dependency(TBB 4.4 COMPONENTS tbb tbbmalloc)
+endif()
+
 if(@GTSAM_USE_SYSTEM_EIGEN@)
 find_dependency(Eigen3 REQUIRED)
 endif()

From 0fc662399aa1c30b7ac9d2c8875791b65eeadc97 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sat, 22 Jul 2023 10:12:40 +0200
Subject: [PATCH 095/206] Add a test to debug issue #1588

---
 gtsam/geometry/tests/testRot3.cpp | 19 +++++++++++++++++++
 1 file changed, 19 insertions(+)

diff --git a/gtsam/geometry/tests/testRot3.cpp b/gtsam/geometry/tests/testRot3.cpp
index 49b978567..1232348f0 100644
--- a/gtsam/geometry/tests/testRot3.cpp
+++ b/gtsam/geometry/tests/testRot3.cpp
@@ -597,6 +597,25 @@ TEST(Rot3, quaternion) {
   EXPECT(assert_equal(expected2, actual2));
 }
 
+/* ************************************************************************* */
+TEST(Rot3, ConvertQuaternion) {
+  Eigen::Quaterniond eigenQuaternion;
+  eigenQuaternion.w() = 1.0;
+  eigenQuaternion.x() = 2.0;
+  eigenQuaternion.y() = 3.0;
+  eigenQuaternion.z() = 4.0;
+  EXPECT_DOUBLES_EQUAL(1, eigenQuaternion.w(), 1e-9);
+  EXPECT_DOUBLES_EQUAL(2, eigenQuaternion.x(), 1e-9);
+  EXPECT_DOUBLES_EQUAL(3, eigenQuaternion.y(), 1e-9);
+  EXPECT_DOUBLES_EQUAL(4, eigenQuaternion.z(), 1e-9);
+
+  Rot3 R(eigenQuaternion);
+  EXPECT_DOUBLES_EQUAL(1, R.toQuaternion().w(), 1e-9);
+  EXPECT_DOUBLES_EQUAL(2, R.toQuaternion().x(), 1e-9);
+  EXPECT_DOUBLES_EQUAL(3, R.toQuaternion().y(), 1e-9);
+  EXPECT_DOUBLES_EQUAL(4, R.toQuaternion().z(), 1e-9);
+}
+
 /* ************************************************************************* */
 Matrix Cayley(const Matrix& A) {
   Matrix::Index n = A.cols();

From 47f39085bc12d556f547f564b591b33e5b5d4f3c Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 3 Jul 2023 16:40:27 -0400
Subject: [PATCH 096/206] small improvements

---
 gtsam/discrete/DecisionTreeFactor.h | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/gtsam/discrete/DecisionTreeFactor.h b/gtsam/discrete/DecisionTreeFactor.h
index 6cce6e5d4..e90a2f96f 100644
--- a/gtsam/discrete/DecisionTreeFactor.h
+++ b/gtsam/discrete/DecisionTreeFactor.h
@@ -147,6 +147,9 @@ namespace gtsam {
     /// @name Advanced Interface
     /// @{
 
+    /// Inherit all the `apply` methods from AlgebraicDecisionTree
+    using ADT::apply;
+
     /**
      * Apply binary operator (*this) "op" f
      * @param f the second argument for op

From baf25de68446370575acbd3b3466d1f55fc40a9c Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 8 Jul 2023 13:09:35 -0400
Subject: [PATCH 097/206] initial changes

---
 gtsam/hybrid/HybridGaussianFactorGraph.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index e14023edd..10b8de797 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -274,7 +274,7 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
     DecisionTree<Key, double> probabilities(eliminationResults, probability);
     return {
         std::make_shared<HybridConditional>(gaussianMixture),
-        std::make_shared<DecisionTreeFactor>(discreteSeparator, probabilities)};
+        std::make_shared<TableFactor>(discreteSeparator, dtf->probabilities())};
   } else {
     // Otherwise, we create a resulting GaussianMixtureFactor on the separator,
     // taking care to correct for conditional constant.

From 9c88e3ed96184866217b2ecc074604b9a328d3a8 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 13 Jul 2023 16:39:55 -0400
Subject: [PATCH 098/206] Use TableFactor in hybrid elimination

---
 gtsam/hybrid/GaussianMixture.cpp |  6 ++----
 gtsam/hybrid/GaussianMixture.h   |  5 +++--
 gtsam/hybrid/HybridBayesNet.cpp  |  2 +-
 gtsam/hybrid/HybridBayesNet.h    |  1 -
 gtsam/hybrid/HybridBayesTree.cpp | 28 +++++++++++++++-------------
 5 files changed, 21 insertions(+), 21 deletions(-)

diff --git a/gtsam/hybrid/GaussianMixture.cpp b/gtsam/hybrid/GaussianMixture.cpp
index 659d44423..79c385262 100644
--- a/gtsam/hybrid/GaussianMixture.cpp
+++ b/gtsam/hybrid/GaussianMixture.cpp
@@ -234,7 +234,7 @@ std::set<DiscreteKey> DiscreteKeysAsSet(const DiscreteKeys &discreteKeys) {
  */
 std::function<GaussianConditional::shared_ptr(
     const Assignment<Key> &, const GaussianConditional::shared_ptr &)>
-GaussianMixture::prunerFunc(const DecisionTreeFactor &discreteProbs) {
+GaussianMixture::prunerFunc(const TableFactor &discreteProbs) {
   // Get the discrete keys as sets for the decision tree
   // and the gaussian mixture.
   auto discreteProbsKeySet = DiscreteKeysAsSet(discreteProbs.discreteKeys());
@@ -285,9 +285,7 @@ GaussianMixture::prunerFunc(const DecisionTreeFactor &discreteProbs) {
 }
 
 /* *******************************************************************************/
-void GaussianMixture::prune(const DecisionTreeFactor &discreteProbs) {
-  auto discreteProbsKeySet = DiscreteKeysAsSet(discreteProbs.discreteKeys());
-  auto gmKeySet = DiscreteKeysAsSet(this->discreteKeys());
+void GaussianMixture::prune(const TableFactor &discreteProbs) {
   // Functional which loops over all assignments and create a set of
   // GaussianConditionals
   auto pruner = prunerFunc(discreteProbs);
diff --git a/gtsam/hybrid/GaussianMixture.h b/gtsam/hybrid/GaussianMixture.h
index 0b68fcfd0..c193d065c 100644
--- a/gtsam/hybrid/GaussianMixture.h
+++ b/gtsam/hybrid/GaussianMixture.h
@@ -23,6 +23,7 @@
 #include <gtsam/discrete/DecisionTree.h>
 #include <gtsam/discrete/DecisionTreeFactor.h>
 #include <gtsam/discrete/DiscreteKey.h>
+#include <gtsam/discrete/TableFactor.h>
 #include <gtsam/hybrid/GaussianMixtureFactor.h>
 #include <gtsam/hybrid/HybridFactor.h>
 #include <gtsam/inference/Conditional.h>
@@ -80,7 +81,7 @@ class GTSAM_EXPORT GaussianMixture
    */
   std::function<GaussianConditional::shared_ptr(
       const Assignment<Key> &, const GaussianConditional::shared_ptr &)>
-  prunerFunc(const DecisionTreeFactor &discreteProbs);
+  prunerFunc(const TableFactor &discreteProbs);
 
  public:
   /// @name Constructors
@@ -238,7 +239,7 @@ class GTSAM_EXPORT GaussianMixture
    *
    * @param discreteProbs A pruned set of probabilities for the discrete keys.
    */
-  void prune(const DecisionTreeFactor &discreteProbs);
+  void prune(const TableFactor &discreteProbs);
 
   /**
    * @brief Merge the Gaussian Factor Graphs in `this` and `sum` while
diff --git a/gtsam/hybrid/HybridBayesNet.cpp b/gtsam/hybrid/HybridBayesNet.cpp
index 266e02b0d..302ccfd6c 100644
--- a/gtsam/hybrid/HybridBayesNet.cpp
+++ b/gtsam/hybrid/HybridBayesNet.cpp
@@ -64,7 +64,7 @@ DecisionTreeFactor::shared_ptr HybridBayesNet::discreteConditionals() const {
  * @return std::function<double(const Assignment<Key> &, double)>
  */
 std::function<double(const Assignment<Key> &, double)> prunerFunc(
-    const DecisionTreeFactor &prunedDiscreteProbs,
+    const TableFactor &prunedDiscreteProbs,
     const HybridConditional &conditional) {
   // Get the discrete keys as sets for the decision tree
   // and the Gaussian mixture.
diff --git a/gtsam/hybrid/HybridBayesNet.h b/gtsam/hybrid/HybridBayesNet.h
index 23fc4d5d3..a71768bac 100644
--- a/gtsam/hybrid/HybridBayesNet.h
+++ b/gtsam/hybrid/HybridBayesNet.h
@@ -17,7 +17,6 @@
 
 #pragma once
 
-#include <gtsam/discrete/DecisionTreeFactor.h>
 #include <gtsam/global_includes.h>
 #include <gtsam/hybrid/HybridConditional.h>
 #include <gtsam/hybrid/HybridValues.h>
diff --git a/gtsam/hybrid/HybridBayesTree.cpp b/gtsam/hybrid/HybridBayesTree.cpp
index ae8fa0378..d71760b9a 100644
--- a/gtsam/hybrid/HybridBayesTree.cpp
+++ b/gtsam/hybrid/HybridBayesTree.cpp
@@ -175,14 +175,15 @@ VectorValues HybridBayesTree::optimize(const DiscreteValues& assignment) const {
 void HybridBayesTree::prune(const size_t maxNrLeaves) {
   auto discreteProbs = this->roots_.at(0)->conditional()->asDiscrete();
 
-  DecisionTreeFactor prunedDiscreteProbs = discreteProbs->prune(maxNrLeaves);
-  discreteProbs->root_ = prunedDiscreteProbs.root_;
+  // TODO(Varun)
+  //  TableFactor prunedDiscreteProbs = discreteProbs->prune(maxNrLeaves);
+  //  discreteProbs->root_ = prunedDiscreteProbs.root_;
 
   /// Helper struct for pruning the hybrid bayes tree.
   struct HybridPrunerData {
     /// The discrete decision tree after pruning.
-    DecisionTreeFactor prunedDiscreteProbs;
-    HybridPrunerData(const DecisionTreeFactor& prunedDiscreteProbs,
+    TableFactor prunedDiscreteProbs;
+    HybridPrunerData(const TableFactor& prunedDiscreteProbs,
                      const HybridBayesTree::sharedNode& parentClique)
         : prunedDiscreteProbs(prunedDiscreteProbs) {}
 
@@ -210,15 +211,16 @@ void HybridBayesTree::prune(const size_t maxNrLeaves) {
     }
   };
 
-  HybridPrunerData rootData(prunedDiscreteProbs, 0);
-  {
-    treeTraversal::no_op visitorPost;
-    // Limits OpenMP threads since we're mixing TBB and OpenMP
-    TbbOpenMPMixedScope threadLimiter;
-    treeTraversal::DepthFirstForestParallel(
-        *this, rootData, HybridPrunerData::AssignmentPreOrderVisitor,
-        visitorPost);
-  }
+  // TODO(Varun)
+  //  HybridPrunerData rootData(prunedDiscreteProbs, 0);
+  //  {
+  //    treeTraversal::no_op visitorPost;
+  //    // Limits OpenMP threads since we're mixing TBB and OpenMP
+  //    TbbOpenMPMixedScope threadLimiter;
+  //    treeTraversal::DepthFirstForestParallel(
+  //        *this, rootData, HybridPrunerData::AssignmentPreOrderVisitor,
+  //        visitorPost);
+  //  }
 }
 
 }  // namespace gtsam

From f238ba55d23d2c7ed80e9baa9ff180f53a070513 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 16 Jul 2023 22:04:09 -0400
Subject: [PATCH 099/206] TableFactor constructor from DecisionTreeFactor and
 AlgebraicDecisionTree

---
 gtsam/discrete/TableFactor.cpp | 10 ++++++++++
 gtsam/discrete/TableFactor.h   |  8 +++++++-
 2 files changed, 17 insertions(+), 1 deletion(-)

diff --git a/gtsam/discrete/TableFactor.cpp b/gtsam/discrete/TableFactor.cpp
index 74eb3ddb3..9a0520a34 100644
--- a/gtsam/discrete/TableFactor.cpp
+++ b/gtsam/discrete/TableFactor.cpp
@@ -56,6 +56,16 @@ TableFactor::TableFactor(const DiscreteKeys& dkeys,
   sort(sorted_dkeys_.begin(), sorted_dkeys_.end());
 }
 
+/* ************************************************************************ */
+TableFactor::TableFactor(const DiscreteKeys& dkeys,
+                         const DecisionTreeFactor& dtf)
+    : TableFactor(dkeys, dtf.probabilities()) {}
+
+/* ************************************************************************ */
+TableFactor::TableFactor(const DiscreteKeys& dkeys,
+                         const DecisionTree<Key, double>& dtree)
+    : TableFactor(dkeys, DecisionTreeFactor(dkeys, dtree)) {}
+
 /* ************************************************************************ */
 TableFactor::TableFactor(const DiscreteConditional& c)
     : TableFactor(c.discreteKeys(), c.probabilities()) {}
diff --git a/gtsam/discrete/TableFactor.h b/gtsam/discrete/TableFactor.h
index bd637bb7d..103e14bff 100644
--- a/gtsam/discrete/TableFactor.h
+++ b/gtsam/discrete/TableFactor.h
@@ -141,6 +141,12 @@ class GTSAM_EXPORT TableFactor : public DiscreteFactor {
   TableFactor(const DiscreteKey& key, const std::vector<double>& row)
       : TableFactor(DiscreteKeys{key}, row) {}
 
+  /// Constructor from DecisionTreeFactor
+  TableFactor(const DiscreteKeys& keys, const DecisionTreeFactor& dtf);
+
+  /// Constructor from DecisionTree<Key, double>/AlgebraicDecisionTree
+  TableFactor(const DiscreteKeys& keys, const DecisionTree<Key, double>& dtree);
+
   /** Construct from a DiscreteConditional type */
   explicit TableFactor(const DiscreteConditional& c);
 
@@ -177,7 +183,7 @@ class GTSAM_EXPORT TableFactor : public DiscreteFactor {
     return apply(f, Ring::mul);
   };
 
-  /// multiple with DecisionTreeFactor
+  /// multiply with DecisionTreeFactor
   DecisionTreeFactor operator*(const DecisionTreeFactor& f) const override;
 
   static double safe_div(const double& a, const double& b);

From a581788bffa22cfbe307a0471aa9eb31308fc01b Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 16 Jul 2023 22:04:48 -0400
Subject: [PATCH 100/206] simplify return

---
 gtsam/hybrid/HybridGaussianFactorGraph.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index 10b8de797..dc11cedb0 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -272,9 +272,9 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
     };
 
     DecisionTree<Key, double> probabilities(eliminationResults, probability);
-    return {
-        std::make_shared<HybridConditional>(gaussianMixture),
-        std::make_shared<TableFactor>(discreteSeparator, dtf->probabilities())};
+
+    return {std::make_shared<HybridConditional>(gaussianMixture),
+            std::make_shared<TableFactor>(discreteSeparator, probabilities)};
   } else {
     // Otherwise, we create a resulting GaussianMixtureFactor on the separator,
     // taking care to correct for conditional constant.

From 8462624c572d9d0fd8ac588d60a8a2fdc8a6f9e6 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 3 Jul 2023 08:50:36 -0400
Subject: [PATCH 101/206] update HybridFactorGraph wrapper

---
 gtsam/hybrid/hybrid.i | 1 +
 1 file changed, 1 insertion(+)

diff --git a/gtsam/hybrid/hybrid.i b/gtsam/hybrid/hybrid.i
index 7cc93d4b0..5e0e6dca0 100644
--- a/gtsam/hybrid/hybrid.i
+++ b/gtsam/hybrid/hybrid.i
@@ -179,6 +179,7 @@ class HybridGaussianFactorGraph {
   void push_back(const gtsam::HybridBayesTree& bayesTree);
   void push_back(const gtsam::GaussianMixtureFactor* gmm);
   void push_back(gtsam::DecisionTreeFactor* factor);
+  void push_back(gtsam::TableFactor* factor);
   void push_back(gtsam::JacobianFactor* factor);
 
   bool empty() const;

From c8e9a57cacc8cd5465569f9848e4c1c762e785b6 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 11 Jul 2023 21:12:05 -0400
Subject: [PATCH 102/206] unary apply methods for TableFactor

---
 gtsam/discrete/TableFactor.cpp           | 41 +++++++++++++++++++++++-
 gtsam/discrete/TableFactor.h             | 28 ++++++++++++++--
 gtsam/discrete/tests/testTableFactor.cpp | 36 +++++++++++++++++++--
 3 files changed, 100 insertions(+), 5 deletions(-)

diff --git a/gtsam/discrete/TableFactor.cpp b/gtsam/discrete/TableFactor.cpp
index 9a0520a34..1b265d14f 100644
--- a/gtsam/discrete/TableFactor.cpp
+++ b/gtsam/discrete/TableFactor.cpp
@@ -74,7 +74,7 @@ TableFactor::TableFactor(const DiscreteConditional& c)
 Eigen::SparseVector<double> TableFactor::Convert(
     const std::vector<double>& table) {
   Eigen::SparseVector<double> sparse_table(table.size());
-  // Count number of nonzero elements in table and reserving the space.
+  // Count number of nonzero elements in table and reserve the space.
   const uint64_t nnz = std::count_if(table.begin(), table.end(),
                                      [](uint64_t i) { return i != 0; });
   sparse_table.reserve(nnz);
@@ -228,6 +228,45 @@ void TableFactor::print(const string& s, const KeyFormatter& formatter) const {
   cout << "number of nnzs: " << sparse_table_.nonZeros() << endl;
 }
 
+/* ************************************************************************ */
+TableFactor TableFactor::apply(Unary op) const {
+  // Initialize new factor.
+  uint64_t cardi = 1;
+  for (auto [key, c] : cardinalities_) cardi *= c;
+  Eigen::SparseVector<double> sparse_table(cardi);
+  sparse_table.reserve(sparse_table_.nonZeros());
+
+  // Populate
+  for (SparseIt it(sparse_table_); it; ++it) {
+    sparse_table.coeffRef(it.index()) = op(it.value());
+  }
+
+  // Free unused memory and return.
+  sparse_table.pruned();
+  sparse_table.data().squeeze();
+  return TableFactor(discreteKeys(), sparse_table);
+}
+
+/* ************************************************************************ */
+TableFactor TableFactor::apply(UnaryAssignment op) const {
+  // Initialize new factor.
+  uint64_t cardi = 1;
+  for (auto [key, c] : cardinalities_) cardi *= c;
+  Eigen::SparseVector<double> sparse_table(cardi);
+  sparse_table.reserve(sparse_table_.nonZeros());
+
+  // Populate
+  for (SparseIt it(sparse_table_); it; ++it) {
+    DiscreteValues assignment = findAssignments(it.index());
+    sparse_table.coeffRef(it.index()) = op(assignment, it.value());
+  }
+
+  // Free unused memory and return.
+  sparse_table.pruned();
+  sparse_table.data().squeeze();
+  return TableFactor(discreteKeys(), sparse_table);
+}
+
 /* ************************************************************************ */
 TableFactor TableFactor::apply(const TableFactor& f, Binary op) const {
   if (keys_.empty() && sparse_table_.nonZeros() == 0)
diff --git a/gtsam/discrete/TableFactor.h b/gtsam/discrete/TableFactor.h
index 103e14bff..828e794e6 100644
--- a/gtsam/discrete/TableFactor.h
+++ b/gtsam/discrete/TableFactor.h
@@ -93,6 +93,9 @@ class GTSAM_EXPORT TableFactor : public DiscreteFactor {
   typedef std::shared_ptr<TableFactor> shared_ptr;
   typedef Eigen::SparseVector<double>::InnerIterator SparseIt;
   typedef std::vector<std::pair<DiscreteValues, double>> AssignValList;
+  using Unary = std::function<double(const double&)>;
+  using UnaryAssignment =
+      std::function<double(const Assignment<Key>&, const double&)>;
   using Binary = std::function<double(const double, const double)>;
 
  public:
@@ -224,6 +227,18 @@ class GTSAM_EXPORT TableFactor : public DiscreteFactor {
   /// @name Advanced Interface
   /// @{
 
+  /**
+   * Apply unary operator `op(*this)` where `op` accepts the discrete value.
+   * @param op a unary operator that operates on TableFactor
+   */
+  TableFactor apply(Unary op) const;
+  /**
+   * Apply unary operator `op(*this)` where `op` accepts the discrete assignment
+   * and the value at that assignment.
+   * @param op a unary operator that operates on TableFactor
+   */
+  TableFactor apply(UnaryAssignment op) const;
+
   /**
    * Apply binary operator (*this) "op" f
    * @param f the second argument for op
@@ -231,10 +246,19 @@ class GTSAM_EXPORT TableFactor : public DiscreteFactor {
    */
   TableFactor apply(const TableFactor& f, Binary op) const;
 
-  /// Return keys in contract mode.
+  /**
+   * Return keys in contract mode.
+   *
+   * Modes are each of the dimensions of a sparse tensor,
+   * and the contract modes represent which dimensions will
+   * be involved in contraction (aka tensor multiplication).
+   */
   DiscreteKeys contractDkeys(const TableFactor& f) const;
 
-  /// Return keys in free mode.
+  /**
+   * @brief Return keys in free mode which are the dimensions
+   * not involved in the contraction operation.
+   */
   DiscreteKeys freeDkeys(const TableFactor& f) const;
 
   /// Return union of DiscreteKeys in two factors.
diff --git a/gtsam/discrete/tests/testTableFactor.cpp b/gtsam/discrete/tests/testTableFactor.cpp
index b307d78f6..e85e4254c 100644
--- a/gtsam/discrete/tests/testTableFactor.cpp
+++ b/gtsam/discrete/tests/testTableFactor.cpp
@@ -93,8 +93,7 @@ void printTime(map<double, pair<chrono::microseconds, chrono::microseconds>>
   for (auto&& kv : measured_time) {
     cout << "dropout: " << kv.first
          << " | TableFactor time: " << kv.second.first.count()
-         << " | DecisionTreeFactor time: " << kv.second.second.count() <<
-         endl;
+         << " | DecisionTreeFactor time: " << kv.second.second.count() << endl;
   }
 }
 
@@ -361,6 +360,39 @@ TEST(TableFactor, htmlWithValueFormatter) {
   EXPECT(actual == expected);
 }
 
+/* ************************************************************************* */
+TEST(TableFactor, Unary) {
+  // Declare a bunch of keys
+  DiscreteKey X(0, 2), Y(1, 3);
+
+  // Create factors
+  TableFactor f(X & Y, "2 5 3 6 2 7");
+  auto op = [](const double x) { return 2 * x; };
+  auto g = f.apply(op);
+
+  TableFactor expected(X & Y, "4 10 6 12 4 14");
+  EXPECT(assert_equal(g, expected));
+
+  auto sq_op = [](const double x) { return x * x; };
+  auto g_sq = f.apply(sq_op);
+  TableFactor expected_sq(X & Y, "4 25 9 36 4 49");
+  EXPECT(assert_equal(g_sq, expected_sq));
+}
+
+/* ************************************************************************* */
+TEST(TableFactor, UnaryAssignment) {
+  // Declare a bunch of keys
+  DiscreteKey X(0, 2), Y(1, 3);
+
+  // Create factors
+  TableFactor f(X & Y, "2 5 3 6 2 7");
+  auto op = [](const Assignment<Key>& key, const double x) { return 2 * x; };
+  auto g = f.apply(op);
+
+  TableFactor expected(X & Y, "4 10 6 12 4 14");
+  EXPECT(assert_equal(g, expected));
+}
+
 /* ************************************************************************* */
 int main() {
   TestResult tr;

From 2b85cfedd4845e3a4329b9cf6dc0a5acb84fc499 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 22 Jul 2023 00:50:33 -0400
Subject: [PATCH 103/206] DecisionTreeFactor apply methods

---
 gtsam/discrete/DecisionTreeFactor.cpp | 16 ++++++++++++++++
 gtsam/discrete/DecisionTreeFactor.h   | 14 ++++++++++++--
 2 files changed, 28 insertions(+), 2 deletions(-)

diff --git a/gtsam/discrete/DecisionTreeFactor.cpp b/gtsam/discrete/DecisionTreeFactor.cpp
index ff18268b1..4aa5e5759 100644
--- a/gtsam/discrete/DecisionTreeFactor.cpp
+++ b/gtsam/discrete/DecisionTreeFactor.cpp
@@ -82,6 +82,22 @@ namespace gtsam {
     ADT::print("", formatter);
   }
 
+  /* ************************************************************************ */
+  DecisionTreeFactor DecisionTreeFactor::apply(ADT::Unary op) const {
+    // apply operand
+    ADT result = ADT::apply(op);
+    // Make a new factor
+    return DecisionTreeFactor(discreteKeys(), result);
+  }
+
+  /* ************************************************************************ */
+  DecisionTreeFactor DecisionTreeFactor::apply(ADT::UnaryAssignment op) const {
+    // apply operand
+    ADT result = ADT::apply(op);
+    // Make a new factor
+    return DecisionTreeFactor(discreteKeys(), result);
+  }
+
   /* ************************************************************************ */
   DecisionTreeFactor DecisionTreeFactor::apply(const DecisionTreeFactor& f,
                                               ADT::Binary op) const {
diff --git a/gtsam/discrete/DecisionTreeFactor.h b/gtsam/discrete/DecisionTreeFactor.h
index e90a2f96f..77da93c5f 100644
--- a/gtsam/discrete/DecisionTreeFactor.h
+++ b/gtsam/discrete/DecisionTreeFactor.h
@@ -147,8 +147,18 @@ namespace gtsam {
     /// @name Advanced Interface
     /// @{
 
-    /// Inherit all the `apply` methods from AlgebraicDecisionTree
-    using ADT::apply;
+    /**
+     * Apply unary operator (*this) "op" f
+     * @param op a unary operator that operates on AlgebraicDecisionTree
+     */
+    DecisionTreeFactor apply(ADT::Unary op) const;
+
+    /**
+     * Apply unary operator (*this) "op" f
+     * @param op a unary operator that operates on AlgebraicDecisionTree. Takes
+     * both the assignment and the value.
+     */
+    DecisionTreeFactor apply(ADT::UnaryAssignment op) const;
 
     /**
      * Apply binary operator (*this) "op" f

From 3d24d0128f71e51f889ff5b2790eb2bd79bf7a73 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 22 Jul 2023 00:51:34 -0400
Subject: [PATCH 104/206] efficient probabilities method

---
 gtsam/discrete/DecisionTreeFactor.cpp | 40 ++++++++++++++++++++++-----
 1 file changed, 33 insertions(+), 7 deletions(-)

diff --git a/gtsam/discrete/DecisionTreeFactor.cpp b/gtsam/discrete/DecisionTreeFactor.cpp
index 4aa5e5759..19cc8e230 100644
--- a/gtsam/discrete/DecisionTreeFactor.cpp
+++ b/gtsam/discrete/DecisionTreeFactor.cpp
@@ -197,9 +197,39 @@ namespace gtsam {
   /* ************************************************************************ */
   std::vector<double> DecisionTreeFactor::probabilities() const {
     std::vector<double> probs;
-    for (auto&& [key, value] : enumerate()) {
-      probs.push_back(value);
+
+    // Get all the key cardinalities
+    std::map<Key, size_t> cardins;
+    for (auto [key, cardinality] : discreteKeys()) {
+      cardins[key] = cardinality;
     }
+    // Set of all keys
+    std::set<Key> allKeys(keys().begin(), keys().end());
+
+    // Go through the tree
+    std::vector<double> ys;
+    this->apply([&](const Assignment<Key> a, double p) {
+      // Get all the keys in the current assignment
+      std::set<Key> assignment_keys;
+      for (auto&& [k, _] : a) {
+        assignment_keys.insert(k);
+      }
+
+      // Find the keys missing in the assignment
+      std::vector<Key> diff;
+      std::set_difference(allKeys.begin(), allKeys.end(),
+                          assignment_keys.begin(), assignment_keys.end(),
+                          std::back_inserter(diff));
+
+      // Compute the total number of assignments in the (pruned) subtree
+      size_t nrAssignments = 1;
+      for (auto&& k : diff) {
+        nrAssignments *= cardins.at(k);
+      }
+      probs.insert(probs.end(), nrAssignments, p);
+      return p;
+    });
+
     return probs;
   }
 
@@ -313,11 +343,7 @@ namespace gtsam {
     const size_t N = maxNrAssignments;
 
     // Get the probabilities in the decision tree so we can threshold.
-    std::vector<double> probabilities;
-    // NOTE(Varun) this is potentially slow due to the cartesian product
-    for (auto&& [assignment, prob] : this->enumerate()) {
-      probabilities.push_back(prob);
-    }
+    std::vector<double> probabilities = this->probabilities();
 
     // The number of probabilities can be lower than max_leaves
     if (probabilities.size() <= N) {

From 5f83464f0d4dafd0c1c780852ebfdd47a55e4322 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 22 Jul 2023 01:09:55 -0400
Subject: [PATCH 105/206] use existing cardinalities

---
 gtsam/discrete/DecisionTreeFactor.cpp | 12 +++---------
 1 file changed, 3 insertions(+), 9 deletions(-)

diff --git a/gtsam/discrete/DecisionTreeFactor.cpp b/gtsam/discrete/DecisionTreeFactor.cpp
index 19cc8e230..7ba4c9011 100644
--- a/gtsam/discrete/DecisionTreeFactor.cpp
+++ b/gtsam/discrete/DecisionTreeFactor.cpp
@@ -196,18 +196,12 @@ namespace gtsam {
 
   /* ************************************************************************ */
   std::vector<double> DecisionTreeFactor::probabilities() const {
-    std::vector<double> probs;
-
-    // Get all the key cardinalities
-    std::map<Key, size_t> cardins;
-    for (auto [key, cardinality] : discreteKeys()) {
-      cardins[key] = cardinality;
-    }
     // Set of all keys
     std::set<Key> allKeys(keys().begin(), keys().end());
 
+    std::vector<double> probs;
+
     // Go through the tree
-    std::vector<double> ys;
     this->apply([&](const Assignment<Key> a, double p) {
       // Get all the keys in the current assignment
       std::set<Key> assignment_keys;
@@ -224,7 +218,7 @@ namespace gtsam {
       // Compute the total number of assignments in the (pruned) subtree
       size_t nrAssignments = 1;
       for (auto&& k : diff) {
-        nrAssignments *= cardins.at(k);
+        nrAssignments *= cardinalities_.at(k);
       }
       probs.insert(probs.end(), nrAssignments, p);
       return p;

From ad84163f663cad6081c399f2735ac36ab7ffce79 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 23 Jul 2023 12:13:07 -0400
Subject: [PATCH 106/206] use discrete base class in getting discrete factors

---
 gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
index af3a23b94..13e7e2c8f 100644
--- a/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testHybridNonlinearFactorGraph.cpp
@@ -420,7 +420,7 @@ TEST(HybridFactorGraph, Full_Elimination) {
     DiscreteFactorGraph discrete_fg;
     // TODO(Varun) Make this a function of HybridGaussianFactorGraph?
     for (auto& factor : (*remainingFactorGraph_partial)) {
-      auto df = dynamic_pointer_cast<DecisionTreeFactor>(factor);
+      auto df = dynamic_pointer_cast<DiscreteFactor>(factor);
       assert(df);
       discrete_fg.push_back(df);
     }

From 52f26e3e97befe2e784509eeec07453bd4fc8ff0 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 23 Jul 2023 16:32:52 -0400
Subject: [PATCH 107/206] update TableFactor to use new version of DT
 probabilities

---
 gtsam/discrete/TableFactor.cpp           | 38 ++++++++++++++++++++----
 gtsam/discrete/tests/testTableFactor.cpp | 11 +++++++
 2 files changed, 43 insertions(+), 6 deletions(-)

diff --git a/gtsam/discrete/TableFactor.cpp b/gtsam/discrete/TableFactor.cpp
index 1b265d14f..f4e023a4d 100644
--- a/gtsam/discrete/TableFactor.cpp
+++ b/gtsam/discrete/TableFactor.cpp
@@ -56,19 +56,45 @@ TableFactor::TableFactor(const DiscreteKeys& dkeys,
   sort(sorted_dkeys_.begin(), sorted_dkeys_.end());
 }
 
-/* ************************************************************************ */
-TableFactor::TableFactor(const DiscreteKeys& dkeys,
-                         const DecisionTreeFactor& dtf)
-    : TableFactor(dkeys, dtf.probabilities()) {}
-
 /* ************************************************************************ */
 TableFactor::TableFactor(const DiscreteKeys& dkeys,
                          const DecisionTree<Key, double>& dtree)
     : TableFactor(dkeys, DecisionTreeFactor(dkeys, dtree)) {}
 
+/**
+ * @brief Compute the correct ordering of the leaves in the decision tree.
+ *
+ * This is done by first taking all the values which have modulo 0 value with
+ * the cardinality of the innermost key `n`, and we go up to modulo n.
+ *
+ * @param dt The DecisionTree
+ * @return std::vector<double>
+ */
+std::vector<double> ComputeLeafOrdering(const DiscreteKeys& dkeys,
+                                        const DecisionTreeFactor& dt) {
+  std::vector<double> probs = dt.probabilities();
+  std::vector<double> ordered;
+
+  size_t n = dkeys[0].second;
+
+  for (size_t k = 0; k < n; ++k) {
+    for (size_t idx = 0; idx < probs.size(); ++idx) {
+      if (idx % n == k) {
+        ordered.push_back(probs[idx]);
+      }
+    }
+  }
+  return ordered;
+}
+
+/* ************************************************************************ */
+TableFactor::TableFactor(const DiscreteKeys& dkeys,
+                         const DecisionTreeFactor& dtf)
+    : TableFactor(dkeys, ComputeLeafOrdering(dkeys, dtf)) {}
+
 /* ************************************************************************ */
 TableFactor::TableFactor(const DiscreteConditional& c)
-    : TableFactor(c.discreteKeys(), c.probabilities()) {}
+    : TableFactor(c.discreteKeys(), c) {}
 
 /* ************************************************************************ */
 Eigen::SparseVector<double> TableFactor::Convert(
diff --git a/gtsam/discrete/tests/testTableFactor.cpp b/gtsam/discrete/tests/testTableFactor.cpp
index e85e4254c..0f7d7a615 100644
--- a/gtsam/discrete/tests/testTableFactor.cpp
+++ b/gtsam/discrete/tests/testTableFactor.cpp
@@ -19,6 +19,7 @@
 #include <CppUnitLite/TestHarness.h>
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/serializationTestHelpers.h>
+#include <gtsam/discrete/DiscreteConditional.h>
 #include <gtsam/discrete/DiscreteDistribution.h>
 #include <gtsam/discrete/Signature.h>
 #include <gtsam/discrete/TableFactor.h>
@@ -131,6 +132,16 @@ TEST(TableFactor, constructors) {
   // Manually constructed via inspection and comparison to DecisionTreeFactor
   TableFactor expected(X & Y, "0.5 0.4 0.2 0.5 0.6 0.8");
   EXPECT(assert_equal(expected, f4));
+
+  // Test for 9=3x3 values.
+  DiscreteKey V(0, 3), W(1, 3);
+  DiscreteConditional conditional5(V | W = "1/2/3 5/6/7 9/10/11");
+  TableFactor f5(conditional5);
+  // GTSAM_PRINT(f5);
+  TableFactor expected_f5(
+      X & Y,
+      "0.166667 0.277778 0.3 0.333333 0.333333 0.333333 0.5 0.388889 0.366667");
+  EXPECT(assert_equal(expected_f5, f5, 1e-6));
 }
 
 /* ************************************************************************* */

From 2df3cc80a90c860f911d213f6be939e0c97cc673 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 23 Jul 2023 17:09:51 -0400
Subject: [PATCH 108/206] undo previous changes

---
 gtsam/hybrid/HybridBayesTree.cpp           | 28 ++++++++++------------
 gtsam/hybrid/HybridGaussianFactorGraph.cpp |  5 ++--
 2 files changed, 16 insertions(+), 17 deletions(-)

diff --git a/gtsam/hybrid/HybridBayesTree.cpp b/gtsam/hybrid/HybridBayesTree.cpp
index d71760b9a..ae8fa0378 100644
--- a/gtsam/hybrid/HybridBayesTree.cpp
+++ b/gtsam/hybrid/HybridBayesTree.cpp
@@ -175,15 +175,14 @@ VectorValues HybridBayesTree::optimize(const DiscreteValues& assignment) const {
 void HybridBayesTree::prune(const size_t maxNrLeaves) {
   auto discreteProbs = this->roots_.at(0)->conditional()->asDiscrete();
 
-  // TODO(Varun)
-  //  TableFactor prunedDiscreteProbs = discreteProbs->prune(maxNrLeaves);
-  //  discreteProbs->root_ = prunedDiscreteProbs.root_;
+  DecisionTreeFactor prunedDiscreteProbs = discreteProbs->prune(maxNrLeaves);
+  discreteProbs->root_ = prunedDiscreteProbs.root_;
 
   /// Helper struct for pruning the hybrid bayes tree.
   struct HybridPrunerData {
     /// The discrete decision tree after pruning.
-    TableFactor prunedDiscreteProbs;
-    HybridPrunerData(const TableFactor& prunedDiscreteProbs,
+    DecisionTreeFactor prunedDiscreteProbs;
+    HybridPrunerData(const DecisionTreeFactor& prunedDiscreteProbs,
                      const HybridBayesTree::sharedNode& parentClique)
         : prunedDiscreteProbs(prunedDiscreteProbs) {}
 
@@ -211,16 +210,15 @@ void HybridBayesTree::prune(const size_t maxNrLeaves) {
     }
   };
 
-  // TODO(Varun)
-  //  HybridPrunerData rootData(prunedDiscreteProbs, 0);
-  //  {
-  //    treeTraversal::no_op visitorPost;
-  //    // Limits OpenMP threads since we're mixing TBB and OpenMP
-  //    TbbOpenMPMixedScope threadLimiter;
-  //    treeTraversal::DepthFirstForestParallel(
-  //        *this, rootData, HybridPrunerData::AssignmentPreOrderVisitor,
-  //        visitorPost);
-  //  }
+  HybridPrunerData rootData(prunedDiscreteProbs, 0);
+  {
+    treeTraversal::no_op visitorPost;
+    // Limits OpenMP threads since we're mixing TBB and OpenMP
+    TbbOpenMPMixedScope threadLimiter;
+    treeTraversal::DepthFirstForestParallel(
+        *this, rootData, HybridPrunerData::AssignmentPreOrderVisitor,
+        visitorPost);
+  }
 }
 
 }  // namespace gtsam
diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index dc11cedb0..7ff87c347 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -273,8 +273,9 @@ hybridElimination(const HybridGaussianFactorGraph &factors,
 
     DecisionTree<Key, double> probabilities(eliminationResults, probability);
 
-    return {std::make_shared<HybridConditional>(gaussianMixture),
-            std::make_shared<TableFactor>(discreteSeparator, probabilities)};
+    return {
+        std::make_shared<HybridConditional>(gaussianMixture),
+        std::make_shared<DecisionTreeFactor>(discreteSeparator, probabilities)};
   } else {
     // Otherwise, we create a resulting GaussianMixtureFactor on the separator,
     // taking care to correct for conditional constant.

From a4462a0a3eeb729502042fdcb61b5f4a89f3422a Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 23 Jul 2023 17:12:27 -0400
Subject: [PATCH 109/206] undo some more

---
 gtsam/hybrid/GaussianMixture.cpp | 4 ++--
 gtsam/hybrid/GaussianMixture.h   | 5 ++---
 gtsam/hybrid/HybridBayesNet.cpp  | 2 +-
 gtsam/hybrid/HybridBayesNet.h    | 4 +++-
 4 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/gtsam/hybrid/GaussianMixture.cpp b/gtsam/hybrid/GaussianMixture.cpp
index 79c385262..753e35bf0 100644
--- a/gtsam/hybrid/GaussianMixture.cpp
+++ b/gtsam/hybrid/GaussianMixture.cpp
@@ -234,7 +234,7 @@ std::set<DiscreteKey> DiscreteKeysAsSet(const DiscreteKeys &discreteKeys) {
  */
 std::function<GaussianConditional::shared_ptr(
     const Assignment<Key> &, const GaussianConditional::shared_ptr &)>
-GaussianMixture::prunerFunc(const TableFactor &discreteProbs) {
+GaussianMixture::prunerFunc(const DecisionTreeFactor &discreteProbs) {
   // Get the discrete keys as sets for the decision tree
   // and the gaussian mixture.
   auto discreteProbsKeySet = DiscreteKeysAsSet(discreteProbs.discreteKeys());
@@ -285,7 +285,7 @@ GaussianMixture::prunerFunc(const TableFactor &discreteProbs) {
 }
 
 /* *******************************************************************************/
-void GaussianMixture::prune(const TableFactor &discreteProbs) {
+void GaussianMixture::prune(const DecisionTreeFactor &discreteProbs) {
   // Functional which loops over all assignments and create a set of
   // GaussianConditionals
   auto pruner = prunerFunc(discreteProbs);
diff --git a/gtsam/hybrid/GaussianMixture.h b/gtsam/hybrid/GaussianMixture.h
index c193d065c..0b68fcfd0 100644
--- a/gtsam/hybrid/GaussianMixture.h
+++ b/gtsam/hybrid/GaussianMixture.h
@@ -23,7 +23,6 @@
 #include <gtsam/discrete/DecisionTree.h>
 #include <gtsam/discrete/DecisionTreeFactor.h>
 #include <gtsam/discrete/DiscreteKey.h>
-#include <gtsam/discrete/TableFactor.h>
 #include <gtsam/hybrid/GaussianMixtureFactor.h>
 #include <gtsam/hybrid/HybridFactor.h>
 #include <gtsam/inference/Conditional.h>
@@ -81,7 +80,7 @@ class GTSAM_EXPORT GaussianMixture
    */
   std::function<GaussianConditional::shared_ptr(
       const Assignment<Key> &, const GaussianConditional::shared_ptr &)>
-  prunerFunc(const TableFactor &discreteProbs);
+  prunerFunc(const DecisionTreeFactor &discreteProbs);
 
  public:
   /// @name Constructors
@@ -239,7 +238,7 @@ class GTSAM_EXPORT GaussianMixture
    *
    * @param discreteProbs A pruned set of probabilities for the discrete keys.
    */
-  void prune(const TableFactor &discreteProbs);
+  void prune(const DecisionTreeFactor &discreteProbs);
 
   /**
    * @brief Merge the Gaussian Factor Graphs in `this` and `sum` while
diff --git a/gtsam/hybrid/HybridBayesNet.cpp b/gtsam/hybrid/HybridBayesNet.cpp
index 302ccfd6c..266e02b0d 100644
--- a/gtsam/hybrid/HybridBayesNet.cpp
+++ b/gtsam/hybrid/HybridBayesNet.cpp
@@ -64,7 +64,7 @@ DecisionTreeFactor::shared_ptr HybridBayesNet::discreteConditionals() const {
  * @return std::function<double(const Assignment<Key> &, double)>
  */
 std::function<double(const Assignment<Key> &, double)> prunerFunc(
-    const TableFactor &prunedDiscreteProbs,
+    const DecisionTreeFactor &prunedDiscreteProbs,
     const HybridConditional &conditional) {
   // Get the discrete keys as sets for the decision tree
   // and the Gaussian mixture.
diff --git a/gtsam/hybrid/HybridBayesNet.h b/gtsam/hybrid/HybridBayesNet.h
index a71768bac..825f3acfd 100644
--- a/gtsam/hybrid/HybridBayesNet.h
+++ b/gtsam/hybrid/HybridBayesNet.h
@@ -17,6 +17,7 @@
 
 #pragma once
 
+#include <gtsam/discrete/DecisionTreeFactor.h>
 #include <gtsam/global_includes.h>
 #include <gtsam/hybrid/HybridConditional.h>
 #include <gtsam/hybrid/HybridValues.h>
@@ -225,7 +226,8 @@ class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
    *
    * @param prunedDiscreteProbs
    */
-  void updateDiscreteConditionals(const DecisionTreeFactor &prunedDiscreteProbs);
+  void updateDiscreteConditionals(
+      const DecisionTreeFactor &prunedDiscreteProbs);
 
 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
   /** Serialization function */

From 62d020a53156948367dda1538473df7bfb2dff24 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 23 Jul 2023 17:36:36 -0400
Subject: [PATCH 110/206] remove duplicate definition

---
 gtsam/discrete/DecisionTreeFactor.cpp | 8 --------
 1 file changed, 8 deletions(-)

diff --git a/gtsam/discrete/DecisionTreeFactor.cpp b/gtsam/discrete/DecisionTreeFactor.cpp
index f0472245b..7ba4c9011 100644
--- a/gtsam/discrete/DecisionTreeFactor.cpp
+++ b/gtsam/discrete/DecisionTreeFactor.cpp
@@ -117,14 +117,6 @@ namespace gtsam {
     return DecisionTreeFactor(keys, result);
   }
 
-  /* ************************************************************************ */
-  DecisionTreeFactor DecisionTreeFactor::apply(ADT::UnaryAssignment op) const {
-    // apply operand
-    ADT result = ADT::apply(op);
-    // Make a new factor
-    return DecisionTreeFactor(discreteKeys(), result);
-  }
-
   /* ************************************************************************ */
   DecisionTreeFactor::shared_ptr DecisionTreeFactor::combine(
       size_t nrFrontals, ADT::Binary op) const {

From 00895911c0451347f004ba8a6175381c181364e9 Mon Sep 17 00:00:00 2001
From: Tal Regev <tal.regev@gmail.com>
Date: Mon, 24 Jul 2023 22:16:56 +0300
Subject: [PATCH 111/206] Tests are not failing without debug assertion

---
 .github/workflows/build-windows.yml | 63 +++++++++++++++--------------
 1 file changed, 32 insertions(+), 31 deletions(-)

diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index 565a02756..98218a894 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -99,64 +99,65 @@ jobs:
           cmake -B build -S . -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DBOOST_ROOT="${env:BOOST_ROOT}" -DBOOST_INCLUDEDIR="${env:BOOST_ROOT}\boost\include" -DBOOST_LIBRARYDIR="${env:BOOST_ROOT}\lib"
 
       - name: Build
-        shell: cmd
         run: |
-          :: Since Visual Studio is a multi-generator, we need to use --config
-          :: https://stackoverflow.com/a/24470998/1236990
+          # Since Visual Studio is a multi-generator, we need to use --config
+          # https://stackoverflow.com/a/24470998/1236990
           cmake --build build -j4 --config ${{ matrix.build_type }} --target gtsam
           cmake --build build -j4 --config ${{ matrix.build_type }} --target gtsam_unstable
 
-          :: Target doesn't exist
-          :: cmake --build build -j4 --config ${{ matrix.build_type }} --target wrap
+          # Target doesn't exist
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target wrap
 
       - name: Test
-        shell: cmd
         run: |
-          :: Run GTSAM tests
+          # Run GTSAM tests
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.base
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.basis
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.discrete
-          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.geometry
+
+          # Compilation error
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.geometry
+
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.inference
 
-          :: Compile. Fail with exception
-          :: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.linear
+          # Compile. Fail with exception
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.linear
           
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.navigation          
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.sam
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.sfm          
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.symbolic
 
-          :: Compile. Fail with exception
-          :: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.hybrid
+          # Compile. Fail with exception
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.hybrid
 
-          :: Compile. Fail with exception
-          :: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear
+          # Compile. Fail with exception
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear
 
-          :: Compilation error
-          :: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam
+          # Compilation error
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam
 
 
-          :: Run GTSAM_UNSTABLE tests
+          # Run GTSAM_UNSTABLE tests
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.base_unstable
 
-          :: Compile. Fail with exception
-          :: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.geometry_unstable
+          # Compile. Fail with exception
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.geometry_unstable
 
-          :: Compile. Fail with exception
-          :: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.linear_unstable
+          # Compile. Fail with exception
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.linear_unstable
 
-          :: Compile. Fail with exception
-          :: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.discrete_unstable
+          # Compile. Fail with exception
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.discrete_unstable
 
-          :: Compile. Fail with exception
-          :: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.dynamics_unstable
+          # Compile. Fail with exception
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.dynamics_unstable
 
-          :: Compile. Fail with exception
-          :: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear_unstable
+          # Compile. Fail with exception
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear_unstable
 
-          :: Compilation error
-          :: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam_unstable
+          # Compilation error
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam_unstable
 
-          :: Compilation error
-          :: cmake --build build -j4 --config ${{ matrix.build_type }} --target check.partition          
+          # Compilation error
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.partition          

From 8ac72e8e687f9962f541d2f29bd0018727556b3b Mon Sep 17 00:00:00 2001
From: Tal Regev <tal.regev@gmail.com>
Date: Mon, 24 Jul 2023 23:53:55 +0300
Subject: [PATCH 112/206] Change to bash shell to fail on first error

---
 .github/workflows/build-windows.yml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index 98218a894..f4442bdde 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -99,6 +99,7 @@ jobs:
           cmake -B build -S . -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DBOOST_ROOT="${env:BOOST_ROOT}" -DBOOST_INCLUDEDIR="${env:BOOST_ROOT}\boost\include" -DBOOST_LIBRARYDIR="${env:BOOST_ROOT}\lib"
 
       - name: Build
+        shell: bash
         run: |
           # Since Visual Studio is a multi-generator, we need to use --config
           # https://stackoverflow.com/a/24470998/1236990
@@ -109,6 +110,7 @@ jobs:
           # cmake --build build -j4 --config ${{ matrix.build_type }} --target wrap
 
       - name: Test
+        shell: bash
         run: |
           # Run GTSAM tests
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.base

From df0c5d7ca0994260b01b851583141b4a53e13a74 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 24 Jul 2023 19:23:16 -0400
Subject: [PATCH 113/206] remove timers

---
 gtsam/hybrid/HybridBayesNet.cpp            | 7 +------
 gtsam/hybrid/HybridGaussianFactorGraph.cpp | 3 ---
 2 files changed, 1 insertion(+), 9 deletions(-)

diff --git a/gtsam/hybrid/HybridBayesNet.cpp b/gtsam/hybrid/HybridBayesNet.cpp
index b4bf61220..3bafe5a9c 100644
--- a/gtsam/hybrid/HybridBayesNet.cpp
+++ b/gtsam/hybrid/HybridBayesNet.cpp
@@ -129,7 +129,6 @@ std::function<double(const Assignment<Key> &, double)> prunerFunc(
 DecisionTreeFactor HybridBayesNet::pruneDiscreteConditionals(
     size_t maxNrLeaves) {
   // Get the joint distribution of only the discrete keys
-  gttic_(HybridBayesNet_PruneDiscreteConditionals);
   // The joint discrete probability.
   DiscreteConditional discreteProbs;
 
@@ -147,12 +146,11 @@ DecisionTreeFactor HybridBayesNet::pruneDiscreteConditionals(
       discrete_factor_idxs.push_back(i);
     }
   }
+
   const DecisionTreeFactor prunedDiscreteProbs =
       discreteProbs.prune(maxNrLeaves);
-  gttoc_(HybridBayesNet_PruneDiscreteConditionals);
 
   // Eliminate joint probability back into conditionals
-  gttic_(HybridBayesNet_UpdateDiscreteConditionals);
   DiscreteFactorGraph dfg{prunedDiscreteProbs};
   DiscreteBayesNet::shared_ptr dbn = dfg.eliminateSequential(discrete_frontals);
 
@@ -161,7 +159,6 @@ DecisionTreeFactor HybridBayesNet::pruneDiscreteConditionals(
     size_t idx = discrete_factor_idxs.at(i);
     this->at(idx) = std::make_shared<HybridConditional>(dbn->at(i));
   }
-  gttoc_(HybridBayesNet_UpdateDiscreteConditionals);
 
   return prunedDiscreteProbs;
 }
@@ -180,7 +177,6 @@ HybridBayesNet HybridBayesNet::prune(size_t maxNrLeaves) {
 
   HybridBayesNet prunedBayesNetFragment;
 
-  gttic_(HybridBayesNet_PruneMixtures);
   // Go through all the conditionals in the
   // Bayes Net and prune them as per prunedDiscreteProbs.
   for (auto &&conditional : *this) {
@@ -197,7 +193,6 @@ HybridBayesNet HybridBayesNet::prune(size_t maxNrLeaves) {
       prunedBayesNetFragment.push_back(conditional);
     }
   }
-  gttoc_(HybridBayesNet_PruneMixtures);
 
   return prunedBayesNetFragment;
 }
diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index 2d4ac83f6..7a7ca0cbf 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -96,7 +96,6 @@ static GaussianFactorGraphTree addGaussian(
 // TODO(dellaert): it's probably more efficient to first collect the discrete
 // keys, and then loop over all assignments to populate a vector.
 GaussianFactorGraphTree HybridGaussianFactorGraph::assembleGraphTree() const {
-  gttic_(assembleGraphTree);
 
   GaussianFactorGraphTree result;
 
@@ -129,8 +128,6 @@ GaussianFactorGraphTree HybridGaussianFactorGraph::assembleGraphTree() const {
     }
   }
 
-  gttoc_(assembleGraphTree);
-
   return result;
 }
 

From cb3c35b81a8b7684d5f1a07a05aba5f5f00608ac Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 25 Jul 2023 11:11:55 -0400
Subject: [PATCH 114/206] refactor and better document prune method

---
 gtsam/discrete/DecisionTreeFactor.cpp | 17 ++++++++++++++---
 1 file changed, 14 insertions(+), 3 deletions(-)

diff --git a/gtsam/discrete/DecisionTreeFactor.cpp b/gtsam/discrete/DecisionTreeFactor.cpp
index 7ba4c9011..17731453a 100644
--- a/gtsam/discrete/DecisionTreeFactor.cpp
+++ b/gtsam/discrete/DecisionTreeFactor.cpp
@@ -201,8 +201,14 @@ namespace gtsam {
 
     std::vector<double> probs;
 
-    // Go through the tree
-    this->apply([&](const Assignment<Key> a, double p) {
+    /* An operation that takes each leaf probability, and computes the
+     * nrAssignments by checking the difference between the keys in the factor
+     * and the keys in the assignment.
+     * The nrAssignments is then used to append
+     * the correct number of leaf probability values to the `probs` vector
+     * defined above.
+     */
+    auto op = [&](const Assignment<Key>& a, double p) {
       // Get all the keys in the current assignment
       std::set<Key> assignment_keys;
       for (auto&& [k, _] : a) {
@@ -220,9 +226,14 @@ namespace gtsam {
       for (auto&& k : diff) {
         nrAssignments *= cardinalities_.at(k);
       }
+      // Add p `nrAssignments` times to the probs vector.
       probs.insert(probs.end(), nrAssignments, p);
+
       return p;
-    });
+    };
+
+    // Go through the tree
+    this->apply(op);
 
     return probs;
   }

From 3a78499d36dc31a8512564ecf6f5e05f10beae58 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 25 Jul 2023 11:12:29 -0400
Subject: [PATCH 115/206] undo TableFactor changes

---
 gtsam/discrete/TableFactor.cpp           | 38 +-----------------------
 gtsam/discrete/TableFactor.h             |  8 +----
 gtsam/discrete/tests/testTableFactor.cpp | 10 -------
 3 files changed, 2 insertions(+), 54 deletions(-)

diff --git a/gtsam/discrete/TableFactor.cpp b/gtsam/discrete/TableFactor.cpp
index f4e023a4d..2be8e077d 100644
--- a/gtsam/discrete/TableFactor.cpp
+++ b/gtsam/discrete/TableFactor.cpp
@@ -56,45 +56,9 @@ TableFactor::TableFactor(const DiscreteKeys& dkeys,
   sort(sorted_dkeys_.begin(), sorted_dkeys_.end());
 }
 
-/* ************************************************************************ */
-TableFactor::TableFactor(const DiscreteKeys& dkeys,
-                         const DecisionTree<Key, double>& dtree)
-    : TableFactor(dkeys, DecisionTreeFactor(dkeys, dtree)) {}
-
-/**
- * @brief Compute the correct ordering of the leaves in the decision tree.
- *
- * This is done by first taking all the values which have modulo 0 value with
- * the cardinality of the innermost key `n`, and we go up to modulo n.
- *
- * @param dt The DecisionTree
- * @return std::vector<double>
- */
-std::vector<double> ComputeLeafOrdering(const DiscreteKeys& dkeys,
-                                        const DecisionTreeFactor& dt) {
-  std::vector<double> probs = dt.probabilities();
-  std::vector<double> ordered;
-
-  size_t n = dkeys[0].second;
-
-  for (size_t k = 0; k < n; ++k) {
-    for (size_t idx = 0; idx < probs.size(); ++idx) {
-      if (idx % n == k) {
-        ordered.push_back(probs[idx]);
-      }
-    }
-  }
-  return ordered;
-}
-
-/* ************************************************************************ */
-TableFactor::TableFactor(const DiscreteKeys& dkeys,
-                         const DecisionTreeFactor& dtf)
-    : TableFactor(dkeys, ComputeLeafOrdering(dkeys, dtf)) {}
-
 /* ************************************************************************ */
 TableFactor::TableFactor(const DiscreteConditional& c)
-    : TableFactor(c.discreteKeys(), c) {}
+    : TableFactor(c.discreteKeys(), c.probabilities()) {}
 
 /* ************************************************************************ */
 Eigen::SparseVector<double> TableFactor::Convert(
diff --git a/gtsam/discrete/TableFactor.h b/gtsam/discrete/TableFactor.h
index 828e794e6..d5decd1a1 100644
--- a/gtsam/discrete/TableFactor.h
+++ b/gtsam/discrete/TableFactor.h
@@ -144,12 +144,6 @@ class GTSAM_EXPORT TableFactor : public DiscreteFactor {
   TableFactor(const DiscreteKey& key, const std::vector<double>& row)
       : TableFactor(DiscreteKeys{key}, row) {}
 
-  /// Constructor from DecisionTreeFactor
-  TableFactor(const DiscreteKeys& keys, const DecisionTreeFactor& dtf);
-
-  /// Constructor from DecisionTree<Key, double>/AlgebraicDecisionTree
-  TableFactor(const DiscreteKeys& keys, const DecisionTree<Key, double>& dtree);
-
   /** Construct from a DiscreteConditional type */
   explicit TableFactor(const DiscreteConditional& c);
 
@@ -181,7 +175,7 @@ class GTSAM_EXPORT TableFactor : public DiscreteFactor {
   /// Calculate error for DiscreteValues `x`, is -log(probability).
   double error(const DiscreteValues& values) const;
 
-  /// multiply two TableFactors
+  /// multiple two TableFactors
   TableFactor operator*(const TableFactor& f) const {
     return apply(f, Ring::mul);
   };
diff --git a/gtsam/discrete/tests/testTableFactor.cpp b/gtsam/discrete/tests/testTableFactor.cpp
index 0f7d7a615..7ad0ac1ff 100644
--- a/gtsam/discrete/tests/testTableFactor.cpp
+++ b/gtsam/discrete/tests/testTableFactor.cpp
@@ -132,16 +132,6 @@ TEST(TableFactor, constructors) {
   // Manually constructed via inspection and comparison to DecisionTreeFactor
   TableFactor expected(X & Y, "0.5 0.4 0.2 0.5 0.6 0.8");
   EXPECT(assert_equal(expected, f4));
-
-  // Test for 9=3x3 values.
-  DiscreteKey V(0, 3), W(1, 3);
-  DiscreteConditional conditional5(V | W = "1/2/3 5/6/7 9/10/11");
-  TableFactor f5(conditional5);
-  // GTSAM_PRINT(f5);
-  TableFactor expected_f5(
-      X & Y,
-      "0.166667 0.277778 0.3 0.333333 0.333333 0.333333 0.5 0.388889 0.366667");
-  EXPECT(assert_equal(expected_f5, f5, 1e-6));
 }
 
 /* ************************************************************************* */

From 8c9fad8cb16db195114a064a1a0e1c0d30002a93 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 25 Jul 2023 11:13:25 -0400
Subject: [PATCH 116/206] undo more changes in TableFactor

---
 gtsam/discrete/TableFactor.h             | 4 ++--
 gtsam/discrete/tests/testTableFactor.cpp | 1 -
 2 files changed, 2 insertions(+), 3 deletions(-)

diff --git a/gtsam/discrete/TableFactor.h b/gtsam/discrete/TableFactor.h
index d5decd1a1..981e1507b 100644
--- a/gtsam/discrete/TableFactor.h
+++ b/gtsam/discrete/TableFactor.h
@@ -175,12 +175,12 @@ class GTSAM_EXPORT TableFactor : public DiscreteFactor {
   /// Calculate error for DiscreteValues `x`, is -log(probability).
   double error(const DiscreteValues& values) const;
 
-  /// multiple two TableFactors
+  /// multiply two TableFactors
   TableFactor operator*(const TableFactor& f) const {
     return apply(f, Ring::mul);
   };
 
-  /// multiply with DecisionTreeFactor
+  /// multiple with DecisionTreeFactor
   DecisionTreeFactor operator*(const DecisionTreeFactor& f) const override;
 
   static double safe_div(const double& a, const double& b);
diff --git a/gtsam/discrete/tests/testTableFactor.cpp b/gtsam/discrete/tests/testTableFactor.cpp
index 7ad0ac1ff..e85e4254c 100644
--- a/gtsam/discrete/tests/testTableFactor.cpp
+++ b/gtsam/discrete/tests/testTableFactor.cpp
@@ -19,7 +19,6 @@
 #include <CppUnitLite/TestHarness.h>
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/serializationTestHelpers.h>
-#include <gtsam/discrete/DiscreteConditional.h>
 #include <gtsam/discrete/DiscreteDistribution.h>
 #include <gtsam/discrete/Signature.h>
 #include <gtsam/discrete/TableFactor.h>

From ff3994647a9999b1b2b9e0360c207ea84971f0af Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 25 Jul 2023 11:20:38 -0400
Subject: [PATCH 117/206] add new TableFactor constructors

---
 gtsam/discrete/TableFactor.cpp           | 38 +++++++++++++++++++++++-
 gtsam/discrete/TableFactor.h             |  8 ++++-
 gtsam/discrete/tests/testTableFactor.cpp | 11 +++++++
 3 files changed, 55 insertions(+), 2 deletions(-)

diff --git a/gtsam/discrete/TableFactor.cpp b/gtsam/discrete/TableFactor.cpp
index 2be8e077d..f4e023a4d 100644
--- a/gtsam/discrete/TableFactor.cpp
+++ b/gtsam/discrete/TableFactor.cpp
@@ -56,9 +56,45 @@ TableFactor::TableFactor(const DiscreteKeys& dkeys,
   sort(sorted_dkeys_.begin(), sorted_dkeys_.end());
 }
 
+/* ************************************************************************ */
+TableFactor::TableFactor(const DiscreteKeys& dkeys,
+                         const DecisionTree<Key, double>& dtree)
+    : TableFactor(dkeys, DecisionTreeFactor(dkeys, dtree)) {}
+
+/**
+ * @brief Compute the correct ordering of the leaves in the decision tree.
+ *
+ * This is done by first taking all the values which have modulo 0 value with
+ * the cardinality of the innermost key `n`, and we go up to modulo n.
+ *
+ * @param dt The DecisionTree
+ * @return std::vector<double>
+ */
+std::vector<double> ComputeLeafOrdering(const DiscreteKeys& dkeys,
+                                        const DecisionTreeFactor& dt) {
+  std::vector<double> probs = dt.probabilities();
+  std::vector<double> ordered;
+
+  size_t n = dkeys[0].second;
+
+  for (size_t k = 0; k < n; ++k) {
+    for (size_t idx = 0; idx < probs.size(); ++idx) {
+      if (idx % n == k) {
+        ordered.push_back(probs[idx]);
+      }
+    }
+  }
+  return ordered;
+}
+
+/* ************************************************************************ */
+TableFactor::TableFactor(const DiscreteKeys& dkeys,
+                         const DecisionTreeFactor& dtf)
+    : TableFactor(dkeys, ComputeLeafOrdering(dkeys, dtf)) {}
+
 /* ************************************************************************ */
 TableFactor::TableFactor(const DiscreteConditional& c)
-    : TableFactor(c.discreteKeys(), c.probabilities()) {}
+    : TableFactor(c.discreteKeys(), c) {}
 
 /* ************************************************************************ */
 Eigen::SparseVector<double> TableFactor::Convert(
diff --git a/gtsam/discrete/TableFactor.h b/gtsam/discrete/TableFactor.h
index 981e1507b..828e794e6 100644
--- a/gtsam/discrete/TableFactor.h
+++ b/gtsam/discrete/TableFactor.h
@@ -144,6 +144,12 @@ class GTSAM_EXPORT TableFactor : public DiscreteFactor {
   TableFactor(const DiscreteKey& key, const std::vector<double>& row)
       : TableFactor(DiscreteKeys{key}, row) {}
 
+  /// Constructor from DecisionTreeFactor
+  TableFactor(const DiscreteKeys& keys, const DecisionTreeFactor& dtf);
+
+  /// Constructor from DecisionTree<Key, double>/AlgebraicDecisionTree
+  TableFactor(const DiscreteKeys& keys, const DecisionTree<Key, double>& dtree);
+
   /** Construct from a DiscreteConditional type */
   explicit TableFactor(const DiscreteConditional& c);
 
@@ -180,7 +186,7 @@ class GTSAM_EXPORT TableFactor : public DiscreteFactor {
     return apply(f, Ring::mul);
   };
 
-  /// multiple with DecisionTreeFactor
+  /// multiply with DecisionTreeFactor
   DecisionTreeFactor operator*(const DecisionTreeFactor& f) const override;
 
   static double safe_div(const double& a, const double& b);
diff --git a/gtsam/discrete/tests/testTableFactor.cpp b/gtsam/discrete/tests/testTableFactor.cpp
index e85e4254c..0f7d7a615 100644
--- a/gtsam/discrete/tests/testTableFactor.cpp
+++ b/gtsam/discrete/tests/testTableFactor.cpp
@@ -19,6 +19,7 @@
 #include <CppUnitLite/TestHarness.h>
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/serializationTestHelpers.h>
+#include <gtsam/discrete/DiscreteConditional.h>
 #include <gtsam/discrete/DiscreteDistribution.h>
 #include <gtsam/discrete/Signature.h>
 #include <gtsam/discrete/TableFactor.h>
@@ -131,6 +132,16 @@ TEST(TableFactor, constructors) {
   // Manually constructed via inspection and comparison to DecisionTreeFactor
   TableFactor expected(X & Y, "0.5 0.4 0.2 0.5 0.6 0.8");
   EXPECT(assert_equal(expected, f4));
+
+  // Test for 9=3x3 values.
+  DiscreteKey V(0, 3), W(1, 3);
+  DiscreteConditional conditional5(V | W = "1/2/3 5/6/7 9/10/11");
+  TableFactor f5(conditional5);
+  // GTSAM_PRINT(f5);
+  TableFactor expected_f5(
+      X & Y,
+      "0.166667 0.277778 0.3 0.333333 0.333333 0.333333 0.5 0.388889 0.366667");
+  EXPECT(assert_equal(expected_f5, f5, 1e-6));
 }
 
 /* ************************************************************************* */

From 02ecc80ecfae7f26752e469de7cc8e17c469d790 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 24 Jul 2023 20:46:30 -0400
Subject: [PATCH 118/206] additional ordering test

---
 gtsam/inference/tests/testOrdering.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/gtsam/inference/tests/testOrdering.cpp b/gtsam/inference/tests/testOrdering.cpp
index 328d383d8..b6cfcb6ed 100644
--- a/gtsam/inference/tests/testOrdering.cpp
+++ b/gtsam/inference/tests/testOrdering.cpp
@@ -219,6 +219,11 @@ TEST(Ordering, AppendVector) {
 
   Ordering expected{X(0), X(1), X(2)};
   EXPECT(assert_equal(expected, actual));
+
+  actual = Ordering();
+  Ordering addl{X(0), X(1), X(2)};
+  actual += addl;
+  EXPECT(assert_equal(expected, actual));
 }
 
 /* ************************************************************************* */

From 5f93febcbe0d9f98d9fce4b13a498e14f10ae4df Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 25 Jul 2023 11:35:09 -0400
Subject: [PATCH 119/206] keyformatter for NonlinearFactorGraph::printErrors in
 python

---
 gtsam/nonlinear/nonlinear.i | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/gtsam/nonlinear/nonlinear.i b/gtsam/nonlinear/nonlinear.i
index 06451ab1f..3f5fb1dd5 100644
--- a/gtsam/nonlinear/nonlinear.i
+++ b/gtsam/nonlinear/nonlinear.i
@@ -86,7 +86,10 @@ class NonlinearFactorGraph {
                 const gtsam::noiseModel::Base* noiseModel);
 
   // NonlinearFactorGraph
-  void printErrors(const gtsam::Values& values) const;
+  void printErrors(const gtsam::Values& values,
+                   const string& str = "NonlinearFactorGraph: ",
+                   const gtsam::KeyFormatter& keyFormatter =
+                       gtsam::DefaultKeyFormatter) const;
   double error(const gtsam::Values& values) const;
   double probPrime(const gtsam::Values& values) const;
   gtsam::Ordering orderingCOLAMD() const;

From b51ff749645d2b6ecc8b3d4ed8434e7a2276caaa Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 25 Jul 2023 14:28:14 -0400
Subject: [PATCH 120/206] discrete conditional from vector of doubles

---
 gtsam/discrete/DiscreteConditional.h             | 12 ++++++++++++
 gtsam/discrete/DiscreteKey.h                     |  6 ++++++
 gtsam/discrete/tests/testDiscreteConditional.cpp |  5 +++++
 3 files changed, 23 insertions(+)

diff --git a/gtsam/discrete/DiscreteConditional.h b/gtsam/discrete/DiscreteConditional.h
index 183cf8561..50fa6e161 100644
--- a/gtsam/discrete/DiscreteConditional.h
+++ b/gtsam/discrete/DiscreteConditional.h
@@ -77,6 +77,18 @@ class GTSAM_EXPORT DiscreteConditional
                       const Signature::Table& table)
       : DiscreteConditional(Signature(key, parents, table)) {}
 
+  /**
+   * Construct from key, parents, and a vector<double> specifying the
+   * conditional probability table (CPT) in 00 01 10 11 order. For
+   * three-valued, it would be 00 01 02 10 11 12 20 21 22, etc....
+   *
+   * Example: DiscreteConditional P(D, {B,E}, table);
+   */
+  DiscreteConditional(const DiscreteKey& key, const DiscreteKeys& parents,
+                      const std::vector<double>& table)
+      : DiscreteConditional(1, DiscreteKeys{key} & parents,
+                            ADT(DiscreteKeys{key} & parents, table)) {}
+
   /**
    * Construct from key, parents, and a string specifying the conditional
    * probability table (CPT) in 00 01 10 11 order. For three-valued, it would
diff --git a/gtsam/discrete/DiscreteKey.h b/gtsam/discrete/DiscreteKey.h
index 3a626c6b3..44cc192ef 100644
--- a/gtsam/discrete/DiscreteKey.h
+++ b/gtsam/discrete/DiscreteKey.h
@@ -74,6 +74,12 @@ namespace gtsam {
       return *this;
     }
 
+    /// Add multiple keys (non-const!)
+    DiscreteKeys& operator&(const DiscreteKeys& keys) {
+      this->insert(this->end(), keys.begin(), keys.end());
+      return *this;
+    }
+
     /// Print the keys and cardinalities.
     void print(const std::string& s = "",
                const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
diff --git a/gtsam/discrete/tests/testDiscreteConditional.cpp b/gtsam/discrete/tests/testDiscreteConditional.cpp
index aa393d74c..9439f5653 100644
--- a/gtsam/discrete/tests/testDiscreteConditional.cpp
+++ b/gtsam/discrete/tests/testDiscreteConditional.cpp
@@ -46,6 +46,11 @@ TEST(DiscreteConditional, constructors) {
   DiscreteConditional actual2(1, f2);
   DecisionTreeFactor expected2 = f2 / *f2.sum(1);
   EXPECT(assert_equal(expected2, static_cast<DecisionTreeFactor>(actual2)));
+
+  std::vector<double> probs{0.2, 0.5, 0.3, 0.6, 0.4, 0.7, 0.25, 0.55, 0.35, 0.65, 0.45, 0.75};
+  DiscreteConditional actual3(X, {Y, Z}, probs);
+  DecisionTreeFactor expected3 = f2;
+  EXPECT(assert_equal(expected3, static_cast<DecisionTreeFactor>(actual3)));
 }
 
 /* ************************************************************************* */

From 38e52810bc288ccf070cc308fd74e618267e1a98 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 27 Jul 2023 14:45:08 -0400
Subject: [PATCH 121/206] remove extra GTSAM_EXPORTs from Ordering.h

---
 gtsam/inference/Ordering.h | 2 --
 1 file changed, 2 deletions(-)

diff --git a/gtsam/inference/Ordering.h b/gtsam/inference/Ordering.h
index 5202a2749..c3df1b8a0 100644
--- a/gtsam/inference/Ordering.h
+++ b/gtsam/inference/Ordering.h
@@ -70,11 +70,9 @@ public:
    * @param keys The key vector to append to this ordering.
    * @return The ordering variable with appended keys.
    */
-  GTSAM_EXPORT
   This& operator+=(KeyVector& keys);
 
   /// Check if key exists in ordering.
-  GTSAM_EXPORT
   bool contains(const Key& key) const;
 
   /**

From d473cef470b4fd5ca1bbbd0b239d0ca39df46872 Mon Sep 17 00:00:00 2001
From: Fan Jiang <fanjiang@meta.com>
Date: Fri, 28 Jul 2023 14:13:38 -0700
Subject: [PATCH 122/206] Add new loss functions

---
 gtsam/linear/LossFunctions.cpp | 93 ++++++++++++++++++++++++++++++++++
 gtsam/linear/LossFunctions.h   | 74 +++++++++++++++++++++++++++
 gtsam/linear/linear.i          | 13 +++++
 3 files changed, 180 insertions(+)

diff --git a/gtsam/linear/LossFunctions.cpp b/gtsam/linear/LossFunctions.cpp
index 64ded7cc3..8099ca81e 100644
--- a/gtsam/linear/LossFunctions.cpp
+++ b/gtsam/linear/LossFunctions.cpp
@@ -424,6 +424,99 @@ L2WithDeadZone::shared_ptr L2WithDeadZone::Create(double k, const ReweightScheme
   return shared_ptr(new L2WithDeadZone(k, reweight));
 }
 
+
+/* ************************************************************************* */
+// AsymmetricTukey
+/* ************************************************************************* */
+
+AsymmetricTukey::AsymmetricTukey(double c, const ReweightScheme reweight) : Base(reweight), c_(c), csquared_(c * c) {
+  if (c <= 0) {
+    throw runtime_error("mEstimator AsymmetricTukey takes only positive double in constructor.");
+  }
+}
+
+double AsymmetricTukey::weight(double distance) const {
+  distance = -distance;
+  if (distance >= 0.0) {
+    return distance;
+  } else if (distance > -c_) {
+    const double one_minus_xc2 = 1.0 - distance * distance / csquared_;
+    return one_minus_xc2 * one_minus_xc2;
+  }
+  return 0.0;
+}
+
+double AsymmetricTukey::loss(double distance) const {
+  distance = -distance;
+  if (distance >= 0.0) {
+    return distance * distance / 2.0;
+  } else if (distance >= -c_) {
+    const double one_minus_xc2 = 1.0 - distance * distance / csquared_;
+    const double t = one_minus_xc2 * one_minus_xc2 * one_minus_xc2;
+    return csquared_ * (1 - t) / 6.0;
+  }
+  return csquared_ / 6.0;
+}
+
+void AsymmetricTukey::print(const std::string &s="") const {
+  std::cout << s << ": AsymmetricTukey (" << c_ << ")" << std::endl;
+}
+
+bool AsymmetricTukey::equals(const Base &expected, double tol) const {
+  const AsymmetricTukey* p = dynamic_cast<const AsymmetricTukey*>(&expected);
+  if (p == nullptr) return false;
+  return std::abs(c_ - p->c_) < tol;
+}
+
+AsymmetricTukey::shared_ptr AsymmetricTukey::Create(double c, const ReweightScheme reweight) {
+  return shared_ptr(new AsymmetricTukey(c, reweight));
+}
+
+
+/* ************************************************************************* */
+// AsymmetricCauchy
+/* ************************************************************************* */
+
+AsymmetricCauchy::AsymmetricCauchy(double k, const ReweightScheme reweight) : Base(reweight), k_(k), ksquared_(k * k) {
+  if (k <= 0) {
+    throw runtime_error("mEstimator AsymmetricCauchy takes only positive double in constructor.");
+  }
+}
+
+double AsymmetricCauchy::weight(double distance) const {
+  distance = -distance;
+  if (distance >= 0.0) {
+    return distance;
+  }
+  
+    return ksquared_ / (ksquared_ + distance*distance);
+  
+}
+
+double AsymmetricCauchy::loss(double distance) const {
+  distance = -distance;
+  if (distance >= 0.0) {
+    return distance * distance / 2.0;
+  }
+  const double val = std::log1p(distance * distance / ksquared_);
+  return ksquared_ * val * 0.5;
+}
+
+void AsymmetricCauchy::print(const std::string &s="") const {
+  std::cout << s << ": AsymmetricCauchy (" << k_ << ")" << std::endl;
+}
+
+bool AsymmetricCauchy::equals(const Base &expected, double tol) const {
+  const AsymmetricCauchy* p = dynamic_cast<const AsymmetricCauchy*>(&expected);
+  if (p == nullptr) return false;
+  return std::abs(k_ - p->k_) < tol;
+}
+
+AsymmetricCauchy::shared_ptr AsymmetricCauchy::Create(double k, const ReweightScheme reweight) {
+  return shared_ptr(new AsymmetricCauchy(k, reweight));
+}
+
+
 } // namespace mEstimator
 } // namespace noiseModel
 } // gtsam
diff --git a/gtsam/linear/LossFunctions.h b/gtsam/linear/LossFunctions.h
index 70166d97e..1e28755bb 100644
--- a/gtsam/linear/LossFunctions.h
+++ b/gtsam/linear/LossFunctions.h
@@ -15,6 +15,7 @@
  * @date  Jan 13, 2010
  * @author Richard Roberts
  * @author Frank Dellaert
+ * @author Fan Jiang
  */
 
 #pragma once
@@ -470,6 +471,79 @@ class GTSAM_EXPORT L2WithDeadZone : public Base {
 #endif
 };
 
+/** Implementation of the "AsymmetricTukey" robust error model.
+ *
+ *  This model has a scalar parameter "c".
+ *
+ * - Following are all for one side, the other is standard L2
+ * - Loss       \rho(x) = c² (1 - (1-x²/c²)³)/6  if |x|<c,  c²/6   otherwise
+ * - Derivative \phi(x) = x(1-x²/c²)² if |x|<c,  0   otherwise
+ * - Weight     w(x) = \phi(x)/x = (1-x²/c²)² if |x|<c,  0   otherwise
+ */
+class GTSAM_EXPORT AsymmetricTukey : public Base {
+ protected:
+  double c_, csquared_;
+
+ public:
+  typedef std::shared_ptr<AsymmetricTukey> shared_ptr;
+
+  AsymmetricTukey(double c = 4.6851, const ReweightScheme reweight = Block);
+  double weight(double distance) const override;
+  double loss(double distance) const override;
+  void print(const std::string &s) const override;
+  bool equals(const Base &expected, double tol = 1e-8) const override;
+  static shared_ptr Create(double k, const ReweightScheme reweight = Block);
+  double modelParameter() const { return c_; }
+
+ private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+  /** Serialization function */
+  friend class boost::serialization::access;
+  template <class ARCHIVE>
+  void serialize(ARCHIVE &ar, const unsigned int /*version*/) {
+    ar &BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
+    ar &BOOST_SERIALIZATION_NVP(c_);
+  }
+#endif
+};
+
+/** Implementation of the "AsymmetricCauchy" robust error model.
+ *
+ *  This model has a scalar parameter "k".
+ *
+ * - Following are all for one side, the other is standard L2
+ * - Loss       \rho(x) = 0.5 k² log(1+x²/k²)
+ * - Derivative \phi(x) = (k²x)/(x²+k²)
+ * - Weight     w(x) = \phi(x)/x = k²/(x²+k²)
+ */
+class GTSAM_EXPORT AsymmetricCauchy : public Base {
+ protected:
+  double k_, ksquared_;
+
+ public:
+  typedef std::shared_ptr<AsymmetricCauchy> shared_ptr;
+
+  AsymmetricCauchy(double k = 0.1, const ReweightScheme reweight = Block);
+  double weight(double distance) const override;
+  double loss(double distance) const override;
+  void print(const std::string &s) const override;
+  bool equals(const Base &expected, double tol = 1e-8) const override;
+  static shared_ptr Create(double k, const ReweightScheme reweight = Block);
+  double modelParameter() const { return k_; }
+
+ private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+  /** Serialization function */
+  friend class boost::serialization::access;
+  template <class ARCHIVE>
+  void serialize(ARCHIVE &ar, const unsigned int /*version*/) {
+    ar &BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
+    ar &BOOST_SERIALIZATION_NVP(k_);
+    ar &BOOST_SERIALIZATION_NVP(ksquared_);
+  }
+#endif
+};
+
 }  // namespace mEstimator
 }  // namespace noiseModel
 }  // namespace gtsam
diff --git a/gtsam/linear/linear.i b/gtsam/linear/linear.i
index c0230f1c2..63359ae2b 100644
--- a/gtsam/linear/linear.i
+++ b/gtsam/linear/linear.i
@@ -89,6 +89,7 @@ virtual class Unit : gtsam::noiseModel::Isotropic {
 
 namespace mEstimator {
 virtual class Base {
+  enum ReweightScheme { Scalar, Block };
   void print(string s = "") const;
 };
 
@@ -191,6 +192,18 @@ virtual class L2WithDeadZone: gtsam::noiseModel::mEstimator::Base {
   double loss(double error) const;
 };
 
+virtual class AsymmetricTukey: gtsam::noiseModel::mEstimator::Base {
+  AsymmetricTukey(double k, gtsam::noiseModel::mEstimator::Base::ReweightScheme reweight);
+  static gtsam::noiseModel::mEstimator::AsymmetricTukey* Create(double k);
+
+  // enabling serialization functionality
+  void serializable() const;
+
+  double weight(double error) const;
+  double loss(double error) const;
+};
+
+
 }///\namespace mEstimator
 
 virtual class Robust : gtsam::noiseModel::Base {

From e562d708a3db88e68341b1a0c17ce811ddbe4a8f Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 30 Jul 2023 10:16:15 -0400
Subject: [PATCH 123/206] enable more tests

---
 .github/workflows/build-windows.yml | 13 +++----------
 1 file changed, 3 insertions(+), 10 deletions(-)

diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index af629c7be..9b54cb94b 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -102,7 +102,7 @@ jobs:
       - name: Configuration
         run: |
           cmake -E remove_directory build
-          cmake -G Ninja -B build -S . -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DBOOST_ROOT="${env:BOOST_ROOT}" -DBOOST_INCLUDEDIR="${env:BOOST_ROOT}\boost\include" -DBOOST_LIBRARYDIR="${env:BOOST_ROOT}\lib"
+          cmake -G Ninja -B build -S . -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DGTSAM_ALLOW_DEPRECATED_SINCE_V43=OFF -DBOOST_ROOT="${env:BOOST_ROOT}" -DBOOST_INCLUDEDIR="${env:BOOST_ROOT}\boost\include" -DBOOST_LIBRARYDIR="${env:BOOST_ROOT}\lib"
 
       - name: Build
         shell: bash
@@ -112,9 +112,6 @@ jobs:
           cmake --build build -j4 --config ${{ matrix.build_type }} --target gtsam
           cmake --build build -j4 --config ${{ matrix.build_type }} --target gtsam_unstable
 
-          # Target doesn't exist
-          # cmake --build build -j4 --config ${{ matrix.build_type }} --target wrap
-
       - name: Test
         shell: bash
         run: |
@@ -122,19 +119,15 @@ jobs:
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.base
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.basis
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.discrete
-          # Compilation error
-          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.geometry
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.geometry
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.inference
-          # Compile. Fail with exception
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.linear
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.navigation
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.sam
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.sfm
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.symbolic
-          # Compile. Fail with exception
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.hybrid
-          # Compile. Fail with exception
-          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear
           # Compilation error
           # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam
 

From 67b49d6a5cc57eec93b827a752522b349122b331 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 30 Jul 2023 13:57:00 -0400
Subject: [PATCH 124/206] fix tests in testValues

---
 gtsam/nonlinear/tests/testValues.cpp | 14 +++++++++++---
 1 file changed, 11 insertions(+), 3 deletions(-)

diff --git a/gtsam/nonlinear/tests/testValues.cpp b/gtsam/nonlinear/tests/testValues.cpp
index 2a7bede30..a2b265a56 100644
--- a/gtsam/nonlinear/tests/testValues.cpp
+++ b/gtsam/nonlinear/tests/testValues.cpp
@@ -581,7 +581,7 @@ TEST(Values, std_move) {
 TEST(Values, VectorDynamicInsertFixedRead) {
   Values values;
   Vector v(3); v << 5.0, 6.0, 7.0;
-  values.insert(key1, v);
+  values.insert<Vector3>(key1, v);
   Vector3 expected(5.0, 6.0, 7.0);
   Vector3 actual = values.at<Vector3>(key1);
   CHECK(assert_equal(expected, actual));
@@ -629,7 +629,7 @@ TEST(Values, VectorFixedInsertFixedRead) {
 TEST(Values, MatrixDynamicInsertFixedRead) {
   Values values;
   Matrix v(1,3); v << 5.0, 6.0, 7.0;
-  values.insert(key1, v);
+  values.insert<Matrix13>(key1, v);
   Vector3 expected(5.0, 6.0, 7.0);
   CHECK(assert_equal((Vector)expected, values.at<Matrix13>(key1)));
   CHECK_EXCEPTION(values.at<Matrix23>(key1), exception);
@@ -639,7 +639,15 @@ TEST(Values, Demangle) {
   Values values;
   Matrix13 v; v << 5.0, 6.0, 7.0;
   values.insert(key1, v);
-  string expected = "Values with 1 values:\nValue v1: (Eigen::Matrix<double, 1, 3, 1, 1, 3>)\n[\n	5, 6, 7\n]\n\n";
+#ifdef __GNUG__
+  string expected =
+      "Values with 1 values:\nValue v1: (Eigen::Matrix<double, 1, 3, 1, 1, "
+      "3>)\n[\n	5, 6, 7\n]\n\n";
+#elif _WIN32
+  string expected =
+      "Values with 1 values:\nValue v1: "
+      "(class Eigen::Matrix<double,1,3,1,1,3>)\n[\n	5, 6, 7\n]\n\n";
+#endif
 
   EXPECT(assert_print_equal(expected, values));
 }

From df3899e2e8bfc9e98dad4e493409ae11e17d1989 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 30 Jul 2023 14:11:05 -0400
Subject: [PATCH 125/206] comment out nonlinear check

---
 .github/workflows/build-windows.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index 9b54cb94b..3a2d3816a 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -127,8 +127,8 @@ jobs:
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.sfm
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.symbolic
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.hybrid
-          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear
-          # Compilation error
+          # Compilation error or test failure
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear
           # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam
 
           # Run GTSAM_UNSTABLE tests

From 7f7acd70125035a144f88402c2a09ce5e64c4748 Mon Sep 17 00:00:00 2001
From: Fan Jiang <fanjiang@meta.com>
Date: Mon, 31 Jul 2023 10:19:41 -0700
Subject: [PATCH 126/206] Add unit test

---
 gtsam/linear/tests/testNoiseModel.cpp | 33 +++++++++++++++++++++++++++
 1 file changed, 33 insertions(+)

diff --git a/gtsam/linear/tests/testNoiseModel.cpp b/gtsam/linear/tests/testNoiseModel.cpp
index f1830f37f..7d2c283a6 100644
--- a/gtsam/linear/tests/testNoiseModel.cpp
+++ b/gtsam/linear/tests/testNoiseModel.cpp
@@ -14,6 +14,7 @@
  * @date Jan 13, 2010
  * @author Richard Roberts
  * @author Frank Dellaert
+ * @author Fan Jiang
  */
 
 
@@ -504,6 +505,22 @@ TEST(NoiseModel, robustFunctionCauchy)
   DOUBLES_EQUAL(0.490258914416017, cauchy->loss(error4), 1e-8);
 }
 
+TEST(NoiseModel, robustFunctionAsymmetricCauchy)
+{
+  const double k = 5.0, error1 = 1.0, error2 = 10.0, error3 = -10.0, error4 = -1.0;
+  const mEstimator::AsymmetricCauchy::shared_ptr cauchy = mEstimator::AsymmetricCauchy::Create(k);
+  DOUBLES_EQUAL(0.961538461538461, cauchy->weight(error1), 1e-8);
+  DOUBLES_EQUAL(0.2000, cauchy->weight(error2), 1e-8);
+  // Test negative value to ensure we take absolute value of error.
+  DOUBLES_EQUAL(10.0, cauchy->weight(error3), 1e-8);
+  DOUBLES_EQUAL(1.0, cauchy->weight(error4), 1e-8);
+
+  DOUBLES_EQUAL(0.490258914416017, cauchy->loss(error1), 1e-8);
+  DOUBLES_EQUAL(20.117973905426254, cauchy->loss(error2), 1e-8);
+  DOUBLES_EQUAL(50.0, cauchy->loss(error3), 1e-8);
+  DOUBLES_EQUAL(0.5, cauchy->loss(error4), 1e-8);
+}
+
 TEST(NoiseModel, robustFunctionGemanMcClure)
 {
   const double k = 1.0, error1 = 1.0, error2 = 10.0, error3 = -10.0, error4 = -1.0;
@@ -551,6 +568,22 @@ TEST(NoiseModel, robustFunctionTukey)
   DOUBLES_EQUAL(0.480266666666667, tukey->loss(error4), 1e-8);
 }
 
+TEST(NoiseModel, robustFunctionAsymmetricTukey)
+{
+  const double k = 5.0, error1 = 1.0, error2 = 10.0, error3 = -10.0, error4 = -1.0;
+  const mEstimator::AsymmetricTukey::shared_ptr tukey = mEstimator::AsymmetricTukey::Create(k);
+  DOUBLES_EQUAL(0.9216, tukey->weight(error1), 1e-8);
+  DOUBLES_EQUAL(0.0, tukey->weight(error2), 1e-8);
+  // Test negative value to ensure we take absolute value of error.
+  DOUBLES_EQUAL(10.0, tukey->weight(error3), 1e-8);
+  DOUBLES_EQUAL(1.0, tukey->weight(error4), 1e-8);
+
+  DOUBLES_EQUAL(0.480266666666667, tukey->loss(error1), 1e-8);
+  DOUBLES_EQUAL(4.166666666666667, tukey->loss(error2), 1e-8);
+  DOUBLES_EQUAL(50.0, tukey->loss(error3), 1e-8);
+  DOUBLES_EQUAL(0.5, tukey->loss(error4), 1e-8);
+}
+
 TEST(NoiseModel, robustFunctionDCS)
 {
   const double k = 1.0, error1 = 1.0, error2 = 10.0;

From ddef6445699835557f269a5c52b700d1269d095d Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 31 Jul 2023 16:58:06 -0400
Subject: [PATCH 127/206] fix nonlinear tests

---
 .github/workflows/build-windows.yml                  | 2 +-
 gtsam/nonlinear/ISAM2.h                              | 2 +-
 gtsam/nonlinear/tests/testSerializationNonlinear.cpp | 4 ++--
 3 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index 3a2d3816a..357c4ca08 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -127,8 +127,8 @@ jobs:
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.sfm
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.symbolic
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.hybrid
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear
           # Compilation error or test failure
-          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear
           # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam
 
           # Run GTSAM_UNSTABLE tests
diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h
index 50c5058c2..d3abd95fd 100644
--- a/gtsam/nonlinear/ISAM2.h
+++ b/gtsam/nonlinear/ISAM2.h
@@ -345,7 +345,7 @@ class GTSAM_EXPORT ISAM2 : public BayesTree<ISAM2Clique> {
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
-      ar & boost::serialization::base_object<BayesTree<ISAM2Clique> >(*this);
+      ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
       ar & BOOST_SERIALIZATION_NVP(theta_);
       ar & BOOST_SERIALIZATION_NVP(variableIndex_);
       ar & BOOST_SERIALIZATION_NVP(delta_);
diff --git a/gtsam/nonlinear/tests/testSerializationNonlinear.cpp b/gtsam/nonlinear/tests/testSerializationNonlinear.cpp
index f402656c1..d6f693a23 100644
--- a/gtsam/nonlinear/tests/testSerializationNonlinear.cpp
+++ b/gtsam/nonlinear/tests/testSerializationNonlinear.cpp
@@ -183,7 +183,7 @@ TEST(Serialization, ISAM2) {
 
   std::string binaryPath = "saved_solver.dat";
   try {
-    std::ofstream outputStream(binaryPath);
+    std::ofstream outputStream(binaryPath, std::ios::out | std::ios::binary);
     boost::archive::binary_oarchive outputArchive(outputStream);
     outputArchive << solver;
   } catch(...) {
@@ -192,7 +192,7 @@ TEST(Serialization, ISAM2) {
 
   gtsam::ISAM2 solverFromDisk;
   try {
-    std::ifstream ifs(binaryPath);
+    std::ifstream ifs(binaryPath, std::ios::in | std::ios::binary);
     boost::archive::binary_iarchive inputArchive(ifs);
     inputArchive >> solverFromDisk;
   } catch(...) {

From ced6c53e06e291618a80d039710f234d34593288 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 31 Jul 2023 23:06:11 -0400
Subject: [PATCH 128/206] add GTSAM_EXPORT to various ostream operator
 overloads

---
 gtsam/geometry/PinholePose.h   | 3 ++-
 gtsam/geometry/Similarity2.h   | 3 ++-
 gtsam/geometry/Similarity3.h   | 3 ++-
 gtsam/geometry/Unit3.h         | 3 ++-
 gtsam/geometry/triangulation.h | 4 ++--
 gtsam/linear/IterativeSolver.h | 4 ++--
 6 files changed, 12 insertions(+), 8 deletions(-)

diff --git a/gtsam/geometry/PinholePose.h b/gtsam/geometry/PinholePose.h
index 5cad3b6e7..df6ec5c08 100644
--- a/gtsam/geometry/PinholePose.h
+++ b/gtsam/geometry/PinholePose.h
@@ -332,7 +332,8 @@ public:
   }
 
   /// stream operator
-  friend std::ostream& operator<<(std::ostream &os, const PinholePose& camera) {
+  GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os,
+                                               const PinholePose& camera) {
     os << "{R: " << camera.pose().rotation().rpy().transpose();
     os << ", t: " << camera.pose().translation().transpose();
     if (!camera.K_) os << ", K: none";
diff --git a/gtsam/geometry/Similarity2.h b/gtsam/geometry/Similarity2.h
index 47281b383..3e04aa3a1 100644
--- a/gtsam/geometry/Similarity2.h
+++ b/gtsam/geometry/Similarity2.h
@@ -76,7 +76,8 @@ class GTSAM_EXPORT Similarity2 : public LieGroup<Similarity2, 4> {
   /// Print with optional string
   void print(const std::string& s) const;
 
-  friend std::ostream& operator<<(std::ostream& os, const Similarity2& p);
+  GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os,
+                                               const Similarity2& p);
 
   /// @}
   /// @name Group
diff --git a/gtsam/geometry/Similarity3.h b/gtsam/geometry/Similarity3.h
index aa0f3a62a..69b401620 100644
--- a/gtsam/geometry/Similarity3.h
+++ b/gtsam/geometry/Similarity3.h
@@ -77,7 +77,8 @@ class GTSAM_EXPORT Similarity3 : public LieGroup<Similarity3, 7> {
   /// Print with optional string
   void print(const std::string& s) const;
 
-  friend std::ostream& operator<<(std::ostream& os, const Similarity3& p);
+  GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os,
+                                               const Similarity3& p);
 
   /// @}
   /// @name Group
diff --git a/gtsam/geometry/Unit3.h b/gtsam/geometry/Unit3.h
index 72dd49c29..18bc5d9f0 100644
--- a/gtsam/geometry/Unit3.h
+++ b/gtsam/geometry/Unit3.h
@@ -105,7 +105,8 @@ public:
   /// @name Testable
   /// @{
 
-  friend std::ostream& operator<<(std::ostream& os, const Unit3& pair);
+  GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os,
+                                               const Unit3& pair);
 
   /// The print fuction
   void print(const std::string& s = std::string()) const;
diff --git a/gtsam/geometry/triangulation.h b/gtsam/geometry/triangulation.h
index 3a8398804..68795a646 100644
--- a/gtsam/geometry/triangulation.h
+++ b/gtsam/geometry/triangulation.h
@@ -665,8 +665,8 @@ class TriangulationResult : public std::optional<Point3> {
     return value();
   }
   // stream to output
-  friend std::ostream& operator<<(std::ostream& os,
-                                  const TriangulationResult& result) {
+  GTSAM_EXPORT friend std::ostream& operator<<(
+      std::ostream& os, const TriangulationResult& result) {
     if (result)
       os << "point = " << *result << std::endl;
     else
diff --git a/gtsam/linear/IterativeSolver.h b/gtsam/linear/IterativeSolver.h
index c4a719436..0441cd9da 100644
--- a/gtsam/linear/IterativeSolver.h
+++ b/gtsam/linear/IterativeSolver.h
@@ -72,8 +72,8 @@ public:
   GTSAM_EXPORT virtual void print(std::ostream &os) const;
 
   /* for serialization */
-  friend std::ostream& operator<<(std::ostream &os,
-      const IterativeOptimizationParameters &p);
+  GTSAM_EXPORT friend std::ostream &operator<<(
+      std::ostream &os, const IterativeOptimizationParameters &p);
 
   GTSAM_EXPORT static Verbosity verbosityTranslator(const std::string &s);
   GTSAM_EXPORT static std::string verbosityTranslator(Verbosity v);

From c8184eb109877e40a503f09d842d88732896014c Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 1 Aug 2023 09:55:00 -0400
Subject: [PATCH 129/206] fix SphericalCamera traits definition

---
 gtsam/geometry/SphericalCamera.h | 4 ++--
 gtsam/slam/SmartFactorBase.h     | 3 ++-
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/gtsam/geometry/SphericalCamera.h b/gtsam/geometry/SphericalCamera.h
index a9c38cd69..ef20aa7fe 100644
--- a/gtsam/geometry/SphericalCamera.h
+++ b/gtsam/geometry/SphericalCamera.h
@@ -238,9 +238,9 @@ class GTSAM_EXPORT SphericalCamera {
 // end of class SphericalCamera
 
 template <>
-struct traits<SphericalCamera> : public internal::LieGroup<Pose3> {};
+struct traits<SphericalCamera> : public internal::Manifold<SphericalCamera> {};
 
 template <>
-struct traits<const SphericalCamera> : public internal::LieGroup<Pose3> {};
+struct traits<const SphericalCamera> : public internal::Manifold<SphericalCamera> {};
 
 }  // namespace gtsam
diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h
index e0540cc41..5d6ec4445 100644
--- a/gtsam/slam/SmartFactorBase.h
+++ b/gtsam/slam/SmartFactorBase.h
@@ -162,8 +162,9 @@ protected:
   /// Collect all cameras: important that in key order.
   virtual Cameras cameras(const Values& values) const {
     Cameras cameras;
-    for(const Key& k: this->keys_)
+    for(const Key& k: this->keys_) {
       cameras.push_back(values.at<CAMERA>(k));
+    }
     return cameras;
   }
 

From 2c569c1fdd58492d4afbab91abc34dc555d530b6 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 1 Aug 2023 09:59:43 -0400
Subject: [PATCH 130/206] enable slam tests

---
 .github/workflows/build-windows.yml | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index 357c4ca08..670d87b3f 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -128,8 +128,7 @@ jobs:
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.symbolic
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.hybrid
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear
-          # Compilation error or test failure
-          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam
 
           # Run GTSAM_UNSTABLE tests
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.base_unstable

From 8b4fbb1d7bdfd1b6e5c09c061f66e850d065bc0e Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 1 Aug 2023 10:54:48 -0400
Subject: [PATCH 131/206] address PR comments

---
 gtsam/discrete/SignatureParser.h | 1 -
 gtsam/geometry/CameraSet.h       | 2 +-
 2 files changed, 1 insertion(+), 2 deletions(-)

diff --git a/gtsam/discrete/SignatureParser.h b/gtsam/discrete/SignatureParser.h
index 5de8b9a50..ddc548fc6 100644
--- a/gtsam/discrete/SignatureParser.h
+++ b/gtsam/discrete/SignatureParser.h
@@ -21,7 +21,6 @@
 #include <optional>
 #include <string>
 #include <vector>
-#include <gtsam/dllexport.h>
 
 #include <gtsam/dllexport.h>
 
diff --git a/gtsam/geometry/CameraSet.h b/gtsam/geometry/CameraSet.h
index 8621d77ad..950747102 100644
--- a/gtsam/geometry/CameraSet.h
+++ b/gtsam/geometry/CameraSet.h
@@ -273,7 +273,7 @@ class CameraSet : public std::vector<CAMERA, Eigen::aligned_allocator<CAMERA>> {
 
       // Get map from key to location in the new augmented Hessian matrix (the
       // one including only unique keys).
-      std::map<Key, uint32_t> keyToSlotMap;
+      std::map<Key, size_t> keyToSlotMap;
       for (size_t k = 0; k < nrUniqueKeys; k++) {
         keyToSlotMap[hessianKeys[k]] = k;
       }

From 88ab398b2ab626146d238923a927de5fa15ab80b Mon Sep 17 00:00:00 2001
From: Tal Regev <tal.regev@gmail.com>
Date: Thu, 3 Aug 2023 21:16:52 +0300
Subject: [PATCH 132/206] Simplify scripts

---
 .github/scripts/python.sh | 21 +++++++++----------
 .github/scripts/unix.sh   | 44 +++++++++++++++++++--------------------
 2 files changed, 31 insertions(+), 34 deletions(-)

diff --git a/.github/scripts/python.sh b/.github/scripts/python.sh
index d026aa123..de073759b 100644
--- a/.github/scripts/python.sh
+++ b/.github/scripts/python.sh
@@ -9,14 +9,13 @@ set -x -e
 # install TBB with _debug.so files
 function install_tbb()
 {
+  echo install_tbb
   if [ "$(uname)" == "Linux" ]; then
     sudo apt-get -y install libtbb-dev
 
   elif [ "$(uname)" == "Darwin" ]; then
     brew install tbb
-
   fi
-
 }
 
 if [ -z ${PYTHON_VERSION+x} ]; then
@@ -37,19 +36,19 @@ function install_dependencies()
 
   export PATH=$PATH:$($PYTHON -c "import site; print(site.USER_BASE)")/bin
 
-  [ "${GTSAM_WITH_TBB:-OFF}" = "ON" ] && install_tbb
+  if [ "${GTSAM_WITH_TBB:-OFF}" == "ON" ]; then
+    install_tbb
+  fi
 
   $PYTHON -m pip install -r $GITHUB_WORKSPACE/python/requirements.txt
 }
 
 function build()
 {
-  mkdir $GITHUB_WORKSPACE/build
-  cd $GITHUB_WORKSPACE/build
-
   BUILD_PYBIND="ON"
-
-  cmake $GITHUB_WORKSPACE -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} \
+  cmake $GITHUB_WORKSPACE \
+      -B build \
+      -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} \
       -DGTSAM_BUILD_TESTS=OFF \
       -DGTSAM_BUILD_UNSTABLE=${GTSAM_BUILD_UNSTABLE:-ON} \
       -DGTSAM_USE_QUATERNIONS=OFF \
@@ -65,16 +64,16 @@ function build()
 
 
   # Set to 2 cores so that Actions does not error out during resource provisioning.
-  make -j2 install
+  cmake --build build -j2
 
-  cd $GITHUB_WORKSPACE/build/python
-  $PYTHON -m pip install --user .
+  $PYTHON -m pip install --user build/python
 }
 
 function test()
 {
   cd $GITHUB_WORKSPACE/python/gtsam/tests
   $PYTHON -m unittest discover -v
+  cd $GITHUB_WORKSPACE
 }
 
 # select between build or test
diff --git a/.github/scripts/unix.sh b/.github/scripts/unix.sh
index 557255474..05d969d40 100644
--- a/.github/scripts/unix.sh
+++ b/.github/scripts/unix.sh
@@ -5,33 +5,30 @@
 # Specifically Linux and macOS.
 ##########################################################
 
+set -e   # Make sure any error makes the script to return an error code
+set -x   # echo
+
 # install TBB with _debug.so files
 function install_tbb()
 {
+  echo install_tbb  
   if [ "$(uname)" == "Linux" ]; then
     sudo apt-get -y install libtbb-dev
 
   elif [ "$(uname)" == "Darwin" ]; then
     brew install tbb
-
   fi
-
 }
 
 # common tasks before either build or test
 function configure()
 {
-  set -e   # Make sure any error makes the script to return an error code
-  set -x   # echo
+  # delete old build
+  rm -rf build
 
-  SOURCE_DIR=$GITHUB_WORKSPACE
-  BUILD_DIR=$GITHUB_WORKSPACE/build
-
-  #env
-  rm -fr $BUILD_DIR || true
-  mkdir $BUILD_DIR && cd $BUILD_DIR
-
-  [ "${GTSAM_WITH_TBB:-OFF}" = "ON" ] && install_tbb
+  if [ "${GTSAM_WITH_TBB:-OFF}" == "ON" ]; then
+    install_tbb
+  fi
 
   if [ ! -z "$GCC_VERSION" ]; then
     export CC=gcc-$GCC_VERSION
@@ -40,7 +37,8 @@ function configure()
 
   # GTSAM_BUILD_WITH_MARCH_NATIVE=OFF: to avoid crashes in builder VMs
   # CMAKE_CXX_FLAGS="-w": Suppress warnings to avoid IO latency in CI logs
-  cmake $SOURCE_DIR \
+  cmake $GITHUB_WORKSPACE \
+      -B build \
       -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE:-Debug} \
       -DCMAKE_CXX_FLAGS="-w" \
       -DGTSAM_BUILD_TESTS=${GTSAM_BUILD_TESTS:-OFF} \
@@ -62,9 +60,9 @@ function configure()
 function finish ()
 {
   # Print ccache stats
-  [ -x "$(command -v ccache)" ] && ccache -s
-
-  cd $SOURCE_DIR
+  if [ -x "$(command -v ccache)" ]; then
+    ccache -s
+  fi
 }
 
 # compile the code with the intent of populating the cache
@@ -77,12 +75,12 @@ function build ()
 
   if [ "$(uname)" == "Linux" ]; then
     if (($(nproc) > 2)); then
-      make -j4
+      cmake --build build -j4
     else
-      make -j2
+      cmake --build build -j2
     fi
   elif [ "$(uname)" == "Darwin" ]; then
-    make -j$(sysctl -n hw.physicalcpu)
+    cmake --build build -j$(sysctl -n hw.physicalcpu)
   fi
 
   finish
@@ -99,12 +97,12 @@ function test ()
   # Actual testing
   if [ "$(uname)" == "Linux" ]; then
     if (($(nproc) > 2)); then
-      make -j$(nproc) check
+      cmake --build build -j$(nproc) --target check
     else
-      make -j2 check
+      cmake --build build -j2 --target check
     fi
   elif [ "$(uname)" == "Darwin" ]; then
-    make -j$(sysctl -n hw.physicalcpu) check
+    cmake --build build -j$(sysctl -n hw.physicalcpu) --target check
   fi
 
   finish
@@ -118,4 +116,4 @@ case $1 in
   -t)
     test
     ;;
-esac
\ No newline at end of file
+esac

From 44d948e98e95bee9e67d8735ef29214d00ef866e Mon Sep 17 00:00:00 2001
From: Fan Jiang <i@fanjiang.me>
Date: Mon, 7 Aug 2023 23:31:58 -0700
Subject: [PATCH 133/206] Remove the boost references

Signed-off-by: Fan Jiang <i@fanjiang.me>
---
 tests/testGaussianISAM2.cpp | 36 ++++++++++++++++++------------------
 1 file changed, 18 insertions(+), 18 deletions(-)

diff --git a/tests/testGaussianISAM2.cpp b/tests/testGaussianISAM2.cpp
index e78d36f0e..1ea60dac9 100644
--- a/tests/testGaussianISAM2.cpp
+++ b/tests/testGaussianISAM2.cpp
@@ -659,10 +659,10 @@ namespace {
     return ok;
   }
 
-  boost::optional<FastMap<Key, int>> createOrderingConstraints(const ISAM2& isam, const KeyVector& newKeys, const KeySet& marginalizableKeys)
+  std::optional<FastMap<Key, int>> createOrderingConstraints(const ISAM2& isam, const KeyVector& newKeys, const KeySet& marginalizableKeys)
   {
     if (marginalizableKeys.empty()) {
-      return boost::none;
+      return {};
     } else {
       FastMap<Key, int> constrainedKeys = FastMap<Key, int>();
       // Generate ordering constraints so that the marginalizable variables will be eliminated first
@@ -706,7 +706,7 @@ namespace {
   bool updateAndMarginalize(const NonlinearFactorGraph& newFactors, const Values& newValues, const KeySet& marginalizableKeys, ISAM2& isam)
   {
     // Force ISAM2 to put marginalizable variables at the beginning
-    const boost::optional<FastMap<Key, int>> orderingConstraints = createOrderingConstraints(isam, newValues.keys(), marginalizableKeys);
+    auto orderingConstraints = createOrderingConstraints(isam, newValues.keys(), marginalizableKeys);
 
     // Mark additional keys between the marginalized keys and the leaves
     KeyList markedKeys;
@@ -719,7 +719,7 @@ namespace {
     }
 
     // Update
-    isam.update(newFactors, newValues, FactorIndices{}, orderingConstraints, boost::none, markedKeys);
+    isam.update(newFactors, newValues, FactorIndices{}, orderingConstraints, {}, markedKeys);
 
     if (!marginalizableKeys.empty()) {
       FastList<Key> leafKeys(marginalizableKeys.begin(), marginalizableKeys.end());
@@ -865,7 +865,7 @@ TEST(ISAM2, marginalizeLeaves5)
 /* ************************************************************************* */
 TEST(ISAM2, marginalizeLeaves6)
 {
-  const boost::shared_ptr<noiseModel::Isotropic> nm = noiseModel::Isotropic::Sigma(6, 1.0);
+  auto nm = noiseModel::Isotropic::Sigma(6, 1.0);
 
   int gridDim = 10;
 
@@ -878,16 +878,16 @@ TEST(ISAM2, marginalizeLeaves6)
   // Create a grid of pose variables
   for (int i = 0; i < gridDim; ++i) {
     for (int j = 0; j < gridDim; ++j) {
-      Pose3 pose = Pose3(Rot3::identity(), Point3(i, j, 0));
+      Pose3 pose = Pose3(Rot3::Identity(), Point3(i, j, 0));
       Key key = idxToKey(i, j);
       // Place a prior on the first pose
-      factors.addPrior(key, Pose3(Rot3::identity(), Point3(i, j, 0)), nm);
+      factors.addPrior(key, Pose3(Rot3::Identity(), Point3(i, j, 0)), nm);
       values.insert(key, pose);
       if (i > 0) {
-        factors.emplace_shared<BetweenFactor<Pose3>>(idxToKey(i - 1, j), key, Pose3(Rot3::identity(), Point3(1, 0, 0)),nm);
+        factors.emplace_shared<BetweenFactor<Pose3>>(idxToKey(i - 1, j), key, Pose3(Rot3::Identity(), Point3(1, 0, 0)),nm);
       }
       if (j > 0) {
-        factors.emplace_shared<BetweenFactor<Pose3>>(idxToKey(i, j - 1), key, Pose3(Rot3::identity(), Point3(0, 1, 0)),nm);
+        factors.emplace_shared<BetweenFactor<Pose3>>(idxToKey(i, j - 1), key, Pose3(Rot3::Identity(), Point3(0, 1, 0)),nm);
       }
     }
   }
@@ -914,17 +914,17 @@ TEST(ISAM2, marginalizeLeaves6)
 /* ************************************************************************* */
 TEST(ISAM2, MarginalizeRoot)
 {
-  const boost::shared_ptr<noiseModel::Isotropic> nm = noiseModel::Isotropic::Sigma(6, 1.0);
+  auto nm = noiseModel::Isotropic::Sigma(6, 1.0);
 
   NonlinearFactorGraph factors;
   Values values;
   ISAM2 isam;
 
   // Create a factor graph with one variable and a prior
-  Pose3 root = Pose3::identity();
+  Pose3 root = Pose3::Identity();
   Key rootKey(0);
   values.insert(rootKey, root);
-  factors.addPrior(rootKey, Pose3::identity(), nm);
+  factors.addPrior(rootKey, Pose3::Identity(), nm);
 
   // Optimize the graph
   EXPECT(updateAndMarginalize(factors, values, {}, isam));
@@ -944,7 +944,7 @@ TEST(ISAM2, MarginalizeRoot)
 /* ************************************************************************* */
 TEST(ISAM2, marginalizationSize)
 {
-  const boost::shared_ptr<noiseModel::Isotropic> nm = noiseModel::Isotropic::Sigma(6, 1.0);
+  auto nm = noiseModel::Isotropic::Sigma(6, 1.0);
 
   NonlinearFactorGraph factors;
   Values values;
@@ -954,13 +954,13 @@ TEST(ISAM2, marginalizationSize)
 
   // Create a pose variable
   Key aKey(0);
-  values.insert(aKey, Pose3::identity());
-  factors.addPrior(aKey, Pose3::identity(), nm);
+  values.insert(aKey, Pose3::Identity());
+  factors.addPrior(aKey, Pose3::Identity(), nm);
   // Create another pose variable linked to the first
-  Pose3 b = Pose3::identity();
+  Pose3 b = Pose3::Identity();
   Key bKey(1);
-  values.insert(bKey, Pose3::identity());
-  factors.emplace_shared<BetweenFactor<Pose3>>(aKey, bKey, Pose3::identity(), nm);
+  values.insert(bKey, Pose3::Identity());
+  factors.emplace_shared<BetweenFactor<Pose3>>(aKey, bKey, Pose3::Identity(), nm);
   // Optimize the graph
   EXPECT(updateAndMarginalize(factors, values, {}, isam));
 

From 9c40a2cd8b54b298e8d7e0bd28fbf40bbd6851f1 Mon Sep 17 00:00:00 2001
From: Fan Jiang <i@fanjiang.me>
Date: Fri, 18 Aug 2023 17:09:47 -0400
Subject: [PATCH 134/206] Add a custom loss function for Robust, fix a bug in
 Asymmetric

Signed-off-by: Fan Jiang <i@fanjiang.me>
---
 gtsam/linear/LossFunctions.cpp        | 38 +++++++++++++++++++++--
 gtsam/linear/LossFunctions.h          | 44 +++++++++++++++++++++++++++
 gtsam/linear/linear.i                 | 18 +++++++++++
 gtsam/linear/tests/testNoiseModel.cpp | 39 ++++++++++++++++++++++--
 4 files changed, 135 insertions(+), 4 deletions(-)

diff --git a/gtsam/linear/LossFunctions.cpp b/gtsam/linear/LossFunctions.cpp
index 8099ca81e..682783e7c 100644
--- a/gtsam/linear/LossFunctions.cpp
+++ b/gtsam/linear/LossFunctions.cpp
@@ -19,6 +19,7 @@
 #include <gtsam/linear/LossFunctions.h>
 
 #include <iostream>
+#include <utility>
 #include <vector>
 
 using namespace std;
@@ -438,7 +439,7 @@ AsymmetricTukey::AsymmetricTukey(double c, const ReweightScheme reweight) : Base
 double AsymmetricTukey::weight(double distance) const {
   distance = -distance;
   if (distance >= 0.0) {
-    return distance;
+    return 1.0;
   } else if (distance > -c_) {
     const double one_minus_xc2 = 1.0 - distance * distance / csquared_;
     return one_minus_xc2 * one_minus_xc2;
@@ -486,7 +487,7 @@ AsymmetricCauchy::AsymmetricCauchy(double k, const ReweightScheme reweight) : Ba
 double AsymmetricCauchy::weight(double distance) const {
   distance = -distance;
   if (distance >= 0.0) {
-    return distance;
+    return 1.0;
   }
   
     return ksquared_ / (ksquared_ + distance*distance);
@@ -517,6 +518,39 @@ AsymmetricCauchy::shared_ptr AsymmetricCauchy::Create(double k, const ReweightSc
 }
 
 
+/* ************************************************************************* */
+// Custom
+/* ************************************************************************* */
+
+Custom::Custom(std::function<double(double)> weight, std::function<double(double)> loss, const ReweightScheme reweight,
+               std::string name)
+    : Base(reweight), weight_(std::move(weight)), loss_(loss), name_(std::move(name)) {}
+
+double Custom::weight(double distance) const {
+  return weight_(distance);
+}
+
+double Custom::loss(double distance) const {
+  return loss_(distance);
+}
+
+void Custom::print(const std::string &s = "") const {
+  std::cout << s << ": Custom (" << name_ << ")" << std::endl;
+}
+
+bool Custom::equals(const Base &expected, double tol) const {
+  const auto *p = dynamic_cast<const Custom *>(&expected);
+  if (p == nullptr)
+    return false;
+  return name_ == p->name_ && weight_.target<double(double)>() == p->weight_.target<double(double)>() &&
+         loss_.target<double(double)>() == p->loss_.target<double(double)>() && reweight_ == p->reweight_;
+}
+
+Custom::shared_ptr Custom::Create(std::function<double(double)> weight, std::function<double(double)> loss,
+                                  const ReweightScheme reweight, const std::string &name) {
+  return std::make_shared<Custom>(std::move(weight), std::move(loss), reweight, name);
+}
+
 } // namespace mEstimator
 } // namespace noiseModel
 } // gtsam
diff --git a/gtsam/linear/LossFunctions.h b/gtsam/linear/LossFunctions.h
index 479c183ee..a8902e11b 100644
--- a/gtsam/linear/LossFunctions.h
+++ b/gtsam/linear/LossFunctions.h
@@ -544,6 +544,50 @@ class GTSAM_EXPORT AsymmetricCauchy : public Base {
 #endif
 };
 
+// Type alias for the custom loss and weight functions
+using CustomLossFunction = std::function<double(double)>;
+using CustomWeightFunction = std::function<double(double)>;
+
+/** Implementation of the "Custom" robust error model.
+ *
+ *  This model just takes two functions as input, one for the loss and one for the weight.
+ */
+class GTSAM_EXPORT Custom : public Base {
+ protected:
+  std::function<double(double)> weight_, loss_;
+  std::string name_;
+
+ public:
+  typedef std::shared_ptr<Custom> shared_ptr;
+
+  Custom(CustomWeightFunction weight, CustomLossFunction loss,
+         const ReweightScheme reweight = Block, std::string name = "Custom");
+  double weight(double distance) const override;
+  double loss(double distance) const override;
+  void print(const std::string &s) const override;
+  bool equals(const Base &expected, double tol = 1e-8) const override;
+  static shared_ptr Create(std::function<double(double)> weight, std::function<double(double)> loss,
+                           const ReweightScheme reweight = Block, const std::string &name = "Custom");
+  inline std::string& name() { return name_; }
+
+  inline std::function<double(double)>& weightFunction() { return weight_; }
+  inline std::function<double(double)>& lossFunction() { return loss_; }
+
+  // Default constructor for serialization
+  inline Custom() = default;
+
+ private:
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
+  /** Serialization function */
+  friend class boost::serialization::access;
+  template <class ARCHIVE>
+  void serialize(ARCHIVE &ar, const unsigned int /*version*/) {
+    ar &BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
+    ar &BOOST_SERIALIZATION_NVP(name_);
+  }
+#endif
+};
+
 }  // namespace mEstimator
 }  // namespace noiseModel
 }  // namespace gtsam
diff --git a/gtsam/linear/linear.i b/gtsam/linear/linear.i
index 5404964a1..d4a045f09 100644
--- a/gtsam/linear/linear.i
+++ b/gtsam/linear/linear.i
@@ -203,6 +203,24 @@ virtual class AsymmetricTukey: gtsam::noiseModel::mEstimator::Base {
   double loss(double error) const;
 };
 
+virtual class Custom: gtsam::noiseModel::mEstimator::Base {
+  Custom(gtsam::noiseModel::mEstimator::CustomWeightFunction weight,
+         gtsam::noiseModel::mEstimator::CustomLossFunction loss,
+         gtsam::noiseModel::mEstimator::Base::ReweightScheme reweight,
+         std::string name);
+  static gtsam::noiseModel::mEstimator::Custom* Create(
+      gtsam::noiseModel::mEstimator::CustomWeightFunction weight,
+      gtsam::noiseModel::mEstimator::CustomLossFunction loss,
+      gtsam::noiseModel::mEstimator::Base::ReweightScheme reweight,
+      std::string name);
+
+  // enabling serialization functionality
+  void serializable() const;
+
+  double weight(double error) const;
+  double loss(double error) const;
+};
+
 
 }///\namespace mEstimator
 
diff --git a/gtsam/linear/tests/testNoiseModel.cpp b/gtsam/linear/tests/testNoiseModel.cpp
index 7d2c283a6..725680501 100644
--- a/gtsam/linear/tests/testNoiseModel.cpp
+++ b/gtsam/linear/tests/testNoiseModel.cpp
@@ -512,7 +512,7 @@ TEST(NoiseModel, robustFunctionAsymmetricCauchy)
   DOUBLES_EQUAL(0.961538461538461, cauchy->weight(error1), 1e-8);
   DOUBLES_EQUAL(0.2000, cauchy->weight(error2), 1e-8);
   // Test negative value to ensure we take absolute value of error.
-  DOUBLES_EQUAL(10.0, cauchy->weight(error3), 1e-8);
+  DOUBLES_EQUAL(1.0, cauchy->weight(error3), 1e-8);
   DOUBLES_EQUAL(1.0, cauchy->weight(error4), 1e-8);
 
   DOUBLES_EQUAL(0.490258914416017, cauchy->loss(error1), 1e-8);
@@ -575,7 +575,7 @@ TEST(NoiseModel, robustFunctionAsymmetricTukey)
   DOUBLES_EQUAL(0.9216, tukey->weight(error1), 1e-8);
   DOUBLES_EQUAL(0.0, tukey->weight(error2), 1e-8);
   // Test negative value to ensure we take absolute value of error.
-  DOUBLES_EQUAL(10.0, tukey->weight(error3), 1e-8);
+  DOUBLES_EQUAL(1.0, tukey->weight(error3), 1e-8);
   DOUBLES_EQUAL(1.0, tukey->weight(error4), 1e-8);
 
   DOUBLES_EQUAL(0.480266666666667, tukey->loss(error1), 1e-8);
@@ -703,6 +703,35 @@ TEST(NoiseModel, robustNoiseL2WithDeadZone)
   }
 }
 
+/* ************************************************************************* */
+TEST(NoiseModel, robustNoiseCustomHuber) {
+  const double k = 10.0, error1 = 1.0, error2 = 100.0;
+  Matrix A = (Matrix(2, 2) << 1.0, 10.0, 100.0, 1000.0).finished();
+  Vector b = Vector2(error1, error2);
+  const Robust::shared_ptr robust =
+      Robust::Create(mEstimator::Custom::Create(
+                         [k](double e) {
+                           const auto abs_e = std::abs(e);
+                           return abs_e <= k ? 1.0 : k / abs_e;
+                         },
+                         [k](double e) {
+                           const auto abs_e = std::abs(e);
+                           return abs_e <= k ? abs_e * abs_e / 2.0 : k * abs_e - k * k / 2.0;
+                         },
+                         noiseModel::mEstimator::Custom::Scalar, "Huber"),
+                     Unit::Create(2));
+
+  robust->WhitenSystem(A, b);
+
+  DOUBLES_EQUAL(error1, b(0), 1e-8);
+  DOUBLES_EQUAL(sqrt(k * error2), b(1), 1e-8);
+
+  DOUBLES_EQUAL(1.0, A(0, 0), 1e-8);
+  DOUBLES_EQUAL(10.0, A(0, 1), 1e-8);
+  DOUBLES_EQUAL(sqrt(k * 100.0), A(1, 0), 1e-8);
+  DOUBLES_EQUAL(sqrt(k / 100.0) * 1000.0, A(1, 1), 1e-8);
+}
+
 TEST(NoiseModel, lossFunctionAtZero)
 {
   const double k = 5.0;
@@ -730,6 +759,12 @@ TEST(NoiseModel, lossFunctionAtZero)
   auto lsdz = mEstimator::L2WithDeadZone::Create(k);
   DOUBLES_EQUAL(lsdz->loss(0), 0, 1e-8);
   DOUBLES_EQUAL(lsdz->weight(0), 0, 1e-8);
+  auto assy_cauchy = mEstimator::AsymmetricCauchy::Create(k);
+  DOUBLES_EQUAL(lsdz->loss(0), 0, 1e-8);
+  DOUBLES_EQUAL(lsdz->weight(0), 0, 1e-8);
+  auto assy_tukey = mEstimator::AsymmetricTukey::Create(k);
+  DOUBLES_EQUAL(lsdz->loss(0), 0, 1e-8);
+  DOUBLES_EQUAL(lsdz->weight(0), 0, 1e-8);
 }
 
 

From 7d04f4bce6f20dbe3cc23bb90f2398c8d2320965 Mon Sep 17 00:00:00 2001
From: Fan Jiang <i@fanjiang.me>
Date: Mon, 21 Aug 2023 10:59:14 -0400
Subject: [PATCH 135/206] Add custom unit test for Python robust function

---
 python/gtsam/tests/test_Robust.py | 43 +++++++++++++++++++++++++++++++
 1 file changed, 43 insertions(+)
 create mode 100644 python/gtsam/tests/test_Robust.py

diff --git a/python/gtsam/tests/test_Robust.py b/python/gtsam/tests/test_Robust.py
new file mode 100644
index 000000000..c2ab9d4a4
--- /dev/null
+++ b/python/gtsam/tests/test_Robust.py
@@ -0,0 +1,43 @@
+"""
+GTSAM Copyright 2010-2019, Georgia Tech Research Corporation,
+Atlanta, Georgia 30332-0415
+All Rights Reserved
+
+See LICENSE for the license information
+
+Simple unit test for custom robust noise model.
+Author: Fan Jiang
+"""
+import unittest
+
+import gtsam
+import numpy as np
+from gtsam.utils.test_case import GtsamTestCase
+
+
+class TestRobust(GtsamTestCase):
+
+    def test_RobustLossAndWeight(self):
+        k = 10.0
+
+        def custom_weight(e):
+            abs_e = abs(e)
+            return 1.0 if abs_e <= k else k / abs_e
+
+        def custom_loss(e):
+            abs_e = abs(e)
+            return abs_e * abs_e / 2.0 if abs_e <= k else k * abs_e - k * k / 2.0
+
+        custom_robust = gtsam.noiseModel.Robust.Create(
+            gtsam.noiseModel.mEstimator.Custom(custom_weight, custom_loss,
+                                               gtsam.noiseModel.mEstimator.Base.ReweightScheme.Scalar,
+                                               "huber"),
+            gtsam.noiseModel.Isotropic.Sigma(1, 2.0))
+        f = gtsam.PriorFactorDouble(0, 1.0, custom_robust)
+        v = gtsam.Values()
+        v.insert(0, 0.0)
+
+        self.assertAlmostEquals(f.error(v), 0.125)
+
+if __name__ == "__main__":
+    unittest.main()

From 227c95ed7603c19636d4cd569fcf4739647afb09 Mon Sep 17 00:00:00 2001
From: Tal Regev <tal.regev@gmail.com>
Date: Sat, 26 Aug 2023 10:30:25 +0300
Subject: [PATCH 136/206] Add ninja build

---
 .github/scripts/python.sh           |  1 +
 .github/scripts/unix.sh             |  1 +
 .github/workflows/build-linux.yml   |  2 +-
 .github/workflows/build-python.yml  |  2 +-
 .github/workflows/build-special.yml |  2 +-
 .github/workflows/build-windows.yml | 10 +++++++++-
 6 files changed, 14 insertions(+), 4 deletions(-)

diff --git a/.github/scripts/python.sh b/.github/scripts/python.sh
index de073759b..c72e9abd6 100644
--- a/.github/scripts/python.sh
+++ b/.github/scripts/python.sh
@@ -45,6 +45,7 @@ function install_dependencies()
 
 function build()
 {
+  export CMAKE_GENERATOR=Ninja
   BUILD_PYBIND="ON"
   cmake $GITHUB_WORKSPACE \
       -B build \
diff --git a/.github/scripts/unix.sh b/.github/scripts/unix.sh
index 05d969d40..09fcd788b 100644
--- a/.github/scripts/unix.sh
+++ b/.github/scripts/unix.sh
@@ -37,6 +37,7 @@ function configure()
 
   # GTSAM_BUILD_WITH_MARCH_NATIVE=OFF: to avoid crashes in builder VMs
   # CMAKE_CXX_FLAGS="-w": Suppress warnings to avoid IO latency in CI logs
+  export CMAKE_GENERATOR=Ninja
   cmake $GITHUB_WORKSPACE \
       -B build \
       -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE:-Debug} \
diff --git a/.github/workflows/build-linux.yml b/.github/workflows/build-linux.yml
index e4937ce06..5de09c63f 100644
--- a/.github/workflows/build-linux.yml
+++ b/.github/workflows/build-linux.yml
@@ -73,7 +73,7 @@ jobs:
           fi
 
           sudo apt-get -y update
-          sudo apt-get -y install cmake build-essential pkg-config libpython3-dev python3-numpy libicu-dev
+          sudo apt-get -y install cmake build-essential pkg-config libpython3-dev python3-numpy libicu-dev ninja-build
 
           if [ "${{ matrix.compiler }}" = "gcc" ]; then
             sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
diff --git a/.github/workflows/build-python.yml b/.github/workflows/build-python.yml
index ca4645a77..480c791dc 100644
--- a/.github/workflows/build-python.yml
+++ b/.github/workflows/build-python.yml
@@ -75,7 +75,7 @@ jobs:
           fi
 
           sudo apt-get -y update
-          sudo apt-get -y install cmake build-essential pkg-config libpython3-dev python3-numpy libboost-all-dev
+          sudo apt-get -y install cmake build-essential pkg-config libpython3-dev python3-numpy libboost-all-dev ninja-build
 
           if [ "${{ matrix.compiler }}" = "gcc" ]; then
             sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
diff --git a/.github/workflows/build-special.yml b/.github/workflows/build-special.yml
index 72466ffd6..164646e3e 100644
--- a/.github/workflows/build-special.yml
+++ b/.github/workflows/build-special.yml
@@ -103,7 +103,7 @@ jobs:
             sudo add-apt-repository "deb http://apt.llvm.org/jammy/ llvm-toolchain-jammy main"
           fi
 
-          sudo apt-get -y install cmake build-essential pkg-config libpython3-dev python3-numpy libicu-dev
+          sudo apt-get -y install cmake build-essential pkg-config libpython3-dev python3-numpy libicu-dev ninja-build
 
           if [ "${{ matrix.compiler }}" = "gcc" ]; then
             sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index 670d87b3f..a1d232b2a 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -100,9 +100,17 @@ jobs:
           arch: x${{ matrix.platform }}
 
       - name: Configuration
+        shell: bash
         run: |
+          export CMAKE_GENERATOR=Ninja 
           cmake -E remove_directory build
-          cmake -G Ninja -B build -S . -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DGTSAM_ALLOW_DEPRECATED_SINCE_V43=OFF -DBOOST_ROOT="${env:BOOST_ROOT}" -DBOOST_INCLUDEDIR="${env:BOOST_ROOT}\boost\include" -DBOOST_LIBRARYDIR="${env:BOOST_ROOT}\lib"
+          cmake -B build \
+                -S . \
+                -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
+                -DGTSAM_ALLOW_DEPRECATED_SINCE_V43=OFF \
+                -DBOOST_ROOT="${BOOST_ROOT}" \
+                -DBOOST_INCLUDEDIR="${BOOST_ROOT}\boost\include" \
+                -DBOOST_LIBRARYDIR="${BOOST_ROOT}\lib"
 
       - name: Build
         shell: bash

From db6a559fb9b2466b29e407133ce0db694ad63cc1 Mon Sep 17 00:00:00 2001
From: senselessdev1 <johnlambert@jl-macbook-pro-19.lan>
Date: Wed, 30 Aug 2023 10:22:36 -0400
Subject: [PATCH 137/206] add another unit test

---
 gtsam/sfm/DsfTrackGenerator.cpp              |  2 +-
 python/gtsam/tests/test_DsfTrackGenerator.py | 95 +++++++++++++++++++-
 2 files changed, 95 insertions(+), 2 deletions(-)

diff --git a/gtsam/sfm/DsfTrackGenerator.cpp b/gtsam/sfm/DsfTrackGenerator.cpp
index cf989f282..d9f3f1626 100644
--- a/gtsam/sfm/DsfTrackGenerator.cpp
+++ b/gtsam/sfm/DsfTrackGenerator.cpp
@@ -130,7 +130,7 @@ std::vector<SfmTrack2d> tracksFromPairwiseMatches(
   }
 
   // TODO(johnwlambert): return the Transitivity failure percentage here.
-  return tracks2d;
+  return tracks2d; // validTracks;
 }
 
 }  // namespace gtsfm
diff --git a/python/gtsam/tests/test_DsfTrackGenerator.py b/python/gtsam/tests/test_DsfTrackGenerator.py
index be6aa0796..f50e74d8f 100644
--- a/python/gtsam/tests/test_DsfTrackGenerator.py
+++ b/python/gtsam/tests/test_DsfTrackGenerator.py
@@ -4,6 +4,7 @@ Authors: John Lambert
 """
 
 import unittest
+from typing import Dict, List, Tuple
 
 import numpy as np
 from gtsam.gtsfm import Keypoints
@@ -16,6 +17,29 @@ from gtsam import IndexPair, Point2, SfmTrack2d
 class TestDsfTrackGenerator(GtsamTestCase):
     """Tests for DsfTrackGenerator."""
 
+    def test_generate_tracks_from_pairwise_matches_nontransitive(
+        self,
+    ) -> None:
+        """Tests DSF for non-transitive matches.
+
+        Test will result in no tracks since nontransitive tracks are naively discarded by DSF.
+        """
+        keypoints_list = get_dummy_keypoints_list()
+        nontransitive_matches_dict = get_nontransitive_matches()  # contains one non-transitive track
+
+        # For each image pair (i1,i2), we provide a (K,2) matrix
+        # of corresponding keypoint indices (k1,k2).
+        for (i1,i2), corr_idxs in nontransitive_matches_dict.items():
+            matches_dict = {}
+            matches_dict[IndexPair(i1, i2)] = corr_idxs
+
+        tracks = gtsam.gtsfm.tracksFromPairwiseMatches(
+            matches_dict,
+            keypoints_list,
+            verbose=False,
+        )
+        self.assertEqual(len(tracks), 0, "Tracks not filtered correctly")
+
     def test_track_generation(self) -> None:
         """Ensures that DSF generates three tracks from measurements
         in 3 images (H=200,W=400)."""
@@ -29,7 +53,7 @@ class TestDsfTrackGenerator(GtsamTestCase):
         keypoints_list.append(kps_i2)
 
         # For each image pair (i1,i2), we provide a (K,2) matrix
-        # of corresponding image indices (k1,k2).
+        # of corresponding keypoint indices (k1,k2).
         matches_dict = {}
         matches_dict[IndexPair(0, 1)] = np.array([[0, 0], [1, 1]])
         matches_dict[IndexPair(1, 2)] = np.array([[2, 0], [1, 1]])
@@ -93,5 +117,74 @@ class TestSfmTrack2d(GtsamTestCase):
         assert track.numberMeasurements() == 1
 
 
+def get_dummy_keypoints_list() -> List[Keypoints]:
+    """ """
+    img1_kp_coords = np.array([[1, 1], [2, 2], [3, 3]])
+    img1_kp_scale = np.array([6.0, 9.0, 8.5])
+    img2_kp_coords = np.array(
+        [
+            [1, 1],
+            [2, 2],
+            [3, 3],
+            [4, 4],
+            [5, 5],
+            [6, 6],
+            [7, 7],
+            [8, 8],
+        ]
+    )
+    img3_kp_coords = np.array(
+        [
+            [1, 1],
+            [2, 2],
+            [3, 3],
+            [4, 4],
+            [5, 5],
+            [6, 6],
+            [7, 7],
+            [8, 8],
+            [9, 9],
+            [10, 10],
+        ]
+    )
+    img4_kp_coords = np.array(
+        [
+            [1, 1],
+            [2, 2],
+            [3, 3],
+            [4, 4],
+            [5, 5],
+        ]
+    )
+    keypoints_list = [
+        Keypoints(coordinates=img1_kp_coords, scales=img1_kp_scale),
+        Keypoints(coordinates=img2_kp_coords),
+        Keypoints(coordinates=img3_kp_coords),
+        Keypoints(coordinates=img4_kp_coords),
+    ]
+    return keypoints_list
+
+
+
+def get_nontransitive_matches() -> Dict[Tuple[int, int], np.ndarray]:
+    """Set up correspondences for each (i1,i2) pair that violates transitivity.
+    
+    (i=0, k=0)             (i=0, k=1)
+         |    \\               |
+         |     \\              |
+    (i=1, k=2)--(i=2,k=3)--(i=3, k=4)
+
+    Transitivity is violated due to the match between frames 0 and 3. 
+    """
+    nontransitive_matches_dict = {
+        (0, 1): np.array([[0, 2]]),
+        (1, 2): np.array([[2, 3]]),
+        (0, 2): np.array([[0, 3]]),
+        (0, 3): np.array([[1, 4]]),
+        (2, 3): np.array([[3, 4]]),
+    }
+    return nontransitive_matches_dict
+
+
 if __name__ == "__main__":
     unittest.main()

From f205ff37668c54760edd97127fa6d48f6bc503a4 Mon Sep 17 00:00:00 2001
From: senselessdev1 <johnlambert@jl-macbook-pro-19.lan>
Date: Wed, 30 Aug 2023 10:28:18 -0400
Subject: [PATCH 138/206] fix typo

---
 python/gtsam/tests/test_DsfTrackGenerator.py | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/python/gtsam/tests/test_DsfTrackGenerator.py b/python/gtsam/tests/test_DsfTrackGenerator.py
index f50e74d8f..5e579bb32 100644
--- a/python/gtsam/tests/test_DsfTrackGenerator.py
+++ b/python/gtsam/tests/test_DsfTrackGenerator.py
@@ -29,8 +29,8 @@ class TestDsfTrackGenerator(GtsamTestCase):
 
         # For each image pair (i1,i2), we provide a (K,2) matrix
         # of corresponding keypoint indices (k1,k2).
+        matches_dict = {}
         for (i1,i2), corr_idxs in nontransitive_matches_dict.items():
-            matches_dict = {}
             matches_dict[IndexPair(i1, i2)] = corr_idxs
 
         tracks = gtsam.gtsfm.tracksFromPairwiseMatches(
@@ -165,7 +165,6 @@ def get_dummy_keypoints_list() -> List[Keypoints]:
     return keypoints_list
 
 
-
 def get_nontransitive_matches() -> Dict[Tuple[int, int], np.ndarray]:
     """Set up correspondences for each (i1,i2) pair that violates transitivity.
     

From 2b5e22ccb51fa157d0e4d346e4d5256b79dddb86 Mon Sep 17 00:00:00 2001
From: senselessdev1 <johnlambert@jl-macbook-pro-19.lan>
Date: Wed, 30 Aug 2023 10:54:30 -0400
Subject: [PATCH 139/206] remove scales arg to Keypoints

---
 python/gtsam/tests/test_DsfTrackGenerator.py | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/python/gtsam/tests/test_DsfTrackGenerator.py b/python/gtsam/tests/test_DsfTrackGenerator.py
index 5e579bb32..5a7379c04 100644
--- a/python/gtsam/tests/test_DsfTrackGenerator.py
+++ b/python/gtsam/tests/test_DsfTrackGenerator.py
@@ -119,11 +119,11 @@ class TestSfmTrack2d(GtsamTestCase):
 
 def get_dummy_keypoints_list() -> List[Keypoints]:
     """ """
-    img1_kp_coords = np.array([[1, 1], [2, 2], [3, 3]])
+    img1_kp_coords = np.array([[1, 1], [2, 2], [3, 3.]])
     img1_kp_scale = np.array([6.0, 9.0, 8.5])
     img2_kp_coords = np.array(
         [
-            [1, 1],
+            [1, 1.],
             [2, 2],
             [3, 3],
             [4, 4],
@@ -135,7 +135,7 @@ def get_dummy_keypoints_list() -> List[Keypoints]:
     )
     img3_kp_coords = np.array(
         [
-            [1, 1],
+            [1, 1.],
             [2, 2],
             [3, 3],
             [4, 4],
@@ -149,7 +149,7 @@ def get_dummy_keypoints_list() -> List[Keypoints]:
     )
     img4_kp_coords = np.array(
         [
-            [1, 1],
+            [1, 1.],
             [2, 2],
             [3, 3],
             [4, 4],
@@ -157,7 +157,7 @@ def get_dummy_keypoints_list() -> List[Keypoints]:
         ]
     )
     keypoints_list = [
-        Keypoints(coordinates=img1_kp_coords, scales=img1_kp_scale),
+        Keypoints(coordinates=img1_kp_coords),
         Keypoints(coordinates=img2_kp_coords),
         Keypoints(coordinates=img3_kp_coords),
         Keypoints(coordinates=img4_kp_coords),

From 8c321ba226372f11274f438cf56f9b51e6472caf Mon Sep 17 00:00:00 2001
From: senselessdev1 <johnlambert@jl-macbook-pro-19.lan>
Date: Wed, 30 Aug 2023 11:17:40 -0400
Subject: [PATCH 140/206] add fix

---
 gtsam/sfm/DsfTrackGenerator.cpp              | 2 +-
 python/gtsam/tests/test_DsfTrackGenerator.py | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/gtsam/sfm/DsfTrackGenerator.cpp b/gtsam/sfm/DsfTrackGenerator.cpp
index d9f3f1626..0efda0629 100644
--- a/gtsam/sfm/DsfTrackGenerator.cpp
+++ b/gtsam/sfm/DsfTrackGenerator.cpp
@@ -130,7 +130,7 @@ std::vector<SfmTrack2d> tracksFromPairwiseMatches(
   }
 
   // TODO(johnwlambert): return the Transitivity failure percentage here.
-  return tracks2d; // validTracks;
+  return validTracks;
 }
 
 }  // namespace gtsfm
diff --git a/python/gtsam/tests/test_DsfTrackGenerator.py b/python/gtsam/tests/test_DsfTrackGenerator.py
index 5a7379c04..618f8a8cc 100644
--- a/python/gtsam/tests/test_DsfTrackGenerator.py
+++ b/python/gtsam/tests/test_DsfTrackGenerator.py
@@ -36,7 +36,7 @@ class TestDsfTrackGenerator(GtsamTestCase):
         tracks = gtsam.gtsfm.tracksFromPairwiseMatches(
             matches_dict,
             keypoints_list,
-            verbose=False,
+            verbose=True,
         )
         self.assertEqual(len(tracks), 0, "Tracks not filtered correctly")
 

From 7fbbb3593c5335b1e2727fcb7f8a01b20fdfdb5e Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 31 Aug 2023 13:19:59 -0400
Subject: [PATCH 141/206] updated Hybrid.lyx to clarify the invariant structure
 of the GaussianMixture invariant

---
 doc/Hybrid.lyx | 108 +++++++++++++++++++++++++++++++++++++++++++++----
 doc/Hybrid.pdf | Bin 231745 -> 170632 bytes
 2 files changed, 100 insertions(+), 8 deletions(-)

diff --git a/doc/Hybrid.lyx b/doc/Hybrid.lyx
index c854a4845..3067d5c26 100644
--- a/doc/Hybrid.lyx
+++ b/doc/Hybrid.lyx
@@ -86,7 +86,7 @@ Hybrid Inference
 \end_layout
 
 \begin_layout Author
-Frank Dellaert & Varun Agrawal
+Frank Dellaert
 \end_layout
 
 \begin_layout Date
@@ -269,7 +269,82 @@ If we take the log of
 
 \end_inset
 
-Equating 
+The key point here is that 
+\family roman
+\series medium
+\shape up
+\size normal
+\emph off
+\bar no
+\strikeout off
+\xout off
+\uuline off
+\uwave off
+\noun off
+\color none
+
+\begin_inset Formula $K_{gm}$
+\end_inset
+
+
+\family default
+\series default
+\shape default
+\size default
+\emph default
+\bar default
+\strikeout default
+\xout default
+\uuline default
+\uwave default
+\noun default
+\color inherit
+ is the log-normalization constant for the complete 
+\emph on
+GaussianMixture
+\emph default
+ across all values of 
+\begin_inset Formula $m$
+\end_inset
+
+, and is not dependent on the value of 
+\begin_inset Formula $m$
+\end_inset
+
+.
+ In contrast, 
+\begin_inset Formula $K_{gcm}$
+\end_inset
+
+ is the log-normalization constant for a specific 
+\emph on
+GaussianConditional 
+\emph default
+mode (thus dependent on 
+\begin_inset Formula $m$
+\end_inset
+
+) and can have differing values based on the covariance matrices for each
+ mode.
+ Thus to obtain a constant 
+\begin_inset Formula $K_{gm}$
+\end_inset
+
+ which satisfies the invariant, we need to specify 
+\begin_inset Formula $E_{gm}(x,y,m)$
+\end_inset
+
+ accordingly.
+\end_layout
+
+\begin_layout Standard
+\SpecialChar allowbreak
+
+\end_layout
+
+\begin_layout Standard
+\noindent
+By equating 
 \begin_inset CommandInset ref
 LatexCommand eqref
 reference "eq:gm_invariant"
@@ -289,7 +364,7 @@ noprefix "false"
 
 \end_inset
 
- we see that this can be achieved by defining the error 
+, we see that this can be achieved by defining the error 
 \begin_inset Formula $E_{gm}(x,y,m)$
 \end_inset
 
@@ -541,9 +616,9 @@ noprefix "false"
 
 :
 \begin_inset Formula 
-\[
-E_{mf}(y,m)=C+E_{gcm}(\bar{x},y)-K_{gcm}.
-\]
+\begin{equation}
+E_{mf}(y,m)=C+E_{gcm}(\bar{x},y)-K_{gcm}\label{eq:mixture_factor}
+\end{equation}
 
 \end_inset
 
@@ -555,8 +630,25 @@ Unfortunately, we can no longer choose
 \begin_inset Formula $m$
 \end_inset
 
- to make the constant disappear.
- There are two possibilities:
+ to make the constant disappear, since 
+\begin_inset Formula $C$
+\end_inset
+
+ has to be a constant applicable across all 
+\begin_inset Formula $m$
+\end_inset
+
+.
+\end_layout
+
+\begin_layout Standard
+\SpecialChar allowbreak
+
+\end_layout
+
+\begin_layout Standard
+\noindent
+There are two possibilities:
 \end_layout
 
 \begin_layout Enumerate
diff --git a/doc/Hybrid.pdf b/doc/Hybrid.pdf
index 558be2902a5b88157fd876175ec6f9ae80ad8322..456ce49c4bca1986a443255489ac6ad5053fe838 100644
GIT binary patch
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From 4adbea85b6c3d378a909a3dc62462d904efdc5c4 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 31 Aug 2023 13:36:27 -0400
Subject: [PATCH 142/206] specify K_{gcm} is K_{gc}(m)

---
 doc/Hybrid.lyx |  27 +++++++++++++++++++++++++--
 doc/Hybrid.pdf | Bin 170632 -> 171197 bytes
 2 files changed, 25 insertions(+), 2 deletions(-)

diff --git a/doc/Hybrid.lyx b/doc/Hybrid.lyx
index 3067d5c26..44df81e39 100644
--- a/doc/Hybrid.lyx
+++ b/doc/Hybrid.lyx
@@ -264,11 +264,34 @@ If we take the log of
  we get
 \begin_inset Formula 
 \begin{equation}
-\log P(x|y,m)=\log P_{m}(x|y)=K_{gcm}-E_{gcm}(x,y).\label{eq:gm_log}
+\log P(x|y,m)=\log P_{m}(x|y)=K_{gc}(m)-E_{gcm}(x,y).\label{eq:gm_log}
 \end{equation}
 
 \end_inset
 
+
+\end_layout
+
+\begin_layout Standard
+\noindent
+For conciseness, we will write 
+\begin_inset Formula $K_{gc}(m)$
+\end_inset
+
+ as 
+\begin_inset Formula $K_{gcm}$
+\end_inset
+
+.
+\end_layout
+
+\begin_layout Standard
+\SpecialChar allowbreak
+
+\end_layout
+
+\begin_layout Standard
+\noindent
 The key point here is that 
 \family roman
 \series medium
@@ -307,7 +330,7 @@ GaussianMixture
 \begin_inset Formula $m$
 \end_inset
 
-, and is not dependent on the value of 
+, and cannot be dependent on the value of 
 \begin_inset Formula $m$
 \end_inset
 
diff --git a/doc/Hybrid.pdf b/doc/Hybrid.pdf
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From 3d6e2fc81ca1bac9c322e31a5917b1db77e97d5c Mon Sep 17 00:00:00 2001
From: Clark Taylor <clark.n.taylor@gmail.com>
Date: Fri, 1 Sep 2023 14:12:47 -0400
Subject: [PATCH 143/206] Update CustomFactors.md to more clearly specify types
 required

---
 python/CustomFactors.md | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/python/CustomFactors.md b/python/CustomFactors.md
index a6ffa2f36..079bcaa85 100644
--- a/python/CustomFactors.md
+++ b/python/CustomFactors.md
@@ -11,7 +11,7 @@ import gtsam
 import numpy as np
 from typing import List
 
-def error_func(this: gtsam.CustomFactor, v: gtsam.Values, H: List[np.ndarray]):
+def error_func(this: gtsam.CustomFactor, v: gtsam.Values, H: List[np.ndarray]) -> np.ndarray:
     ...
 ```
 
@@ -21,7 +21,7 @@ def error_func(this: gtsam.CustomFactor, v: gtsam.Values, H: List[np.ndarray]):
 
 If `H` is `None`, it means the current factor evaluation does not need Jacobians. For example, the `error`
 method on a factor does not need Jacobians, so we don't evaluate them to save CPU. If `H` is not `None`,
-each entry of `H` can be assigned a `numpy` array, as the Jacobian for the corresponding variable.
+each entry of `H` can be assigned a (2D) `numpy` array, as the Jacobian for the corresponding variable.
 
 After defining `error_func`, one can create a `CustomFactor` just like any other factor in GTSAM:
 
@@ -42,7 +42,7 @@ from typing import List
 
 expected = Pose2(2, 2, np.pi / 2)
 
-def error_func(this: CustomFactor, v: gtsam.Values, H: List[np.ndarray]):
+def error_func(this: CustomFactor, v: gtsam.Values, H: List[np.ndarray]) -> np.ndarray:
     """
     Error function that mimics a BetweenFactor
     :param this: reference to the current CustomFactor being evaluated

From 8ee9f205378b1082ab4201b5723e3848b0f155a3 Mon Sep 17 00:00:00 2001
From: Clark Taylor <clark.n.taylor@gmail.com>
Date: Fri, 1 Sep 2023 14:15:39 -0400
Subject: [PATCH 144/206] Update CustomFactorExample.py to correctly document
 return types

---
 python/gtsam/examples/CustomFactorExample.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/python/gtsam/examples/CustomFactorExample.py b/python/gtsam/examples/CustomFactorExample.py
index c7ae8ad21..1a8d1a61d 100644
--- a/python/gtsam/examples/CustomFactorExample.py
+++ b/python/gtsam/examples/CustomFactorExample.py
@@ -30,7 +30,7 @@ def simulate_car() -> List[float]:
 
 def error_gps(measurement: np.ndarray, this: gtsam.CustomFactor,
               values: gtsam.Values,
-              jacobians: Optional[List[np.ndarray]]) -> float:
+              jacobians: Optional[List[np.ndarray]]) -> np.ndarray:
     """GPS Factor error function
     :param measurement: GPS measurement, to be filled with `partial`
     :param this: gtsam.CustomFactor handle
@@ -49,7 +49,7 @@ def error_gps(measurement: np.ndarray, this: gtsam.CustomFactor,
 
 def error_odom(measurement: np.ndarray, this: gtsam.CustomFactor,
                values: gtsam.Values,
-               jacobians: Optional[List[np.ndarray]]) -> float:
+               jacobians: Optional[List[np.ndarray]]) -> np.ndarray:
     """Odometry Factor error function
     :param measurement: Odometry measurement, to be filled with `partial`
     :param this: gtsam.CustomFactor handle
@@ -70,7 +70,7 @@ def error_odom(measurement: np.ndarray, this: gtsam.CustomFactor,
 
 def error_lm(measurement: np.ndarray, this: gtsam.CustomFactor,
              values: gtsam.Values,
-             jacobians: Optional[List[np.ndarray]]) -> float:
+             jacobians: Optional[List[np.ndarray]]) -> np.ndarray:
     """Landmark Factor error function
     :param measurement: Landmark measurement, to be filled with `partial`
     :param this: gtsam.CustomFactor handle

From 8611aec3fb31698483f5afa5e2519de2ce61ddd0 Mon Sep 17 00:00:00 2001
From: Clark Taylor <clark.n.taylor@gmail.com>
Date: Fri, 1 Sep 2023 14:17:04 -0400
Subject: [PATCH 145/206] Update CustomFactors.md to document return type.

---
 python/CustomFactors.md | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/python/CustomFactors.md b/python/CustomFactors.md
index 079bcaa85..39a840e34 100644
--- a/python/CustomFactors.md
+++ b/python/CustomFactors.md
@@ -17,7 +17,8 @@ def error_func(this: gtsam.CustomFactor, v: gtsam.Values, H: List[np.ndarray]) -
 
 `this` is a reference to the `CustomFactor` object. This is required because one can reuse the same
 `error_func` for multiple factors. `v` is a reference to the current set of values, and `H` is a list of
-**references** to the list of required Jacobians (see the corresponding C++ documentation).
+**references** to the list of required Jacobians (see the corresponding C++ documentation).  Note that 
+the error returned must be a 1D numpy array.
 
 If `H` is `None`, it means the current factor evaluation does not need Jacobians. For example, the `error`
 method on a factor does not need Jacobians, so we don't evaluate them to save CPU. If `H` is not `None`,

From 039f5cf7110daefe0299688b44ee7a9b604f06ca Mon Sep 17 00:00:00 2001
From: Clark Taylor <clark.n.taylor@gmail.com>
Date: Fri, 1 Sep 2023 14:18:45 -0400
Subject: [PATCH 146/206] Update CustomFactorExample.py with comments to
 explain typing

---
 python/gtsam/examples/CustomFactorExample.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/python/gtsam/examples/CustomFactorExample.py b/python/gtsam/examples/CustomFactorExample.py
index 1a8d1a61d..a78562ecb 100644
--- a/python/gtsam/examples/CustomFactorExample.py
+++ b/python/gtsam/examples/CustomFactorExample.py
@@ -15,7 +15,7 @@ from typing import List, Optional
 import gtsam
 import numpy as np
 
-I = np.eye(1)
+I = np.eye(1) # Creates a 1-element, 2D array
 
 
 def simulate_car() -> List[float]:
@@ -44,7 +44,7 @@ def error_gps(measurement: np.ndarray, this: gtsam.CustomFactor,
     if jacobians is not None:
         jacobians[0] = I
 
-    return error
+    return error # with input types this is a 1D np.ndarray
 
 
 def error_odom(measurement: np.ndarray, this: gtsam.CustomFactor,

From e57046bca062bcc4c48cb6c8cafbdd588e40fe91 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@users.noreply.github.com>
Date: Sun, 3 Sep 2023 19:47:16 -0700
Subject: [PATCH 147/206] Update README.md with release 4.2

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 1ccde9738..40b84dff8 100644
--- a/README.md
+++ b/README.md
@@ -4,7 +4,7 @@
 
 **As of January 2023, the `develop` branch is officially in "Pre 4.3" mode. We envision several API-breaking changes as we switch to C++17 and away from boost.**
 
-In addition, features deprecated in 4.2 will be removed. Please use the last [4.2a8 release](https://github.com/borglab/gtsam/releases/tag/4.2a8) if you need those features. However, most are easily converted and can be tracked down (in 4.2) by disabling the cmake flag `GTSAM_ALLOW_DEPRECATED_SINCE_V42`.
+In addition, features deprecated in 4.2 will be removed. Please use the stable [4.2 release](https://github.com/borglab/gtsam/releases/tag/4.2) if you need those features. However, most are easily converted and can be tracked down (in 4.2) by disabling the cmake flag `GTSAM_ALLOW_DEPRECATED_SINCE_V42`.
 
 ## What is GTSAM?
 

From ac3f3dbd60f50a67cfae1a7d76587aa01e4c75c6 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 4 Sep 2023 22:25:34 -0400
Subject: [PATCH 148/206] clean up GTSAM version setting

---
 CMakeLists.txt                | 8 +++-----
 gtsam/CMakeLists.txt          | 2 +-
 gtsam_unstable/CMakeLists.txt | 2 +-
 3 files changed, 5 insertions(+), 7 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8b56ea9df..309cc7c4e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -13,18 +13,16 @@ set (GTSAM_VERSION_PATCH 0)
 set (GTSAM_PRERELEASE_VERSION "a0")
 math (EXPR GTSAM_VERSION_NUMERIC "10000 * ${GTSAM_VERSION_MAJOR} + 100 * ${GTSAM_VERSION_MINOR} + ${GTSAM_VERSION_PATCH}")
 
-if (${GTSAM_VERSION_PATCH} EQUAL 0)
-    set (GTSAM_VERSION_STRING "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}${GTSAM_PRERELEASE_VERSION}")
+if ("${GTSAM_PRERELEASE_VERSION}" STREQUAL "")
+    set (GTSAM_VERSION_STRING "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}")
 else()
-    set (GTSAM_VERSION_STRING "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}${GTSAM_PRERELEASE_VERSION}")
+    set (GTSAM_VERSION_STRING "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}${GTSAM_PRERELEASE_VERSION}")
 endif()
 
 project(GTSAM
         LANGUAGES CXX C
         VERSION "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}")
 
-message(STATUS "GTSAM Version: ${GTSAM_VERSION_STRING}")
-
 set (CMAKE_PROJECT_VERSION_MAJOR ${GTSAM_VERSION_MAJOR})
 set (CMAKE_PROJECT_VERSION_MINOR ${GTSAM_VERSION_MINOR})
 set (CMAKE_PROJECT_VERSION_PATCH ${GTSAM_VERSION_PATCH})
diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt
index efd0e9dc2..555e077b8 100644
--- a/gtsam/CMakeLists.txt
+++ b/gtsam/CMakeLists.txt
@@ -112,7 +112,7 @@ if(GTSAM_SUPPORT_NESTED_DISSECTION)
 endif()
 
 # Versions
-set(gtsam_version   ${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH})
+set(gtsam_version   ${GTSAM_VERSION_STRING})
 set(gtsam_soversion ${GTSAM_VERSION_MAJOR})
 message(STATUS "GTSAM Version: ${gtsam_version}")
 message(STATUS "Install prefix: ${CMAKE_INSTALL_PREFIX}")
diff --git a/gtsam_unstable/CMakeLists.txt b/gtsam_unstable/CMakeLists.txt
index 30f096772..1f7b4a7c7 100644
--- a/gtsam_unstable/CMakeLists.txt
+++ b/gtsam_unstable/CMakeLists.txt
@@ -82,7 +82,7 @@ if(GTSAM_SUPPORT_NESTED_DISSECTION) # Only build partition if metis is built
 endif(GTSAM_SUPPORT_NESTED_DISSECTION)
 
 # Versions - same as core gtsam library
-set(gtsam_unstable_version   ${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH})
+set(gtsam_unstable_version   ${GTSAM_VERSION_STRING})
 set(gtsam_unstable_soversion ${GTSAM_VERSION_MAJOR})
 message(STATUS "GTSAM_UNSTABLE Version: ${gtsam_unstable_version}")
 message(STATUS "Install prefix: ${CMAKE_INSTALL_PREFIX}")

From d7be9b92267c701635bd6544d34f160ba62dbd15 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 5 Sep 2023 12:04:33 -0400
Subject: [PATCH 149/206] Squashed 'wrap/' changes from 2f136936d..390cb8092

390cb8092 Merge pull request #160 from borglab/upgrade-pybind11
c48bfa418 upgrade pybind11 to v2.11.1
c941bdd48 update gitignore

git-subtree-dir: wrap
git-subtree-split: 390cb80923c409e20a2467969dc44f2677fc265a
---
 .gitignore                                    |   2 +
 pybind11/.clang-tidy                          |   2 +
 pybind11/.codespell-ignore-lines              |  24 +
 pybind11/.github/CONTRIBUTING.md              |   4 +-
 .../.github/ISSUE_TEMPLATE/bug-report.yml     |  22 +-
 pybind11/.github/workflows/ci.yml             | 291 ++++++-
 pybind11/.github/workflows/configure.yml      |  26 +-
 pybind11/.github/workflows/format.yml         |   9 +-
 pybind11/.github/workflows/labeler.yml        |  11 +-
 pybind11/.github/workflows/pip.yml            |  12 +-
 pybind11/.github/workflows/upstream.yml       |  78 +-
 pybind11/.gitignore                           |   1 +
 pybind11/.pre-commit-config.yaml              | 157 ++--
 pybind11/CMakeLists.txt                       |  33 +-
 pybind11/MANIFEST.in                          |   3 +-
 pybind11/README.rst                           |   2 +-
 pybind11/SECURITY.md                          |  13 +
 pybind11/docs/advanced/cast/custom.rst        |   4 +-
 pybind11/docs/advanced/cast/stl.rst           |   6 +-
 pybind11/docs/advanced/cast/strings.rst       |  10 +-
 pybind11/docs/advanced/classes.rst            |   4 +-
 pybind11/docs/advanced/embedding.rst          |   2 +-
 pybind11/docs/advanced/exceptions.rst         |   9 +-
 pybind11/docs/advanced/misc.rst               |  77 +-
 pybind11/docs/advanced/pycpp/numpy.rst        |   4 +-
 pybind11/docs/advanced/smart_ptrs.rst         |   2 +-
 pybind11/docs/changelog.rst                   | 358 ++++++++
 pybind11/docs/classes.rst                     |  14 +
 pybind11/docs/compiling.rst                   |   9 +-
 pybind11/docs/conf.py                         |   3 +-
 pybind11/docs/faq.rst                         |   3 +-
 pybind11/docs/release.rst                     |  10 +-
 pybind11/docs/upgrade.rst                     |  14 +
 pybind11/include/pybind11/attr.h              |  18 +-
 pybind11/include/pybind11/buffer_info.h       |  17 +-
 pybind11/include/pybind11/cast.h              |  99 ++-
 pybind11/include/pybind11/detail/class.h      |  59 +-
 pybind11/include/pybind11/detail/common.h     | 178 +++-
 pybind11/include/pybind11/detail/descr.h      |  13 +
 pybind11/include/pybind11/detail/init.h       |  40 +-
 pybind11/include/pybind11/detail/internals.h  | 124 ++-
 .../pybind11/detail/type_caster_base.h        | 219 ++++-
 pybind11/include/pybind11/eigen.h             | 698 +--------------
 pybind11/include/pybind11/eigen/common.h      |   9 +
 pybind11/include/pybind11/eigen/matrix.h      | 714 ++++++++++++++++
 pybind11/include/pybind11/eigen/tensor.h      | 516 +++++++++++
 pybind11/include/pybind11/embed.h             | 131 ++-
 pybind11/include/pybind11/functional.h        |  13 +-
 pybind11/include/pybind11/gil.h               |  63 +-
 pybind11/include/pybind11/numpy.h             |  48 +-
 pybind11/include/pybind11/operators.h         |   1 +
 pybind11/include/pybind11/options.h           |  16 +
 pybind11/include/pybind11/pybind11.h          | 188 ++--
 pybind11/include/pybind11/pytypes.h           | 337 ++++++--
 pybind11/include/pybind11/stl.h               |  50 +-
 pybind11/include/pybind11/stl_bind.h          | 176 ++--
 .../pybind11/type_caster_pyobject_ptr.h       |  61 ++
 pybind11/noxfile.py                           |  18 +-
 pybind11/pybind11/__init__.py                 |   5 +-
 pybind11/pybind11/__main__.py                 |  17 +-
 pybind11/pybind11/_version.py                 |   2 +-
 pybind11/pybind11/commands.py                 |  14 +-
 pybind11/pybind11/setup_helpers.py            |  22 +-
 pybind11/pyproject.toml                       |  49 +-
 pybind11/setup.cfg                            |   9 +-
 pybind11/setup.py                             |   3 +-
 pybind11/tests/CMakeLists.txt                 |  48 +-
 pybind11/tests/conftest.py                    |  76 +-
 pybind11/tests/constructor_stats.h            |   2 +-
 pybind11/tests/cross_module_gil_utils.cpp     |  67 +-
 .../tests/eigen_tensor_avoid_stl_array.cpp    |  14 +
 pybind11/tests/env.py                         |   3 +-
 .../tests/extra_python_package/test_files.py  | 137 +--
 pybind11/tests/pybind11_tests.cpp             |   6 +
 pybind11/tests/requirements.txt               |   2 +-
 pybind11/tests/test_async.py                  |   4 +-
 pybind11/tests/test_buffers.cpp               |  35 +
 pybind11/tests/test_buffers.py                |  60 +-
 pybind11/tests/test_builtin_casters.cpp       |  18 +-
 pybind11/tests/test_builtin_casters.py        |  10 +-
 pybind11/tests/test_callbacks.cpp             |  37 +
 pybind11/tests/test_callbacks.py              |  27 +-
 pybind11/tests/test_chrono.py                 |   4 -
 pybind11/tests/test_class.cpp                 |  48 +-
 pybind11/tests/test_class.py                  |  24 +-
 .../tests/test_cmake_build/CMakeLists.txt     |   3 -
 .../installed_embed/CMakeLists.txt            |   8 +-
 .../installed_function/CMakeLists.txt         |   8 +-
 .../installed_target/CMakeLists.txt           |   8 +-
 .../subdirectory_embed/CMakeLists.txt         |   8 +-
 .../subdirectory_function/CMakeLists.txt      |   8 +-
 .../subdirectory_target/CMakeLists.txt        |   8 +-
 pybind11/tests/test_const_name.py             |   4 +-
 .../tests/test_constants_and_functions.cpp    |  37 +-
 .../tests/test_constants_and_functions.py     |   4 +
 pybind11/tests/test_copy_move.cpp             | 238 ++++++
 pybind11/tests/test_custom_type_casters.cpp   |  14 +-
 pybind11/tests/test_custom_type_casters.py    |   6 +-
 pybind11/tests/test_custom_type_setup.py      |   2 +-
 pybind11/tests/test_docstring_options.cpp     |  53 ++
 pybind11/tests/test_docstring_options.py      |  23 +
 pybind11/tests/test_eigen_matrix.cpp          | 428 ++++++++++
 pybind11/tests/test_eigen_matrix.py           | 807 ++++++++++++++++++
 pybind11/tests/test_eigen_tensor.cpp          |  18 +
 pybind11/tests/test_eigen_tensor.inl          | 333 ++++++++
 pybind11/tests/test_eigen_tensor.py           | 288 +++++++
 pybind11/tests/test_embed/catch.cpp           |  22 +-
 .../tests/test_embed/test_interpreter.cpp     | 123 ++-
 pybind11/tests/test_enum.py                   |   2 +
 pybind11/tests/test_exceptions.cpp            |  20 +-
 pybind11/tests/test_exceptions.py             |  87 +-
 pybind11/tests/test_factory_constructors.py   |   2 +-
 pybind11/tests/test_gil_scoped.cpp            | 107 ++-
 pybind11/tests/test_gil_scoped.py             | 225 ++++-
 pybind11/tests/test_iostream.py               |  78 +-
 pybind11/tests/test_kwargs_and_defaults.cpp   |  10 +-
 pybind11/tests/test_kwargs_and_defaults.py    |  31 +-
 pybind11/tests/test_local_bindings.py         |   3 +-
 .../tests/test_methods_and_attributes.cpp     |  34 +
 pybind11/tests/test_methods_and_attributes.py |  18 +-
 pybind11/tests/test_modules.py                |  19 +-
 pybind11/tests/test_numpy_array.cpp           |  28 +
 pybind11/tests/test_numpy_array.py            |  95 ++-
 pybind11/tests/test_numpy_dtypes.py           |  28 +-
 pybind11/tests/test_numpy_vectorize.py        |   2 +-
 pybind11/tests/test_operator_overloading.cpp  |  23 +-
 pybind11/tests/test_operator_overloading.py   |   1 -
 pybind11/tests/test_pytypes.cpp               |  66 +-
 pybind11/tests/test_pytypes.py                | 187 +++-
 .../tests/test_sequences_and_iterators.cpp    |  19 +
 .../tests/test_sequences_and_iterators.py     |  13 +-
 pybind11/tests/test_smart_ptr.cpp             |   4 +-
 pybind11/tests/test_stl.cpp                   |  22 +-
 pybind11/tests/test_stl.py                    |  16 +-
 pybind11/tests/test_stl_binders.cpp           |  44 +
 pybind11/tests/test_stl_binders.py            |  56 +-
 pybind11/tests/test_tagbased_polymorphic.cpp  |   4 +-
 .../tests/test_type_caster_pyobject_ptr.cpp   | 130 +++
 .../tests/test_type_caster_pyobject_ptr.py    | 104 +++
 pybind11/tests/test_unnamed_namespace_a.cpp   |  38 +
 pybind11/tests/test_unnamed_namespace_a.py    |  34 +
 pybind11/tests/test_unnamed_namespace_b.cpp   |  13 +
 pybind11/tests/test_unnamed_namespace_b.py    |   5 +
 .../tests/test_vector_unique_ptr_member.cpp   |  54 ++
 .../tests/test_vector_unique_ptr_member.py    |  14 +
 pybind11/tests/test_virtual_functions.cpp     |   3 +-
 pybind11/tests/test_virtual_functions.py      |   7 +-
 pybind11/tools/FindCatch.cmake                |   8 +-
 pybind11/tools/FindPythonLibsNew.cmake        |  12 +-
 pybind11/tools/JoinPaths.cmake                |  23 +
 .../codespell_ignore_lines_from_errors.py     |  39 +
 pybind11/tools/make_changelog.py              |   9 +-
 pybind11/tools/pybind11.pc.in                 |   7 +
 pybind11/tools/pybind11Common.cmake           |  36 +-
 pybind11/tools/pybind11Config.cmake.in        |   4 +-
 pybind11/tools/pybind11NewTools.cmake         |   6 +-
 pybind11/tools/pybind11Tools.cmake            |  16 +-
 pybind11/tools/setup_global.py.in             |   6 +-
 pybind11/tools/setup_main.py.in               |   4 +
 159 files changed, 8117 insertions(+), 1918 deletions(-)
 create mode 100644 pybind11/.codespell-ignore-lines
 create mode 100644 pybind11/SECURITY.md
 create mode 100644 pybind11/include/pybind11/eigen/common.h
 create mode 100644 pybind11/include/pybind11/eigen/matrix.h
 create mode 100644 pybind11/include/pybind11/eigen/tensor.h
 create mode 100644 pybind11/include/pybind11/type_caster_pyobject_ptr.h
 create mode 100644 pybind11/tests/eigen_tensor_avoid_stl_array.cpp
 create mode 100644 pybind11/tests/test_eigen_matrix.cpp
 create mode 100644 pybind11/tests/test_eigen_matrix.py
 create mode 100644 pybind11/tests/test_eigen_tensor.cpp
 create mode 100644 pybind11/tests/test_eigen_tensor.inl
 create mode 100644 pybind11/tests/test_eigen_tensor.py
 create mode 100644 pybind11/tests/test_type_caster_pyobject_ptr.cpp
 create mode 100644 pybind11/tests/test_type_caster_pyobject_ptr.py
 create mode 100644 pybind11/tests/test_unnamed_namespace_a.cpp
 create mode 100644 pybind11/tests/test_unnamed_namespace_a.py
 create mode 100644 pybind11/tests/test_unnamed_namespace_b.cpp
 create mode 100644 pybind11/tests/test_unnamed_namespace_b.py
 create mode 100644 pybind11/tests/test_vector_unique_ptr_member.cpp
 create mode 100644 pybind11/tests/test_vector_unique_ptr_member.py
 create mode 100644 pybind11/tools/JoinPaths.cmake
 create mode 100644 pybind11/tools/codespell_ignore_lines_from_errors.py
 create mode 100644 pybind11/tools/pybind11.pc.in

diff --git a/.gitignore b/.gitignore
index 9f79deafa..de16b118d 100644
--- a/.gitignore
+++ b/.gitignore
@@ -5,6 +5,8 @@ __pycache__/
 *dist*
 *.egg-info
 
+**/.DS_Store
+
 # Files related to code coverage stats
 **/.coverage
 
diff --git a/pybind11/.clang-tidy b/pybind11/.clang-tidy
index d945a4a27..23018386c 100644
--- a/pybind11/.clang-tidy
+++ b/pybind11/.clang-tidy
@@ -63,6 +63,8 @@ Checks: |
   -bugprone-unused-raii,
 
 CheckOptions:
+- key:             modernize-use-equals-default.IgnoreMacros
+  value:           false
 - key:             performance-for-range-copy.WarnOnAllAutoCopies
   value:           true
 - key:             performance-inefficient-string-concatenation.StrictMode
diff --git a/pybind11/.codespell-ignore-lines b/pybind11/.codespell-ignore-lines
new file mode 100644
index 000000000..2a01d63eb
--- /dev/null
+++ b/pybind11/.codespell-ignore-lines
@@ -0,0 +1,24 @@
+template <op_id id, op_type ot, typename L = undefined_t, typename R = undefined_t>
+    template <typename ThisT>
+        auto &this_ = static_cast<ThisT &>(*this);
+                if (load_impl<ThisT>(temp, false)) {
+        ssize_t nd = 0;
+        auto trivial = broadcast(buffers, nd, shape);
+        auto ndim = (size_t) nd;
+    int nd;
+    ssize_t ndim() const { return detail::array_proxy(m_ptr)->nd; }
+        using op = op_impl<id, ot, Base, L_type, R_type>;
+template <op_id id, op_type ot, typename L, typename R>
+    template <detail::op_id id, detail::op_type ot, typename L, typename R, typename... Extra>
+    class_ &def(const detail::op_<id, ot, L, R> &op, const Extra &...extra) {
+    class_ &def_cast(const detail::op_<id, ot, L, R> &op, const Extra &...extra) {
+@pytest.mark.parametrize("access", ["ro", "rw", "static_ro", "static_rw"])
+struct IntStruct {
+    explicit IntStruct(int v) : value(v){};
+    ~IntStruct() { value = -value; }
+    IntStruct(const IntStruct &) = default;
+    IntStruct &operator=(const IntStruct &) = default;
+    py::class_<IntStruct>(m, "IntStruct").def(py::init([](const int i) { return IntStruct(i); }));
+    py::implicitly_convertible<int, IntStruct>();
+    m.def("test", [](int expected, const IntStruct &in) {
+        [](int expected, const IntStruct &in) {
diff --git a/pybind11/.github/CONTRIBUTING.md b/pybind11/.github/CONTRIBUTING.md
index 00b1fea4c..ad7974395 100644
--- a/pybind11/.github/CONTRIBUTING.md
+++ b/pybind11/.github/CONTRIBUTING.md
@@ -235,8 +235,8 @@ directory inside your pybind11 git clone. Files will be modified in place,
 so you can use git to monitor the changes.
 
 ```bash
-docker run --rm -v $PWD:/mounted_pybind11 -it silkeh/clang:13
-apt-get update && apt-get install -y python3-dev python3-pytest
+docker run --rm -v $PWD:/mounted_pybind11 -it silkeh/clang:15-bullseye
+apt-get update && apt-get install -y git python3-dev python3-pytest
 cmake -S /mounted_pybind11/ -B build -DCMAKE_CXX_CLANG_TIDY="$(which clang-tidy);--use-color" -DDOWNLOAD_EIGEN=ON -DDOWNLOAD_CATCH=ON -DCMAKE_CXX_STANDARD=17
 cmake --build build -j 2
 ```
diff --git a/pybind11/.github/ISSUE_TEMPLATE/bug-report.yml b/pybind11/.github/ISSUE_TEMPLATE/bug-report.yml
index bd6a9a8e2..4f1e78f33 100644
--- a/pybind11/.github/ISSUE_TEMPLATE/bug-report.yml
+++ b/pybind11/.github/ISSUE_TEMPLATE/bug-report.yml
@@ -6,7 +6,8 @@ body:
   - type: markdown
     attributes:
       value: |
-        Maintainers will only make a best effort to triage PRs. Please do your best to make the issue as easy to act on as possible, and only open if clearly a problem with pybind11 (ask first if unsure).
+        Please do your best to make the issue as easy to act on as possible, and only submit here if there is clearly a problem with pybind11 (ask first if unsure). **Note that a reproducer in a PR is much more likely to get immediate attention.**
+
   - type: checkboxes
     id: steps
     attributes:
@@ -20,6 +21,13 @@ body:
         - label: Consider asking first in the [Gitter chat room](https://gitter.im/pybind/Lobby) or in a [Discussion](https:/pybind/pybind11/discussions/new).
           required: false
 
+  - type: input
+    id: version
+    attributes:
+      label: What version (or hash if on master) of pybind11 are you using?
+    validations:
+      required: true
+
   - type: textarea
     id: description
     attributes:
@@ -40,6 +48,14 @@ body:
         The code should be minimal, have no external dependencies, isolate the
         function(s) that cause breakage. Submit matched and complete C++ and
         Python snippets that can be easily compiled and run to diagnose the
-        issue. If possible, make a PR with a new, failing test to give us a
-        starting point to work on!
+        issue. — Note that a reproducer in a PR is much more likely to get
+        immediate attention: failing tests in the pybind11 CI are the best
+        starting point for working out fixes.
       render: text
+
+  - type: input
+    id: regression
+    attributes:
+      label: Is this a regression? Put the last known working version here if it is.
+      description: Put the last known working version here if this is a regression.
+      value: Not a regression
diff --git a/pybind11/.github/workflows/ci.yml b/pybind11/.github/workflows/ci.yml
index 412282a4f..48f7c5e93 100644
--- a/pybind11/.github/workflows/ci.yml
+++ b/pybind11/.github/workflows/ci.yml
@@ -9,14 +9,19 @@ on:
       - stable
       - v*
 
+permissions: read-all
+
 concurrency:
   group: test-${{ github.ref }}
   cancel-in-progress: true
 
 env:
+  PIP_BREAK_SYSTEM_PACKAGES: 1
   PIP_ONLY_BINARY: numpy
   FORCE_COLOR: 3
   PYTEST_TIMEOUT: 300
+  # For cmake:
+  VERBOSE: 1
 
 jobs:
   # This is the "main" test suite, which tests a large number of different
@@ -25,15 +30,16 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        runs-on: [ubuntu-latest, windows-2022, macos-latest]
+        runs-on: [ubuntu-20.04, windows-2022, macos-latest]
         python:
         - '3.6'
         - '3.9'
         - '3.10'
-        - '3.11-dev'
-        - 'pypy-3.7'
+        - '3.11'
+        - '3.12'
         - 'pypy-3.8'
         - 'pypy-3.9'
+        - 'pypy-3.10'
 
         # Items in here will either be added to the build matrix (if not
         # present), or add new keys to an existing matrix element if all the
@@ -42,12 +48,12 @@ jobs:
         # We support an optional key: args, for cmake args
         include:
           # Just add a key
-          - runs-on: ubuntu-latest
+          - runs-on: ubuntu-20.04
             python: '3.6'
             args: >
               -DPYBIND11_FINDPYTHON=ON
               -DCMAKE_CXX_FLAGS="-D_=1"
-          - runs-on: ubuntu-latest
+          - runs-on: ubuntu-20.04
             python: 'pypy-3.8'
             args: >
               -DPYBIND11_FINDPYTHON=ON
@@ -69,6 +75,7 @@ jobs:
       uses: actions/setup-python@v4
       with:
         python-version: ${{ matrix.python }}
+        allow-prereleases: true
 
     - name: Setup Boost (Linux)
       # Can't use boost + define _
@@ -80,7 +87,7 @@ jobs:
       run: brew install boost
 
     - name: Update CMake
-      uses: jwlawson/actions-setup-cmake@v1.12
+      uses: jwlawson/actions-setup-cmake@v1.14
 
     - name: Cache wheels
       if: runner.os == 'macOS'
@@ -102,10 +109,12 @@ jobs:
       run: python -m pip install pytest-github-actions-annotate-failures
 
     # First build - C++11 mode and inplace
+    # More-or-less randomly adding -DPYBIND11_SIMPLE_GIL_MANAGEMENT=ON here.
     - name: Configure C++11 ${{ matrix.args }}
       run: >
         cmake -S . -B .
         -DPYBIND11_WERROR=ON
+        -DPYBIND11_SIMPLE_GIL_MANAGEMENT=ON
         -DDOWNLOAD_CATCH=ON
         -DDOWNLOAD_EIGEN=ON
         -DCMAKE_CXX_STANDARD=11
@@ -119,7 +128,7 @@ jobs:
 
     - name: C++11 tests
       # TODO: Figure out how to load the DLL on Python 3.8+
-      if: "!(runner.os == 'Windows' && (matrix.python == 3.8 || matrix.python == 3.9 || matrix.python == '3.10' || matrix.python == '3.11-dev' || matrix.python == 'pypy-3.8'))"
+      if: "!(runner.os == 'Windows' && (matrix.python == 3.8 || matrix.python == 3.9 || matrix.python == '3.10' || matrix.python == '3.11' || matrix.python == 'pypy-3.8'))"
       run: cmake --build .  --target cpptest -j 2
 
     - name: Interface test C++11
@@ -129,10 +138,12 @@ jobs:
       run: git clean -fdx
 
     # Second build - C++17 mode and in a build directory
+    # More-or-less randomly adding -DPYBIND11_SIMPLE_GIL_MANAGEMENT=OFF here.
     - name: Configure C++17
       run: >
         cmake -S . -B build2
         -DPYBIND11_WERROR=ON
+        -DPYBIND11_SIMPLE_GIL_MANAGEMENT=OFF
         -DDOWNLOAD_CATCH=ON
         -DDOWNLOAD_EIGEN=ON
         -DCMAKE_CXX_STANDARD=17
@@ -146,7 +157,7 @@ jobs:
 
     - name: C++ tests
       # TODO: Figure out how to load the DLL on Python 3.8+
-      if: "!(runner.os == 'Windows' && (matrix.python == 3.8 || matrix.python == 3.9 || matrix.python == '3.10' || matrix.python == '3.11-dev' || matrix.python == 'pypy-3.8'))"
+      if: "!(runner.os == 'Windows' && (matrix.python == 3.8 || matrix.python == 3.9 || matrix.python == '3.10' || matrix.python == '3.11' || matrix.python == 'pypy-3.8'))"
       run: cmake --build build2 --target cpptest
 
     # Third build - C++17 mode with unstable ABI
@@ -158,7 +169,6 @@ jobs:
         -DDOWNLOAD_EIGEN=ON
         -DCMAKE_CXX_STANDARD=17
         -DPYBIND11_INTERNALS_VERSION=10000000
-        "-DPYBIND11_TEST_OVERRIDE=test_call_policies.cpp;test_gil_scoped.cpp;test_thread.cpp"
         ${{ matrix.args }}
 
     - name: Build (unstable ABI)
@@ -173,7 +183,9 @@ jobs:
     # This makes sure the setup_helpers module can build packages using
     # setuptools
     - name: Setuptools helpers test
-      run: pytest tests/extra_setuptools
+      run: |
+        pip install setuptools
+        pytest tests/extra_setuptools
       if: "!(matrix.runs-on == 'windows-2022')"
 
 
@@ -186,23 +198,23 @@ jobs:
         - python-version: "3.9"
           python-debug: true
           valgrind: true
-        - python-version: "3.11-dev"
+        - python-version: "3.11"
           python-debug: false
 
     name: "🐍 ${{ matrix.python-version }}${{ matrix.python-debug && '-dbg' || '' }} (deadsnakes)${{ matrix.valgrind && ' • Valgrind' || '' }} • x64"
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-20.04
 
     steps:
     - uses: actions/checkout@v3
 
     - name: Setup Python ${{ matrix.python-version }} (deadsnakes)
-      uses: deadsnakes/action@v2.1.1
+      uses: deadsnakes/action@v3.0.1
       with:
         python-version: ${{ matrix.python-version }}
         debug: ${{ matrix.python-debug }}
 
     - name: Update CMake
-      uses: jwlawson/actions-setup-cmake@v1.12
+      uses: jwlawson/actions-setup-cmake@v1.14
 
     - name: Valgrind cache
       if: matrix.valgrind
@@ -235,8 +247,6 @@ jobs:
         python -m pip install -r tests/requirements.txt
 
     - name: Configure
-      env:
-        SETUPTOOLS_USE_DISTUTILS: stdlib
       run: >
         cmake -S . -B build
         -DCMAKE_BUILD_TYPE=Debug
@@ -274,18 +284,27 @@ jobs:
           - dev
         std:
           - 11
+        container_suffix:
+          - ""
         include:
           - clang: 5
             std: 14
-          - clang: 10
-            std: 20
           - clang: 10
             std: 17
+          - clang: 11
+            std: 20
+          - clang: 12
+            std: 20
+          - clang: 13
+            std: 20
           - clang: 14
             std: 20
+          - clang: 15
+            std: 20
+            container_suffix: "-bullseye"
 
     name: "🐍 3 • Clang ${{ matrix.clang }} • C++${{ matrix.std }} • x64"
-    container: "silkeh/clang:${{ matrix.clang }}"
+    container: "silkeh/clang:${{ matrix.clang }}${{ matrix.container_suffix }}"
 
     steps:
     - uses: actions/checkout@v3
@@ -318,8 +337,8 @@ jobs:
   # Testing NVCC; forces sources to behave like .cu files
   cuda:
     runs-on: ubuntu-latest
-    name: "🐍 3.8 • CUDA 11.2 • Ubuntu 20.04"
-    container: nvidia/cuda:11.2.2-devel-ubuntu20.04
+    name: "🐍 3.10 • CUDA 12.2 • Ubuntu 22.04"
+    container: nvidia/cuda:12.2.0-devel-ubuntu22.04
 
     steps:
     - uses: actions/checkout@v3
@@ -384,8 +403,9 @@ jobs:
 
   # Testing on CentOS 7 + PGI compilers, which seems to require more workarounds
   centos-nvhpc7:
+    if: ${{ false }}  # JOB DISABLED (NEEDS WORK): https://github.com/pybind/pybind11/issues/4690
     runs-on: ubuntu-latest
-    name: "🐍 3 • CentOS7 / PGI 22.3 • x64"
+    name: "🐍 3 • CentOS7 / PGI 22.9 • x64"
     container: centos:7
 
     steps:
@@ -395,7 +415,7 @@ jobs:
       run: yum update -y && yum install -y epel-release && yum install -y git python3-devel make environment-modules cmake3 yum-utils
 
     - name: Install NVidia HPC SDK
-      run: yum-config-manager --add-repo https://developer.download.nvidia.com/hpc-sdk/rhel/nvhpc.repo && yum -y install nvhpc-22.3
+      run: yum-config-manager --add-repo https://developer.download.nvidia.com/hpc-sdk/rhel/nvhpc.repo && yum -y install nvhpc-22.9
 
     # On CentOS 7, we have to filter a few tests (compiler internal error)
     # and allow deeper template recursion (not needed on CentOS 8 with a newer
@@ -405,12 +425,12 @@ jobs:
       shell: bash
       run: |
         source /etc/profile.d/modules.sh
-        module load /opt/nvidia/hpc_sdk/modulefiles/nvhpc/22.3
+        module load /opt/nvidia/hpc_sdk/modulefiles/nvhpc/22.9
         cmake3 -S . -B build -DDOWNLOAD_CATCH=ON \
                             -DCMAKE_CXX_STANDARD=11 \
                             -DPYTHON_EXECUTABLE=$(python3 -c "import sys; print(sys.executable)") \
                             -DCMAKE_CXX_FLAGS="-Wc,--pending_instantiations=0" \
-                            -DPYBIND11_TEST_FILTER="test_smart_ptr.cpp;test_virtual_functions.cpp"
+                            -DPYBIND11_TEST_FILTER="test_smart_ptr.cpp"
 
     # Building before installing Pip should produce a warning but not an error
     - name: Build
@@ -437,14 +457,14 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        gcc:
-          - 7
-          - latest
-        std:
-          - 11
         include:
-          - gcc: 10
-            std: 20
+          - { gcc: 7, std: 11 }
+          - { gcc: 7, std: 17 }
+          - { gcc: 8, std: 14 }
+          - { gcc: 8, std: 17 }
+          - { gcc: 10, std: 17 }
+          - { gcc: 11, std: 20 }
+          - { gcc: 12, std: 20 }
 
     name: "🐍 3 • GCC ${{ matrix.gcc }} • C++${{ matrix.std }}• x64"
     container: "gcc:${{ matrix.gcc }}"
@@ -459,7 +479,7 @@ jobs:
       run: python3 -m pip install --upgrade pip
 
     - name: Update CMake
-      uses: jwlawson/actions-setup-cmake@v1.12
+      uses: jwlawson/actions-setup-cmake@v1.14
 
     - name: Configure
       shell: bash
@@ -482,6 +502,24 @@ jobs:
     - name: Interface test
       run: cmake --build build --target test_cmake_build
 
+    - name: Configure - Exercise cmake -DPYBIND11_TEST_OVERRIDE
+      if: matrix.gcc == '12'
+      shell: bash
+      run: >
+        cmake -S . -B build_partial
+        -DPYBIND11_WERROR=ON
+        -DDOWNLOAD_CATCH=ON
+        -DCMAKE_CXX_STANDARD=${{ matrix.std }}
+        -DPYTHON_EXECUTABLE=$(python3 -c "import sys; print(sys.executable)")
+        "-DPYBIND11_TEST_OVERRIDE=test_call_policies.cpp;test_gil_scoped.cpp;test_thread.cpp"
+
+    - name: Build - Exercise cmake -DPYBIND11_TEST_OVERRIDE
+      if: matrix.gcc == '12'
+      run: cmake --build build_partial -j 2
+
+    - name: Python tests - Exercise cmake -DPYBIND11_TEST_OVERRIDE
+      if: matrix.gcc == '12'
+      run: cmake --build build_partial --target pytest
 
   # Testing on ICC using the oneAPI apt repo
   icc:
@@ -731,6 +769,9 @@ jobs:
             args: -DCMAKE_CXX_STANDARD=20
           - python: 3.8
             args: -DCMAKE_CXX_STANDARD=17
+          - python: 3.7
+            args: -DCMAKE_CXX_STANDARD=14
+
 
     name: "🐍 ${{ matrix.python }} • MSVC 2019 • x86 ${{ matrix.args }}"
     runs-on: windows-2019
@@ -745,10 +786,10 @@ jobs:
         architecture: x86
 
     - name: Update CMake
-      uses: jwlawson/actions-setup-cmake@v1.12
+      uses: jwlawson/actions-setup-cmake@v1.14
 
     - name: Prepare MSVC
-      uses: ilammy/msvc-dev-cmd@v1.10.0
+      uses: ilammy/msvc-dev-cmd@v1.12.1
       with:
         arch: x86
 
@@ -798,10 +839,10 @@ jobs:
         architecture: x86
 
     - name: Update CMake
-      uses: jwlawson/actions-setup-cmake@v1.12
+      uses: jwlawson/actions-setup-cmake@v1.14
 
     - name: Prepare MSVC
-      uses: ilammy/msvc-dev-cmd@v1.10.0
+      uses: ilammy/msvc-dev-cmd@v1.12.1
       with:
         arch: x86
 
@@ -849,7 +890,7 @@ jobs:
         python3 -m pip install -r tests/requirements.txt
 
     - name: Update CMake
-      uses: jwlawson/actions-setup-cmake@v1.12
+      uses: jwlawson/actions-setup-cmake@v1.14
 
     - name: Configure C++20
       run: >
@@ -871,6 +912,21 @@ jobs:
     - name: Interface test C++20
       run: cmake --build build --target test_cmake_build
 
+    - name: Configure C++20 - Exercise cmake -DPYBIND11_TEST_OVERRIDE
+      run: >
+        cmake -S . -B build_partial
+        -DPYBIND11_WERROR=ON
+        -DDOWNLOAD_CATCH=ON
+        -DDOWNLOAD_EIGEN=ON
+        -DCMAKE_CXX_STANDARD=20
+        "-DPYBIND11_TEST_OVERRIDE=test_call_policies.cpp;test_gil_scoped.cpp;test_thread.cpp"
+
+    - name: Build C++20 - Exercise cmake -DPYBIND11_TEST_OVERRIDE
+      run: cmake --build build_partial -j 2
+
+    - name: Python tests - Exercise cmake -DPYBIND11_TEST_OVERRIDE
+      run: cmake --build build_partial --target pytest
+
   mingw:
     name: "🐍 3 • windows-latest • ${{ matrix.sys }}"
     runs-on: windows-latest
@@ -905,7 +961,7 @@ jobs:
     - name: Configure C++11
       # LTO leads to many undefined reference like
       # `pybind11::detail::function_call::function_call(pybind11::detail::function_call&&)
-      run: cmake -G "MinGW Makefiles" -DCMAKE_CXX_STANDARD=11 -DDOWNLOAD_CATCH=ON -S . -B build
+      run: cmake -G "MinGW Makefiles" -DCMAKE_CXX_STANDARD=11 -DPYBIND11_WERROR=ON -DDOWNLOAD_CATCH=ON -S . -B build
 
     - name: Build C++11
       run: cmake --build build -j 2
@@ -923,7 +979,7 @@ jobs:
       run: git clean -fdx
 
     - name: Configure C++14
-      run: cmake -G "MinGW Makefiles" -DCMAKE_CXX_STANDARD=14 -DDOWNLOAD_CATCH=ON -S . -B build2
+      run: cmake -G "MinGW Makefiles" -DCMAKE_CXX_STANDARD=14 -DPYBIND11_WERROR=ON -DDOWNLOAD_CATCH=ON -S . -B build2
 
     - name: Build C++14
       run: cmake --build build2 -j 2
@@ -941,7 +997,7 @@ jobs:
       run: git clean -fdx
 
     - name: Configure C++17
-      run: cmake -G "MinGW Makefiles" -DCMAKE_CXX_STANDARD=17 -DDOWNLOAD_CATCH=ON -S . -B build3
+      run: cmake -G "MinGW Makefiles" -DCMAKE_CXX_STANDARD=17 -DPYBIND11_WERROR=ON -DDOWNLOAD_CATCH=ON -S . -B build3
 
     - name: Build C++17
       run: cmake --build build3 -j 2
@@ -954,3 +1010,156 @@ jobs:
 
     - name: Interface test C++17
       run: PYTHONHOME=/${{matrix.sys}} PYTHONPATH=/${{matrix.sys}} cmake --build build3 --target test_cmake_build
+
+  windows_clang:
+
+    strategy:
+      matrix:
+        os: [windows-latest]
+        python: ['3.10']
+
+    runs-on: "${{ matrix.os }}"
+
+    name: "🐍 ${{ matrix.python }} • ${{ matrix.os }} • clang-latest"
+
+    steps:
+      - name: Show env
+        run: env
+
+      - name: Checkout
+        uses: actions/checkout@v3
+
+      - name: Set up Clang
+        uses: egor-tensin/setup-clang@v1
+
+      - name: Setup Python ${{ matrix.python }}
+        uses: actions/setup-python@v4
+        with:
+          python-version: ${{ matrix.python }}
+
+      - name: Update CMake
+        uses: jwlawson/actions-setup-cmake@v1.14
+
+      - name: Install ninja-build tool
+        uses: seanmiddleditch/gha-setup-ninja@v3
+
+      - name: Run pip installs
+        run: |
+          python -m pip install --upgrade pip
+          python -m pip install -r tests/requirements.txt
+
+      - name: Show Clang++ version
+        run: clang++ --version
+
+      - name: Show CMake version
+        run: cmake --version
+
+      # TODO: WERROR=ON
+      - name: Configure Clang
+        run: >
+          cmake -G Ninja -S . -B .
+          -DPYBIND11_WERROR=OFF
+          -DPYBIND11_SIMPLE_GIL_MANAGEMENT=OFF
+          -DDOWNLOAD_CATCH=ON
+          -DDOWNLOAD_EIGEN=ON
+          -DCMAKE_CXX_COMPILER=clang++
+          -DCMAKE_CXX_STANDARD=17
+
+      - name: Build
+        run: cmake --build . -j 2
+
+      - name: Python tests
+        run: cmake --build . --target pytest -j 2
+
+      - name: C++ tests
+        run: cmake --build . --target cpptest -j 2
+
+      - name: Interface test
+        run: cmake --build . --target test_cmake_build -j 2
+
+      - name: Clean directory
+        run: git clean -fdx
+
+  macos_brew_install_llvm:
+    name: "macos-latest • brew install llvm"
+    runs-on: macos-latest
+
+    env:
+      # https://apple.stackexchange.com/questions/227026/how-to-install-recent-clang-with-homebrew
+      LDFLAGS: '-L/usr/local/opt/llvm/lib -Wl,-rpath,/usr/local/opt/llvm/lib'
+
+    steps:
+      - name: Update PATH
+        run: echo "/usr/local/opt/llvm/bin" >> $GITHUB_PATH
+
+      - name: Show env
+        run: env
+
+      - name: Checkout
+        uses: actions/checkout@v3
+
+      - name: Show Clang++ version before brew install llvm
+        run: clang++ --version
+
+      - name: brew install llvm
+        run: brew install llvm
+
+      - name: Show Clang++ version after brew install llvm
+        run: clang++ --version
+
+      - name: Update CMake
+        uses: jwlawson/actions-setup-cmake@v1.14
+
+      - name: Run pip installs
+        run: |
+          python3 -m pip install --upgrade pip
+          python3 -m pip install -r tests/requirements.txt
+          python3 -m pip install numpy
+          python3 -m pip install scipy
+
+      - name: Show CMake version
+        run: cmake --version
+
+      - name: CMake Configure
+        run: >
+          cmake -S . -B .
+          -DPYBIND11_WERROR=ON
+          -DPYBIND11_SIMPLE_GIL_MANAGEMENT=OFF
+          -DDOWNLOAD_CATCH=ON
+          -DDOWNLOAD_EIGEN=ON
+          -DCMAKE_CXX_COMPILER=clang++
+          -DCMAKE_CXX_STANDARD=17
+          -DPYTHON_EXECUTABLE=$(python3 -c "import sys; print(sys.executable)")
+
+      - name: Build
+        run: cmake --build . -j 2
+
+      - name: Python tests
+        run: cmake --build . --target pytest -j 2
+
+      - name: C++ tests
+        run: cmake --build . --target cpptest -j 2
+
+      - name: Interface test
+        run: cmake --build . --target test_cmake_build -j 2
+
+      - name: CMake Configure - Exercise cmake -DPYBIND11_TEST_OVERRIDE
+        run: >
+          cmake -S . -B build_partial
+          -DPYBIND11_WERROR=ON
+          -DPYBIND11_SIMPLE_GIL_MANAGEMENT=OFF
+          -DDOWNLOAD_CATCH=ON
+          -DDOWNLOAD_EIGEN=ON
+          -DCMAKE_CXX_COMPILER=clang++
+          -DCMAKE_CXX_STANDARD=17
+          -DPYTHON_EXECUTABLE=$(python3 -c "import sys; print(sys.executable)")
+          "-DPYBIND11_TEST_OVERRIDE=test_call_policies.cpp;test_gil_scoped.cpp;test_thread.cpp"
+
+      - name: Build - Exercise cmake -DPYBIND11_TEST_OVERRIDE
+        run: cmake --build build_partial -j 2
+
+      - name: Python tests - Exercise cmake -DPYBIND11_TEST_OVERRIDE
+        run: cmake --build build_partial --target pytest -j 2
+
+      - name: Clean directory
+        run: git clean -fdx
diff --git a/pybind11/.github/workflows/configure.yml b/pybind11/.github/workflows/configure.yml
index edcad4198..ec7cd612d 100644
--- a/pybind11/.github/workflows/configure.yml
+++ b/pybind11/.github/workflows/configure.yml
@@ -9,6 +9,14 @@ on:
       - stable
       - v*
 
+permissions:
+  contents: read
+
+env:
+  PIP_BREAK_SYSTEM_PACKAGES: 1
+  # For cmake:
+  VERBOSE: 1
+
 jobs:
   # This tests various versions of CMake in various combinations, to make sure
   # the configure step passes.
@@ -16,22 +24,26 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        runs-on: [ubuntu-latest, macos-latest, windows-latest]
+        runs-on: [ubuntu-20.04, macos-latest, windows-latest]
         arch: [x64]
-        cmake: ["3.23"]
+        cmake: ["3.26"]
 
         include:
-        - runs-on: ubuntu-latest
+        - runs-on: ubuntu-20.04
           arch: x64
-          cmake: 3.4
+          cmake: "3.5"
+
+        - runs-on: ubuntu-20.04
+          arch: x64
+          cmake: "3.27"
 
         - runs-on: macos-latest
           arch: x64
-          cmake: 3.7
+          cmake: "3.7"
 
         - runs-on: windows-2019
           arch: x64 # x86 compilers seem to be missing on 2019 image
-          cmake: 3.18
+          cmake: "3.18"
 
     name: 🐍 3.7 • CMake ${{ matrix.cmake }} • ${{ matrix.runs-on }}
     runs-on: ${{ matrix.runs-on }}
@@ -51,7 +63,7 @@ jobs:
     # An action for adding a specific version of CMake:
     #   https://github.com/jwlawson/actions-setup-cmake
     - name: Setup CMake ${{ matrix.cmake }}
-      uses: jwlawson/actions-setup-cmake@v1.12
+      uses: jwlawson/actions-setup-cmake@v1.14
       with:
         cmake-version: ${{ matrix.cmake }}
 
diff --git a/pybind11/.github/workflows/format.yml b/pybind11/.github/workflows/format.yml
index 31d893c47..b8242ee52 100644
--- a/pybind11/.github/workflows/format.yml
+++ b/pybind11/.github/workflows/format.yml
@@ -12,8 +12,13 @@ on:
     - stable
     - "v*"
 
+permissions:
+  contents: read
+
 env:
   FORCE_COLOR: 3
+  # For cmake:
+  VERBOSE: 1
 
 jobs:
   pre-commit:
@@ -36,12 +41,12 @@ jobs:
     # in .github/CONTRIBUTING.md and update as needed.
     name: Clang-Tidy
     runs-on: ubuntu-latest
-    container: silkeh/clang:13
+    container: silkeh/clang:15-bullseye
     steps:
     - uses: actions/checkout@v3
 
     - name: Install requirements
-      run: apt-get update && apt-get install -y python3-dev python3-pytest
+      run: apt-get update && apt-get install -y git python3-dev python3-pytest
 
     - name: Configure
       run: >
diff --git a/pybind11/.github/workflows/labeler.yml b/pybind11/.github/workflows/labeler.yml
index d2b597968..858a4a0e2 100644
--- a/pybind11/.github/workflows/labeler.yml
+++ b/pybind11/.github/workflows/labeler.yml
@@ -3,14 +3,23 @@ on:
   pull_request_target:
     types: [closed]
 
+permissions: {}
+
 jobs:
   label:
     name: Labeler
     runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      pull-requests: write
     steps:
 
     - uses: actions/labeler@main
-      if: github.event.pull_request.merged == true
+      if: >
+        github.event.pull_request.merged == true &&
+        !startsWith(github.event.pull_request.title, 'chore(deps):') &&
+        !startsWith(github.event.pull_request.title, 'ci(fix):') &&
+        !startsWith(github.event.pull_request.title, 'docs(changelog):')
       with:
         repo-token: ${{ secrets.GITHUB_TOKEN }}
         configuration-path: .github/labeler_merged.yml
diff --git a/pybind11/.github/workflows/pip.yml b/pybind11/.github/workflows/pip.yml
index 2c16735e1..d6687b441 100644
--- a/pybind11/.github/workflows/pip.yml
+++ b/pybind11/.github/workflows/pip.yml
@@ -12,7 +12,11 @@ on:
     types:
     - published
 
+permissions:
+  contents: read
+
 env:
+  PIP_BREAK_SYSTEM_PACKAGES: 1
   PIP_ONLY_BINARY: numpy
 
 jobs:
@@ -98,13 +102,13 @@ jobs:
     - uses: actions/download-artifact@v3
 
     - name: Publish standard package
-      uses: pypa/gh-action-pypi-publish@v1.5.0
+      uses: pypa/gh-action-pypi-publish@release/v1
       with:
         password: ${{ secrets.pypi_password }}
-        packages_dir: standard/
+        packages-dir: standard/
 
     - name: Publish global package
-      uses: pypa/gh-action-pypi-publish@v1.5.0
+      uses: pypa/gh-action-pypi-publish@release/v1
       with:
         password: ${{ secrets.pypi_password_global }}
-        packages_dir: global/
+        packages-dir: global/
diff --git a/pybind11/.github/workflows/upstream.yml b/pybind11/.github/workflows/upstream.yml
index a40a6c7d7..dd8a1c960 100644
--- a/pybind11/.github/workflows/upstream.yml
+++ b/pybind11/.github/workflows/upstream.yml
@@ -1,112 +1,116 @@
-
 name: Upstream
 
 on:
   workflow_dispatch:
   pull_request:
 
+permissions:
+  contents: read
+
 concurrency:
   group: upstream-${{ github.ref }}
   cancel-in-progress: true
 
 env:
-  PIP_ONLY_BINARY: numpy
+  PIP_BREAK_SYSTEM_PACKAGES: 1
+  PIP_ONLY_BINARY: ":all:"
+  # For cmake:
+  VERBOSE: 1
 
 jobs:
   standard:
-    name: "🐍 3.11 latest internals • ubuntu-latest • x64"
+    name: "🐍 3.12 latest • ubuntu-latest • x64"
     runs-on: ubuntu-latest
+    # Only runs when the  'python dev' label is selected
     if: "contains(github.event.pull_request.labels.*.name, 'python dev')"
 
     steps:
     - uses: actions/checkout@v3
 
-    - name: Setup Python 3.11
+    - name: Setup Python 3.12
       uses: actions/setup-python@v4
       with:
-        python-version: "3.11-dev"
+        python-version: "3.12-dev"
 
-    - name: Setup Boost (Linux)
-      if: runner.os == 'Linux'
+    - name: Setup Boost
       run: sudo apt-get install libboost-dev
 
     - name: Update CMake
-      uses: jwlawson/actions-setup-cmake@v1.12
+      uses: jwlawson/actions-setup-cmake@v1.14
 
-    - name: Prepare env
+    - name: Run pip installs
       run: |
+        python -m pip install --upgrade pip
         python -m pip install -r tests/requirements.txt
 
-    - name: Setup annotations on Linux
-      if: runner.os == 'Linux'
-      run: python -m pip install pytest-github-actions-annotate-failures
+    - name: Show platform info
+      run: |
+        python -m platform
+        cmake --version
+        pip list
 
     # First build - C++11 mode and inplace
     - name: Configure C++11
       run: >
-        cmake -S . -B .
+        cmake -S . -B build11
         -DPYBIND11_WERROR=ON
         -DDOWNLOAD_CATCH=ON
         -DDOWNLOAD_EIGEN=ON
         -DCMAKE_CXX_STANDARD=11
+        -DCMAKE_BUILD_TYPE=Debug
 
     - name: Build C++11
-      run: cmake --build . -j 2
+      run: cmake --build build11 -j 2
 
     - name: Python tests C++11
-      run: cmake --build . --target pytest -j 2
+      run: cmake --build build11 --target pytest -j 2
 
     - name: C++11 tests
-      run: cmake --build .  --target cpptest -j 2
+      run: cmake --build build11  --target cpptest -j 2
 
     - name: Interface test C++11
-      run: cmake --build . --target test_cmake_build
-
-    - name: Clean directory
-      run: git clean -fdx
+      run: cmake --build build11 --target test_cmake_build
 
     # Second build - C++17 mode and in a build directory
     - name: Configure C++17
       run: >
-        cmake -S . -B build2
+        cmake -S . -B build17
         -DPYBIND11_WERROR=ON
         -DDOWNLOAD_CATCH=ON
         -DDOWNLOAD_EIGEN=ON
         -DCMAKE_CXX_STANDARD=17
-        ${{ matrix.args }}
-        ${{ matrix.args2 }}
 
-    - name: Build
-      run: cmake --build build2 -j 2
+    - name: Build C++17
+      run: cmake --build build17 -j 2
 
-    - name: Python tests
-      run: cmake --build build2 --target pytest
+    - name: Python tests C++17
+      run: cmake --build build17 --target pytest
 
-    - name: C++ tests
-      run: cmake --build build2 --target cpptest
+    - name: C++17 tests
+      run: cmake --build build17 --target cpptest
 
     # Third build - C++17 mode with unstable ABI
     - name: Configure (unstable ABI)
       run: >
-        cmake -S . -B build3
+        cmake -S . -B build17max
         -DPYBIND11_WERROR=ON
         -DDOWNLOAD_CATCH=ON
         -DDOWNLOAD_EIGEN=ON
         -DCMAKE_CXX_STANDARD=17
         -DPYBIND11_INTERNALS_VERSION=10000000
-        "-DPYBIND11_TEST_OVERRIDE=test_call_policies.cpp;test_gil_scoped.cpp;test_thread.cpp"
-        ${{ matrix.args }}
 
     - name: Build (unstable ABI)
-      run: cmake --build build3 -j 2
+      run: cmake --build build17max -j 2
 
     - name: Python tests (unstable ABI)
-      run: cmake --build build3 --target pytest
+      run: cmake --build build17max --target pytest
 
-    - name: Interface test
-      run: cmake --build build2 --target test_cmake_build
+    - name: Interface test (unstable ABI)
+      run: cmake --build build17max --target test_cmake_build
 
     # This makes sure the setup_helpers module can build packages using
     # setuptools
     - name: Setuptools helpers test
-      run: pytest tests/extra_setuptools
+      run: |
+        pip install setuptools
+        pytest tests/extra_setuptools
diff --git a/pybind11/.gitignore b/pybind11/.gitignore
index 3cf4fbbda..43d5094c9 100644
--- a/pybind11/.gitignore
+++ b/pybind11/.gitignore
@@ -43,3 +43,4 @@ pybind11Targets.cmake
 /pybind11/share/*
 /docs/_build/*
 .ipynb_checkpoints/
+tests/main.cpp
diff --git a/pybind11/.pre-commit-config.yaml b/pybind11/.pre-commit-config.yaml
index ba9955a31..86ac965d9 100644
--- a/pybind11/.pre-commit-config.yaml
+++ b/pybind11/.pre-commit-config.yaml
@@ -12,10 +12,62 @@
 #
 # See https://github.com/pre-commit/pre-commit
 
+
+ci:
+  autoupdate_commit_msg: "chore(deps): update pre-commit hooks"
+  autofix_commit_msg: "style: pre-commit fixes"
+  autoupdate_schedule: monthly
+
+# third-party content
+exclude: ^tools/JoinPaths.cmake$
+
 repos:
+
+# Clang format the codebase automatically
+- repo: https://github.com/pre-commit/mirrors-clang-format
+  rev: "v16.0.6"
+  hooks:
+  - id: clang-format
+    types_or: [c++, c, cuda]
+
+# Black, the code formatter, natively supports pre-commit
+- repo: https://github.com/psf/black
+  rev: "23.3.0" # Keep in sync with blacken-docs
+  hooks:
+  - id: black
+
+# Ruff, the Python auto-correcting linter written in Rust
+- repo: https://github.com/astral-sh/ruff-pre-commit
+  rev: v0.0.276
+  hooks:
+  - id: ruff
+    args: ["--fix", "--show-fixes"]
+
+# Check static types with mypy
+- repo: https://github.com/pre-commit/mirrors-mypy
+  rev: "v1.4.1"
+  hooks:
+  - id: mypy
+    args: []
+    exclude: ^(tests|docs)/
+    additional_dependencies:
+    - markdown-it-py<3 # Drop this together with dropping Python 3.7 support.
+    - nox
+    - rich
+    - types-setuptools
+
+# CMake formatting
+- repo: https://github.com/cheshirekow/cmake-format-precommit
+  rev: "v0.6.13"
+  hooks:
+  - id: cmake-format
+    additional_dependencies: [pyyaml]
+    types: [file]
+    files: (\.cmake|CMakeLists.txt)(.in)?$
+
 # Standard hooks
 - repo: https://github.com/pre-commit/pre-commit-hooks
-  rev: "v4.3.0"
+  rev: "v4.4.0"
   hooks:
   - id: check-added-large-files
   - id: check-case-conflict
@@ -30,109 +82,38 @@ repos:
   - id: requirements-txt-fixer
   - id: trailing-whitespace
 
-# Upgrade old Python syntax
-- repo: https://github.com/asottile/pyupgrade
-  rev: "v2.37.1"
-  hooks:
-  - id: pyupgrade
-    args: [--py36-plus]
-
-# Nicely sort includes
-- repo: https://github.com/PyCQA/isort
-  rev: "5.10.1"
-  hooks:
-  - id: isort
-
-# Black, the code formatter, natively supports pre-commit
-- repo: https://github.com/psf/black
-  rev: "22.6.0" # Keep in sync with blacken-docs
-  hooks:
-  - id: black
-
 # Also code format the docs
 - repo: https://github.com/asottile/blacken-docs
-  rev: "v1.12.1"
+  rev: "1.14.0"
   hooks:
   - id: blacken-docs
     additional_dependencies:
-    - black==22.6.0 # keep in sync with black hook
+    - black==23.3.0 # keep in sync with black hook
 
 # Changes tabs to spaces
 - repo: https://github.com/Lucas-C/pre-commit-hooks
-  rev: "v1.3.0"
+  rev: "v1.5.1"
   hooks:
   - id: remove-tabs
 
+# Avoid directional quotes
 - repo: https://github.com/sirosen/texthooks
-  rev: "0.3.1"
+  rev: "0.5.0"
   hooks:
   - id: fix-ligatures
   - id: fix-smartquotes
 
-# Autoremoves unused imports
-- repo: https://github.com/hadialqattan/pycln
-  rev: "v2.0.1"
-  hooks:
-  - id: pycln
-    stages: [manual]
-
 # Checking for common mistakes
 - repo: https://github.com/pre-commit/pygrep-hooks
-  rev: "v1.9.0"
+  rev: "v1.10.0"
   hooks:
-  - id: python-check-blanket-noqa
-  - id: python-check-blanket-type-ignore
-  - id: python-no-log-warn
-  - id: python-use-type-annotations
   - id: rst-backticks
   - id: rst-directive-colons
   - id: rst-inline-touching-normal
 
-# Automatically remove noqa that are not used
-- repo: https://github.com/asottile/yesqa
-  rev: "v1.3.0"
-  hooks:
-  - id: yesqa
-    additional_dependencies: &flake8_dependencies
-      - flake8-bugbear
-      - pep8-naming
-
-# Flake8 also supports pre-commit natively (same author)
-- repo: https://github.com/PyCQA/flake8
-  rev: "4.0.1"
-  hooks:
-  - id: flake8
-    exclude: ^(docs/.*|tools/.*)$
-    additional_dependencies: *flake8_dependencies
-
-# PyLint has native support - not always usable, but works for us
-- repo: https://github.com/PyCQA/pylint
-  rev: "v2.14.4"
-  hooks:
-  - id: pylint
-    files: ^pybind11
-
-# CMake formatting
-- repo: https://github.com/cheshirekow/cmake-format-precommit
-  rev: "v0.6.13"
-  hooks:
-  - id: cmake-format
-    additional_dependencies: [pyyaml]
-    types: [file]
-    files: (\.cmake|CMakeLists.txt)(.in)?$
-
-# Check static types with mypy
-- repo: https://github.com/pre-commit/mirrors-mypy
-  rev: "v0.961"
-  hooks:
-  - id: mypy
-    args: []
-    exclude: ^(tests|docs)/
-    additional_dependencies: [nox, rich]
-
 # Checks the manifest for missing files (native support)
 - repo: https://github.com/mgedmin/check-manifest
-  rev: "0.48"
+  rev: "0.49"
   hooks:
   - id: check-manifest
     # This is a slow hook, so only run this if --hook-stage manual is passed
@@ -140,16 +121,18 @@ repos:
     additional_dependencies: [cmake, ninja]
 
 # Check for spelling
+# Use tools/codespell_ignore_lines_from_errors.py
+# to rebuild .codespell-ignore-lines
 - repo: https://github.com/codespell-project/codespell
-  rev: "v2.1.0"
+  rev: "v2.2.5"
   hooks:
   - id: codespell
     exclude: ".supp$"
-    args: ["-L", "nd,ot,thist"]
+    args: ["-x.codespell-ignore-lines", "-Lccompiler"]
 
 # Check for common shell mistakes
 - repo: https://github.com/shellcheck-py/shellcheck-py
-  rev: "v0.8.0.4"
+  rev: "v0.9.0.5"
   hooks:
   - id: shellcheck
 
@@ -162,9 +145,9 @@ repos:
     entry: PyBind|Numpy|Cmake|CCache|PyTest
     exclude: ^\.pre-commit-config.yaml$
 
-# Clang format the codebase automatically
-- repo: https://github.com/pre-commit/mirrors-clang-format
-  rev: "v14.0.6"
+# PyLint has native support - not always usable, but works for us
+- repo: https://github.com/PyCQA/pylint
+  rev: "v3.0.0a6"
   hooks:
-  - id: clang-format
-    types_or: [c++, c, cuda]
+  - id: pylint
+    files: ^pybind11
diff --git a/pybind11/CMakeLists.txt b/pybind11/CMakeLists.txt
index 3787982cb..87ec10346 100644
--- a/pybind11/CMakeLists.txt
+++ b/pybind11/CMakeLists.txt
@@ -5,15 +5,15 @@
 # All rights reserved. Use of this source code is governed by a
 # BSD-style license that can be found in the LICENSE file.
 
-cmake_minimum_required(VERSION 3.4)
+cmake_minimum_required(VERSION 3.5)
 
-# The `cmake_minimum_required(VERSION 3.4...3.22)` syntax does not work with
+# The `cmake_minimum_required(VERSION 3.5...3.26)` syntax does not work with
 # some versions of VS that have a patched CMake 3.11. This forces us to emulate
 # the behavior using the following workaround:
-if(${CMAKE_VERSION} VERSION_LESS 3.22)
+if(${CMAKE_VERSION} VERSION_LESS 3.26)
   cmake_policy(VERSION ${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION})
 else()
-  cmake_policy(VERSION 3.22)
+  cmake_policy(VERSION 3.26)
 endif()
 
 # Avoid infinite recursion if tests include this as a subdirectory
@@ -91,10 +91,16 @@ endif()
 option(PYBIND11_INSTALL "Install pybind11 header files?" ${PYBIND11_MASTER_PROJECT})
 option(PYBIND11_TEST "Build pybind11 test suite?" ${PYBIND11_MASTER_PROJECT})
 option(PYBIND11_NOPYTHON "Disable search for Python" OFF)
+option(PYBIND11_SIMPLE_GIL_MANAGEMENT
+       "Use simpler GIL management logic that does not support disassociation" OFF)
 set(PYBIND11_INTERNALS_VERSION
     ""
     CACHE STRING "Override the ABI version, may be used to enable the unstable ABI.")
 
+if(PYBIND11_SIMPLE_GIL_MANAGEMENT)
+  add_compile_definitions(PYBIND11_SIMPLE_GIL_MANAGEMENT)
+endif()
+
 cmake_dependent_option(
   USE_PYTHON_INCLUDE_DIR
   "Install pybind11 headers in Python include directory instead of default installation prefix"
@@ -120,6 +126,9 @@ set(PYBIND11_HEADERS
     include/pybind11/complex.h
     include/pybind11/options.h
     include/pybind11/eigen.h
+    include/pybind11/eigen/common.h
+    include/pybind11/eigen/matrix.h
+    include/pybind11/eigen/tensor.h
     include/pybind11/embed.h
     include/pybind11/eval.h
     include/pybind11/gil.h
@@ -131,7 +140,8 @@ set(PYBIND11_HEADERS
     include/pybind11/pytypes.h
     include/pybind11/stl.h
     include/pybind11/stl_bind.h
-    include/pybind11/stl/filesystem.h)
+    include/pybind11/stl/filesystem.h
+    include/pybind11/type_caster_pyobject_ptr.h)
 
 # Compare with grep and warn if mismatched
 if(PYBIND11_MASTER_PROJECT AND NOT CMAKE_VERSION VERSION_LESS 3.12)
@@ -198,6 +208,9 @@ else()
 endif()
 
 include("${CMAKE_CURRENT_SOURCE_DIR}/tools/pybind11Common.cmake")
+# https://github.com/jtojnar/cmake-snips/#concatenating-paths-when-building-pkg-config-files
+# TODO: cmake 3.20 adds the cmake_path() function, which obsoletes this snippet
+include("${CMAKE_CURRENT_SOURCE_DIR}/tools/JoinPaths.cmake")
 
 # Relative directory setting
 if(USE_PYTHON_INCLUDE_DIR AND DEFINED Python_INCLUDE_DIRS)
@@ -262,6 +275,16 @@ if(PYBIND11_INSTALL)
     NAMESPACE "pybind11::"
     DESTINATION ${PYBIND11_CMAKECONFIG_INSTALL_DIR})
 
+  # pkg-config support
+  if(NOT prefix_for_pc_file)
+    set(prefix_for_pc_file "${CMAKE_INSTALL_PREFIX}")
+  endif()
+  join_paths(includedir_for_pc_file "\${prefix}" "${CMAKE_INSTALL_INCLUDEDIR}")
+  configure_file("${CMAKE_CURRENT_SOURCE_DIR}/tools/pybind11.pc.in"
+                 "${CMAKE_CURRENT_BINARY_DIR}/pybind11.pc" @ONLY)
+  install(FILES "${CMAKE_CURRENT_BINARY_DIR}/pybind11.pc"
+          DESTINATION "${CMAKE_INSTALL_DATAROOTDIR}/pkgconfig/")
+
   # Uninstall target
   if(PYBIND11_MASTER_PROJECT)
     configure_file("${CMAKE_CURRENT_SOURCE_DIR}/tools/cmake_uninstall.cmake.in"
diff --git a/pybind11/MANIFEST.in b/pybind11/MANIFEST.in
index 033303a74..7ce83c552 100644
--- a/pybind11/MANIFEST.in
+++ b/pybind11/MANIFEST.in
@@ -1,5 +1,6 @@
+prune tests
 recursive-include pybind11/include/pybind11 *.h
 recursive-include pybind11 *.py
 recursive-include pybind11 py.typed
 include pybind11/share/cmake/pybind11/*.cmake
-include LICENSE README.rst pyproject.toml setup.py setup.cfg
+include LICENSE README.rst SECURITY.md pyproject.toml setup.py setup.cfg
diff --git a/pybind11/README.rst b/pybind11/README.rst
index 3c75edb57..80213a406 100644
--- a/pybind11/README.rst
+++ b/pybind11/README.rst
@@ -135,7 +135,7 @@ This project was created by `Wenzel
 Jakob <http://rgl.epfl.ch/people/wjakob>`_. Significant features and/or
 improvements to the code were contributed by Jonas Adler, Lori A. Burns,
 Sylvain Corlay, Eric Cousineau, Aaron Gokaslan, Ralf Grosse-Kunstleve, Trent Houliston, Axel
-Huebl, @hulucc, Yannick Jadoul, Sergey Lyskov Johan Mabille, Tomasz Miąsko,
+Huebl, @hulucc, Yannick Jadoul, Sergey Lyskov, Johan Mabille, Tomasz Miąsko,
 Dean Moldovan, Ben Pritchard, Jason Rhinelander, Boris Schäling, Pim
 Schellart, Henry Schreiner, Ivan Smirnov, Boris Staletic, and Patrick Stewart.
 
diff --git a/pybind11/SECURITY.md b/pybind11/SECURITY.md
new file mode 100644
index 000000000..3d74611f2
--- /dev/null
+++ b/pybind11/SECURITY.md
@@ -0,0 +1,13 @@
+# Security Policy
+
+## Supported Versions
+
+Security updates are applied only to the latest release.
+
+## Reporting a Vulnerability
+
+If you have discovered a security vulnerability in this project, please report it privately. **Do not disclose it as a public issue.** This gives us time to work with you to fix the issue before public exposure, reducing the chance that the exploit will be used before a patch is released.
+
+Please disclose it at [security advisory](https://github.com/pybind/pybind11/security/advisories/new).
+
+This project is maintained by a team of volunteers on a reasonable-effort basis. As such, please give us at least 90 days to work on a fix before public exposure.
diff --git a/pybind11/docs/advanced/cast/custom.rst b/pybind11/docs/advanced/cast/custom.rst
index 1df4d3e14..8138cac61 100644
--- a/pybind11/docs/advanced/cast/custom.rst
+++ b/pybind11/docs/advanced/cast/custom.rst
@@ -38,7 +38,7 @@ type is explicitly allowed.
 
 .. code-block:: cpp
 
-    namespace pybind11 { namespace detail {
+    namespace PYBIND11_NAMESPACE { namespace detail {
         template <> struct type_caster<inty> {
         public:
             /**
@@ -78,7 +78,7 @@ type is explicitly allowed.
                 return PyLong_FromLong(src.long_value);
             }
         };
-    }} // namespace pybind11::detail
+    }} // namespace PYBIND11_NAMESPACE::detail
 
 .. note::
 
diff --git a/pybind11/docs/advanced/cast/stl.rst b/pybind11/docs/advanced/cast/stl.rst
index 109763f7a..03d49b295 100644
--- a/pybind11/docs/advanced/cast/stl.rst
+++ b/pybind11/docs/advanced/cast/stl.rst
@@ -42,7 +42,7 @@ types:
 .. code-block:: cpp
 
     // `boost::optional` as an example -- can be any `std::optional`-like container
-    namespace pybind11 { namespace detail {
+    namespace PYBIND11_NAMESPACE { namespace detail {
         template <typename T>
         struct type_caster<boost::optional<T>> : optional_caster<boost::optional<T>> {};
     }}
@@ -54,7 +54,7 @@ for custom variant types:
 .. code-block:: cpp
 
     // `boost::variant` as an example -- can be any `std::variant`-like container
-    namespace pybind11 { namespace detail {
+    namespace PYBIND11_NAMESPACE { namespace detail {
         template <typename... Ts>
         struct type_caster<boost::variant<Ts...>> : variant_caster<boost::variant<Ts...>> {};
 
@@ -66,7 +66,7 @@ for custom variant types:
                 return boost::apply_visitor(args...);
             }
         };
-    }} // namespace pybind11::detail
+    }} // namespace PYBIND11_NAMESPACE::detail
 
 The ``visit_helper`` specialization is not required if your ``name::variant`` provides
 a ``name::visit()`` function. For any other function name, the specialization must be
diff --git a/pybind11/docs/advanced/cast/strings.rst b/pybind11/docs/advanced/cast/strings.rst
index e246c5219..271716b4b 100644
--- a/pybind11/docs/advanced/cast/strings.rst
+++ b/pybind11/docs/advanced/cast/strings.rst
@@ -101,8 +101,11 @@ conversion has the same overhead as implicit conversion.
     m.def("str_output",
         []() {
             std::string s = "Send your r\xe9sum\xe9 to Alice in HR"; // Latin-1
-            py::str py_s = PyUnicode_DecodeLatin1(s.data(), s.length());
-            return py_s;
+            py::handle py_s = PyUnicode_DecodeLatin1(s.data(), s.length(), nullptr);
+            if (!py_s) {
+                throw py::error_already_set();
+            }
+            return py::reinterpret_steal<py::str>(py_s);
         }
     );
 
@@ -113,7 +116,8 @@ conversion has the same overhead as implicit conversion.
 
 The `Python C API
 <https://docs.python.org/3/c-api/unicode.html#built-in-codecs>`_ provides
-several built-in codecs.
+several built-in codecs. Note that these all return *new* references, so
+use :cpp:func:`reinterpret_steal` when converting them to a :cpp:class:`str`.
 
 
 One could also use a third party encoding library such as libiconv to transcode
diff --git a/pybind11/docs/advanced/classes.rst b/pybind11/docs/advanced/classes.rst
index 49ddf5c0b..01a490b72 100644
--- a/pybind11/docs/advanced/classes.rst
+++ b/pybind11/docs/advanced/classes.rst
@@ -1228,7 +1228,7 @@ whether a downcast is safe, you can proceed by specializing the
         std::string bark() const { return sound; }
     };
 
-    namespace pybind11 {
+    namespace PYBIND11_NAMESPACE {
         template<> struct polymorphic_type_hook<Pet> {
             static const void *get(const Pet *src, const std::type_info*& type) {
                 // note that src may be nullptr
@@ -1239,7 +1239,7 @@ whether a downcast is safe, you can proceed by specializing the
                 return src;
             }
         };
-    } // namespace pybind11
+    } // namespace PYBIND11_NAMESPACE
 
 When pybind11 wants to convert a C++ pointer of type ``Base*`` to a
 Python object, it calls ``polymorphic_type_hook<Base>::get()`` to
diff --git a/pybind11/docs/advanced/embedding.rst b/pybind11/docs/advanced/embedding.rst
index dd980d483..e6a1686f8 100644
--- a/pybind11/docs/advanced/embedding.rst
+++ b/pybind11/docs/advanced/embedding.rst
@@ -18,7 +18,7 @@ information, see :doc:`/compiling`.
 
 .. code-block:: cmake
 
-    cmake_minimum_required(VERSION 3.4)
+    cmake_minimum_required(VERSION 3.5...3.26)
     project(example)
 
     find_package(pybind11 REQUIRED)  # or `add_subdirectory(pybind11)`
diff --git a/pybind11/docs/advanced/exceptions.rst b/pybind11/docs/advanced/exceptions.rst
index 2211caf5d..53981dc08 100644
--- a/pybind11/docs/advanced/exceptions.rst
+++ b/pybind11/docs/advanced/exceptions.rst
@@ -177,9 +177,12 @@ section.
     may be explicitly (re-)thrown to delegate it to the other,
     previously-declared existing exception translators.
 
-    Note that ``libc++`` and ``libstdc++`` `behave differently <https://stackoverflow.com/questions/19496643/using-clang-fvisibility-hidden-and-typeinfo-and-type-erasure/28827430>`_
-    with ``-fvisibility=hidden``. Therefore exceptions that are used across ABI boundaries need to be explicitly exported, as exercised in ``tests/test_exceptions.h``.
-    See also: "Problems with C++ exceptions" under `GCC Wiki <https://gcc.gnu.org/wiki/Visibility>`_.
+    Note that ``libc++`` and ``libstdc++`` `behave differently under macOS
+    <https://stackoverflow.com/questions/19496643/using-clang-fvisibility-hidden-and-typeinfo-and-type-erasure/28827430>`_
+    with ``-fvisibility=hidden``. Therefore exceptions that are used across ABI
+    boundaries need to be explicitly exported, as exercised in
+    ``tests/test_exceptions.h``. See also:
+    "Problems with C++ exceptions" under `GCC Wiki <https://gcc.gnu.org/wiki/Visibility>`_.
 
 
 Local vs Global Exception Translators
diff --git a/pybind11/docs/advanced/misc.rst b/pybind11/docs/advanced/misc.rst
index edab15fcb..805ec838f 100644
--- a/pybind11/docs/advanced/misc.rst
+++ b/pybind11/docs/advanced/misc.rst
@@ -39,15 +39,42 @@ The ``PYBIND11_MAKE_OPAQUE`` macro does *not* require the above workarounds.
 Global Interpreter Lock (GIL)
 =============================
 
-When calling a C++ function from Python, the GIL is always held.
+The Python C API dictates that the Global Interpreter Lock (GIL) must always
+be held by the current thread to safely access Python objects. As a result,
+when Python calls into C++ via pybind11 the GIL must be held, and pybind11
+will never implicitly release the GIL.
+
+.. code-block:: cpp
+
+    void my_function() {
+        /* GIL is held when this function is called from Python */
+    }
+
+    PYBIND11_MODULE(example, m) {
+        m.def("my_function", &my_function);
+    }
+
+pybind11 will ensure that the GIL is held when it knows that it is calling
+Python code. For example, if a Python callback is passed to C++ code via
+``std::function``, when C++ code calls the function the built-in wrapper
+will acquire the GIL before calling the Python callback. Similarly, the
+``PYBIND11_OVERRIDE`` family of macros will acquire the GIL before calling
+back into Python.
+
+When writing C++ code that is called from other C++ code, if that code accesses
+Python state, it must explicitly acquire and release the GIL.
+
 The classes :class:`gil_scoped_release` and :class:`gil_scoped_acquire` can be
 used to acquire and release the global interpreter lock in the body of a C++
 function call. In this way, long-running C++ code can be parallelized using
-multiple Python threads. Taking :ref:`overriding_virtuals` as an example, this
+multiple Python threads, **but great care must be taken** when any
+:class:`gil_scoped_release` appear: if there is any way that the C++ code
+can access Python objects, :class:`gil_scoped_acquire` should be used to
+reacquire the GIL. Taking :ref:`overriding_virtuals` as an example, this
 could be realized as follows (important changes highlighted):
 
 .. code-block:: cpp
-    :emphasize-lines: 8,9,31,32
+    :emphasize-lines: 8,30,31
 
     class PyAnimal : public Animal {
     public:
@@ -56,9 +83,7 @@ could be realized as follows (important changes highlighted):
 
         /* Trampoline (need one for each virtual function) */
         std::string go(int n_times) {
-            /* Acquire GIL before calling Python code */
-            py::gil_scoped_acquire acquire;
-
+            /* PYBIND11_OVERRIDE_PURE will acquire the GIL before accessing Python state */
             PYBIND11_OVERRIDE_PURE(
                 std::string, /* Return type */
                 Animal,      /* Parent class */
@@ -78,7 +103,8 @@ could be realized as follows (important changes highlighted):
             .def(py::init<>());
 
         m.def("call_go", [](Animal *animal) -> std::string {
-            /* Release GIL before calling into (potentially long-running) C++ code */
+            // GIL is held when called from Python code. Release GIL before
+            // calling into (potentially long-running) C++ code
             py::gil_scoped_release release;
             return call_go(animal);
         });
@@ -92,6 +118,34 @@ The ``call_go`` wrapper can also be simplified using the ``call_guard`` policy
     m.def("call_go", &call_go, py::call_guard<py::gil_scoped_release>());
 
 
+Common Sources Of Global Interpreter Lock Errors
+==================================================================
+
+Failing to properly hold the Global Interpreter Lock (GIL) is one of the
+more common sources of bugs within code that uses pybind11. If you are
+running into GIL related errors, we highly recommend you consult the
+following checklist.
+
+- Do you have any global variables that are pybind11 objects or invoke
+  pybind11 functions in either their constructor or destructor? You are generally
+  not allowed to invoke any Python function in a global static context. We recommend
+  using lazy initialization and then intentionally leaking at the end of the program.
+
+- Do you have any pybind11 objects that are members of other C++ structures? One
+  commonly overlooked requirement is that pybind11 objects have to increase their reference count
+  whenever their copy constructor is called. Thus, you need to be holding the GIL to invoke
+  the copy constructor of any C++ class that has a pybind11 member. This can sometimes be very
+  tricky to track for complicated programs Think carefully when you make a pybind11 object
+  a member in another struct.
+
+- C++ destructors that invoke Python functions can be particularly troublesome as
+  destructors can sometimes get invoked in weird and unexpected circumstances as a result
+  of exceptions.
+
+- You should try running your code in a debug build. That will enable additional assertions
+  within pybind11 that will throw exceptions on certain GIL handling errors
+  (reference counting operations).
+
 Binding sequence data types, iterators, the slicing protocol, etc.
 ==================================================================
 
@@ -298,6 +352,15 @@ The class ``options`` allows you to selectively suppress auto-generated signatur
         m.def("add", [](int a, int b) { return a + b; }, "A function which adds two numbers");
     }
 
+pybind11 also appends all members of an enum to the resulting enum docstring.
+This default behavior can be disabled by using the ``disable_enum_members_docstring()``
+function of the ``options`` class.
+
+With ``disable_user_defined_docstrings()`` all user defined docstrings of
+``module_::def()``, ``class_::def()`` and ``enum_()`` are disabled, but the
+function signatures and enum members are included in the docstring, unless they
+are disabled separately.
+
 Note that changes to the settings affect only function bindings created during the
 lifetime of the ``options`` instance. When it goes out of scope at the end of the module's init function,
 the default settings are restored to prevent unwanted side effects.
diff --git a/pybind11/docs/advanced/pycpp/numpy.rst b/pybind11/docs/advanced/pycpp/numpy.rst
index b6ef019ed..07c969305 100644
--- a/pybind11/docs/advanced/pycpp/numpy.rst
+++ b/pybind11/docs/advanced/pycpp/numpy.rst
@@ -433,7 +433,7 @@ following:
             { 2, 4 },                                  // shape (rows, cols)
             { sizeof(uint8_t) * 4, sizeof(uint8_t) }   // strides in bytes
         );
-    })
+    });
 
 This approach is meant for providing a ``memoryview`` for a C/C++ buffer not
 managed by Python. The user is responsible for managing the lifetime of the
@@ -449,7 +449,7 @@ We can also use ``memoryview::from_memory`` for a simple 1D contiguous buffer:
             buffer,               // buffer pointer
             sizeof(uint8_t) * 8   // buffer size
         );
-    })
+    });
 
 .. versionchanged:: 2.6
     ``memoryview::from_memory`` added.
diff --git a/pybind11/docs/advanced/smart_ptrs.rst b/pybind11/docs/advanced/smart_ptrs.rst
index 5a2220109..3c40ce123 100644
--- a/pybind11/docs/advanced/smart_ptrs.rst
+++ b/pybind11/docs/advanced/smart_ptrs.rst
@@ -157,7 +157,7 @@ specialized:
     PYBIND11_DECLARE_HOLDER_TYPE(T, SmartPtr<T>);
 
     // Only needed if the type's `.get()` goes by another name
-    namespace pybind11 { namespace detail {
+    namespace PYBIND11_NAMESPACE { namespace detail {
         template <typename T>
         struct holder_helper<SmartPtr<T>> { // <-- specialization
             static const T *get(const SmartPtr<T> &p) { return p.getPointer(); }
diff --git a/pybind11/docs/changelog.rst b/pybind11/docs/changelog.rst
index b926b27af..add3fd66b 100644
--- a/pybind11/docs/changelog.rst
+++ b/pybind11/docs/changelog.rst
@@ -9,6 +9,364 @@ Starting with version 1.8.0, pybind11 releases use a `semantic versioning
 Changes will be added here periodically from the "Suggested changelog entry"
 block in pull request descriptions.
 
+
+Version 2.11.1 (July 17, 2023)
+-----------------------------
+
+Changes:
+
+* ``PYBIND11_NO_ASSERT_GIL_HELD_INCREF_DECREF`` is now provided as an option
+  for disabling the default-on ``PyGILState_Check()``'s in
+  ``pybind11::handle``'s ``inc_ref()`` & ``dec_ref()``.
+  `#4753 <https://github.com/pybind/pybind11/pull/4753>`_
+
+* ``PYBIND11_ASSERT_GIL_HELD_INCREF_DECREF`` was disabled for PyPy in general
+  (not just PyPy Windows).
+  `#4751 <https://github.com/pybind/pybind11/pull/4751>`_
+
+
+Version 2.11.0 (July 14, 2023)
+-----------------------------
+
+New features:
+
+* The newly added ``pybind11::detail::is_move_constructible`` trait can be
+  specialized for cases in which ``std::is_move_constructible`` does not work
+  as needed. This is very similar to the long-established
+  ``pybind11::detail::is_copy_constructible``.
+  `#4631 <https://github.com/pybind/pybind11/pull/4631>`_
+
+* Introduce ``recursive_container_traits``.
+  `#4623 <https://github.com/pybind/pybind11/pull/4623>`_
+
+* ``pybind11/type_caster_pyobject_ptr.h`` was added to support automatic
+  wrapping of APIs that make use of ``PyObject *``. This header needs to
+  included explicitly (i.e. it is not included implicitly
+  with ``pybind/pybind11.h``).
+  `#4601 <https://github.com/pybind/pybind11/pull/4601>`_
+
+* ``format_descriptor<>`` & ``npy_format_descriptor<>`` ``PyObject *``
+  specializations were added. The latter enables ``py::array_t<PyObject *>``
+  to/from-python conversions.
+  `#4674 <https://github.com/pybind/pybind11/pull/4674>`_
+
+* ``buffer_info`` gained an ``item_type_is_equivalent_to<T>()`` member
+  function.
+  `#4674 <https://github.com/pybind/pybind11/pull/4674>`_
+
+* The ``capsule`` API gained a user-friendly constructor
+  (``py::capsule(ptr, "name", dtor)``).
+  `#4720 <https://github.com/pybind/pybind11/pull/4720>`_
+
+Changes:
+
+* ``PyGILState_Check()``'s in ``pybind11::handle``'s ``inc_ref()`` &
+  ``dec_ref()`` are now enabled by default again.
+  `#4246 <https://github.com/pybind/pybind11/pull/4246>`_
+
+* ``py::initialize_interpreter()`` using ``PyConfig_InitPythonConfig()``
+  instead of ``PyConfig_InitIsolatedConfig()``, to obtain complete
+  ``sys.path``.
+  `#4473 <https://github.com/pybind/pybind11/pull/4473>`_
+
+* Cast errors now always include Python type information, even if
+  ``PYBIND11_DETAILED_ERROR_MESSAGES`` is not defined. This increases binary
+  sizes slightly (~1.5%) but the error messages are much more informative.
+  `#4463 <https://github.com/pybind/pybind11/pull/4463>`_
+
+* The docstring generation for the ``std::array``-list caster was fixed.
+  Previously, signatures included the size of the list in a non-standard,
+  non-spec compliant way. The new format conforms to PEP 593.
+  **Tooling for processing the docstrings may need to be updated accordingly.**
+  `#4679 <https://github.com/pybind/pybind11/pull/4679>`_
+
+* Setter return values (which are inaccessible for all practical purposes) are
+  no longer converted to Python (only to be discarded).
+  `#4621 <https://github.com/pybind/pybind11/pull/4621>`_
+
+* Allow lambda specified to function definition to be ``noexcept(true)``
+  in C++17.
+  `#4593 <https://github.com/pybind/pybind11/pull/4593>`_
+
+* Get rid of recursive template instantiations for concatenating type
+  signatures on C++17 and higher.
+  `#4587 <https://github.com/pybind/pybind11/pull/4587>`_
+
+* Compatibility with Python 3.12 (beta). Note that the minimum pybind11
+  ABI version for Python 3.12 is version 5. (The default ABI version
+  for Python versions up to and including 3.11 is still version 4.).
+  `#4570 <https://github.com/pybind/pybind11/pull/4570>`_
+
+* With ``PYBIND11_INTERNALS_VERSION 5`` (default for Python 3.12+), MSVC builds
+  use ``std::hash<std::type_index>`` and ``std::equal_to<std::type_index>``
+  instead of string-based type comparisons. This resolves issues when binding
+  types defined in the unnamed namespace.
+  `#4319 <https://github.com/pybind/pybind11/pull/4319>`_
+
+* Python exception ``__notes__`` (introduced with Python 3.11) are now added to
+  the ``error_already_set::what()`` output.
+  `#4678 <https://github.com/pybind/pybind11/pull/4678>`_
+
+Build system improvements:
+
+* CMake 3.27 support was added, CMake 3.4 support was dropped.
+  FindPython will be used if ``FindPythonInterp`` is not present.
+  `#4719 <https://github.com/pybind/pybind11/pull/4719>`_
+
+* Update clang-tidy to 15 in CI.
+  `#4387 <https://github.com/pybind/pybind11/pull/4387>`_
+
+* Moved the linting framework over to Ruff.
+  `#4483 <https://github.com/pybind/pybind11/pull/4483>`_
+
+* Skip ``lto`` checks and target generation when
+  ``CMAKE_INTERPROCEDURAL_OPTIMIZATION`` is defined.
+  `#4643 <https://github.com/pybind/pybind11/pull/4643>`_
+
+* No longer inject ``-stdlib=libc++``, not needed for modern Pythons
+  (macOS 10.9+).
+  `#4639 <https://github.com/pybind/pybind11/pull/4639>`_
+
+* PyPy 3.10 support was added, PyPy 3.7 support was dropped.
+  `#4728 <https://github.com/pybind/pybind11/pull/4728>`_
+
+* Testing with Python 3.12 beta releases was added.
+  `#4713 <https://github.com/pybind/pybind11/pull/4713>`_
+
+
+Version 2.10.4 (Mar 16, 2023)
+-----------------------------
+
+Changes:
+
+* ``python3 -m pybind11`` gained a ``--version`` option (prints the version and
+  exits).
+  `#4526 <https://github.com/pybind/pybind11/pull/4526>`_
+
+Bug Fixes:
+
+* Fix a warning when pydebug is enabled on Python 3.11.
+  `#4461 <https://github.com/pybind/pybind11/pull/4461>`_
+
+* Ensure ``gil_scoped_release`` RAII is non-copyable.
+  `#4490 <https://github.com/pybind/pybind11/pull/4490>`_
+
+* Ensure the tests dir does not show up with new versions of setuptools.
+  `#4510 <https://github.com/pybind/pybind11/pull/4510>`_
+
+* Better stacklevel for a warning in setuptools helpers.
+  `#4516 <https://github.com/pybind/pybind11/pull/4516>`_
+
+Version 2.10.3 (Jan 3, 2023)
+----------------------------
+
+Changes:
+
+* Temporarily made our GIL status assertions (added in 2.10.2) disabled by
+  default (re-enable manually by defining
+  ``PYBIND11_ASSERT_GIL_HELD_INCREF_DECREF``, will be enabled in 2.11).
+  `#4432 <https://github.com/pybind/pybind11/pull/4432>`_
+
+* Improved error messages when ``inc_ref``/``dec_ref`` are called with an
+  invalid GIL state.
+  `#4427 <https://github.com/pybind/pybind11/pull/4427>`_
+  `#4436 <https://github.com/pybind/pybind11/pull/4436>`_
+
+Bug Fixes:
+
+* Some minor touchups found by static analyzers.
+  `#4440 <https://github.com/pybind/pybind11/pull/4440>`_
+
+
+Version 2.10.2 (Dec 20, 2022)
+-----------------------------
+
+Changes:
+
+* ``scoped_interpreter`` constructor taking ``PyConfig``.
+  `#4330 <https://github.com/pybind/pybind11/pull/4330>`_
+
+* ``pybind11/eigen/tensor.h`` adds converters to and from ``Eigen::Tensor`` and
+  ``Eigen::TensorMap``.
+  `#4201 <https://github.com/pybind/pybind11/pull/4201>`_
+
+* ``PyGILState_Check()``'s  were integrated to ``pybind11::handle``
+  ``inc_ref()`` & ``dec_ref()``. The added GIL checks are guarded by
+  ``PYBIND11_ASSERT_GIL_HELD_INCREF_DECREF``, which is the default only if
+  ``NDEBUG`` is not defined. (Made non-default in 2.10.3, will be active in 2.11)
+  `#4246 <https://github.com/pybind/pybind11/pull/4246>`_
+
+* Add option for enable/disable enum members in docstring.
+  `#2768 <https://github.com/pybind/pybind11/pull/2768>`_
+
+* Fixed typing of ``KeysView``, ``ValuesView`` and ``ItemsView`` in ``bind_map``.
+  `#4353 <https://github.com/pybind/pybind11/pull/4353>`_
+
+Bug fixes:
+
+* Bug fix affecting only Python 3.6 under very specific, uncommon conditions:
+  move ``PyEval_InitThreads()`` call to the correct location.
+  `#4350 <https://github.com/pybind/pybind11/pull/4350>`_
+
+* Fix segfault bug when passing foreign native functions to functional.h.
+  `#4254 <https://github.com/pybind/pybind11/pull/4254>`_
+
+Build system improvements:
+
+* Support setting PYTHON_LIBRARIES manually for Windows ARM cross-compilation
+  (classic mode).
+  `#4406 <https://github.com/pybind/pybind11/pull/4406>`_
+
+* Extend IPO/LTO detection for ICX (a.k.a IntelLLVM) compiler.
+  `#4402 <https://github.com/pybind/pybind11/pull/4402>`_
+
+* Allow calling ``find_package(pybind11 CONFIG)`` multiple times from separate
+  directories in the same CMake project and properly link Python (new mode).
+  `#4401 <https://github.com/pybind/pybind11/pull/4401>`_
+
+* ``multiprocessing_set_spawn`` in pytest fixture for added safety.
+  `#4377 <https://github.com/pybind/pybind11/pull/4377>`_
+
+* Fixed a bug in two pybind11/tools cmake scripts causing "Unknown arguments specified" errors.
+  `#4327 <https://github.com/pybind/pybind11/pull/4327>`_
+
+
+
+Version 2.10.1 (Oct 31, 2022)
+-----------------------------
+
+This is the first version to fully support embedding the newly released Python 3.11.
+
+Changes:
+
+* Allow ``pybind11::capsule`` constructor to take null destructor pointers.
+  `#4221 <https://github.com/pybind/pybind11/pull/4221>`_
+
+* ``embed.h`` was changed so that ``PYTHONPATH`` is used also with Python 3.11
+  (established behavior).
+  `#4119 <https://github.com/pybind/pybind11/pull/4119>`_
+
+* A ``PYBIND11_SIMPLE_GIL_MANAGEMENT`` option was added (cmake, C++ define),
+  along with many additional tests in ``test_gil_scoped.py``. The option may be
+  useful to try when debugging GIL-related issues, to determine if the more
+  complex default implementation is or is not to blame. See #4216 for
+  background. WARNING: Please be careful to not create ODR violations when
+  using the option: everything that is linked together with mutual symbol
+  visibility needs to be rebuilt.
+  `#4216 <https://github.com/pybind/pybind11/pull/4216>`_
+
+* ``PYBIND11_EXPORT_EXCEPTION`` was made non-empty only under macOS. This makes
+  Linux builds safer, and enables the removal of warning suppression pragmas for
+  Windows.
+  `#4298 <https://github.com/pybind/pybind11/pull/4298>`_
+
+Bug fixes:
+
+* Fixed a bug where ``UnicodeDecodeError`` was not propagated from various
+  ``py::str`` ctors when decoding surrogate utf characters.
+  `#4294 <https://github.com/pybind/pybind11/pull/4294>`_
+
+* Revert perfect forwarding for ``make_iterator``. This broke at least one
+  valid use case. May revisit later.
+  `#4234 <https://github.com/pybind/pybind11/pull/4234>`_
+
+* Fix support for safe casts to ``void*`` (regression in 2.10.0).
+  `#4275 <https://github.com/pybind/pybind11/pull/4275>`_
+
+* Fix ``char8_t`` support (regression in 2.9).
+  `#4278 <https://github.com/pybind/pybind11/pull/4278>`_
+
+* Unicode surrogate character in Python exception message leads to process
+  termination in ``error_already_set::what()``.
+  `#4297 <https://github.com/pybind/pybind11/pull/4297>`_
+
+* Fix MSVC 2019 v.1924 & C++14 mode error for ``overload_cast``.
+  `#4188 <https://github.com/pybind/pybind11/pull/4188>`_
+
+* Make augmented assignment operators non-const for the object-api. Behavior
+  was previously broken for augmented assignment operators.
+  `#4065 <https://github.com/pybind/pybind11/pull/4065>`_
+
+* Add proper error checking to C++ bindings for Python list append and insert.
+  `#4208 <https://github.com/pybind/pybind11/pull/4208>`_
+
+* Work-around for Nvidia's CUDA nvcc compiler in versions 11.4.0 - 11.8.0.
+  `#4220 <https://github.com/pybind/pybind11/pull/4220>`_
+
+* A workaround for PyPy was added in the ``py::error_already_set``
+  implementation, related to PR `#1895 <https://github.com/pybind/pybind11/pull/1895>`_
+  released with v2.10.0.
+  `#4079 <https://github.com/pybind/pybind11/pull/4079>`_
+
+* Fixed compiler errors when C++23 ``std::forward_like`` is available.
+  `#4136 <https://github.com/pybind/pybind11/pull/4136>`_
+
+* Properly raise exceptions in contains methods (like when an object in unhashable).
+  `#4209 <https://github.com/pybind/pybind11/pull/4209>`_
+
+* Further improve another error in exception handling.
+  `#4232 <https://github.com/pybind/pybind11/pull/4232>`_
+
+* ``get_local_internals()`` was made compatible with
+  ``finalize_interpreter()``, fixing potential freezes during interpreter
+  finalization.
+  `#4192 <https://github.com/pybind/pybind11/pull/4192>`_
+
+Performance and style:
+
+* Reserve space in set and STL map casters if possible. This will prevent
+  unnecessary rehashing / resizing by knowing the number of keys ahead of time
+  for Python to C++ casting. This improvement will greatly speed up the casting
+  of large unordered maps and sets.
+  `#4194 <https://github.com/pybind/pybind11/pull/4194>`_
+
+* GIL RAII scopes are non-copyable to avoid potential bugs.
+  `#4183 <https://github.com/pybind/pybind11/pull/4183>`_
+
+* Explicitly default all relevant ctors for pytypes in the ``PYBIND11_OBJECT``
+  macros and enforce the clang-tidy checks ``modernize-use-equals-default`` in
+  macros as well.
+  `#4017 <https://github.com/pybind/pybind11/pull/4017>`_
+
+* Optimize iterator advancement in C++ bindings.
+  `#4237 <https://github.com/pybind/pybind11/pull/4237>`_
+
+* Use the modern ``PyObject_GenericGetDict`` and ``PyObject_GenericSetDict``
+  for handling dynamic attribute dictionaries.
+  `#4106 <https://github.com/pybind/pybind11/pull/4106>`_
+
+* Document that users should use ``PYBIND11_NAMESPACE`` instead of using ``pybind11`` when
+  opening namespaces. Using namespace declarations and namespace qualification
+  remain the same as ``pybind11``. This is done to ensure consistent symbol
+  visibility.
+  `#4098 <https://github.com/pybind/pybind11/pull/4098>`_
+
+* Mark ``detail::forward_like`` as constexpr.
+  `#4147 <https://github.com/pybind/pybind11/pull/4147>`_
+
+* Optimize unpacking_collector when processing ``arg_v`` arguments.
+  `#4219 <https://github.com/pybind/pybind11/pull/4219>`_
+
+* Optimize casting C++ object to ``None``.
+  `#4269 <https://github.com/pybind/pybind11/pull/4269>`_
+
+
+Build system improvements:
+
+* CMake: revert overwrite behavior, now opt-in with ``PYBIND11_PYTHONLIBS_OVERRWRITE OFF``.
+  `#4195 <https://github.com/pybind/pybind11/pull/4195>`_
+
+* Include a pkg-config file when installing pybind11, such as in the Python
+  package.
+  `#4077 <https://github.com/pybind/pybind11/pull/4077>`_
+
+* Avoid stripping debug symbols when ``CMAKE_BUILD_TYPE`` is set to ``DEBUG``
+  instead of ``Debug``.
+  `#4078 <https://github.com/pybind/pybind11/pull/4078>`_
+
+* Followup to `#3948 <https://github.com/pybind/pybind11/pull/3948>`_, fixing vcpkg again.
+  `#4123 <https://github.com/pybind/pybind11/pull/4123>`_
+
 Version 2.10.0 (Jul 15, 2022)
 -----------------------------
 
diff --git a/pybind11/docs/classes.rst b/pybind11/docs/classes.rst
index c0c53135b..4f2167dac 100644
--- a/pybind11/docs/classes.rst
+++ b/pybind11/docs/classes.rst
@@ -58,6 +58,16 @@ interactive Python session demonstrating this example is shown below:
     Static member functions can be bound in the same way using
     :func:`class_::def_static`.
 
+.. note::
+
+    Binding C++ types in unnamed namespaces (also known as anonymous namespaces)
+    works reliably on many platforms, but not all. The `XFAIL_CONDITION` in
+    tests/test_unnamed_namespace_a.py encodes the currently known conditions.
+    For background see `#4319 <https://github.com/pybind/pybind11/pull/4319>`_.
+    If portability is a concern, it is therefore not recommended to bind C++
+    types in unnamed namespaces. It will be safest to manually pick unique
+    namespace names.
+
 Keyword and default arguments
 =============================
 It is possible to specify keyword and default arguments using the syntax
@@ -539,3 +549,7 @@ The ``name`` property returns the name of the enum value as a unicode string.
            ...
 
     By default, these are omitted to conserve space.
+
+.. warning::
+
+    Contrary to Python customs, enum values from the wrappers should not be compared using ``is``, but with ``==`` (see `#1177 <https://github.com/pybind/pybind11/issues/1177>`_ for background).
diff --git a/pybind11/docs/compiling.rst b/pybind11/docs/compiling.rst
index 2b543be0b..1fd098bec 100644
--- a/pybind11/docs/compiling.rst
+++ b/pybind11/docs/compiling.rst
@@ -241,7 +241,7 @@ extension module can be created with just a few lines of code:
 
 .. code-block:: cmake
 
-    cmake_minimum_required(VERSION 3.4...3.18)
+    cmake_minimum_required(VERSION 3.5...3.26)
     project(example LANGUAGES CXX)
 
     add_subdirectory(pybind11)
@@ -261,6 +261,9 @@ PyPI integration, can be found in the [cmake_example]_  repository.
 .. versionchanged:: 2.6
    CMake 3.4+ is required.
 
+.. versionchanged:: 2.11
+   CMake 3.5+ is required.
+
 Further information can be found at :doc:`cmake/index`.
 
 pybind11_add_module
@@ -495,7 +498,7 @@ You can use these targets to build complex applications. For example, the
 
 .. code-block:: cmake
 
-    cmake_minimum_required(VERSION 3.4)
+    cmake_minimum_required(VERSION 3.5...3.26)
     project(example LANGUAGES CXX)
 
     find_package(pybind11 REQUIRED)  # or add_subdirectory(pybind11)
@@ -553,7 +556,7 @@ information about usage in C++, see :doc:`/advanced/embedding`.
 
 .. code-block:: cmake
 
-    cmake_minimum_required(VERSION 3.4...3.18)
+    cmake_minimum_required(VERSION 3.5...3.26)
     project(example LANGUAGES CXX)
 
     find_package(pybind11 REQUIRED)  # or add_subdirectory(pybind11)
diff --git a/pybind11/docs/conf.py b/pybind11/docs/conf.py
index 2da6773f4..6e24751e9 100644
--- a/pybind11/docs/conf.py
+++ b/pybind11/docs/conf.py
@@ -353,12 +353,11 @@ def prepare(app):
         f.write(contents)
 
 
-def clean_up(app, exception):
+def clean_up(app, exception):  # noqa: ARG001
     (DIR / "readme.rst").unlink()
 
 
 def setup(app):
-
     # Add hook for building doxygen xml when needed
     app.connect("builder-inited", generate_doxygen_xml)
 
diff --git a/pybind11/docs/faq.rst b/pybind11/docs/faq.rst
index 28498e7df..1eb00efad 100644
--- a/pybind11/docs/faq.rst
+++ b/pybind11/docs/faq.rst
@@ -284,7 +284,8 @@ There are three possible solutions:
    COMPONENTS Interpreter Development)`` on modern CMake (3.12+, 3.15+ better,
    3.18.2+ best). Pybind11 in these cases uses the new CMake FindPython instead
    of the old, deprecated search tools, and these modules are much better at
-   finding the correct Python.
+   finding the correct Python. If FindPythonLibs/Interp are not available
+   (CMake 3.27+), then this will be ignored and FindPython will be used.
 3. Set ``PYBIND11_NOPYTHON`` to ``TRUE``. Pybind11 will not search for Python.
    However, you will have to use the target-based system, and do more setup
    yourself, because it does not know about or include things that depend on
diff --git a/pybind11/docs/release.rst b/pybind11/docs/release.rst
index e761cdf7a..4950c3b88 100644
--- a/pybind11/docs/release.rst
+++ b/pybind11/docs/release.rst
@@ -33,10 +33,12 @@ If you don't have nox, you should either use ``pipx run nox`` instead, or use
     - Run ``nox -s tests_packaging`` to ensure this was done correctly.
     - Ensure that all the information in ``setup.cfg`` is up-to-date, like
       supported Python versions.
-    - Add release date in ``docs/changelog.rst``.
-          - Check to make sure
-            `needs-changelog <https://github.com/pybind/pybind11/pulls?q=is%3Apr+is%3Aclosed+label%3A%22needs+changelog%22>`_
-            issues are entered in the changelog (clear the label when done).
+    - Add release date in ``docs/changelog.rst`` and integrate the output of
+      ``nox -s make_changelog``.
+          - Note that the ``make_changelog`` command inspects
+            `needs changelog <https://github.com/pybind/pybind11/pulls?q=is%3Apr+is%3Aclosed+label%3A%22needs+changelog%22>`_.
+          - Manually clear the ``needs changelog`` labels using the GitHub web
+            interface (very easy: start by clicking the link above).
     - ``git add`` and ``git commit``, ``git push``. **Ensure CI passes**. (If it
       fails due to a known flake issue, either ignore or restart CI.)
 - Add a release branch if this is a new minor version, or update the existing release branch if it is a patch version
diff --git a/pybind11/docs/upgrade.rst b/pybind11/docs/upgrade.rst
index 6a9db2d08..b13d21f5e 100644
--- a/pybind11/docs/upgrade.rst
+++ b/pybind11/docs/upgrade.rst
@@ -8,6 +8,20 @@ to a new version. But it goes into more detail. This includes things like
 deprecated APIs and their replacements, build system changes, general code
 modernization and other useful information.
 
+.. _upgrade-guide-2.11:
+
+v2.11
+=====
+
+* The minimum version of CMake is now 3.5. A future version will likely move to
+  requiring something like CMake 3.15. Note that CMake 3.27 is removing the
+  long-deprecated support for ``FindPythonInterp`` if you set 3.27 as the
+  minimum or maximum supported version. To prepare for that future, CMake 3.15+
+  using ``FindPython`` or setting ``PYBIND11_FINDPYTHON`` is highly recommended,
+  otherwise pybind11 will automatically switch to using ``FindPython`` if
+  ``FindPythonInterp`` is not available.
+
+
 .. _upgrade-guide-2.9:
 
 v2.9
diff --git a/pybind11/include/pybind11/attr.h b/pybind11/include/pybind11/attr.h
index db7cd8eff..1044db94d 100644
--- a/pybind11/include/pybind11/attr.h
+++ b/pybind11/include/pybind11/attr.h
@@ -26,6 +26,9 @@ struct is_method {
     explicit is_method(const handle &c) : class_(c) {}
 };
 
+/// Annotation for setters
+struct is_setter {};
+
 /// Annotation for operators
 struct is_operator {};
 
@@ -188,8 +191,8 @@ struct argument_record {
 struct function_record {
     function_record()
         : is_constructor(false), is_new_style_constructor(false), is_stateless(false),
-          is_operator(false), is_method(false), has_args(false), has_kwargs(false),
-          prepend(false) {}
+          is_operator(false), is_method(false), is_setter(false), has_args(false),
+          has_kwargs(false), prepend(false) {}
 
     /// Function name
     char *name = nullptr; /* why no C++ strings? They generate heavier code.. */
@@ -230,6 +233,9 @@ struct function_record {
     /// True if this is a method
     bool is_method : 1;
 
+    /// True if this is a setter
+    bool is_setter : 1;
+
     /// True if the function has a '*args' argument
     bool has_args : 1;
 
@@ -399,7 +405,7 @@ struct process_attribute<doc> : process_attribute_default<doc> {
 template <>
 struct process_attribute<const char *> : process_attribute_default<const char *> {
     static void init(const char *d, function_record *r) { r->doc = const_cast<char *>(d); }
-    static void init(const char *d, type_record *r) { r->doc = const_cast<char *>(d); }
+    static void init(const char *d, type_record *r) { r->doc = d; }
 };
 template <>
 struct process_attribute<char *> : process_attribute<const char *> {};
@@ -426,6 +432,12 @@ struct process_attribute<is_method> : process_attribute_default<is_method> {
     }
 };
 
+/// Process an attribute which indicates that this function is a setter
+template <>
+struct process_attribute<is_setter> : process_attribute_default<is_setter> {
+    static void init(const is_setter &, function_record *r) { r->is_setter = true; }
+};
+
 /// Process an attribute which indicates the parent scope of a method
 template <>
 struct process_attribute<scope> : process_attribute_default<scope> {
diff --git a/pybind11/include/pybind11/buffer_info.h b/pybind11/include/pybind11/buffer_info.h
index 06120d556..b99ee8bef 100644
--- a/pybind11/include/pybind11/buffer_info.h
+++ b/pybind11/include/pybind11/buffer_info.h
@@ -37,6 +37,9 @@ inline std::vector<ssize_t> f_strides(const std::vector<ssize_t> &shape, ssize_t
     return strides;
 }
 
+template <typename T, typename SFINAE = void>
+struct compare_buffer_info;
+
 PYBIND11_NAMESPACE_END(detail)
 
 /// Information record describing a Python buffer object
@@ -150,6 +153,17 @@ struct buffer_info {
     Py_buffer *view() const { return m_view; }
     Py_buffer *&view() { return m_view; }
 
+    /* True if the buffer item type is equivalent to `T`. */
+    // To define "equivalent" by example:
+    // `buffer_info::item_type_is_equivalent_to<int>(b)` and
+    // `buffer_info::item_type_is_equivalent_to<long>(b)` may both be true
+    // on some platforms, but `int` and `unsigned` will never be equivalent.
+    // For the ground truth, please inspect `detail::compare_buffer_info<>`.
+    template <typename T>
+    bool item_type_is_equivalent_to() const {
+        return detail::compare_buffer_info<T>::compare(*this);
+    }
+
 private:
     struct private_ctr_tag {};
 
@@ -170,9 +184,10 @@ private:
 
 PYBIND11_NAMESPACE_BEGIN(detail)
 
-template <typename T, typename SFINAE = void>
+template <typename T, typename SFINAE>
 struct compare_buffer_info {
     static bool compare(const buffer_info &b) {
+        // NOLINTNEXTLINE(bugprone-sizeof-expression) Needed for `PyObject *`
         return b.format == format_descriptor<T>::format() && b.itemsize == (ssize_t) sizeof(T);
     }
 };
diff --git a/pybind11/include/pybind11/cast.h b/pybind11/include/pybind11/cast.h
index a0e32281b..db3934118 100644
--- a/pybind11/include/pybind11/cast.h
+++ b/pybind11/include/pybind11/cast.h
@@ -29,6 +29,9 @@
 #include <vector>
 
 PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
+
+PYBIND11_WARNING_DISABLE_MSVC(4127)
+
 PYBIND11_NAMESPACE_BEGIN(detail)
 
 template <typename type, typename SFINAE = void>
@@ -88,7 +91,8 @@ public:
     template <typename T_,                                                                        \
               ::pybind11::detail::enable_if_t<                                                    \
                   std::is_same<type, ::pybind11::detail::remove_cv_t<T_>>::value,                 \
-                  int> = 0>                                                                       \
+                  int>                                                                            \
+              = 0>                                                                                \
     static ::pybind11::handle cast(                                                               \
         T_ *src, ::pybind11::return_value_policy policy, ::pybind11::handle parent) {             \
         if (!src)                                                                                 \
@@ -248,7 +252,7 @@ public:
         return false;
     }
     static handle cast(T, return_value_policy /* policy */, handle /* parent */) {
-        return none().inc_ref();
+        return none().release();
     }
     PYBIND11_TYPE_CASTER(T, const_name("None"));
 };
@@ -291,7 +295,7 @@ public:
         if (ptr) {
             return capsule(ptr).release();
         }
-        return none().inc_ref();
+        return none().release();
     }
 
     template <typename T>
@@ -389,7 +393,7 @@ struct string_caster {
 
         // For UTF-8 we avoid the need for a temporary `bytes` object by using
         // `PyUnicode_AsUTF8AndSize`.
-        if (PYBIND11_SILENCE_MSVC_C4127(UTF_N == 8)) {
+        if (UTF_N == 8) {
             Py_ssize_t size = -1;
             const auto *buffer
                 = reinterpret_cast<const CharT *>(PyUnicode_AsUTF8AndSize(load_src.ptr(), &size));
@@ -416,7 +420,7 @@ struct string_caster {
             = reinterpret_cast<const CharT *>(PYBIND11_BYTES_AS_STRING(utfNbytes.ptr()));
         size_t length = (size_t) PYBIND11_BYTES_SIZE(utfNbytes.ptr()) / sizeof(CharT);
         // Skip BOM for UTF-16/32
-        if (PYBIND11_SILENCE_MSVC_C4127(UTF_N > 8)) {
+        if (UTF_N > 8) {
             buffer++;
             length--;
         }
@@ -537,7 +541,7 @@ public:
 
     static handle cast(const CharT *src, return_value_policy policy, handle parent) {
         if (src == nullptr) {
-            return pybind11::none().inc_ref();
+            return pybind11::none().release();
         }
         return StringCaster::cast(StringType(src), policy, parent);
     }
@@ -572,7 +576,7 @@ public:
         // figure out how long the first encoded character is in bytes to distinguish between these
         // two errors.  We also allow want to allow unicode characters U+0080 through U+00FF, as
         // those can fit into a single char value.
-        if (PYBIND11_SILENCE_MSVC_C4127(StringCaster::UTF_N == 8) && str_len > 1 && str_len <= 4) {
+        if (StringCaster::UTF_N == 8 && str_len > 1 && str_len <= 4) {
             auto v0 = static_cast<unsigned char>(value[0]);
             // low bits only: 0-127
             // 0b110xxxxx - start of 2-byte sequence
@@ -598,7 +602,7 @@ public:
         // UTF-16 is much easier: we can only have a surrogate pair for values above U+FFFF, thus a
         // surrogate pair with total length 2 instantly indicates a range error (but not a "your
         // string was too long" error).
-        else if (PYBIND11_SILENCE_MSVC_C4127(StringCaster::UTF_N == 16) && str_len == 2) {
+        else if (StringCaster::UTF_N == 16 && str_len == 2) {
             one_char = static_cast<CharT>(value[0]);
             if (one_char >= 0xD800 && one_char < 0xE000) {
                 throw value_error("Character code point not in range(0x10000)");
@@ -960,7 +964,7 @@ struct move_always<
     enable_if_t<
         all_of<move_is_plain_type<T>,
                negation<is_copy_constructible<T>>,
-               std::is_move_constructible<T>,
+               is_move_constructible<T>,
                std::is_same<decltype(std::declval<make_caster<T>>().operator T &()), T &>>::value>>
     : std::true_type {};
 template <typename T, typename SFINAE = void>
@@ -971,7 +975,7 @@ struct move_if_unreferenced<
     enable_if_t<
         all_of<move_is_plain_type<T>,
                negation<move_always<T>>,
-               std::is_move_constructible<T>,
+               is_move_constructible<T>,
                std::is_same<decltype(std::declval<make_caster<T>>().operator T &()), T &>>::value>>
     : std::true_type {};
 template <typename T>
@@ -1013,11 +1017,14 @@ type_caster<T, SFINAE> &load_type(type_caster<T, SFINAE> &conv, const handle &ha
                   "Internal error: type_caster should only be used for C++ types");
     if (!conv.load(handle, true)) {
 #if !defined(PYBIND11_DETAILED_ERROR_MESSAGES)
-        throw cast_error("Unable to cast Python instance to C++ type (#define "
-                         "PYBIND11_DETAILED_ERROR_MESSAGES or compile in debug mode for details)");
+        throw cast_error(
+            "Unable to cast Python instance of type "
+            + str(type::handle_of(handle)).cast<std::string>()
+            + " to C++ type '?' (#define "
+              "PYBIND11_DETAILED_ERROR_MESSAGES or compile in debug mode for details)");
 #else
         throw cast_error("Unable to cast Python instance of type "
-                         + (std::string) str(type::handle_of(handle)) + " to C++ type '"
+                         + str(type::handle_of(handle)).cast<std::string>() + " to C++ type '"
                          + type_id<T>() + "'");
 #endif
     }
@@ -1034,7 +1041,11 @@ make_caster<T> load_type(const handle &handle) {
 PYBIND11_NAMESPACE_END(detail)
 
 // pytype -> C++ type
-template <typename T, detail::enable_if_t<!detail::is_pyobject<T>::value, int> = 0>
+template <typename T,
+          detail::enable_if_t<!detail::is_pyobject<T>::value
+                                  && !detail::is_same_ignoring_cvref<T, PyObject *>::value,
+                              int>
+          = 0>
 T cast(const handle &handle) {
     using namespace detail;
     static_assert(!cast_is_temporary_value_reference<T>::value,
@@ -1048,6 +1059,34 @@ T cast(const handle &handle) {
     return T(reinterpret_borrow<object>(handle));
 }
 
+// Note that `cast<PyObject *>(obj)` increments the reference count of `obj`.
+// This is necessary for the case that `obj` is a temporary, and could
+// not possibly be different, given
+// 1. the established convention that the passed `handle` is borrowed, and
+// 2. we don't want to force all generic code using `cast<T>()` to special-case
+//    handling of `T` = `PyObject *` (to increment the reference count there).
+// It is the responsibility of the caller to ensure that the reference count
+// is decremented.
+template <typename T,
+          typename Handle,
+          detail::enable_if_t<detail::is_same_ignoring_cvref<T, PyObject *>::value
+                                  && detail::is_same_ignoring_cvref<Handle, handle>::value,
+                              int>
+          = 0>
+T cast(Handle &&handle) {
+    return handle.inc_ref().ptr();
+}
+// To optimize way an inc_ref/dec_ref cycle:
+template <typename T,
+          typename Object,
+          detail::enable_if_t<detail::is_same_ignoring_cvref<T, PyObject *>::value
+                                  && detail::is_same_ignoring_cvref<Object, object>::value,
+                              int>
+          = 0>
+T cast(Object &&obj) {
+    return obj.release().ptr();
+}
+
 // C++ type -> py::object
 template <typename T, detail::enable_if_t<!detail::is_pyobject<T>::value, int> = 0>
 object cast(T &&value,
@@ -1081,12 +1120,13 @@ detail::enable_if_t<!detail::move_never<T>::value, T> move(object &&obj) {
     if (obj.ref_count() > 1) {
 #if !defined(PYBIND11_DETAILED_ERROR_MESSAGES)
         throw cast_error(
-            "Unable to cast Python instance to C++ rvalue: instance has multiple references"
-            " (#define PYBIND11_DETAILED_ERROR_MESSAGES or compile in debug mode for details)");
+            "Unable to cast Python " + str(type::handle_of(obj)).cast<std::string>()
+            + " instance to C++ rvalue: instance has multiple references"
+              " (#define PYBIND11_DETAILED_ERROR_MESSAGES or compile in debug mode for details)");
 #else
-        throw cast_error("Unable to move from Python " + (std::string) str(type::handle_of(obj))
-                         + " instance to C++ " + type_id<T>()
-                         + " instance: instance has multiple references");
+        throw cast_error("Unable to move from Python "
+                         + str(type::handle_of(obj)).cast<std::string>() + " instance to C++ "
+                         + type_id<T>() + " instance: instance has multiple references");
 #endif
     }
 
@@ -1179,11 +1219,9 @@ enable_if_t<cast_is_temporary_value_reference<T>::value, T> cast_safe(object &&)
     pybind11_fail("Internal error: cast_safe fallback invoked");
 }
 template <typename T>
-enable_if_t<std::is_same<void, intrinsic_t<T>>::value, void> cast_safe(object &&) {}
+enable_if_t<std::is_void<T>::value, void> cast_safe(object &&) {}
 template <typename T>
-enable_if_t<detail::none_of<cast_is_temporary_value_reference<T>,
-                            std::is_same<void, intrinsic_t<T>>>::value,
-            T>
+enable_if_t<detail::none_of<cast_is_temporary_value_reference<T>, std::is_void<T>>::value, T>
 cast_safe(object &&o) {
     return pybind11::cast<T>(std::move(o));
 }
@@ -1193,9 +1231,10 @@ PYBIND11_NAMESPACE_END(detail)
 // The overloads could coexist, i.e. the #if is not strictly speaking needed,
 // but it is an easy minor optimization.
 #if !defined(PYBIND11_DETAILED_ERROR_MESSAGES)
-inline cast_error cast_error_unable_to_convert_call_arg() {
-    return cast_error("Unable to convert call argument to Python object (#define "
-                      "PYBIND11_DETAILED_ERROR_MESSAGES or compile in debug mode for details)");
+inline cast_error cast_error_unable_to_convert_call_arg(const std::string &name) {
+    return cast_error("Unable to convert call argument '" + name
+                      + "' to Python object (#define "
+                        "PYBIND11_DETAILED_ERROR_MESSAGES or compile in debug mode for details)");
 }
 #else
 inline cast_error cast_error_unable_to_convert_call_arg(const std::string &name,
@@ -1218,7 +1257,7 @@ tuple make_tuple(Args &&...args_) {
     for (size_t i = 0; i < args.size(); i++) {
         if (!args[i]) {
 #if !defined(PYBIND11_DETAILED_ERROR_MESSAGES)
-            throw cast_error_unable_to_convert_call_arg();
+            throw cast_error_unable_to_convert_call_arg(std::to_string(i));
 #else
             std::array<std::string, size> argtypes{{type_id<Args>()...}};
             throw cast_error_unable_to_convert_call_arg(std::to_string(i), argtypes[i]);
@@ -1508,7 +1547,7 @@ private:
             detail::make_caster<T>::cast(std::forward<T>(x), policy, {}));
         if (!o) {
 #if !defined(PYBIND11_DETAILED_ERROR_MESSAGES)
-            throw cast_error_unable_to_convert_call_arg();
+            throw cast_error_unable_to_convert_call_arg(std::to_string(args_list.size()));
 #else
             throw cast_error_unable_to_convert_call_arg(std::to_string(args_list.size()),
                                                         type_id<T>());
@@ -1540,12 +1579,12 @@ private:
         }
         if (!a.value) {
 #if !defined(PYBIND11_DETAILED_ERROR_MESSAGES)
-            throw cast_error_unable_to_convert_call_arg();
+            throw cast_error_unable_to_convert_call_arg(a.name);
 #else
             throw cast_error_unable_to_convert_call_arg(a.name, a.type);
 #endif
         }
-        m_kwargs[a.name] = a.value;
+        m_kwargs[a.name] = std::move(a.value);
     }
 
     void process(list & /*args_list*/, detail::kwargs_proxy kp) {
diff --git a/pybind11/include/pybind11/detail/class.h b/pybind11/include/pybind11/detail/class.h
index 42720f844..bc2b40c50 100644
--- a/pybind11/include/pybind11/detail/class.h
+++ b/pybind11/include/pybind11/detail/class.h
@@ -55,6 +55,9 @@ extern "C" inline int pybind11_static_set(PyObject *self, PyObject *obj, PyObjec
     return PyProperty_Type.tp_descr_set(self, cls, value);
 }
 
+// Forward declaration to use in `make_static_property_type()`
+inline void enable_dynamic_attributes(PyHeapTypeObject *heap_type);
+
 /** A `static_property` is the same as a `property` but the `__get__()` and `__set__()`
     methods are modified to always use the object type instead of a concrete instance.
     Return value: New reference. */
@@ -87,6 +90,13 @@ inline PyTypeObject *make_static_property_type() {
         pybind11_fail("make_static_property_type(): failure in PyType_Ready()!");
     }
 
+#    if PY_VERSION_HEX >= 0x030C0000
+    // PRE 3.12 FEATURE FREEZE. PLEASE REVIEW AFTER FREEZE.
+    // Since Python-3.12 property-derived types are required to
+    // have dynamic attributes (to set `__doc__`)
+    enable_dynamic_attributes(heap_type);
+#    endif
+
     setattr((PyObject *) type, "__module__", str("pybind11_builtins"));
     PYBIND11_SET_OLDPY_QUALNAME(type, name_obj);
 
@@ -435,9 +445,17 @@ inline void clear_instance(PyObject *self) {
 /// Instance destructor function for all pybind11 types. It calls `type_info.dealloc`
 /// to destroy the C++ object itself, while the rest is Python bookkeeping.
 extern "C" inline void pybind11_object_dealloc(PyObject *self) {
+    auto *type = Py_TYPE(self);
+
+    // If this is a GC tracked object, untrack it first
+    // Note that the track call is implicitly done by the
+    // default tp_alloc, which we never override.
+    if (PyType_HasFeature(type, Py_TPFLAGS_HAVE_GC) != 0) {
+        PyObject_GC_UnTrack(self);
+    }
+
     clear_instance(self);
 
-    auto *type = Py_TYPE(self);
     type->tp_free(self);
 
 #if PY_VERSION_HEX < 0x03080000
@@ -502,31 +520,6 @@ inline PyObject *make_object_base_type(PyTypeObject *metaclass) {
     return (PyObject *) heap_type;
 }
 
-/// dynamic_attr: Support for `d = instance.__dict__`.
-extern "C" inline PyObject *pybind11_get_dict(PyObject *self, void *) {
-    PyObject *&dict = *_PyObject_GetDictPtr(self);
-    if (!dict) {
-        dict = PyDict_New();
-    }
-    Py_XINCREF(dict);
-    return dict;
-}
-
-/// dynamic_attr: Support for `instance.__dict__ = dict()`.
-extern "C" inline int pybind11_set_dict(PyObject *self, PyObject *new_dict, void *) {
-    if (!PyDict_Check(new_dict)) {
-        PyErr_Format(PyExc_TypeError,
-                     "__dict__ must be set to a dictionary, not a '%.200s'",
-                     get_fully_qualified_tp_name(Py_TYPE(new_dict)).c_str());
-        return -1;
-    }
-    PyObject *&dict = *_PyObject_GetDictPtr(self);
-    Py_INCREF(new_dict);
-    Py_CLEAR(dict);
-    dict = new_dict;
-    return 0;
-}
-
 /// dynamic_attr: Allow the garbage collector to traverse the internal instance `__dict__`.
 extern "C" inline int pybind11_traverse(PyObject *self, visitproc visit, void *arg) {
     PyObject *&dict = *_PyObject_GetDictPtr(self);
@@ -558,9 +551,17 @@ inline void enable_dynamic_attributes(PyHeapTypeObject *heap_type) {
     type->tp_traverse = pybind11_traverse;
     type->tp_clear = pybind11_clear;
 
-    static PyGetSetDef getset[] = {
-        {const_cast<char *>("__dict__"), pybind11_get_dict, pybind11_set_dict, nullptr, nullptr},
-        {nullptr, nullptr, nullptr, nullptr, nullptr}};
+    static PyGetSetDef getset[] = {{
+#if PY_VERSION_HEX < 0x03070000
+                                       const_cast<char *>("__dict__"),
+#else
+                                       "__dict__",
+#endif
+                                       PyObject_GenericGetDict,
+                                       PyObject_GenericSetDict,
+                                       nullptr,
+                                       nullptr},
+                                   {nullptr, nullptr, nullptr, nullptr, nullptr}};
     type->tp_getset = getset;
 }
 
diff --git a/pybind11/include/pybind11/detail/common.h b/pybind11/include/pybind11/detail/common.h
index 1da323f31..31a54c773 100644
--- a/pybind11/include/pybind11/detail/common.h
+++ b/pybind11/include/pybind11/detail/common.h
@@ -10,15 +10,76 @@
 #pragma once
 
 #define PYBIND11_VERSION_MAJOR 2
-#define PYBIND11_VERSION_MINOR 10
-#define PYBIND11_VERSION_PATCH 0
+#define PYBIND11_VERSION_MINOR 11
+#define PYBIND11_VERSION_PATCH 1
 
 // Similar to Python's convention: https://docs.python.org/3/c-api/apiabiversion.html
 // Additional convention: 0xD = dev
-#define PYBIND11_VERSION_HEX 0x020A0000
+#define PYBIND11_VERSION_HEX 0x020B0100
 
-#define PYBIND11_NAMESPACE_BEGIN(name) namespace name {
-#define PYBIND11_NAMESPACE_END(name) }
+// Define some generic pybind11 helper macros for warning management.
+//
+// Note that compiler-specific push/pop pairs are baked into the
+// PYBIND11_NAMESPACE_BEGIN/PYBIND11_NAMESPACE_END pair of macros. Therefore manual
+// PYBIND11_WARNING_PUSH/PYBIND11_WARNING_POP are usually only needed in `#include` sections.
+//
+// If you find you need to suppress a warning, please try to make the suppression as local as
+// possible using these macros. Please also be sure to push/pop with the pybind11 macros. Please
+// only use compiler specifics if you need to check specific versions, e.g. Apple Clang vs. vanilla
+// Clang.
+#if defined(_MSC_VER)
+#    define PYBIND11_COMPILER_MSVC
+#    define PYBIND11_PRAGMA(...) __pragma(__VA_ARGS__)
+#    define PYBIND11_WARNING_PUSH PYBIND11_PRAGMA(warning(push))
+#    define PYBIND11_WARNING_POP PYBIND11_PRAGMA(warning(pop))
+#elif defined(__INTEL_COMPILER)
+#    define PYBIND11_COMPILER_INTEL
+#    define PYBIND11_PRAGMA(...) _Pragma(#__VA_ARGS__)
+#    define PYBIND11_WARNING_PUSH PYBIND11_PRAGMA(warning push)
+#    define PYBIND11_WARNING_POP PYBIND11_PRAGMA(warning pop)
+#elif defined(__clang__)
+#    define PYBIND11_COMPILER_CLANG
+#    define PYBIND11_PRAGMA(...) _Pragma(#__VA_ARGS__)
+#    define PYBIND11_WARNING_PUSH PYBIND11_PRAGMA(clang diagnostic push)
+#    define PYBIND11_WARNING_POP PYBIND11_PRAGMA(clang diagnostic push)
+#elif defined(__GNUC__)
+#    define PYBIND11_COMPILER_GCC
+#    define PYBIND11_PRAGMA(...) _Pragma(#__VA_ARGS__)
+#    define PYBIND11_WARNING_PUSH PYBIND11_PRAGMA(GCC diagnostic push)
+#    define PYBIND11_WARNING_POP PYBIND11_PRAGMA(GCC diagnostic pop)
+#endif
+
+#ifdef PYBIND11_COMPILER_MSVC
+#    define PYBIND11_WARNING_DISABLE_MSVC(name) PYBIND11_PRAGMA(warning(disable : name))
+#else
+#    define PYBIND11_WARNING_DISABLE_MSVC(name)
+#endif
+
+#ifdef PYBIND11_COMPILER_CLANG
+#    define PYBIND11_WARNING_DISABLE_CLANG(name) PYBIND11_PRAGMA(clang diagnostic ignored name)
+#else
+#    define PYBIND11_WARNING_DISABLE_CLANG(name)
+#endif
+
+#ifdef PYBIND11_COMPILER_GCC
+#    define PYBIND11_WARNING_DISABLE_GCC(name) PYBIND11_PRAGMA(GCC diagnostic ignored name)
+#else
+#    define PYBIND11_WARNING_DISABLE_GCC(name)
+#endif
+
+#ifdef PYBIND11_COMPILER_INTEL
+#    define PYBIND11_WARNING_DISABLE_INTEL(name) PYBIND11_PRAGMA(warning disable name)
+#else
+#    define PYBIND11_WARNING_DISABLE_INTEL(name)
+#endif
+
+#define PYBIND11_NAMESPACE_BEGIN(name)                                                            \
+    namespace name {                                                                              \
+    PYBIND11_WARNING_PUSH
+
+#define PYBIND11_NAMESPACE_END(name)                                                              \
+    PYBIND11_WARNING_POP                                                                          \
+    }
 
 // Robust support for some features and loading modules compiled against different pybind versions
 // requires forcing hidden visibility on pybind code, so we enforce this by setting the attribute
@@ -96,13 +157,10 @@
 #endif
 
 #if !defined(PYBIND11_EXPORT_EXCEPTION)
-#    ifdef __MINGW32__
-// workaround for:
-// error: 'dllexport' implies default visibility, but xxx has already been declared with a
-// different visibility
-#        define PYBIND11_EXPORT_EXCEPTION
-#    else
+#    if defined(__apple_build_version__)
 #        define PYBIND11_EXPORT_EXCEPTION PYBIND11_EXPORT
+#    else
+#        define PYBIND11_EXPORT_EXCEPTION
 #    endif
 #endif
 
@@ -154,9 +212,9 @@
 
 /// Include Python header, disable linking to pythonX_d.lib on Windows in debug mode
 #if defined(_MSC_VER)
-#    pragma warning(push)
+PYBIND11_WARNING_PUSH
+PYBIND11_WARNING_DISABLE_MSVC(4505)
 // C4505: 'PySlice_GetIndicesEx': unreferenced local function has been removed (PyPy only)
-#    pragma warning(disable : 4505)
 #    if defined(_DEBUG) && !defined(Py_DEBUG)
 // Workaround for a VS 2022 issue.
 // NOTE: This workaround knowingly violates the Python.h include order requirement:
@@ -205,11 +263,8 @@
 #    endif
 #endif
 
-#if defined(__cpp_lib_char8_t) && __cpp_lib_char8_t >= 201811L
-#    define PYBIND11_HAS_U8STRING
-#endif
-
 #include <Python.h>
+// Reminder: WITH_THREAD is always defined if PY_VERSION_HEX >= 0x03070000
 #if PY_VERSION_HEX < 0x03060000
 #    error "PYTHON < 3.6 IS UNSUPPORTED. pybind11 v2.9 was the last to support Python 2 and 3.5."
 #endif
@@ -233,12 +288,16 @@
 #    undef copysign
 #endif
 
+#if defined(PYPY_VERSION) && !defined(PYBIND11_SIMPLE_GIL_MANAGEMENT)
+#    define PYBIND11_SIMPLE_GIL_MANAGEMENT
+#endif
+
 #if defined(_MSC_VER)
 #    if defined(PYBIND11_DEBUG_MARKER)
 #        define _DEBUG
 #        undef PYBIND11_DEBUG_MARKER
 #    endif
-#    pragma warning(pop)
+PYBIND11_WARNING_POP
 #endif
 
 #include <cstddef>
@@ -259,6 +318,17 @@
 #    endif
 #endif
 
+// Must be after including <version> or one of the other headers specified by the standard
+#if defined(__cpp_lib_char8_t) && __cpp_lib_char8_t >= 201811L
+#    define PYBIND11_HAS_U8STRING
+#endif
+
+// See description of PR #4246:
+#if !defined(PYBIND11_NO_ASSERT_GIL_HELD_INCREF_DECREF) && !defined(NDEBUG)                       \
+    && !defined(PYPY_VERSION) && !defined(PYBIND11_ASSERT_GIL_HELD_INCREF_DECREF)
+#    define PYBIND11_ASSERT_GIL_HELD_INCREF_DECREF
+#endif
+
 // #define PYBIND11_STR_LEGACY_PERMISSIVE
 // If DEFINED, pybind11::str can hold PyUnicodeObject or PyBytesObject
 //             (probably surprising and never documented, but this was the
@@ -363,7 +433,7 @@
 
 /** \rst
     This macro creates the entry point that will be invoked when the Python interpreter
-    imports an extension module. The module name is given as the fist argument and it
+    imports an extension module. The module name is given as the first argument and it
     should not be in quotes. The second macro argument defines a variable of type
     `py::module_` which can be used to initialize the module.
 
@@ -588,6 +658,10 @@ template <class T>
 using remove_cvref_t = typename remove_cvref<T>::type;
 #endif
 
+/// Example usage: is_same_ignoring_cvref<T, PyObject *>::value
+template <typename T, typename U>
+using is_same_ignoring_cvref = std::is_same<detail::remove_cvref_t<T>, U>;
+
 /// Index sequences
 #if defined(PYBIND11_CPP14)
 using std::index_sequence;
@@ -681,7 +755,16 @@ template <typename C, typename R, typename... A>
 struct remove_class<R (C::*)(A...) const> {
     using type = R(A...);
 };
-
+#ifdef __cpp_noexcept_function_type
+template <typename C, typename R, typename... A>
+struct remove_class<R (C::*)(A...) noexcept> {
+    using type = R(A...);
+};
+template <typename C, typename R, typename... A>
+struct remove_class<R (C::*)(A...) const noexcept> {
+    using type = R(A...);
+};
+#endif
 /// Helper template to strip away type modifiers
 template <typename T>
 struct intrinsic_type {
@@ -898,12 +981,6 @@ using expand_side_effects = bool[];
 
 PYBIND11_NAMESPACE_END(detail)
 
-#if defined(_MSC_VER)
-#    pragma warning(push)
-#    pragma warning(disable : 4275)
-//     warning C4275: An exported class was derived from a class that wasn't exported.
-//     Can be ignored when derived from a STL class.
-#endif
 /// C++ bindings of builtin Python exceptions
 class PYBIND11_EXPORT_EXCEPTION builtin_exception : public std::runtime_error {
 public:
@@ -911,9 +988,6 @@ public:
     /// Set the error using the Python C API
     virtual void set_error() const = 0;
 };
-#if defined(_MSC_VER)
-#    pragma warning(pop)
-#endif
 
 #define PYBIND11_RUNTIME_EXCEPTION(name, type)                                                    \
     class PYBIND11_EXPORT_EXCEPTION name : public builtin_exception {                             \
@@ -948,6 +1022,15 @@ PYBIND11_RUNTIME_EXCEPTION(reference_cast_error, PyExc_RuntimeError) /// Used in
 template <typename T, typename SFINAE = void>
 struct format_descriptor {};
 
+template <typename T>
+struct format_descriptor<
+    T,
+    detail::enable_if_t<detail::is_same_ignoring_cvref<T, PyObject *>::value>> {
+    static constexpr const char c = 'O';
+    static constexpr const char value[2] = {c, '\0'};
+    static std::string format() { return std::string(1, c); }
+};
+
 PYBIND11_NAMESPACE_BEGIN(detail)
 // Returns the index of the given type in the type char array below, and in the list in numpy.h
 // The order here is: bool; 8 ints ((signed,unsigned)x(8,16,32,64)bits); float,double,long double;
@@ -1033,12 +1116,7 @@ PYBIND11_NAMESPACE_END(detail)
 ///  - regular: static_cast<Return (Class::*)(Arg0, Arg1, Arg2)>(&Class::func)
 ///  - sweet:   overload_cast<Arg0, Arg1, Arg2>(&Class::func)
 template <typename... Args>
-#    if (defined(_MSC_VER) && _MSC_VER < 1920) /* MSVC 2017 */                                    \
-        || (defined(__clang__) && __clang_major__ == 5)
-static constexpr detail::overload_cast_impl<Args...> overload_cast = {};
-#    else
-static constexpr detail::overload_cast_impl<Args...> overload_cast;
-#    endif
+static constexpr detail::overload_cast_impl<Args...> overload_cast{};
 #endif
 
 /// Const member function selector for overload_cast
@@ -1147,20 +1225,28 @@ constexpr
 #    define PYBIND11_WORKAROUND_INCORRECT_GCC_UNUSED_BUT_SET_PARAMETER(...)
 #endif
 
-#if defined(_MSC_VER) // All versions (as of July 2021).
-
-// warning C4127: Conditional expression is constant
-constexpr inline bool silence_msvc_c4127(bool cond) { return cond; }
-
-#    define PYBIND11_SILENCE_MSVC_C4127(...) ::pybind11::detail::silence_msvc_c4127(__VA_ARGS__)
-
-#else
-#    define PYBIND11_SILENCE_MSVC_C4127(...) __VA_ARGS__
+#if defined(__clang__)                                                                            \
+    && (defined(__apple_build_version__) /* AppleClang 13.0.0.13000029 was the only data point    \
+                                            available. */                                         \
+        || (__clang_major__ >= 7                                                                  \
+            && __clang_major__ <= 12) /* Clang 3, 5, 13, 14, 15 do not generate the warning. */   \
+    )
+#    define PYBIND11_DETECTED_CLANG_WITH_MISLEADING_CALL_STD_MOVE_EXPLICITLY_WARNING
+// Example:
+// tests/test_kwargs_and_defaults.cpp:46:68: error: local variable 'args' will be copied despite
+// being returned by name [-Werror,-Wreturn-std-move]
+//     m.def("args_function", [](py::args args) -> py::tuple { return args; });
+//                                                                    ^~~~
+// test_kwargs_and_defaults.cpp:46:68: note: call 'std::move' explicitly to avoid copying
+//     m.def("args_function", [](py::args args) -> py::tuple { return args; });
+//                                                                    ^~~~
+//                                                                    std::move(args)
 #endif
 
 // Pybind offers detailed error messages by default for all builts that are debug (through the
-// negation of ndebug). This can also be manually enabled by users, for any builds, through
-// defining PYBIND11_DETAILED_ERROR_MESSAGES.
+// negation of NDEBUG). This can also be manually enabled by users, for any builds, through
+// defining PYBIND11_DETAILED_ERROR_MESSAGES. This information is primarily useful for those
+// who are writing (as opposed to merely using) libraries that use pybind11.
 #if !defined(PYBIND11_DETAILED_ERROR_MESSAGES) && !defined(NDEBUG)
 #    define PYBIND11_DETAILED_ERROR_MESSAGES
 #endif
diff --git a/pybind11/include/pybind11/detail/descr.h b/pybind11/include/pybind11/detail/descr.h
index e7a5e2c14..635614b0d 100644
--- a/pybind11/include/pybind11/detail/descr.h
+++ b/pybind11/include/pybind11/detail/descr.h
@@ -143,11 +143,24 @@ constexpr descr<N, Ts...> concat(const descr<N, Ts...> &descr) {
     return descr;
 }
 
+#ifdef __cpp_fold_expressions
+template <size_t N1, size_t N2, typename... Ts1, typename... Ts2>
+constexpr descr<N1 + N2 + 2, Ts1..., Ts2...> operator,(const descr<N1, Ts1...> &a,
+                                                       const descr<N2, Ts2...> &b) {
+    return a + const_name(", ") + b;
+}
+
+template <size_t N, typename... Ts, typename... Args>
+constexpr auto concat(const descr<N, Ts...> &d, const Args &...args) {
+    return (d, ..., args);
+}
+#else
 template <size_t N, typename... Ts, typename... Args>
 constexpr auto concat(const descr<N, Ts...> &d, const Args &...args)
     -> decltype(std::declval<descr<N + 2, Ts...>>() + concat(args...)) {
     return d + const_name(", ") + concat(args...);
 }
+#endif
 
 template <size_t N, typename... Ts>
 constexpr descr<N + 2, Ts...> type_descr(const descr<N, Ts...> &descr) {
diff --git a/pybind11/include/pybind11/detail/init.h b/pybind11/include/pybind11/detail/init.h
index 05f4fe54a..e21171688 100644
--- a/pybind11/include/pybind11/detail/init.h
+++ b/pybind11/include/pybind11/detail/init.h
@@ -12,6 +12,9 @@
 #include "class.h"
 
 PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
+
+PYBIND11_WARNING_DISABLE_MSVC(4127)
+
 PYBIND11_NAMESPACE_BEGIN(detail)
 
 template <>
@@ -115,7 +118,7 @@ template <typename Class>
 void construct(value_and_holder &v_h, Cpp<Class> *ptr, bool need_alias) {
     PYBIND11_WORKAROUND_INCORRECT_MSVC_C4100(need_alias);
     no_nullptr(ptr);
-    if (PYBIND11_SILENCE_MSVC_C4127(Class::has_alias) && need_alias && !is_alias<Class>(ptr)) {
+    if (Class::has_alias && need_alias && !is_alias<Class>(ptr)) {
         // We're going to try to construct an alias by moving the cpp type.  Whether or not
         // that succeeds, we still need to destroy the original cpp pointer (either the
         // moved away leftover, if the alias construction works, or the value itself if we
@@ -156,7 +159,7 @@ void construct(value_and_holder &v_h, Holder<Class> holder, bool need_alias) {
     auto *ptr = holder_helper<Holder<Class>>::get(holder);
     no_nullptr(ptr);
     // If we need an alias, check that the held pointer is actually an alias instance
-    if (PYBIND11_SILENCE_MSVC_C4127(Class::has_alias) && need_alias && !is_alias<Class>(ptr)) {
+    if (Class::has_alias && need_alias && !is_alias<Class>(ptr)) {
         throw type_error("pybind11::init(): construction failed: returned holder-wrapped instance "
                          "is not an alias instance");
     }
@@ -172,9 +175,9 @@ void construct(value_and_holder &v_h, Holder<Class> holder, bool need_alias) {
 template <typename Class>
 void construct(value_and_holder &v_h, Cpp<Class> &&result, bool need_alias) {
     PYBIND11_WORKAROUND_INCORRECT_MSVC_C4100(need_alias);
-    static_assert(std::is_move_constructible<Cpp<Class>>::value,
+    static_assert(is_move_constructible<Cpp<Class>>::value,
                   "pybind11::init() return-by-value factory function requires a movable class");
-    if (PYBIND11_SILENCE_MSVC_C4127(Class::has_alias) && need_alias) {
+    if (Class::has_alias && need_alias) {
         construct_alias_from_cpp<Class>(is_alias_constructible<Class>{}, v_h, std::move(result));
     } else {
         v_h.value_ptr() = new Cpp<Class>(std::move(result));
@@ -187,7 +190,7 @@ void construct(value_and_holder &v_h, Cpp<Class> &&result, bool need_alias) {
 template <typename Class>
 void construct(value_and_holder &v_h, Alias<Class> &&result, bool) {
     static_assert(
-        std::is_move_constructible<Alias<Class>>::value,
+        is_move_constructible<Alias<Class>>::value,
         "pybind11::init() return-by-alias-value factory function requires a movable alias class");
     v_h.value_ptr() = new Alias<Class>(std::move(result));
 }
@@ -206,10 +209,11 @@ struct constructor {
             extra...);
     }
 
-    template <typename Class,
-              typename... Extra,
-              enable_if_t<Class::has_alias && std::is_constructible<Cpp<Class>, Args...>::value,
-                          int> = 0>
+    template <
+        typename Class,
+        typename... Extra,
+        enable_if_t<Class::has_alias && std::is_constructible<Cpp<Class>, Args...>::value, int>
+        = 0>
     static void execute(Class &cl, const Extra &...extra) {
         cl.def(
             "__init__",
@@ -226,10 +230,11 @@ struct constructor {
             extra...);
     }
 
-    template <typename Class,
-              typename... Extra,
-              enable_if_t<Class::has_alias && !std::is_constructible<Cpp<Class>, Args...>::value,
-                          int> = 0>
+    template <
+        typename Class,
+        typename... Extra,
+        enable_if_t<Class::has_alias && !std::is_constructible<Cpp<Class>, Args...>::value, int>
+        = 0>
     static void execute(Class &cl, const Extra &...extra) {
         cl.def(
             "__init__",
@@ -245,10 +250,11 @@ struct constructor {
 // Implementing class for py::init_alias<...>()
 template <typename... Args>
 struct alias_constructor {
-    template <typename Class,
-              typename... Extra,
-              enable_if_t<Class::has_alias && std::is_constructible<Alias<Class>, Args...>::value,
-                          int> = 0>
+    template <
+        typename Class,
+        typename... Extra,
+        enable_if_t<Class::has_alias && std::is_constructible<Alias<Class>, Args...>::value, int>
+        = 0>
     static void execute(Class &cl, const Extra &...extra) {
         cl.def(
             "__init__",
diff --git a/pybind11/include/pybind11/detail/internals.h b/pybind11/include/pybind11/detail/internals.h
index 6ca5e1482..aaa7f8686 100644
--- a/pybind11/include/pybind11/detail/internals.h
+++ b/pybind11/include/pybind11/detail/internals.h
@@ -9,6 +9,12 @@
 
 #pragma once
 
+#include "common.h"
+
+#if defined(WITH_THREAD) && defined(PYBIND11_SIMPLE_GIL_MANAGEMENT)
+#    include "../gil.h"
+#endif
+
 #include "../pytypes.h"
 
 #include <exception>
@@ -28,15 +34,26 @@
 /// further ABI-incompatible changes may be made before the ABI is officially
 /// changed to the new version.
 #ifndef PYBIND11_INTERNALS_VERSION
-#    define PYBIND11_INTERNALS_VERSION 4
+#    if PY_VERSION_HEX >= 0x030C0000
+// Version bump for Python 3.12+, before first 3.12 beta release.
+#        define PYBIND11_INTERNALS_VERSION 5
+#    else
+#        define PYBIND11_INTERNALS_VERSION 4
+#    endif
 #endif
 
+// This requirement is mainly to reduce the support burden (see PR #4570).
+static_assert(PY_VERSION_HEX < 0x030C0000 || PYBIND11_INTERNALS_VERSION >= 5,
+              "pybind11 ABI version 5 is the minimum for Python 3.12+");
+
 PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
 
 using ExceptionTranslator = void (*)(std::exception_ptr);
 
 PYBIND11_NAMESPACE_BEGIN(detail)
 
+constexpr const char *internals_function_record_capsule_name = "pybind11_function_record_capsule";
+
 // Forward declarations
 inline PyTypeObject *make_static_property_type();
 inline PyTypeObject *make_default_metaclass();
@@ -49,7 +66,7 @@ inline PyObject *make_object_base_type(PyTypeObject *metaclass);
 // `Py_LIMITED_API` anyway.
 #    if PYBIND11_INTERNALS_VERSION > 4
 #        define PYBIND11_TLS_KEY_REF Py_tss_t &
-#        ifdef __GNUC__
+#        if defined(__GNUC__) && !defined(__INTEL_COMPILER)
 // Clang on macOS warns due to `Py_tss_NEEDS_INIT` not specifying an initializer
 // for every field.
 #            define PYBIND11_TLS_KEY_INIT(var)                                                    \
@@ -106,7 +123,8 @@ inline void tls_replace_value(PYBIND11_TLS_KEY_REF key, void *value) {
 // libstdc++, this doesn't happen: equality and the type_index hash are based on the type name,
 // which works.  If not under a known-good stl, provide our own name-based hash and equality
 // functions that use the type name.
-#if defined(__GLIBCXX__)
+#if (PYBIND11_INTERNALS_VERSION <= 4 && defined(__GLIBCXX__))                                     \
+    || (PYBIND11_INTERNALS_VERSION >= 5 && !defined(_LIBCPP_VERSION))
 inline bool same_type(const std::type_info &lhs, const std::type_info &rhs) { return lhs == rhs; }
 using type_hash = std::hash<std::type_index>;
 using type_equal_to = std::equal_to<std::type_index>;
@@ -169,11 +187,23 @@ struct internals {
     PyTypeObject *default_metaclass;
     PyObject *instance_base;
 #if defined(WITH_THREAD)
+    // Unused if PYBIND11_SIMPLE_GIL_MANAGEMENT is defined:
     PYBIND11_TLS_KEY_INIT(tstate)
 #    if PYBIND11_INTERNALS_VERSION > 4
     PYBIND11_TLS_KEY_INIT(loader_life_support_tls_key)
 #    endif // PYBIND11_INTERNALS_VERSION > 4
+    // Unused if PYBIND11_SIMPLE_GIL_MANAGEMENT is defined:
     PyInterpreterState *istate = nullptr;
+
+#    if PYBIND11_INTERNALS_VERSION > 4
+    // Note that we have to use a std::string to allocate memory to ensure a unique address
+    // We want unique addresses since we use pointer equality to compare function records
+    std::string function_record_capsule_name = internals_function_record_capsule_name;
+#    endif
+
+    internals() = default;
+    internals(const internals &other) = delete;
+    internals &operator=(const internals &other) = delete;
     ~internals() {
 #    if PYBIND11_INTERNALS_VERSION > 4
         PYBIND11_TLS_FREE(loader_life_support_tls_key);
@@ -401,6 +431,38 @@ inline void translate_local_exception(std::exception_ptr p) {
 }
 #endif
 
+inline object get_python_state_dict() {
+    object state_dict;
+#if PYBIND11_INTERNALS_VERSION <= 4 || PY_VERSION_HEX < 0x03080000 || defined(PYPY_VERSION)
+    state_dict = reinterpret_borrow<object>(PyEval_GetBuiltins());
+#else
+#    if PY_VERSION_HEX < 0x03090000
+    PyInterpreterState *istate = _PyInterpreterState_Get();
+#    else
+    PyInterpreterState *istate = PyInterpreterState_Get();
+#    endif
+    if (istate) {
+        state_dict = reinterpret_borrow<object>(PyInterpreterState_GetDict(istate));
+    }
+#endif
+    if (!state_dict) {
+        raise_from(PyExc_SystemError, "pybind11::detail::get_python_state_dict() FAILED");
+    }
+    return state_dict;
+}
+
+inline object get_internals_obj_from_state_dict(handle state_dict) {
+    return reinterpret_borrow<object>(dict_getitemstring(state_dict.ptr(), PYBIND11_INTERNALS_ID));
+}
+
+inline internals **get_internals_pp_from_capsule(handle obj) {
+    void *raw_ptr = PyCapsule_GetPointer(obj.ptr(), /*name=*/nullptr);
+    if (raw_ptr == nullptr) {
+        raise_from(PyExc_SystemError, "pybind11::detail::get_internals_pp_from_capsule() FAILED");
+    }
+    return static_cast<internals **>(raw_ptr);
+}
+
 /// Return a reference to the current `internals` data
 PYBIND11_NOINLINE internals &get_internals() {
     auto **&internals_pp = get_internals_pp();
@@ -408,21 +470,29 @@ PYBIND11_NOINLINE internals &get_internals() {
         return **internals_pp;
     }
 
+#if defined(WITH_THREAD)
+#    if defined(PYBIND11_SIMPLE_GIL_MANAGEMENT)
+    gil_scoped_acquire gil;
+#    else
     // Ensure that the GIL is held since we will need to make Python calls.
     // Cannot use py::gil_scoped_acquire here since that constructor calls get_internals.
     struct gil_scoped_acquire_local {
         gil_scoped_acquire_local() : state(PyGILState_Ensure()) {}
+        gil_scoped_acquire_local(const gil_scoped_acquire_local &) = delete;
+        gil_scoped_acquire_local &operator=(const gil_scoped_acquire_local &) = delete;
         ~gil_scoped_acquire_local() { PyGILState_Release(state); }
         const PyGILState_STATE state;
     } gil;
+#    endif
+#endif
     error_scope err_scope;
 
-    PYBIND11_STR_TYPE id(PYBIND11_INTERNALS_ID);
-    auto builtins = handle(PyEval_GetBuiltins());
-    if (builtins.contains(id) && isinstance<capsule>(builtins[id])) {
-        internals_pp = static_cast<internals **>(capsule(builtins[id]));
-
-        // We loaded builtins through python's builtins, which means that our `error_already_set`
+    dict state_dict = get_python_state_dict();
+    if (object internals_obj = get_internals_obj_from_state_dict(state_dict)) {
+        internals_pp = get_internals_pp_from_capsule(internals_obj);
+    }
+    if (internals_pp && *internals_pp) {
+        // We loaded the internals through `state_dict`, which means that our `error_already_set`
         // and `builtin_exception` may be different local classes than the ones set up in the
         // initial exception translator, below, so add another for our local exception classes.
         //
@@ -440,16 +510,15 @@ PYBIND11_NOINLINE internals &get_internals() {
         internals_ptr = new internals();
 #if defined(WITH_THREAD)
 
-#    if PY_VERSION_HEX < 0x03090000
-        PyEval_InitThreads();
-#    endif
         PyThreadState *tstate = PyThreadState_Get();
+        // NOLINTNEXTLINE(bugprone-assignment-in-if-condition)
         if (!PYBIND11_TLS_KEY_CREATE(internals_ptr->tstate)) {
             pybind11_fail("get_internals: could not successfully initialize the tstate TSS key!");
         }
         PYBIND11_TLS_REPLACE_VALUE(internals_ptr->tstate, tstate);
 
 #    if PYBIND11_INTERNALS_VERSION > 4
+        // NOLINTNEXTLINE(bugprone-assignment-in-if-condition)
         if (!PYBIND11_TLS_KEY_CREATE(internals_ptr->loader_life_support_tls_key)) {
             pybind11_fail("get_internals: could not successfully initialize the "
                           "loader_life_support TSS key!");
@@ -457,7 +526,7 @@ PYBIND11_NOINLINE internals &get_internals() {
 #    endif
         internals_ptr->istate = tstate->interp;
 #endif
-        builtins[id] = capsule(internals_pp);
+        state_dict[PYBIND11_INTERNALS_ID] = capsule(internals_pp);
         internals_ptr->registered_exception_translators.push_front(&translate_exception);
         internals_ptr->static_property_type = make_static_property_type();
         internals_ptr->default_metaclass = make_default_metaclass();
@@ -489,6 +558,7 @@ struct local_internals {
     struct shared_loader_life_support_data {
         PYBIND11_TLS_KEY_INIT(loader_life_support_tls_key)
         shared_loader_life_support_data() {
+            // NOLINTNEXTLINE(bugprone-assignment-in-if-condition)
             if (!PYBIND11_TLS_KEY_CREATE(loader_life_support_tls_key)) {
                 pybind11_fail("local_internals: could not successfully initialize the "
                               "loader_life_support TLS key!");
@@ -512,8 +582,13 @@ struct local_internals {
 
 /// Works like `get_internals`, but for things which are locally registered.
 inline local_internals &get_local_internals() {
-    static local_internals locals;
-    return locals;
+    // Current static can be created in the interpreter finalization routine. If the later will be
+    // destroyed in another static variable destructor, creation of this static there will cause
+    // static deinitialization fiasco. In order to avoid it we avoid destruction of the
+    // local_internals static. One can read more about the problem and current solution here:
+    // https://google.github.io/styleguide/cppguide.html#Static_and_Global_Variables
+    static auto *locals = new local_internals();
+    return *locals;
 }
 
 /// Constructs a std::string with the given arguments, stores it in `internals`, and returns its
@@ -527,6 +602,25 @@ const char *c_str(Args &&...args) {
     return strings.front().c_str();
 }
 
+inline const char *get_function_record_capsule_name() {
+#if PYBIND11_INTERNALS_VERSION > 4
+    return get_internals().function_record_capsule_name.c_str();
+#else
+    return nullptr;
+#endif
+}
+
+// Determine whether or not the following capsule contains a pybind11 function record.
+// Note that we use `internals` to make sure that only ABI compatible records are touched.
+//
+// This check is currently used in two places:
+// - An important optimization in functional.h to avoid overhead in C++ -> Python -> C++
+// - The sibling feature of cpp_function to allow overloads
+inline bool is_function_record_capsule(const capsule &cap) {
+    // Pointer equality as we rely on internals() to ensure unique pointers
+    return cap.name() == get_function_record_capsule_name();
+}
+
 PYBIND11_NAMESPACE_END(detail)
 
 /// Returns a named pointer that is shared among all extension modules (using the same
diff --git a/pybind11/include/pybind11/detail/type_caster_base.h b/pybind11/include/pybind11/detail/type_caster_base.h
index 21f69c289..16387506c 100644
--- a/pybind11/include/pybind11/detail/type_caster_base.h
+++ b/pybind11/include/pybind11/detail/type_caster_base.h
@@ -258,9 +258,9 @@ struct value_and_holder {
 
     // Main constructor for a found value/holder:
     value_and_holder(instance *i, const detail::type_info *type, size_t vpos, size_t index)
-        : inst{i}, index{index}, type{type}, vh{inst->simple_layout
-                                                    ? inst->simple_value_holder
-                                                    : &inst->nonsimple.values_and_holders[vpos]} {}
+        : inst{i}, index{index}, type{type},
+          vh{inst->simple_layout ? inst->simple_value_holder
+                                 : &inst->nonsimple.values_and_holders[vpos]} {}
 
     // Default constructor (used to signal a value-and-holder not found by get_value_and_holder())
     value_and_holder() = default;
@@ -822,23 +822,179 @@ using movable_cast_op_type
                                   typename std::add_rvalue_reference<intrinsic_t<T>>::type,
                                   typename std::add_lvalue_reference<intrinsic_t<T>>::type>>;
 
+// Does the container have a mapped type and is it recursive?
+// Implemented by specializations below.
+template <typename Container, typename SFINAE = void>
+struct container_mapped_type_traits {
+    static constexpr bool has_mapped_type = false;
+    static constexpr bool has_recursive_mapped_type = false;
+};
+
+template <typename Container>
+struct container_mapped_type_traits<
+    Container,
+    typename std::enable_if<
+        std::is_same<typename Container::mapped_type, Container>::value>::type> {
+    static constexpr bool has_mapped_type = true;
+    static constexpr bool has_recursive_mapped_type = true;
+};
+
+template <typename Container>
+struct container_mapped_type_traits<
+    Container,
+    typename std::enable_if<
+        negation<std::is_same<typename Container::mapped_type, Container>>::value>::type> {
+    static constexpr bool has_mapped_type = true;
+    static constexpr bool has_recursive_mapped_type = false;
+};
+
+// Does the container have a value type and is it recursive?
+// Implemented by specializations below.
+template <typename Container, typename SFINAE = void>
+struct container_value_type_traits : std::false_type {
+    static constexpr bool has_value_type = false;
+    static constexpr bool has_recursive_value_type = false;
+};
+
+template <typename Container>
+struct container_value_type_traits<
+    Container,
+    typename std::enable_if<
+        std::is_same<typename Container::value_type, Container>::value>::type> {
+    static constexpr bool has_value_type = true;
+    static constexpr bool has_recursive_value_type = true;
+};
+
+template <typename Container>
+struct container_value_type_traits<
+    Container,
+    typename std::enable_if<
+        negation<std::is_same<typename Container::value_type, Container>>::value>::type> {
+    static constexpr bool has_value_type = true;
+    static constexpr bool has_recursive_value_type = false;
+};
+
+/*
+ * Tag to be used for representing the bottom of recursively defined types.
+ * Define this tag so we don't have to use void.
+ */
+struct recursive_bottom {};
+
+/*
+ * Implementation detail of `recursive_container_traits` below.
+ * `T` is the `value_type` of the container, which might need to be modified to
+ * avoid recursive types and const types.
+ */
+template <typename T, bool is_this_a_map>
+struct impl_type_to_check_recursively {
+    /*
+     * If the container is recursive, then no further recursion should be done.
+     */
+    using if_recursive = recursive_bottom;
+    /*
+     * Otherwise yield `T` unchanged.
+     */
+    using if_not_recursive = T;
+};
+
+/*
+ * For pairs - only as value type of a map -, the first type should remove the `const`.
+ * Also, if the map is recursive, then the recursive checking should consider
+ * the first type only.
+ */
+template <typename A, typename B>
+struct impl_type_to_check_recursively<std::pair<A, B>, /* is_this_a_map = */ true> {
+    using if_recursive = typename std::remove_const<A>::type;
+    using if_not_recursive = std::pair<typename std::remove_const<A>::type, B>;
+};
+
+/*
+ * Implementation of `recursive_container_traits` below.
+ */
+template <typename Container, typename SFINAE = void>
+struct impl_recursive_container_traits {
+    using type_to_check_recursively = recursive_bottom;
+};
+
+template <typename Container>
+struct impl_recursive_container_traits<
+    Container,
+    typename std::enable_if<container_value_type_traits<Container>::has_value_type>::type> {
+    static constexpr bool is_recursive
+        = container_mapped_type_traits<Container>::has_recursive_mapped_type
+          || container_value_type_traits<Container>::has_recursive_value_type;
+    /*
+     * This member dictates which type Pybind11 should check recursively in traits
+     * such as `is_move_constructible`, `is_copy_constructible`, `is_move_assignable`, ...
+     * Direct access to `value_type` should be avoided:
+     * 1. `value_type` might recursively contain the type again
+     * 2. `value_type` of STL map types is `std::pair<A const, B>`, the `const`
+     *    should be removed.
+     *
+     */
+    using type_to_check_recursively = typename std::conditional<
+        is_recursive,
+        typename impl_type_to_check_recursively<
+            typename Container::value_type,
+            container_mapped_type_traits<Container>::has_mapped_type>::if_recursive,
+        typename impl_type_to_check_recursively<
+            typename Container::value_type,
+            container_mapped_type_traits<Container>::has_mapped_type>::if_not_recursive>::type;
+};
+
+/*
+ * This trait defines the `type_to_check_recursively` which is needed to properly
+ * handle recursively defined traits such as `is_move_constructible` without going
+ * into an infinite recursion.
+ * Should be used instead of directly accessing the `value_type`.
+ * It cancels the recursion by returning the `recursive_bottom` tag.
+ *
+ * The default definition of `type_to_check_recursively` is as follows:
+ *
+ * 1. By default, it is `recursive_bottom`, so that the recursion is canceled.
+ * 2. If the type is non-recursive and defines a `value_type`, then the `value_type` is used.
+ *    If the `value_type` is a pair and a `mapped_type` is defined,
+ *    then the `const` is removed from the first type.
+ * 3. If the type is recursive and `value_type` is not a pair, then `recursive_bottom` is returned.
+ * 4. If the type is recursive and `value_type` is a pair and a `mapped_type` is defined,
+ *    then `const` is removed from the first type and the first type is returned.
+ *
+ * This behavior can be extended by the user as seen in test_stl_binders.cpp.
+ *
+ * This struct is exactly the same as impl_recursive_container_traits.
+ * The duplication achieves that user-defined specializations don't compete
+ * with internal specializations, but take precedence.
+ */
+template <typename Container, typename SFINAE = void>
+struct recursive_container_traits : impl_recursive_container_traits<Container> {};
+
+template <typename T>
+struct is_move_constructible
+    : all_of<std::is_move_constructible<T>,
+             is_move_constructible<
+                 typename recursive_container_traits<T>::type_to_check_recursively>> {};
+
+template <>
+struct is_move_constructible<recursive_bottom> : std::true_type {};
+
+// Likewise for std::pair
+// (after C++17 it is mandatory that the move constructor not exist when the two types aren't
+// themselves move constructible, but this can not be relied upon when T1 or T2 are themselves
+// containers).
+template <typename T1, typename T2>
+struct is_move_constructible<std::pair<T1, T2>>
+    : all_of<is_move_constructible<T1>, is_move_constructible<T2>> {};
+
 // std::is_copy_constructible isn't quite enough: it lets std::vector<T> (and similar) through when
 // T is non-copyable, but code containing such a copy constructor fails to actually compile.
-template <typename T, typename SFINAE = void>
-struct is_copy_constructible : std::is_copy_constructible<T> {};
+template <typename T>
+struct is_copy_constructible
+    : all_of<std::is_copy_constructible<T>,
+             is_copy_constructible<
+                 typename recursive_container_traits<T>::type_to_check_recursively>> {};
 
-// Specialization for types that appear to be copy constructible but also look like stl containers
-// (we specifically check for: has `value_type` and `reference` with `reference = value_type&`): if
-// so, copy constructability depends on whether the value_type is copy constructible.
-template <typename Container>
-struct is_copy_constructible<
-    Container,
-    enable_if_t<
-        all_of<std::is_copy_constructible<Container>,
-               std::is_same<typename Container::value_type &, typename Container::reference>,
-               // Avoid infinite recursion
-               negation<std::is_same<Container, typename Container::value_type>>>::value>>
-    : is_copy_constructible<typename Container::value_type> {};
+template <>
+struct is_copy_constructible<recursive_bottom> : std::true_type {};
 
 // Likewise for std::pair
 // (after C++17 it is mandatory that the copy constructor not exist when the two types aren't
@@ -849,14 +1005,16 @@ struct is_copy_constructible<std::pair<T1, T2>>
     : all_of<is_copy_constructible<T1>, is_copy_constructible<T2>> {};
 
 // The same problems arise with std::is_copy_assignable, so we use the same workaround.
-template <typename T, typename SFINAE = void>
-struct is_copy_assignable : std::is_copy_assignable<T> {};
-template <typename Container>
-struct is_copy_assignable<Container,
-                          enable_if_t<all_of<std::is_copy_assignable<Container>,
-                                             std::is_same<typename Container::value_type &,
-                                                          typename Container::reference>>::value>>
-    : is_copy_assignable<typename Container::value_type> {};
+template <typename T>
+struct is_copy_assignable
+    : all_of<
+          std::is_copy_assignable<T>,
+          is_copy_assignable<typename recursive_container_traits<T>::type_to_check_recursively>> {
+};
+
+template <>
+struct is_copy_assignable<recursive_bottom> : std::true_type {};
+
 template <typename T1, typename T2>
 struct is_copy_assignable<std::pair<T1, T2>>
     : all_of<is_copy_assignable<T1>, is_copy_assignable<T2>> {};
@@ -994,7 +1152,7 @@ protected:
         return [](const void *arg) -> void * { return new T(*reinterpret_cast<const T *>(arg)); };
     }
 
-    template <typename T, typename = enable_if_t<std::is_move_constructible<T>::value>>
+    template <typename T, typename = enable_if_t<is_move_constructible<T>::value>>
     static auto make_move_constructor(const T *)
         -> decltype(new T(std::declval<T &&>()), Constructor{}) {
         return [](const void *arg) -> void * {
@@ -1006,5 +1164,14 @@ protected:
     static Constructor make_move_constructor(...) { return nullptr; }
 };
 
+PYBIND11_NOINLINE std::string type_info_description(const std::type_info &ti) {
+    if (auto *type_data = get_type_info(ti)) {
+        handle th((PyObject *) type_data->type);
+        return th.attr("__module__").cast<std::string>() + '.'
+               + th.attr("__qualname__").cast<std::string>();
+    }
+    return clean_type_id(ti.name());
+}
+
 PYBIND11_NAMESPACE_END(detail)
 PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
diff --git a/pybind11/include/pybind11/eigen.h b/pybind11/include/pybind11/eigen.h
index 4d221b3d7..273b9c930 100644
--- a/pybind11/include/pybind11/eigen.h
+++ b/pybind11/include/pybind11/eigen.h
@@ -9,700 +9,4 @@
 
 #pragma once
 
-/* HINT: To suppress warnings originating from the Eigen headers, use -isystem.
-   See also:
-       https://stackoverflow.com/questions/2579576/i-dir-vs-isystem-dir
-       https://stackoverflow.com/questions/1741816/isystem-for-ms-visual-studio-c-compiler
-*/
-
-#include "numpy.h"
-
-// The C4127 suppression was introduced for Eigen 3.4.0. In theory we could
-// make it version specific, or even remove it later, but considering that
-// 1. C4127 is generally far more distracting than useful for modern template code, and
-// 2. we definitely want to ignore any MSVC warnings originating from Eigen code,
-//    it is probably best to keep this around indefinitely.
-#if defined(_MSC_VER)
-#    pragma warning(push)
-#    pragma warning(disable : 4127) // C4127: conditional expression is constant
-#    pragma warning(disable : 5054) // https://github.com/pybind/pybind11/pull/3741
-//       C5054: operator '&': deprecated between enumerations of different types
-#endif
-
-#include <Eigen/Core>
-#include <Eigen/SparseCore>
-
-#if defined(_MSC_VER)
-#    pragma warning(pop)
-#endif
-
-// Eigen prior to 3.2.7 doesn't have proper move constructors--but worse, some classes get implicit
-// move constructors that break things.  We could detect this an explicitly copy, but an extra copy
-// of matrices seems highly undesirable.
-static_assert(EIGEN_VERSION_AT_LEAST(3, 2, 7),
-              "Eigen support in pybind11 requires Eigen >= 3.2.7");
-
-PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
-
-// Provide a convenience alias for easier pass-by-ref usage with fully dynamic strides:
-using EigenDStride = Eigen::Stride<Eigen::Dynamic, Eigen::Dynamic>;
-template <typename MatrixType>
-using EigenDRef = Eigen::Ref<MatrixType, 0, EigenDStride>;
-template <typename MatrixType>
-using EigenDMap = Eigen::Map<MatrixType, 0, EigenDStride>;
-
-PYBIND11_NAMESPACE_BEGIN(detail)
-
-#if EIGEN_VERSION_AT_LEAST(3, 3, 0)
-using EigenIndex = Eigen::Index;
-template <typename Scalar, int Flags, typename StorageIndex>
-using EigenMapSparseMatrix = Eigen::Map<Eigen::SparseMatrix<Scalar, Flags, StorageIndex>>;
-#else
-using EigenIndex = EIGEN_DEFAULT_DENSE_INDEX_TYPE;
-template <typename Scalar, int Flags, typename StorageIndex>
-using EigenMapSparseMatrix = Eigen::MappedSparseMatrix<Scalar, Flags, StorageIndex>;
-#endif
-
-// Matches Eigen::Map, Eigen::Ref, blocks, etc:
-template <typename T>
-using is_eigen_dense_map = all_of<is_template_base_of<Eigen::DenseBase, T>,
-                                  std::is_base_of<Eigen::MapBase<T, Eigen::ReadOnlyAccessors>, T>>;
-template <typename T>
-using is_eigen_mutable_map = std::is_base_of<Eigen::MapBase<T, Eigen::WriteAccessors>, T>;
-template <typename T>
-using is_eigen_dense_plain
-    = all_of<negation<is_eigen_dense_map<T>>, is_template_base_of<Eigen::PlainObjectBase, T>>;
-template <typename T>
-using is_eigen_sparse = is_template_base_of<Eigen::SparseMatrixBase, T>;
-// Test for objects inheriting from EigenBase<Derived> that aren't captured by the above.  This
-// basically covers anything that can be assigned to a dense matrix but that don't have a typical
-// matrix data layout that can be copied from their .data().  For example, DiagonalMatrix and
-// SelfAdjointView fall into this category.
-template <typename T>
-using is_eigen_other
-    = all_of<is_template_base_of<Eigen::EigenBase, T>,
-             negation<any_of<is_eigen_dense_map<T>, is_eigen_dense_plain<T>, is_eigen_sparse<T>>>>;
-
-// Captures numpy/eigen conformability status (returned by EigenProps::conformable()):
-template <bool EigenRowMajor>
-struct EigenConformable {
-    bool conformable = false;
-    EigenIndex rows = 0, cols = 0;
-    EigenDStride stride{0, 0};    // Only valid if negativestrides is false!
-    bool negativestrides = false; // If true, do not use stride!
-
-    // NOLINTNEXTLINE(google-explicit-constructor)
-    EigenConformable(bool fits = false) : conformable{fits} {}
-    // Matrix type:
-    EigenConformable(EigenIndex r, EigenIndex c, EigenIndex rstride, EigenIndex cstride)
-        : conformable{true}, rows{r}, cols{c},
-          // TODO: when Eigen bug #747 is fixed, remove the tests for non-negativity.
-          // http://eigen.tuxfamily.org/bz/show_bug.cgi?id=747
-          stride{EigenRowMajor ? (rstride > 0 ? rstride : 0)
-                               : (cstride > 0 ? cstride : 0) /* outer stride */,
-                 EigenRowMajor ? (cstride > 0 ? cstride : 0)
-                               : (rstride > 0 ? rstride : 0) /* inner stride */},
-          negativestrides{rstride < 0 || cstride < 0} {}
-    // Vector type:
-    EigenConformable(EigenIndex r, EigenIndex c, EigenIndex stride)
-        : EigenConformable(r, c, r == 1 ? c * stride : stride, c == 1 ? r : r * stride) {}
-
-    template <typename props>
-    bool stride_compatible() const {
-        // To have compatible strides, we need (on both dimensions) one of fully dynamic strides,
-        // matching strides, or a dimension size of 1 (in which case the stride value is
-        // irrelevant). Alternatively, if any dimension size is 0, the strides are not relevant
-        // (and numpy ≥ 1.23 sets the strides to 0 in that case, so we need to check explicitly).
-        if (negativestrides) {
-            return false;
-        }
-        if (rows == 0 || cols == 0) {
-            return true;
-        }
-        return (props::inner_stride == Eigen::Dynamic || props::inner_stride == stride.inner()
-                || (EigenRowMajor ? cols : rows) == 1)
-               && (props::outer_stride == Eigen::Dynamic || props::outer_stride == stride.outer()
-                   || (EigenRowMajor ? rows : cols) == 1);
-    }
-    // NOLINTNEXTLINE(google-explicit-constructor)
-    operator bool() const { return conformable; }
-};
-
-template <typename Type>
-struct eigen_extract_stride {
-    using type = Type;
-};
-template <typename PlainObjectType, int MapOptions, typename StrideType>
-struct eigen_extract_stride<Eigen::Map<PlainObjectType, MapOptions, StrideType>> {
-    using type = StrideType;
-};
-template <typename PlainObjectType, int Options, typename StrideType>
-struct eigen_extract_stride<Eigen::Ref<PlainObjectType, Options, StrideType>> {
-    using type = StrideType;
-};
-
-// Helper struct for extracting information from an Eigen type
-template <typename Type_>
-struct EigenProps {
-    using Type = Type_;
-    using Scalar = typename Type::Scalar;
-    using StrideType = typename eigen_extract_stride<Type>::type;
-    static constexpr EigenIndex rows = Type::RowsAtCompileTime, cols = Type::ColsAtCompileTime,
-                                size = Type::SizeAtCompileTime;
-    static constexpr bool row_major = Type::IsRowMajor,
-                          vector
-                          = Type::IsVectorAtCompileTime, // At least one dimension has fixed size 1
-        fixed_rows = rows != Eigen::Dynamic, fixed_cols = cols != Eigen::Dynamic,
-                          fixed = size != Eigen::Dynamic, // Fully-fixed size
-        dynamic = !fixed_rows && !fixed_cols;             // Fully-dynamic size
-
-    template <EigenIndex i, EigenIndex ifzero>
-    using if_zero = std::integral_constant<EigenIndex, i == 0 ? ifzero : i>;
-    static constexpr EigenIndex inner_stride
-        = if_zero<StrideType::InnerStrideAtCompileTime, 1>::value,
-        outer_stride = if_zero < StrideType::OuterStrideAtCompileTime,
-        vector      ? size
-        : row_major ? cols
-                    : rows > ::value;
-    static constexpr bool dynamic_stride
-        = inner_stride == Eigen::Dynamic && outer_stride == Eigen::Dynamic;
-    static constexpr bool requires_row_major
-        = !dynamic_stride && !vector && (row_major ? inner_stride : outer_stride) == 1;
-    static constexpr bool requires_col_major
-        = !dynamic_stride && !vector && (row_major ? outer_stride : inner_stride) == 1;
-
-    // Takes an input array and determines whether we can make it fit into the Eigen type.  If
-    // the array is a vector, we attempt to fit it into either an Eigen 1xN or Nx1 vector
-    // (preferring the latter if it will fit in either, i.e. for a fully dynamic matrix type).
-    static EigenConformable<row_major> conformable(const array &a) {
-        const auto dims = a.ndim();
-        if (dims < 1 || dims > 2) {
-            return false;
-        }
-
-        if (dims == 2) { // Matrix type: require exact match (or dynamic)
-
-            EigenIndex np_rows = a.shape(0), np_cols = a.shape(1),
-                       np_rstride = a.strides(0) / static_cast<ssize_t>(sizeof(Scalar)),
-                       np_cstride = a.strides(1) / static_cast<ssize_t>(sizeof(Scalar));
-            if ((PYBIND11_SILENCE_MSVC_C4127(fixed_rows) && np_rows != rows)
-                || (PYBIND11_SILENCE_MSVC_C4127(fixed_cols) && np_cols != cols)) {
-                return false;
-            }
-
-            return {np_rows, np_cols, np_rstride, np_cstride};
-        }
-
-        // Otherwise we're storing an n-vector.  Only one of the strides will be used, but
-        // whichever is used, we want the (single) numpy stride value.
-        const EigenIndex n = a.shape(0),
-                         stride = a.strides(0) / static_cast<ssize_t>(sizeof(Scalar));
-
-        if (vector) { // Eigen type is a compile-time vector
-            if (PYBIND11_SILENCE_MSVC_C4127(fixed) && size != n) {
-                return false; // Vector size mismatch
-            }
-            return {rows == 1 ? 1 : n, cols == 1 ? 1 : n, stride};
-        }
-        if (fixed) {
-            // The type has a fixed size, but is not a vector: abort
-            return false;
-        }
-        if (fixed_cols) {
-            // Since this isn't a vector, cols must be != 1.  We allow this only if it exactly
-            // equals the number of elements (rows is Dynamic, and so 1 row is allowed).
-            if (cols != n) {
-                return false;
-            }
-            return {1, n, stride};
-        } // Otherwise it's either fully dynamic, or column dynamic; both become a column vector
-        if (PYBIND11_SILENCE_MSVC_C4127(fixed_rows) && rows != n) {
-            return false;
-        }
-        return {n, 1, stride};
-    }
-
-    static constexpr bool show_writeable
-        = is_eigen_dense_map<Type>::value && is_eigen_mutable_map<Type>::value;
-    static constexpr bool show_order = is_eigen_dense_map<Type>::value;
-    static constexpr bool show_c_contiguous = show_order && requires_row_major;
-    static constexpr bool show_f_contiguous
-        = !show_c_contiguous && show_order && requires_col_major;
-
-    static constexpr auto descriptor
-        = const_name("numpy.ndarray[") + npy_format_descriptor<Scalar>::name + const_name("[")
-          + const_name<fixed_rows>(const_name<(size_t) rows>(), const_name("m")) + const_name(", ")
-          + const_name<fixed_cols>(const_name<(size_t) cols>(), const_name("n")) + const_name("]")
-          +
-          // For a reference type (e.g. Ref<MatrixXd>) we have other constraints that might need to
-          // be satisfied: writeable=True (for a mutable reference), and, depending on the map's
-          // stride options, possibly f_contiguous or c_contiguous.  We include them in the
-          // descriptor output to provide some hint as to why a TypeError is occurring (otherwise
-          // it can be confusing to see that a function accepts a 'numpy.ndarray[float64[3,2]]' and
-          // an error message that you *gave* a numpy.ndarray of the right type and dimensions.
-          const_name<show_writeable>(", flags.writeable", "")
-          + const_name<show_c_contiguous>(", flags.c_contiguous", "")
-          + const_name<show_f_contiguous>(", flags.f_contiguous", "") + const_name("]");
-};
-
-// Casts an Eigen type to numpy array.  If given a base, the numpy array references the src data,
-// otherwise it'll make a copy.  writeable lets you turn off the writeable flag for the array.
-template <typename props>
-handle
-eigen_array_cast(typename props::Type const &src, handle base = handle(), bool writeable = true) {
-    constexpr ssize_t elem_size = sizeof(typename props::Scalar);
-    array a;
-    if (props::vector) {
-        a = array({src.size()}, {elem_size * src.innerStride()}, src.data(), base);
-    } else {
-        a = array({src.rows(), src.cols()},
-                  {elem_size * src.rowStride(), elem_size * src.colStride()},
-                  src.data(),
-                  base);
-    }
-
-    if (!writeable) {
-        array_proxy(a.ptr())->flags &= ~detail::npy_api::NPY_ARRAY_WRITEABLE_;
-    }
-
-    return a.release();
-}
-
-// Takes an lvalue ref to some Eigen type and a (python) base object, creating a numpy array that
-// reference the Eigen object's data with `base` as the python-registered base class (if omitted,
-// the base will be set to None, and lifetime management is up to the caller).  The numpy array is
-// non-writeable if the given type is const.
-template <typename props, typename Type>
-handle eigen_ref_array(Type &src, handle parent = none()) {
-    // none here is to get past array's should-we-copy detection, which currently always
-    // copies when there is no base.  Setting the base to None should be harmless.
-    return eigen_array_cast<props>(src, parent, !std::is_const<Type>::value);
-}
-
-// Takes a pointer to some dense, plain Eigen type, builds a capsule around it, then returns a
-// numpy array that references the encapsulated data with a python-side reference to the capsule to
-// tie its destruction to that of any dependent python objects.  Const-ness is determined by
-// whether or not the Type of the pointer given is const.
-template <typename props, typename Type, typename = enable_if_t<is_eigen_dense_plain<Type>::value>>
-handle eigen_encapsulate(Type *src) {
-    capsule base(src, [](void *o) { delete static_cast<Type *>(o); });
-    return eigen_ref_array<props>(*src, base);
-}
-
-// Type caster for regular, dense matrix types (e.g. MatrixXd), but not maps/refs/etc. of dense
-// types.
-template <typename Type>
-struct type_caster<Type, enable_if_t<is_eigen_dense_plain<Type>::value>> {
-    using Scalar = typename Type::Scalar;
-    using props = EigenProps<Type>;
-
-    bool load(handle src, bool convert) {
-        // If we're in no-convert mode, only load if given an array of the correct type
-        if (!convert && !isinstance<array_t<Scalar>>(src)) {
-            return false;
-        }
-
-        // Coerce into an array, but don't do type conversion yet; the copy below handles it.
-        auto buf = array::ensure(src);
-
-        if (!buf) {
-            return false;
-        }
-
-        auto dims = buf.ndim();
-        if (dims < 1 || dims > 2) {
-            return false;
-        }
-
-        auto fits = props::conformable(buf);
-        if (!fits) {
-            return false;
-        }
-
-        // Allocate the new type, then build a numpy reference into it
-        value = Type(fits.rows, fits.cols);
-        auto ref = reinterpret_steal<array>(eigen_ref_array<props>(value));
-        if (dims == 1) {
-            ref = ref.squeeze();
-        } else if (ref.ndim() == 1) {
-            buf = buf.squeeze();
-        }
-
-        int result = detail::npy_api::get().PyArray_CopyInto_(ref.ptr(), buf.ptr());
-
-        if (result < 0) { // Copy failed!
-            PyErr_Clear();
-            return false;
-        }
-
-        return true;
-    }
-
-private:
-    // Cast implementation
-    template <typename CType>
-    static handle cast_impl(CType *src, return_value_policy policy, handle parent) {
-        switch (policy) {
-            case return_value_policy::take_ownership:
-            case return_value_policy::automatic:
-                return eigen_encapsulate<props>(src);
-            case return_value_policy::move:
-                return eigen_encapsulate<props>(new CType(std::move(*src)));
-            case return_value_policy::copy:
-                return eigen_array_cast<props>(*src);
-            case return_value_policy::reference:
-            case return_value_policy::automatic_reference:
-                return eigen_ref_array<props>(*src);
-            case return_value_policy::reference_internal:
-                return eigen_ref_array<props>(*src, parent);
-            default:
-                throw cast_error("unhandled return_value_policy: should not happen!");
-        };
-    }
-
-public:
-    // Normal returned non-reference, non-const value:
-    static handle cast(Type &&src, return_value_policy /* policy */, handle parent) {
-        return cast_impl(&src, return_value_policy::move, parent);
-    }
-    // If you return a non-reference const, we mark the numpy array readonly:
-    static handle cast(const Type &&src, return_value_policy /* policy */, handle parent) {
-        return cast_impl(&src, return_value_policy::move, parent);
-    }
-    // lvalue reference return; default (automatic) becomes copy
-    static handle cast(Type &src, return_value_policy policy, handle parent) {
-        if (policy == return_value_policy::automatic
-            || policy == return_value_policy::automatic_reference) {
-            policy = return_value_policy::copy;
-        }
-        return cast_impl(&src, policy, parent);
-    }
-    // const lvalue reference return; default (automatic) becomes copy
-    static handle cast(const Type &src, return_value_policy policy, handle parent) {
-        if (policy == return_value_policy::automatic
-            || policy == return_value_policy::automatic_reference) {
-            policy = return_value_policy::copy;
-        }
-        return cast(&src, policy, parent);
-    }
-    // non-const pointer return
-    static handle cast(Type *src, return_value_policy policy, handle parent) {
-        return cast_impl(src, policy, parent);
-    }
-    // const pointer return
-    static handle cast(const Type *src, return_value_policy policy, handle parent) {
-        return cast_impl(src, policy, parent);
-    }
-
-    static constexpr auto name = props::descriptor;
-
-    // NOLINTNEXTLINE(google-explicit-constructor)
-    operator Type *() { return &value; }
-    // NOLINTNEXTLINE(google-explicit-constructor)
-    operator Type &() { return value; }
-    // NOLINTNEXTLINE(google-explicit-constructor)
-    operator Type &&() && { return std::move(value); }
-    template <typename T>
-    using cast_op_type = movable_cast_op_type<T>;
-
-private:
-    Type value;
-};
-
-// Base class for casting reference/map/block/etc. objects back to python.
-template <typename MapType>
-struct eigen_map_caster {
-private:
-    using props = EigenProps<MapType>;
-
-public:
-    // Directly referencing a ref/map's data is a bit dangerous (whatever the map/ref points to has
-    // to stay around), but we'll allow it under the assumption that you know what you're doing
-    // (and have an appropriate keep_alive in place).  We return a numpy array pointing directly at
-    // the ref's data (The numpy array ends up read-only if the ref was to a const matrix type.)
-    // Note that this means you need to ensure you don't destroy the object in some other way (e.g.
-    // with an appropriate keep_alive, or with a reference to a statically allocated matrix).
-    static handle cast(const MapType &src, return_value_policy policy, handle parent) {
-        switch (policy) {
-            case return_value_policy::copy:
-                return eigen_array_cast<props>(src);
-            case return_value_policy::reference_internal:
-                return eigen_array_cast<props>(src, parent, is_eigen_mutable_map<MapType>::value);
-            case return_value_policy::reference:
-            case return_value_policy::automatic:
-            case return_value_policy::automatic_reference:
-                return eigen_array_cast<props>(src, none(), is_eigen_mutable_map<MapType>::value);
-            default:
-                // move, take_ownership don't make any sense for a ref/map:
-                pybind11_fail("Invalid return_value_policy for Eigen Map/Ref/Block type");
-        }
-    }
-
-    static constexpr auto name = props::descriptor;
-
-    // Explicitly delete these: support python -> C++ conversion on these (i.e. these can be return
-    // types but not bound arguments).  We still provide them (with an explicitly delete) so that
-    // you end up here if you try anyway.
-    bool load(handle, bool) = delete;
-    operator MapType() = delete;
-    template <typename>
-    using cast_op_type = MapType;
-};
-
-// We can return any map-like object (but can only load Refs, specialized next):
-template <typename Type>
-struct type_caster<Type, enable_if_t<is_eigen_dense_map<Type>::value>> : eigen_map_caster<Type> {};
-
-// Loader for Ref<...> arguments.  See the documentation for info on how to make this work without
-// copying (it requires some extra effort in many cases).
-template <typename PlainObjectType, typename StrideType>
-struct type_caster<
-    Eigen::Ref<PlainObjectType, 0, StrideType>,
-    enable_if_t<is_eigen_dense_map<Eigen::Ref<PlainObjectType, 0, StrideType>>::value>>
-    : public eigen_map_caster<Eigen::Ref<PlainObjectType, 0, StrideType>> {
-private:
-    using Type = Eigen::Ref<PlainObjectType, 0, StrideType>;
-    using props = EigenProps<Type>;
-    using Scalar = typename props::Scalar;
-    using MapType = Eigen::Map<PlainObjectType, 0, StrideType>;
-    using Array
-        = array_t<Scalar,
-                  array::forcecast
-                      | ((props::row_major ? props::inner_stride : props::outer_stride) == 1
-                             ? array::c_style
-                         : (props::row_major ? props::outer_stride : props::inner_stride) == 1
-                             ? array::f_style
-                             : 0)>;
-    static constexpr bool need_writeable = is_eigen_mutable_map<Type>::value;
-    // Delay construction (these have no default constructor)
-    std::unique_ptr<MapType> map;
-    std::unique_ptr<Type> ref;
-    // Our array.  When possible, this is just a numpy array pointing to the source data, but
-    // sometimes we can't avoid copying (e.g. input is not a numpy array at all, has an
-    // incompatible layout, or is an array of a type that needs to be converted).  Using a numpy
-    // temporary (rather than an Eigen temporary) saves an extra copy when we need both type
-    // conversion and storage order conversion.  (Note that we refuse to use this temporary copy
-    // when loading an argument for a Ref<M> with M non-const, i.e. a read-write reference).
-    Array copy_or_ref;
-
-public:
-    bool load(handle src, bool convert) {
-        // First check whether what we have is already an array of the right type.  If not, we
-        // can't avoid a copy (because the copy is also going to do type conversion).
-        bool need_copy = !isinstance<Array>(src);
-
-        EigenConformable<props::row_major> fits;
-        if (!need_copy) {
-            // We don't need a converting copy, but we also need to check whether the strides are
-            // compatible with the Ref's stride requirements
-            auto aref = reinterpret_borrow<Array>(src);
-
-            if (aref && (!need_writeable || aref.writeable())) {
-                fits = props::conformable(aref);
-                if (!fits) {
-                    return false; // Incompatible dimensions
-                }
-                if (!fits.template stride_compatible<props>()) {
-                    need_copy = true;
-                } else {
-                    copy_or_ref = std::move(aref);
-                }
-            } else {
-                need_copy = true;
-            }
-        }
-
-        if (need_copy) {
-            // We need to copy: If we need a mutable reference, or we're not supposed to convert
-            // (either because we're in the no-convert overload pass, or because we're explicitly
-            // instructed not to copy (via `py::arg().noconvert()`) we have to fail loading.
-            if (!convert || need_writeable) {
-                return false;
-            }
-
-            Array copy = Array::ensure(src);
-            if (!copy) {
-                return false;
-            }
-            fits = props::conformable(copy);
-            if (!fits || !fits.template stride_compatible<props>()) {
-                return false;
-            }
-            copy_or_ref = std::move(copy);
-            loader_life_support::add_patient(copy_or_ref);
-        }
-
-        ref.reset();
-        map.reset(new MapType(data(copy_or_ref),
-                              fits.rows,
-                              fits.cols,
-                              make_stride(fits.stride.outer(), fits.stride.inner())));
-        ref.reset(new Type(*map));
-
-        return true;
-    }
-
-    // NOLINTNEXTLINE(google-explicit-constructor)
-    operator Type *() { return ref.get(); }
-    // NOLINTNEXTLINE(google-explicit-constructor)
-    operator Type &() { return *ref; }
-    template <typename _T>
-    using cast_op_type = pybind11::detail::cast_op_type<_T>;
-
-private:
-    template <typename T = Type, enable_if_t<is_eigen_mutable_map<T>::value, int> = 0>
-    Scalar *data(Array &a) {
-        return a.mutable_data();
-    }
-
-    template <typename T = Type, enable_if_t<!is_eigen_mutable_map<T>::value, int> = 0>
-    const Scalar *data(Array &a) {
-        return a.data();
-    }
-
-    // Attempt to figure out a constructor of `Stride` that will work.
-    // If both strides are fixed, use a default constructor:
-    template <typename S>
-    using stride_ctor_default = bool_constant<S::InnerStrideAtCompileTime != Eigen::Dynamic
-                                              && S::OuterStrideAtCompileTime != Eigen::Dynamic
-                                              && std::is_default_constructible<S>::value>;
-    // Otherwise, if there is a two-index constructor, assume it is (outer,inner) like
-    // Eigen::Stride, and use it:
-    template <typename S>
-    using stride_ctor_dual
-        = bool_constant<!stride_ctor_default<S>::value
-                        && std::is_constructible<S, EigenIndex, EigenIndex>::value>;
-    // Otherwise, if there is a one-index constructor, and just one of the strides is dynamic, use
-    // it (passing whichever stride is dynamic).
-    template <typename S>
-    using stride_ctor_outer
-        = bool_constant<!any_of<stride_ctor_default<S>, stride_ctor_dual<S>>::value
-                        && S::OuterStrideAtCompileTime == Eigen::Dynamic
-                        && S::InnerStrideAtCompileTime != Eigen::Dynamic
-                        && std::is_constructible<S, EigenIndex>::value>;
-    template <typename S>
-    using stride_ctor_inner
-        = bool_constant<!any_of<stride_ctor_default<S>, stride_ctor_dual<S>>::value
-                        && S::InnerStrideAtCompileTime == Eigen::Dynamic
-                        && S::OuterStrideAtCompileTime != Eigen::Dynamic
-                        && std::is_constructible<S, EigenIndex>::value>;
-
-    template <typename S = StrideType, enable_if_t<stride_ctor_default<S>::value, int> = 0>
-    static S make_stride(EigenIndex, EigenIndex) {
-        return S();
-    }
-    template <typename S = StrideType, enable_if_t<stride_ctor_dual<S>::value, int> = 0>
-    static S make_stride(EigenIndex outer, EigenIndex inner) {
-        return S(outer, inner);
-    }
-    template <typename S = StrideType, enable_if_t<stride_ctor_outer<S>::value, int> = 0>
-    static S make_stride(EigenIndex outer, EigenIndex) {
-        return S(outer);
-    }
-    template <typename S = StrideType, enable_if_t<stride_ctor_inner<S>::value, int> = 0>
-    static S make_stride(EigenIndex, EigenIndex inner) {
-        return S(inner);
-    }
-};
-
-// type_caster for special matrix types (e.g. DiagonalMatrix), which are EigenBase, but not
-// EigenDense (i.e. they don't have a data(), at least not with the usual matrix layout).
-// load() is not supported, but we can cast them into the python domain by first copying to a
-// regular Eigen::Matrix, then casting that.
-template <typename Type>
-struct type_caster<Type, enable_if_t<is_eigen_other<Type>::value>> {
-protected:
-    using Matrix
-        = Eigen::Matrix<typename Type::Scalar, Type::RowsAtCompileTime, Type::ColsAtCompileTime>;
-    using props = EigenProps<Matrix>;
-
-public:
-    static handle cast(const Type &src, return_value_policy /* policy */, handle /* parent */) {
-        handle h = eigen_encapsulate<props>(new Matrix(src));
-        return h;
-    }
-    static handle cast(const Type *src, return_value_policy policy, handle parent) {
-        return cast(*src, policy, parent);
-    }
-
-    static constexpr auto name = props::descriptor;
-
-    // Explicitly delete these: support python -> C++ conversion on these (i.e. these can be return
-    // types but not bound arguments).  We still provide them (with an explicitly delete) so that
-    // you end up here if you try anyway.
-    bool load(handle, bool) = delete;
-    operator Type() = delete;
-    template <typename>
-    using cast_op_type = Type;
-};
-
-template <typename Type>
-struct type_caster<Type, enable_if_t<is_eigen_sparse<Type>::value>> {
-    using Scalar = typename Type::Scalar;
-    using StorageIndex = remove_reference_t<decltype(*std::declval<Type>().outerIndexPtr())>;
-    using Index = typename Type::Index;
-    static constexpr bool rowMajor = Type::IsRowMajor;
-
-    bool load(handle src, bool) {
-        if (!src) {
-            return false;
-        }
-
-        auto obj = reinterpret_borrow<object>(src);
-        object sparse_module = module_::import("scipy.sparse");
-        object matrix_type = sparse_module.attr(rowMajor ? "csr_matrix" : "csc_matrix");
-
-        if (!type::handle_of(obj).is(matrix_type)) {
-            try {
-                obj = matrix_type(obj);
-            } catch (const error_already_set &) {
-                return false;
-            }
-        }
-
-        auto values = array_t<Scalar>((object) obj.attr("data"));
-        auto innerIndices = array_t<StorageIndex>((object) obj.attr("indices"));
-        auto outerIndices = array_t<StorageIndex>((object) obj.attr("indptr"));
-        auto shape = pybind11::tuple((pybind11::object) obj.attr("shape"));
-        auto nnz = obj.attr("nnz").cast<Index>();
-
-        if (!values || !innerIndices || !outerIndices) {
-            return false;
-        }
-
-        value = EigenMapSparseMatrix<Scalar,
-                                     Type::Flags &(Eigen::RowMajor | Eigen::ColMajor),
-                                     StorageIndex>(shape[0].cast<Index>(),
-                                                   shape[1].cast<Index>(),
-                                                   std::move(nnz),
-                                                   outerIndices.mutable_data(),
-                                                   innerIndices.mutable_data(),
-                                                   values.mutable_data());
-
-        return true;
-    }
-
-    static handle cast(const Type &src, return_value_policy /* policy */, handle /* parent */) {
-        const_cast<Type &>(src).makeCompressed();
-
-        object matrix_type
-            = module_::import("scipy.sparse").attr(rowMajor ? "csr_matrix" : "csc_matrix");
-
-        array data(src.nonZeros(), src.valuePtr());
-        array outerIndices((rowMajor ? src.rows() : src.cols()) + 1, src.outerIndexPtr());
-        array innerIndices(src.nonZeros(), src.innerIndexPtr());
-
-        return matrix_type(pybind11::make_tuple(
-                               std::move(data), std::move(innerIndices), std::move(outerIndices)),
-                           pybind11::make_tuple(src.rows(), src.cols()))
-            .release();
-    }
-
-    PYBIND11_TYPE_CASTER(Type,
-                         const_name<(Type::IsRowMajor) != 0>("scipy.sparse.csr_matrix[",
-                                                             "scipy.sparse.csc_matrix[")
-                             + npy_format_descriptor<Scalar>::name + const_name("]"));
-};
-
-PYBIND11_NAMESPACE_END(detail)
-PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
+#include "eigen/matrix.h"
diff --git a/pybind11/include/pybind11/eigen/common.h b/pybind11/include/pybind11/eigen/common.h
new file mode 100644
index 000000000..24f56d158
--- /dev/null
+++ b/pybind11/include/pybind11/eigen/common.h
@@ -0,0 +1,9 @@
+// Copyright (c) 2023 The pybind Community.
+
+#pragma once
+
+// Common message for `static_assert()`s, which are useful to easily
+// preempt much less obvious errors.
+#define PYBIND11_EIGEN_MESSAGE_POINTER_TYPES_ARE_NOT_SUPPORTED                                    \
+    "Pointer types (in particular `PyObject *`) are not supported as scalar types for Eigen "     \
+    "types."
diff --git a/pybind11/include/pybind11/eigen/matrix.h b/pybind11/include/pybind11/eigen/matrix.h
new file mode 100644
index 000000000..8d4342f81
--- /dev/null
+++ b/pybind11/include/pybind11/eigen/matrix.h
@@ -0,0 +1,714 @@
+/*
+    pybind11/eigen/matrix.h: Transparent conversion for dense and sparse Eigen matrices
+
+    Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#pragma once
+
+#include "../numpy.h"
+#include "common.h"
+
+/* HINT: To suppress warnings originating from the Eigen headers, use -isystem.
+   See also:
+       https://stackoverflow.com/questions/2579576/i-dir-vs-isystem-dir
+       https://stackoverflow.com/questions/1741816/isystem-for-ms-visual-studio-c-compiler
+*/
+PYBIND11_WARNING_PUSH
+PYBIND11_WARNING_DISABLE_MSVC(5054) // https://github.com/pybind/pybind11/pull/3741
+//       C5054: operator '&': deprecated between enumerations of different types
+#if defined(__MINGW32__)
+PYBIND11_WARNING_DISABLE_GCC("-Wmaybe-uninitialized")
+#endif
+
+#include <Eigen/Core>
+#include <Eigen/SparseCore>
+
+PYBIND11_WARNING_POP
+
+// Eigen prior to 3.2.7 doesn't have proper move constructors--but worse, some classes get implicit
+// move constructors that break things.  We could detect this an explicitly copy, but an extra copy
+// of matrices seems highly undesirable.
+static_assert(EIGEN_VERSION_AT_LEAST(3, 2, 7),
+              "Eigen matrix support in pybind11 requires Eigen >= 3.2.7");
+
+PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
+
+PYBIND11_WARNING_DISABLE_MSVC(4127)
+
+// Provide a convenience alias for easier pass-by-ref usage with fully dynamic strides:
+using EigenDStride = Eigen::Stride<Eigen::Dynamic, Eigen::Dynamic>;
+template <typename MatrixType>
+using EigenDRef = Eigen::Ref<MatrixType, 0, EigenDStride>;
+template <typename MatrixType>
+using EigenDMap = Eigen::Map<MatrixType, 0, EigenDStride>;
+
+PYBIND11_NAMESPACE_BEGIN(detail)
+
+#if EIGEN_VERSION_AT_LEAST(3, 3, 0)
+using EigenIndex = Eigen::Index;
+template <typename Scalar, int Flags, typename StorageIndex>
+using EigenMapSparseMatrix = Eigen::Map<Eigen::SparseMatrix<Scalar, Flags, StorageIndex>>;
+#else
+using EigenIndex = EIGEN_DEFAULT_DENSE_INDEX_TYPE;
+template <typename Scalar, int Flags, typename StorageIndex>
+using EigenMapSparseMatrix = Eigen::MappedSparseMatrix<Scalar, Flags, StorageIndex>;
+#endif
+
+// Matches Eigen::Map, Eigen::Ref, blocks, etc:
+template <typename T>
+using is_eigen_dense_map = all_of<is_template_base_of<Eigen::DenseBase, T>,
+                                  std::is_base_of<Eigen::MapBase<T, Eigen::ReadOnlyAccessors>, T>>;
+template <typename T>
+using is_eigen_mutable_map = std::is_base_of<Eigen::MapBase<T, Eigen::WriteAccessors>, T>;
+template <typename T>
+using is_eigen_dense_plain
+    = all_of<negation<is_eigen_dense_map<T>>, is_template_base_of<Eigen::PlainObjectBase, T>>;
+template <typename T>
+using is_eigen_sparse = is_template_base_of<Eigen::SparseMatrixBase, T>;
+// Test for objects inheriting from EigenBase<Derived> that aren't captured by the above.  This
+// basically covers anything that can be assigned to a dense matrix but that don't have a typical
+// matrix data layout that can be copied from their .data().  For example, DiagonalMatrix and
+// SelfAdjointView fall into this category.
+template <typename T>
+using is_eigen_other
+    = all_of<is_template_base_of<Eigen::EigenBase, T>,
+             negation<any_of<is_eigen_dense_map<T>, is_eigen_dense_plain<T>, is_eigen_sparse<T>>>>;
+
+// Captures numpy/eigen conformability status (returned by EigenProps::conformable()):
+template <bool EigenRowMajor>
+struct EigenConformable {
+    bool conformable = false;
+    EigenIndex rows = 0, cols = 0;
+    EigenDStride stride{0, 0};    // Only valid if negativestrides is false!
+    bool negativestrides = false; // If true, do not use stride!
+
+    // NOLINTNEXTLINE(google-explicit-constructor)
+    EigenConformable(bool fits = false) : conformable{fits} {}
+    // Matrix type:
+    EigenConformable(EigenIndex r, EigenIndex c, EigenIndex rstride, EigenIndex cstride)
+        : conformable{true}, rows{r}, cols{c},
+          // TODO: when Eigen bug #747 is fixed, remove the tests for non-negativity.
+          // http://eigen.tuxfamily.org/bz/show_bug.cgi?id=747
+          stride{EigenRowMajor ? (rstride > 0 ? rstride : 0)
+                               : (cstride > 0 ? cstride : 0) /* outer stride */,
+                 EigenRowMajor ? (cstride > 0 ? cstride : 0)
+                               : (rstride > 0 ? rstride : 0) /* inner stride */},
+          negativestrides{rstride < 0 || cstride < 0} {}
+    // Vector type:
+    EigenConformable(EigenIndex r, EigenIndex c, EigenIndex stride)
+        : EigenConformable(r, c, r == 1 ? c * stride : stride, c == 1 ? r : r * stride) {}
+
+    template <typename props>
+    bool stride_compatible() const {
+        // To have compatible strides, we need (on both dimensions) one of fully dynamic strides,
+        // matching strides, or a dimension size of 1 (in which case the stride value is
+        // irrelevant). Alternatively, if any dimension size is 0, the strides are not relevant
+        // (and numpy ≥ 1.23 sets the strides to 0 in that case, so we need to check explicitly).
+        if (negativestrides) {
+            return false;
+        }
+        if (rows == 0 || cols == 0) {
+            return true;
+        }
+        return (props::inner_stride == Eigen::Dynamic || props::inner_stride == stride.inner()
+                || (EigenRowMajor ? cols : rows) == 1)
+               && (props::outer_stride == Eigen::Dynamic || props::outer_stride == stride.outer()
+                   || (EigenRowMajor ? rows : cols) == 1);
+    }
+    // NOLINTNEXTLINE(google-explicit-constructor)
+    operator bool() const { return conformable; }
+};
+
+template <typename Type>
+struct eigen_extract_stride {
+    using type = Type;
+};
+template <typename PlainObjectType, int MapOptions, typename StrideType>
+struct eigen_extract_stride<Eigen::Map<PlainObjectType, MapOptions, StrideType>> {
+    using type = StrideType;
+};
+template <typename PlainObjectType, int Options, typename StrideType>
+struct eigen_extract_stride<Eigen::Ref<PlainObjectType, Options, StrideType>> {
+    using type = StrideType;
+};
+
+// Helper struct for extracting information from an Eigen type
+template <typename Type_>
+struct EigenProps {
+    using Type = Type_;
+    using Scalar = typename Type::Scalar;
+    using StrideType = typename eigen_extract_stride<Type>::type;
+    static constexpr EigenIndex rows = Type::RowsAtCompileTime, cols = Type::ColsAtCompileTime,
+                                size = Type::SizeAtCompileTime;
+    static constexpr bool row_major = Type::IsRowMajor,
+                          vector
+                          = Type::IsVectorAtCompileTime, // At least one dimension has fixed size 1
+        fixed_rows = rows != Eigen::Dynamic, fixed_cols = cols != Eigen::Dynamic,
+                          fixed = size != Eigen::Dynamic, // Fully-fixed size
+        dynamic = !fixed_rows && !fixed_cols;             // Fully-dynamic size
+
+    template <EigenIndex i, EigenIndex ifzero>
+    using if_zero = std::integral_constant<EigenIndex, i == 0 ? ifzero : i>;
+    static constexpr EigenIndex inner_stride
+        = if_zero<StrideType::InnerStrideAtCompileTime, 1>::value,
+        outer_stride = if_zero < StrideType::OuterStrideAtCompileTime,
+        vector      ? size
+        : row_major ? cols
+                    : rows > ::value;
+    static constexpr bool dynamic_stride
+        = inner_stride == Eigen::Dynamic && outer_stride == Eigen::Dynamic;
+    static constexpr bool requires_row_major
+        = !dynamic_stride && !vector && (row_major ? inner_stride : outer_stride) == 1;
+    static constexpr bool requires_col_major
+        = !dynamic_stride && !vector && (row_major ? outer_stride : inner_stride) == 1;
+
+    // Takes an input array and determines whether we can make it fit into the Eigen type.  If
+    // the array is a vector, we attempt to fit it into either an Eigen 1xN or Nx1 vector
+    // (preferring the latter if it will fit in either, i.e. for a fully dynamic matrix type).
+    static EigenConformable<row_major> conformable(const array &a) {
+        const auto dims = a.ndim();
+        if (dims < 1 || dims > 2) {
+            return false;
+        }
+
+        if (dims == 2) { // Matrix type: require exact match (or dynamic)
+
+            EigenIndex np_rows = a.shape(0), np_cols = a.shape(1),
+                       np_rstride = a.strides(0) / static_cast<ssize_t>(sizeof(Scalar)),
+                       np_cstride = a.strides(1) / static_cast<ssize_t>(sizeof(Scalar));
+            if ((fixed_rows && np_rows != rows) || (fixed_cols && np_cols != cols)) {
+                return false;
+            }
+
+            return {np_rows, np_cols, np_rstride, np_cstride};
+        }
+
+        // Otherwise we're storing an n-vector.  Only one of the strides will be used, but
+        // whichever is used, we want the (single) numpy stride value.
+        const EigenIndex n = a.shape(0),
+                         stride = a.strides(0) / static_cast<ssize_t>(sizeof(Scalar));
+
+        if (vector) { // Eigen type is a compile-time vector
+            if (fixed && size != n) {
+                return false; // Vector size mismatch
+            }
+            return {rows == 1 ? 1 : n, cols == 1 ? 1 : n, stride};
+        }
+        if (fixed) {
+            // The type has a fixed size, but is not a vector: abort
+            return false;
+        }
+        if (fixed_cols) {
+            // Since this isn't a vector, cols must be != 1.  We allow this only if it exactly
+            // equals the number of elements (rows is Dynamic, and so 1 row is allowed).
+            if (cols != n) {
+                return false;
+            }
+            return {1, n, stride};
+        } // Otherwise it's either fully dynamic, or column dynamic; both become a column vector
+        if (fixed_rows && rows != n) {
+            return false;
+        }
+        return {n, 1, stride};
+    }
+
+    static constexpr bool show_writeable
+        = is_eigen_dense_map<Type>::value && is_eigen_mutable_map<Type>::value;
+    static constexpr bool show_order = is_eigen_dense_map<Type>::value;
+    static constexpr bool show_c_contiguous = show_order && requires_row_major;
+    static constexpr bool show_f_contiguous
+        = !show_c_contiguous && show_order && requires_col_major;
+
+    static constexpr auto descriptor
+        = const_name("numpy.ndarray[") + npy_format_descriptor<Scalar>::name + const_name("[")
+          + const_name<fixed_rows>(const_name<(size_t) rows>(), const_name("m")) + const_name(", ")
+          + const_name<fixed_cols>(const_name<(size_t) cols>(), const_name("n")) + const_name("]")
+          +
+          // For a reference type (e.g. Ref<MatrixXd>) we have other constraints that might need to
+          // be satisfied: writeable=True (for a mutable reference), and, depending on the map's
+          // stride options, possibly f_contiguous or c_contiguous.  We include them in the
+          // descriptor output to provide some hint as to why a TypeError is occurring (otherwise
+          // it can be confusing to see that a function accepts a 'numpy.ndarray[float64[3,2]]' and
+          // an error message that you *gave* a numpy.ndarray of the right type and dimensions.
+          const_name<show_writeable>(", flags.writeable", "")
+          + const_name<show_c_contiguous>(", flags.c_contiguous", "")
+          + const_name<show_f_contiguous>(", flags.f_contiguous", "") + const_name("]");
+};
+
+// Casts an Eigen type to numpy array.  If given a base, the numpy array references the src data,
+// otherwise it'll make a copy.  writeable lets you turn off the writeable flag for the array.
+template <typename props>
+handle
+eigen_array_cast(typename props::Type const &src, handle base = handle(), bool writeable = true) {
+    constexpr ssize_t elem_size = sizeof(typename props::Scalar);
+    array a;
+    if (props::vector) {
+        a = array({src.size()}, {elem_size * src.innerStride()}, src.data(), base);
+    } else {
+        a = array({src.rows(), src.cols()},
+                  {elem_size * src.rowStride(), elem_size * src.colStride()},
+                  src.data(),
+                  base);
+    }
+
+    if (!writeable) {
+        array_proxy(a.ptr())->flags &= ~detail::npy_api::NPY_ARRAY_WRITEABLE_;
+    }
+
+    return a.release();
+}
+
+// Takes an lvalue ref to some Eigen type and a (python) base object, creating a numpy array that
+// reference the Eigen object's data with `base` as the python-registered base class (if omitted,
+// the base will be set to None, and lifetime management is up to the caller).  The numpy array is
+// non-writeable if the given type is const.
+template <typename props, typename Type>
+handle eigen_ref_array(Type &src, handle parent = none()) {
+    // none here is to get past array's should-we-copy detection, which currently always
+    // copies when there is no base.  Setting the base to None should be harmless.
+    return eigen_array_cast<props>(src, parent, !std::is_const<Type>::value);
+}
+
+// Takes a pointer to some dense, plain Eigen type, builds a capsule around it, then returns a
+// numpy array that references the encapsulated data with a python-side reference to the capsule to
+// tie its destruction to that of any dependent python objects.  Const-ness is determined by
+// whether or not the Type of the pointer given is const.
+template <typename props, typename Type, typename = enable_if_t<is_eigen_dense_plain<Type>::value>>
+handle eigen_encapsulate(Type *src) {
+    capsule base(src, [](void *o) { delete static_cast<Type *>(o); });
+    return eigen_ref_array<props>(*src, base);
+}
+
+// Type caster for regular, dense matrix types (e.g. MatrixXd), but not maps/refs/etc. of dense
+// types.
+template <typename Type>
+struct type_caster<Type, enable_if_t<is_eigen_dense_plain<Type>::value>> {
+    using Scalar = typename Type::Scalar;
+    static_assert(!std::is_pointer<Scalar>::value,
+                  PYBIND11_EIGEN_MESSAGE_POINTER_TYPES_ARE_NOT_SUPPORTED);
+    using props = EigenProps<Type>;
+
+    bool load(handle src, bool convert) {
+        // If we're in no-convert mode, only load if given an array of the correct type
+        if (!convert && !isinstance<array_t<Scalar>>(src)) {
+            return false;
+        }
+
+        // Coerce into an array, but don't do type conversion yet; the copy below handles it.
+        auto buf = array::ensure(src);
+
+        if (!buf) {
+            return false;
+        }
+
+        auto dims = buf.ndim();
+        if (dims < 1 || dims > 2) {
+            return false;
+        }
+
+        auto fits = props::conformable(buf);
+        if (!fits) {
+            return false;
+        }
+
+        // Allocate the new type, then build a numpy reference into it
+        value = Type(fits.rows, fits.cols);
+        auto ref = reinterpret_steal<array>(eigen_ref_array<props>(value));
+        if (dims == 1) {
+            ref = ref.squeeze();
+        } else if (ref.ndim() == 1) {
+            buf = buf.squeeze();
+        }
+
+        int result = detail::npy_api::get().PyArray_CopyInto_(ref.ptr(), buf.ptr());
+
+        if (result < 0) { // Copy failed!
+            PyErr_Clear();
+            return false;
+        }
+
+        return true;
+    }
+
+private:
+    // Cast implementation
+    template <typename CType>
+    static handle cast_impl(CType *src, return_value_policy policy, handle parent) {
+        switch (policy) {
+            case return_value_policy::take_ownership:
+            case return_value_policy::automatic:
+                return eigen_encapsulate<props>(src);
+            case return_value_policy::move:
+                return eigen_encapsulate<props>(new CType(std::move(*src)));
+            case return_value_policy::copy:
+                return eigen_array_cast<props>(*src);
+            case return_value_policy::reference:
+            case return_value_policy::automatic_reference:
+                return eigen_ref_array<props>(*src);
+            case return_value_policy::reference_internal:
+                return eigen_ref_array<props>(*src, parent);
+            default:
+                throw cast_error("unhandled return_value_policy: should not happen!");
+        };
+    }
+
+public:
+    // Normal returned non-reference, non-const value:
+    static handle cast(Type &&src, return_value_policy /* policy */, handle parent) {
+        return cast_impl(&src, return_value_policy::move, parent);
+    }
+    // If you return a non-reference const, we mark the numpy array readonly:
+    static handle cast(const Type &&src, return_value_policy /* policy */, handle parent) {
+        return cast_impl(&src, return_value_policy::move, parent);
+    }
+    // lvalue reference return; default (automatic) becomes copy
+    static handle cast(Type &src, return_value_policy policy, handle parent) {
+        if (policy == return_value_policy::automatic
+            || policy == return_value_policy::automatic_reference) {
+            policy = return_value_policy::copy;
+        }
+        return cast_impl(&src, policy, parent);
+    }
+    // const lvalue reference return; default (automatic) becomes copy
+    static handle cast(const Type &src, return_value_policy policy, handle parent) {
+        if (policy == return_value_policy::automatic
+            || policy == return_value_policy::automatic_reference) {
+            policy = return_value_policy::copy;
+        }
+        return cast(&src, policy, parent);
+    }
+    // non-const pointer return
+    static handle cast(Type *src, return_value_policy policy, handle parent) {
+        return cast_impl(src, policy, parent);
+    }
+    // const pointer return
+    static handle cast(const Type *src, return_value_policy policy, handle parent) {
+        return cast_impl(src, policy, parent);
+    }
+
+    static constexpr auto name = props::descriptor;
+
+    // NOLINTNEXTLINE(google-explicit-constructor)
+    operator Type *() { return &value; }
+    // NOLINTNEXTLINE(google-explicit-constructor)
+    operator Type &() { return value; }
+    // NOLINTNEXTLINE(google-explicit-constructor)
+    operator Type &&() && { return std::move(value); }
+    template <typename T>
+    using cast_op_type = movable_cast_op_type<T>;
+
+private:
+    Type value;
+};
+
+// Base class for casting reference/map/block/etc. objects back to python.
+template <typename MapType>
+struct eigen_map_caster {
+    static_assert(!std::is_pointer<typename MapType::Scalar>::value,
+                  PYBIND11_EIGEN_MESSAGE_POINTER_TYPES_ARE_NOT_SUPPORTED);
+
+private:
+    using props = EigenProps<MapType>;
+
+public:
+    // Directly referencing a ref/map's data is a bit dangerous (whatever the map/ref points to has
+    // to stay around), but we'll allow it under the assumption that you know what you're doing
+    // (and have an appropriate keep_alive in place).  We return a numpy array pointing directly at
+    // the ref's data (The numpy array ends up read-only if the ref was to a const matrix type.)
+    // Note that this means you need to ensure you don't destroy the object in some other way (e.g.
+    // with an appropriate keep_alive, or with a reference to a statically allocated matrix).
+    static handle cast(const MapType &src, return_value_policy policy, handle parent) {
+        switch (policy) {
+            case return_value_policy::copy:
+                return eigen_array_cast<props>(src);
+            case return_value_policy::reference_internal:
+                return eigen_array_cast<props>(src, parent, is_eigen_mutable_map<MapType>::value);
+            case return_value_policy::reference:
+            case return_value_policy::automatic:
+            case return_value_policy::automatic_reference:
+                return eigen_array_cast<props>(src, none(), is_eigen_mutable_map<MapType>::value);
+            default:
+                // move, take_ownership don't make any sense for a ref/map:
+                pybind11_fail("Invalid return_value_policy for Eigen Map/Ref/Block type");
+        }
+    }
+
+    static constexpr auto name = props::descriptor;
+
+    // Explicitly delete these: support python -> C++ conversion on these (i.e. these can be return
+    // types but not bound arguments).  We still provide them (with an explicitly delete) so that
+    // you end up here if you try anyway.
+    bool load(handle, bool) = delete;
+    operator MapType() = delete;
+    template <typename>
+    using cast_op_type = MapType;
+};
+
+// We can return any map-like object (but can only load Refs, specialized next):
+template <typename Type>
+struct type_caster<Type, enable_if_t<is_eigen_dense_map<Type>::value>> : eigen_map_caster<Type> {};
+
+// Loader for Ref<...> arguments.  See the documentation for info on how to make this work without
+// copying (it requires some extra effort in many cases).
+template <typename PlainObjectType, typename StrideType>
+struct type_caster<
+    Eigen::Ref<PlainObjectType, 0, StrideType>,
+    enable_if_t<is_eigen_dense_map<Eigen::Ref<PlainObjectType, 0, StrideType>>::value>>
+    : public eigen_map_caster<Eigen::Ref<PlainObjectType, 0, StrideType>> {
+private:
+    using Type = Eigen::Ref<PlainObjectType, 0, StrideType>;
+    using props = EigenProps<Type>;
+    using Scalar = typename props::Scalar;
+    static_assert(!std::is_pointer<Scalar>::value,
+                  PYBIND11_EIGEN_MESSAGE_POINTER_TYPES_ARE_NOT_SUPPORTED);
+    using MapType = Eigen::Map<PlainObjectType, 0, StrideType>;
+    using Array
+        = array_t<Scalar,
+                  array::forcecast
+                      | ((props::row_major ? props::inner_stride : props::outer_stride) == 1
+                             ? array::c_style
+                         : (props::row_major ? props::outer_stride : props::inner_stride) == 1
+                             ? array::f_style
+                             : 0)>;
+    static constexpr bool need_writeable = is_eigen_mutable_map<Type>::value;
+    // Delay construction (these have no default constructor)
+    std::unique_ptr<MapType> map;
+    std::unique_ptr<Type> ref;
+    // Our array.  When possible, this is just a numpy array pointing to the source data, but
+    // sometimes we can't avoid copying (e.g. input is not a numpy array at all, has an
+    // incompatible layout, or is an array of a type that needs to be converted).  Using a numpy
+    // temporary (rather than an Eigen temporary) saves an extra copy when we need both type
+    // conversion and storage order conversion.  (Note that we refuse to use this temporary copy
+    // when loading an argument for a Ref<M> with M non-const, i.e. a read-write reference).
+    Array copy_or_ref;
+
+public:
+    bool load(handle src, bool convert) {
+        // First check whether what we have is already an array of the right type.  If not, we
+        // can't avoid a copy (because the copy is also going to do type conversion).
+        bool need_copy = !isinstance<Array>(src);
+
+        EigenConformable<props::row_major> fits;
+        if (!need_copy) {
+            // We don't need a converting copy, but we also need to check whether the strides are
+            // compatible with the Ref's stride requirements
+            auto aref = reinterpret_borrow<Array>(src);
+
+            if (aref && (!need_writeable || aref.writeable())) {
+                fits = props::conformable(aref);
+                if (!fits) {
+                    return false; // Incompatible dimensions
+                }
+                if (!fits.template stride_compatible<props>()) {
+                    need_copy = true;
+                } else {
+                    copy_or_ref = std::move(aref);
+                }
+            } else {
+                need_copy = true;
+            }
+        }
+
+        if (need_copy) {
+            // We need to copy: If we need a mutable reference, or we're not supposed to convert
+            // (either because we're in the no-convert overload pass, or because we're explicitly
+            // instructed not to copy (via `py::arg().noconvert()`) we have to fail loading.
+            if (!convert || need_writeable) {
+                return false;
+            }
+
+            Array copy = Array::ensure(src);
+            if (!copy) {
+                return false;
+            }
+            fits = props::conformable(copy);
+            if (!fits || !fits.template stride_compatible<props>()) {
+                return false;
+            }
+            copy_or_ref = std::move(copy);
+            loader_life_support::add_patient(copy_or_ref);
+        }
+
+        ref.reset();
+        map.reset(new MapType(data(copy_or_ref),
+                              fits.rows,
+                              fits.cols,
+                              make_stride(fits.stride.outer(), fits.stride.inner())));
+        ref.reset(new Type(*map));
+
+        return true;
+    }
+
+    // NOLINTNEXTLINE(google-explicit-constructor)
+    operator Type *() { return ref.get(); }
+    // NOLINTNEXTLINE(google-explicit-constructor)
+    operator Type &() { return *ref; }
+    template <typename _T>
+    using cast_op_type = pybind11::detail::cast_op_type<_T>;
+
+private:
+    template <typename T = Type, enable_if_t<is_eigen_mutable_map<T>::value, int> = 0>
+    Scalar *data(Array &a) {
+        return a.mutable_data();
+    }
+
+    template <typename T = Type, enable_if_t<!is_eigen_mutable_map<T>::value, int> = 0>
+    const Scalar *data(Array &a) {
+        return a.data();
+    }
+
+    // Attempt to figure out a constructor of `Stride` that will work.
+    // If both strides are fixed, use a default constructor:
+    template <typename S>
+    using stride_ctor_default = bool_constant<S::InnerStrideAtCompileTime != Eigen::Dynamic
+                                              && S::OuterStrideAtCompileTime != Eigen::Dynamic
+                                              && std::is_default_constructible<S>::value>;
+    // Otherwise, if there is a two-index constructor, assume it is (outer,inner) like
+    // Eigen::Stride, and use it:
+    template <typename S>
+    using stride_ctor_dual
+        = bool_constant<!stride_ctor_default<S>::value
+                        && std::is_constructible<S, EigenIndex, EigenIndex>::value>;
+    // Otherwise, if there is a one-index constructor, and just one of the strides is dynamic, use
+    // it (passing whichever stride is dynamic).
+    template <typename S>
+    using stride_ctor_outer
+        = bool_constant<!any_of<stride_ctor_default<S>, stride_ctor_dual<S>>::value
+                        && S::OuterStrideAtCompileTime == Eigen::Dynamic
+                        && S::InnerStrideAtCompileTime != Eigen::Dynamic
+                        && std::is_constructible<S, EigenIndex>::value>;
+    template <typename S>
+    using stride_ctor_inner
+        = bool_constant<!any_of<stride_ctor_default<S>, stride_ctor_dual<S>>::value
+                        && S::InnerStrideAtCompileTime == Eigen::Dynamic
+                        && S::OuterStrideAtCompileTime != Eigen::Dynamic
+                        && std::is_constructible<S, EigenIndex>::value>;
+
+    template <typename S = StrideType, enable_if_t<stride_ctor_default<S>::value, int> = 0>
+    static S make_stride(EigenIndex, EigenIndex) {
+        return S();
+    }
+    template <typename S = StrideType, enable_if_t<stride_ctor_dual<S>::value, int> = 0>
+    static S make_stride(EigenIndex outer, EigenIndex inner) {
+        return S(outer, inner);
+    }
+    template <typename S = StrideType, enable_if_t<stride_ctor_outer<S>::value, int> = 0>
+    static S make_stride(EigenIndex outer, EigenIndex) {
+        return S(outer);
+    }
+    template <typename S = StrideType, enable_if_t<stride_ctor_inner<S>::value, int> = 0>
+    static S make_stride(EigenIndex, EigenIndex inner) {
+        return S(inner);
+    }
+};
+
+// type_caster for special matrix types (e.g. DiagonalMatrix), which are EigenBase, but not
+// EigenDense (i.e. they don't have a data(), at least not with the usual matrix layout).
+// load() is not supported, but we can cast them into the python domain by first copying to a
+// regular Eigen::Matrix, then casting that.
+template <typename Type>
+struct type_caster<Type, enable_if_t<is_eigen_other<Type>::value>> {
+    static_assert(!std::is_pointer<typename Type::Scalar>::value,
+                  PYBIND11_EIGEN_MESSAGE_POINTER_TYPES_ARE_NOT_SUPPORTED);
+
+protected:
+    using Matrix
+        = Eigen::Matrix<typename Type::Scalar, Type::RowsAtCompileTime, Type::ColsAtCompileTime>;
+    using props = EigenProps<Matrix>;
+
+public:
+    static handle cast(const Type &src, return_value_policy /* policy */, handle /* parent */) {
+        handle h = eigen_encapsulate<props>(new Matrix(src));
+        return h;
+    }
+    static handle cast(const Type *src, return_value_policy policy, handle parent) {
+        return cast(*src, policy, parent);
+    }
+
+    static constexpr auto name = props::descriptor;
+
+    // Explicitly delete these: support python -> C++ conversion on these (i.e. these can be return
+    // types but not bound arguments).  We still provide them (with an explicitly delete) so that
+    // you end up here if you try anyway.
+    bool load(handle, bool) = delete;
+    operator Type() = delete;
+    template <typename>
+    using cast_op_type = Type;
+};
+
+template <typename Type>
+struct type_caster<Type, enable_if_t<is_eigen_sparse<Type>::value>> {
+    using Scalar = typename Type::Scalar;
+    static_assert(!std::is_pointer<Scalar>::value,
+                  PYBIND11_EIGEN_MESSAGE_POINTER_TYPES_ARE_NOT_SUPPORTED);
+    using StorageIndex = remove_reference_t<decltype(*std::declval<Type>().outerIndexPtr())>;
+    using Index = typename Type::Index;
+    static constexpr bool rowMajor = Type::IsRowMajor;
+
+    bool load(handle src, bool) {
+        if (!src) {
+            return false;
+        }
+
+        auto obj = reinterpret_borrow<object>(src);
+        object sparse_module = module_::import("scipy.sparse");
+        object matrix_type = sparse_module.attr(rowMajor ? "csr_matrix" : "csc_matrix");
+
+        if (!type::handle_of(obj).is(matrix_type)) {
+            try {
+                obj = matrix_type(obj);
+            } catch (const error_already_set &) {
+                return false;
+            }
+        }
+
+        auto values = array_t<Scalar>((object) obj.attr("data"));
+        auto innerIndices = array_t<StorageIndex>((object) obj.attr("indices"));
+        auto outerIndices = array_t<StorageIndex>((object) obj.attr("indptr"));
+        auto shape = pybind11::tuple((pybind11::object) obj.attr("shape"));
+        auto nnz = obj.attr("nnz").cast<Index>();
+
+        if (!values || !innerIndices || !outerIndices) {
+            return false;
+        }
+
+        value = EigenMapSparseMatrix<Scalar,
+                                     Type::Flags &(Eigen::RowMajor | Eigen::ColMajor),
+                                     StorageIndex>(shape[0].cast<Index>(),
+                                                   shape[1].cast<Index>(),
+                                                   std::move(nnz),
+                                                   outerIndices.mutable_data(),
+                                                   innerIndices.mutable_data(),
+                                                   values.mutable_data());
+
+        return true;
+    }
+
+    static handle cast(const Type &src, return_value_policy /* policy */, handle /* parent */) {
+        const_cast<Type &>(src).makeCompressed();
+
+        object matrix_type
+            = module_::import("scipy.sparse").attr(rowMajor ? "csr_matrix" : "csc_matrix");
+
+        array data(src.nonZeros(), src.valuePtr());
+        array outerIndices((rowMajor ? src.rows() : src.cols()) + 1, src.outerIndexPtr());
+        array innerIndices(src.nonZeros(), src.innerIndexPtr());
+
+        return matrix_type(pybind11::make_tuple(
+                               std::move(data), std::move(innerIndices), std::move(outerIndices)),
+                           pybind11::make_tuple(src.rows(), src.cols()))
+            .release();
+    }
+
+    PYBIND11_TYPE_CASTER(Type,
+                         const_name<(Type::IsRowMajor) != 0>("scipy.sparse.csr_matrix[",
+                                                             "scipy.sparse.csc_matrix[")
+                             + npy_format_descriptor<Scalar>::name + const_name("]"));
+};
+
+PYBIND11_NAMESPACE_END(detail)
+PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
diff --git a/pybind11/include/pybind11/eigen/tensor.h b/pybind11/include/pybind11/eigen/tensor.h
new file mode 100644
index 000000000..25d12baca
--- /dev/null
+++ b/pybind11/include/pybind11/eigen/tensor.h
@@ -0,0 +1,516 @@
+/*
+    pybind11/eigen/tensor.h: Transparent conversion for Eigen tensors
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#pragma once
+
+#include "../numpy.h"
+#include "common.h"
+
+#if defined(__GNUC__) && !defined(__clang__) && !defined(__INTEL_COMPILER)
+static_assert(__GNUC__ > 5, "Eigen Tensor support in pybind11 requires GCC > 5.0");
+#endif
+
+// Disable warnings for Eigen
+PYBIND11_WARNING_PUSH
+PYBIND11_WARNING_DISABLE_MSVC(4554)
+PYBIND11_WARNING_DISABLE_MSVC(4127)
+#if defined(__MINGW32__)
+PYBIND11_WARNING_DISABLE_GCC("-Wmaybe-uninitialized")
+#endif
+
+#include <unsupported/Eigen/CXX11/Tensor>
+
+PYBIND11_WARNING_POP
+
+static_assert(EIGEN_VERSION_AT_LEAST(3, 3, 0),
+              "Eigen Tensor support in pybind11 requires Eigen >= 3.3.0");
+
+PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
+
+PYBIND11_WARNING_DISABLE_MSVC(4127)
+
+PYBIND11_NAMESPACE_BEGIN(detail)
+
+inline bool is_tensor_aligned(const void *data) {
+    return (reinterpret_cast<std::size_t>(data) % EIGEN_DEFAULT_ALIGN_BYTES) == 0;
+}
+
+template <typename T>
+constexpr int compute_array_flag_from_tensor() {
+    static_assert((static_cast<int>(T::Layout) == static_cast<int>(Eigen::RowMajor))
+                      || (static_cast<int>(T::Layout) == static_cast<int>(Eigen::ColMajor)),
+                  "Layout must be row or column major");
+    return (static_cast<int>(T::Layout) == static_cast<int>(Eigen::RowMajor)) ? array::c_style
+                                                                              : array::f_style;
+}
+
+template <typename T>
+struct eigen_tensor_helper {};
+
+template <typename Scalar_, int NumIndices_, int Options_, typename IndexType>
+struct eigen_tensor_helper<Eigen::Tensor<Scalar_, NumIndices_, Options_, IndexType>> {
+    using Type = Eigen::Tensor<Scalar_, NumIndices_, Options_, IndexType>;
+    using ValidType = void;
+
+    static Eigen::DSizes<typename Type::Index, Type::NumIndices> get_shape(const Type &f) {
+        return f.dimensions();
+    }
+
+    static constexpr bool
+    is_correct_shape(const Eigen::DSizes<typename Type::Index, Type::NumIndices> & /*shape*/) {
+        return true;
+    }
+
+    template <typename T>
+    struct helper {};
+
+    template <size_t... Is>
+    struct helper<index_sequence<Is...>> {
+        static constexpr auto value = concat(const_name(((void) Is, "?"))...);
+    };
+
+    static constexpr auto dimensions_descriptor
+        = helper<decltype(make_index_sequence<Type::NumIndices>())>::value;
+
+    template <typename... Args>
+    static Type *alloc(Args &&...args) {
+        return new Type(std::forward<Args>(args)...);
+    }
+
+    static void free(Type *tensor) { delete tensor; }
+};
+
+template <typename Scalar_, typename std::ptrdiff_t... Indices, int Options_, typename IndexType>
+struct eigen_tensor_helper<
+    Eigen::TensorFixedSize<Scalar_, Eigen::Sizes<Indices...>, Options_, IndexType>> {
+    using Type = Eigen::TensorFixedSize<Scalar_, Eigen::Sizes<Indices...>, Options_, IndexType>;
+    using ValidType = void;
+
+    static constexpr Eigen::DSizes<typename Type::Index, Type::NumIndices>
+    get_shape(const Type & /*f*/) {
+        return get_shape();
+    }
+
+    static constexpr Eigen::DSizes<typename Type::Index, Type::NumIndices> get_shape() {
+        return Eigen::DSizes<typename Type::Index, Type::NumIndices>(Indices...);
+    }
+
+    static bool
+    is_correct_shape(const Eigen::DSizes<typename Type::Index, Type::NumIndices> &shape) {
+        return get_shape() == shape;
+    }
+
+    static constexpr auto dimensions_descriptor = concat(const_name<Indices>()...);
+
+    template <typename... Args>
+    static Type *alloc(Args &&...args) {
+        Eigen::aligned_allocator<Type> allocator;
+        return ::new (allocator.allocate(1)) Type(std::forward<Args>(args)...);
+    }
+
+    static void free(Type *tensor) {
+        Eigen::aligned_allocator<Type> allocator;
+        tensor->~Type();
+        allocator.deallocate(tensor, 1);
+    }
+};
+
+template <typename Type, bool ShowDetails, bool NeedsWriteable = false>
+struct get_tensor_descriptor {
+    static constexpr auto details
+        = const_name<NeedsWriteable>(", flags.writeable", "")
+          + const_name<static_cast<int>(Type::Layout) == static_cast<int>(Eigen::RowMajor)>(
+              ", flags.c_contiguous", ", flags.f_contiguous");
+    static constexpr auto value
+        = const_name("numpy.ndarray[") + npy_format_descriptor<typename Type::Scalar>::name
+          + const_name("[") + eigen_tensor_helper<remove_cv_t<Type>>::dimensions_descriptor
+          + const_name("]") + const_name<ShowDetails>(details, const_name("")) + const_name("]");
+};
+
+// When EIGEN_AVOID_STL_ARRAY is defined, Eigen::DSizes<T, 0> does not have the begin() member
+// function. Falling back to a simple loop works around this issue.
+//
+// We need to disable the type-limits warning for the inner loop when size = 0.
+
+PYBIND11_WARNING_PUSH
+PYBIND11_WARNING_DISABLE_GCC("-Wtype-limits")
+
+template <typename T, int size>
+std::vector<T> convert_dsizes_to_vector(const Eigen::DSizes<T, size> &arr) {
+    std::vector<T> result(size);
+
+    for (size_t i = 0; i < size; i++) {
+        result[i] = arr[i];
+    }
+
+    return result;
+}
+
+template <typename T, int size>
+Eigen::DSizes<T, size> get_shape_for_array(const array &arr) {
+    Eigen::DSizes<T, size> result;
+    const T *shape = arr.shape();
+    for (size_t i = 0; i < size; i++) {
+        result[i] = shape[i];
+    }
+
+    return result;
+}
+
+PYBIND11_WARNING_POP
+
+template <typename Type>
+struct type_caster<Type, typename eigen_tensor_helper<Type>::ValidType> {
+    static_assert(!std::is_pointer<typename Type::Scalar>::value,
+                  PYBIND11_EIGEN_MESSAGE_POINTER_TYPES_ARE_NOT_SUPPORTED);
+    using Helper = eigen_tensor_helper<Type>;
+    static constexpr auto temp_name = get_tensor_descriptor<Type, false>::value;
+    PYBIND11_TYPE_CASTER(Type, temp_name);
+
+    bool load(handle src, bool convert) {
+        if (!convert) {
+            if (!isinstance<array>(src)) {
+                return false;
+            }
+            array temp = array::ensure(src);
+            if (!temp) {
+                return false;
+            }
+
+            if (!temp.dtype().is(dtype::of<typename Type::Scalar>())) {
+                return false;
+            }
+        }
+
+        array_t<typename Type::Scalar, compute_array_flag_from_tensor<Type>()> arr(
+            reinterpret_borrow<object>(src));
+
+        if (arr.ndim() != Type::NumIndices) {
+            return false;
+        }
+        auto shape = get_shape_for_array<typename Type::Index, Type::NumIndices>(arr);
+
+        if (!Helper::is_correct_shape(shape)) {
+            return false;
+        }
+
+#if EIGEN_VERSION_AT_LEAST(3, 4, 0)
+        auto data_pointer = arr.data();
+#else
+        // Handle Eigen bug
+        auto data_pointer = const_cast<typename Type::Scalar *>(arr.data());
+#endif
+
+        if (is_tensor_aligned(arr.data())) {
+            value = Eigen::TensorMap<const Type, Eigen::Aligned>(data_pointer, shape);
+        } else {
+            value = Eigen::TensorMap<const Type>(data_pointer, shape);
+        }
+
+        return true;
+    }
+
+    static handle cast(Type &&src, return_value_policy policy, handle parent) {
+        if (policy == return_value_policy::reference
+            || policy == return_value_policy::reference_internal) {
+            pybind11_fail("Cannot use a reference return value policy for an rvalue");
+        }
+        return cast_impl(&src, return_value_policy::move, parent);
+    }
+
+    static handle cast(const Type &&src, return_value_policy policy, handle parent) {
+        if (policy == return_value_policy::reference
+            || policy == return_value_policy::reference_internal) {
+            pybind11_fail("Cannot use a reference return value policy for an rvalue");
+        }
+        return cast_impl(&src, return_value_policy::move, parent);
+    }
+
+    static handle cast(Type &src, return_value_policy policy, handle parent) {
+        if (policy == return_value_policy::automatic
+            || policy == return_value_policy::automatic_reference) {
+            policy = return_value_policy::copy;
+        }
+        return cast_impl(&src, policy, parent);
+    }
+
+    static handle cast(const Type &src, return_value_policy policy, handle parent) {
+        if (policy == return_value_policy::automatic
+            || policy == return_value_policy::automatic_reference) {
+            policy = return_value_policy::copy;
+        }
+        return cast(&src, policy, parent);
+    }
+
+    static handle cast(Type *src, return_value_policy policy, handle parent) {
+        if (policy == return_value_policy::automatic) {
+            policy = return_value_policy::take_ownership;
+        } else if (policy == return_value_policy::automatic_reference) {
+            policy = return_value_policy::reference;
+        }
+        return cast_impl(src, policy, parent);
+    }
+
+    static handle cast(const Type *src, return_value_policy policy, handle parent) {
+        if (policy == return_value_policy::automatic) {
+            policy = return_value_policy::take_ownership;
+        } else if (policy == return_value_policy::automatic_reference) {
+            policy = return_value_policy::reference;
+        }
+        return cast_impl(src, policy, parent);
+    }
+
+    template <typename C>
+    static handle cast_impl(C *src, return_value_policy policy, handle parent) {
+        object parent_object;
+        bool writeable = false;
+        switch (policy) {
+            case return_value_policy::move:
+                if (std::is_const<C>::value) {
+                    pybind11_fail("Cannot move from a constant reference");
+                }
+
+                src = Helper::alloc(std::move(*src));
+
+                parent_object
+                    = capsule(src, [](void *ptr) { Helper::free(reinterpret_cast<Type *>(ptr)); });
+                writeable = true;
+                break;
+
+            case return_value_policy::take_ownership:
+                if (std::is_const<C>::value) {
+                    // This cast is ugly, and might be UB in some cases, but we don't have an
+                    // alternative here as we must free that memory
+                    Helper::free(const_cast<Type *>(src));
+                    pybind11_fail("Cannot take ownership of a const reference");
+                }
+
+                parent_object
+                    = capsule(src, [](void *ptr) { Helper::free(reinterpret_cast<Type *>(ptr)); });
+                writeable = true;
+                break;
+
+            case return_value_policy::copy:
+                writeable = true;
+                break;
+
+            case return_value_policy::reference:
+                parent_object = none();
+                writeable = !std::is_const<C>::value;
+                break;
+
+            case return_value_policy::reference_internal:
+                // Default should do the right thing
+                if (!parent) {
+                    pybind11_fail("Cannot use reference internal when there is no parent");
+                }
+                parent_object = reinterpret_borrow<object>(parent);
+                writeable = !std::is_const<C>::value;
+                break;
+
+            default:
+                pybind11_fail("pybind11 bug in eigen.h, please file a bug report");
+        }
+
+        auto result = array_t<typename Type::Scalar, compute_array_flag_from_tensor<Type>()>(
+            convert_dsizes_to_vector(Helper::get_shape(*src)), src->data(), parent_object);
+
+        if (!writeable) {
+            array_proxy(result.ptr())->flags &= ~detail::npy_api::NPY_ARRAY_WRITEABLE_;
+        }
+
+        return result.release();
+    }
+};
+
+template <typename StoragePointerType,
+          bool needs_writeable,
+          enable_if_t<!needs_writeable, bool> = true>
+StoragePointerType get_array_data_for_type(array &arr) {
+#if EIGEN_VERSION_AT_LEAST(3, 4, 0)
+    return reinterpret_cast<StoragePointerType>(arr.data());
+#else
+    // Handle Eigen bug
+    return reinterpret_cast<StoragePointerType>(const_cast<void *>(arr.data()));
+#endif
+}
+
+template <typename StoragePointerType,
+          bool needs_writeable,
+          enable_if_t<needs_writeable, bool> = true>
+StoragePointerType get_array_data_for_type(array &arr) {
+    return reinterpret_cast<StoragePointerType>(arr.mutable_data());
+}
+
+template <typename T, typename = void>
+struct get_storage_pointer_type;
+
+template <typename MapType>
+struct get_storage_pointer_type<MapType, void_t<typename MapType::StoragePointerType>> {
+    using SPT = typename MapType::StoragePointerType;
+};
+
+template <typename MapType>
+struct get_storage_pointer_type<MapType, void_t<typename MapType::PointerArgType>> {
+    using SPT = typename MapType::PointerArgType;
+};
+
+template <typename Type, int Options>
+struct type_caster<Eigen::TensorMap<Type, Options>,
+                   typename eigen_tensor_helper<remove_cv_t<Type>>::ValidType> {
+    static_assert(!std::is_pointer<typename Type::Scalar>::value,
+                  PYBIND11_EIGEN_MESSAGE_POINTER_TYPES_ARE_NOT_SUPPORTED);
+    using MapType = Eigen::TensorMap<Type, Options>;
+    using Helper = eigen_tensor_helper<remove_cv_t<Type>>;
+
+    bool load(handle src, bool /*convert*/) {
+        // Note that we have a lot more checks here as we want to make sure to avoid copies
+        if (!isinstance<array>(src)) {
+            return false;
+        }
+        auto arr = reinterpret_borrow<array>(src);
+        if ((arr.flags() & compute_array_flag_from_tensor<Type>()) == 0) {
+            return false;
+        }
+
+        if (!arr.dtype().is(dtype::of<typename Type::Scalar>())) {
+            return false;
+        }
+
+        if (arr.ndim() != Type::NumIndices) {
+            return false;
+        }
+
+        constexpr bool is_aligned = (Options & Eigen::Aligned) != 0;
+
+        if (is_aligned && !is_tensor_aligned(arr.data())) {
+            return false;
+        }
+
+        auto shape = get_shape_for_array<typename Type::Index, Type::NumIndices>(arr);
+
+        if (!Helper::is_correct_shape(shape)) {
+            return false;
+        }
+
+        if (needs_writeable && !arr.writeable()) {
+            return false;
+        }
+
+        auto result = get_array_data_for_type<typename get_storage_pointer_type<MapType>::SPT,
+                                              needs_writeable>(arr);
+
+        value.reset(new MapType(std::move(result), std::move(shape)));
+
+        return true;
+    }
+
+    static handle cast(MapType &&src, return_value_policy policy, handle parent) {
+        return cast_impl(&src, policy, parent);
+    }
+
+    static handle cast(const MapType &&src, return_value_policy policy, handle parent) {
+        return cast_impl(&src, policy, parent);
+    }
+
+    static handle cast(MapType &src, return_value_policy policy, handle parent) {
+        if (policy == return_value_policy::automatic
+            || policy == return_value_policy::automatic_reference) {
+            policy = return_value_policy::copy;
+        }
+        return cast_impl(&src, policy, parent);
+    }
+
+    static handle cast(const MapType &src, return_value_policy policy, handle parent) {
+        if (policy == return_value_policy::automatic
+            || policy == return_value_policy::automatic_reference) {
+            policy = return_value_policy::copy;
+        }
+        return cast(&src, policy, parent);
+    }
+
+    static handle cast(MapType *src, return_value_policy policy, handle parent) {
+        if (policy == return_value_policy::automatic) {
+            policy = return_value_policy::take_ownership;
+        } else if (policy == return_value_policy::automatic_reference) {
+            policy = return_value_policy::reference;
+        }
+        return cast_impl(src, policy, parent);
+    }
+
+    static handle cast(const MapType *src, return_value_policy policy, handle parent) {
+        if (policy == return_value_policy::automatic) {
+            policy = return_value_policy::take_ownership;
+        } else if (policy == return_value_policy::automatic_reference) {
+            policy = return_value_policy::reference;
+        }
+        return cast_impl(src, policy, parent);
+    }
+
+    template <typename C>
+    static handle cast_impl(C *src, return_value_policy policy, handle parent) {
+        object parent_object;
+        constexpr bool writeable = !std::is_const<C>::value;
+        switch (policy) {
+            case return_value_policy::reference:
+                parent_object = none();
+                break;
+
+            case return_value_policy::reference_internal:
+                // Default should do the right thing
+                if (!parent) {
+                    pybind11_fail("Cannot use reference internal when there is no parent");
+                }
+                parent_object = reinterpret_borrow<object>(parent);
+                break;
+
+            case return_value_policy::take_ownership:
+                delete src;
+                // fallthrough
+            default:
+                // move, take_ownership don't make any sense for a ref/map:
+                pybind11_fail("Invalid return_value_policy for Eigen Map type, must be either "
+                              "reference or reference_internal");
+        }
+
+        auto result = array_t<typename Type::Scalar, compute_array_flag_from_tensor<Type>()>(
+            convert_dsizes_to_vector(Helper::get_shape(*src)),
+            src->data(),
+            std::move(parent_object));
+
+        if (!writeable) {
+            array_proxy(result.ptr())->flags &= ~detail::npy_api::NPY_ARRAY_WRITEABLE_;
+        }
+
+        return result.release();
+    }
+
+#if EIGEN_VERSION_AT_LEAST(3, 4, 0)
+
+    static constexpr bool needs_writeable = !std::is_const<typename std::remove_pointer<
+        typename get_storage_pointer_type<MapType>::SPT>::type>::value;
+#else
+    // Handle Eigen bug
+    static constexpr bool needs_writeable = !std::is_const<Type>::value;
+#endif
+
+protected:
+    // TODO: Move to std::optional once std::optional has more support
+    std::unique_ptr<MapType> value;
+
+public:
+    static constexpr auto name = get_tensor_descriptor<Type, true, needs_writeable>::value;
+    explicit operator MapType *() { return value.get(); }
+    explicit operator MapType &() { return *value; }
+    explicit operator MapType &&() && { return std::move(*value); }
+
+    template <typename T_>
+    using cast_op_type = ::pybind11::detail::movable_cast_op_type<T_>;
+};
+
+PYBIND11_NAMESPACE_END(detail)
+PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
diff --git a/pybind11/include/pybind11/embed.h b/pybind11/include/pybind11/embed.h
index d6999cd77..caa14f4a0 100644
--- a/pybind11/include/pybind11/embed.h
+++ b/pybind11/include/pybind11/embed.h
@@ -86,38 +86,26 @@ inline wchar_t *widen_chars(const char *safe_arg) {
     return widened_arg;
 }
 
-PYBIND11_NAMESPACE_END(detail)
-
-/** \rst
-    Initialize the Python interpreter. No other pybind11 or CPython API functions can be
-    called before this is done; with the exception of `PYBIND11_EMBEDDED_MODULE`. The
-    optional `init_signal_handlers` parameter can be used to skip the registration of
-    signal handlers (see the `Python documentation`_ for details). Calling this function
-    again after the interpreter has already been initialized is a fatal error.
-
-    If initializing the Python interpreter fails, then the program is terminated.  (This
-    is controlled by the CPython runtime and is an exception to pybind11's normal behavior
-    of throwing exceptions on errors.)
-
-    The remaining optional parameters, `argc`, `argv`, and `add_program_dir_to_path` are
-    used to populate ``sys.argv`` and ``sys.path``.
-    See the |PySys_SetArgvEx documentation|_ for details.
-
-    .. _Python documentation: https://docs.python.org/3/c-api/init.html#c.Py_InitializeEx
-    .. |PySys_SetArgvEx documentation| replace:: ``PySys_SetArgvEx`` documentation
-    .. _PySys_SetArgvEx documentation: https://docs.python.org/3/c-api/init.html#c.PySys_SetArgvEx
- \endrst */
-inline void initialize_interpreter(bool init_signal_handlers = true,
-                                   int argc = 0,
-                                   const char *const *argv = nullptr,
-                                   bool add_program_dir_to_path = true) {
+inline void precheck_interpreter() {
     if (Py_IsInitialized() != 0) {
         pybind11_fail("The interpreter is already running");
     }
+}
 
-#if PY_VERSION_HEX < 0x030B0000
+#if !defined(PYBIND11_PYCONFIG_SUPPORT_PY_VERSION_HEX)
+#    define PYBIND11_PYCONFIG_SUPPORT_PY_VERSION_HEX (0x03080000)
+#endif
 
+#if PY_VERSION_HEX < PYBIND11_PYCONFIG_SUPPORT_PY_VERSION_HEX
+inline void initialize_interpreter_pre_pyconfig(bool init_signal_handlers,
+                                                int argc,
+                                                const char *const *argv,
+                                                bool add_program_dir_to_path) {
+    detail::precheck_interpreter();
     Py_InitializeEx(init_signal_handlers ? 1 : 0);
+#    if defined(WITH_THREAD) && PY_VERSION_HEX < 0x03070000
+    PyEval_InitThreads();
+#    endif
 
     // Before it was special-cased in python 3.8, passing an empty or null argv
     // caused a segfault, so we have to reimplement the special case ourselves.
@@ -147,24 +135,30 @@ inline void initialize_interpreter(bool init_signal_handlers = true,
     auto *pysys_argv = widened_argv.get();
 
     PySys_SetArgvEx(argc, pysys_argv, static_cast<int>(add_program_dir_to_path));
-#else
-    PyConfig config;
-    PyConfig_InitIsolatedConfig(&config);
-    config.install_signal_handlers = init_signal_handlers ? 1 : 0;
+}
+#endif
 
-    PyStatus status = PyConfig_SetBytesArgv(&config, argc, const_cast<char *const *>(argv));
-    if (PyStatus_Exception(status)) {
+PYBIND11_NAMESPACE_END(detail)
+
+#if PY_VERSION_HEX >= PYBIND11_PYCONFIG_SUPPORT_PY_VERSION_HEX
+inline void initialize_interpreter(PyConfig *config,
+                                   int argc = 0,
+                                   const char *const *argv = nullptr,
+                                   bool add_program_dir_to_path = true) {
+    detail::precheck_interpreter();
+    PyStatus status = PyConfig_SetBytesArgv(config, argc, const_cast<char *const *>(argv));
+    if (PyStatus_Exception(status) != 0) {
         // A failure here indicates a character-encoding failure or the python
         // interpreter out of memory. Give up.
-        PyConfig_Clear(&config);
-        throw std::runtime_error(PyStatus_IsError(status) ? status.err_msg
-                                                          : "Failed to prepare CPython");
+        PyConfig_Clear(config);
+        throw std::runtime_error(PyStatus_IsError(status) != 0 ? status.err_msg
+                                                               : "Failed to prepare CPython");
     }
-    status = Py_InitializeFromConfig(&config);
-    PyConfig_Clear(&config);
-    if (PyStatus_Exception(status)) {
-        throw std::runtime_error(PyStatus_IsError(status) ? status.err_msg
-                                                          : "Failed to init CPython");
+    status = Py_InitializeFromConfig(config);
+    if (PyStatus_Exception(status) != 0) {
+        PyConfig_Clear(config);
+        throw std::runtime_error(PyStatus_IsError(status) != 0 ? status.err_msg
+                                                               : "Failed to init CPython");
     }
     if (add_program_dir_to_path) {
         PyRun_SimpleString("import sys, os.path; "
@@ -172,6 +166,44 @@ inline void initialize_interpreter(bool init_signal_handlers = true,
                            "os.path.abspath(os.path.dirname(sys.argv[0])) "
                            "if sys.argv and os.path.exists(sys.argv[0]) else '')");
     }
+    PyConfig_Clear(config);
+}
+#endif
+
+/** \rst
+    Initialize the Python interpreter. No other pybind11 or CPython API functions can be
+    called before this is done; with the exception of `PYBIND11_EMBEDDED_MODULE`. The
+    optional `init_signal_handlers` parameter can be used to skip the registration of
+    signal handlers (see the `Python documentation`_ for details). Calling this function
+    again after the interpreter has already been initialized is a fatal error.
+
+    If initializing the Python interpreter fails, then the program is terminated.  (This
+    is controlled by the CPython runtime and is an exception to pybind11's normal behavior
+    of throwing exceptions on errors.)
+
+    The remaining optional parameters, `argc`, `argv`, and `add_program_dir_to_path` are
+    used to populate ``sys.argv`` and ``sys.path``.
+    See the |PySys_SetArgvEx documentation|_ for details.
+
+    .. _Python documentation: https://docs.python.org/3/c-api/init.html#c.Py_InitializeEx
+    .. |PySys_SetArgvEx documentation| replace:: ``PySys_SetArgvEx`` documentation
+    .. _PySys_SetArgvEx documentation: https://docs.python.org/3/c-api/init.html#c.PySys_SetArgvEx
+ \endrst */
+inline void initialize_interpreter(bool init_signal_handlers = true,
+                                   int argc = 0,
+                                   const char *const *argv = nullptr,
+                                   bool add_program_dir_to_path = true) {
+#if PY_VERSION_HEX < PYBIND11_PYCONFIG_SUPPORT_PY_VERSION_HEX
+    detail::initialize_interpreter_pre_pyconfig(
+        init_signal_handlers, argc, argv, add_program_dir_to_path);
+#else
+    PyConfig config;
+    PyConfig_InitPythonConfig(&config);
+    // See PR #4473 for background
+    config.parse_argv = 0;
+
+    config.install_signal_handlers = init_signal_handlers ? 1 : 0;
+    initialize_interpreter(&config, argc, argv, add_program_dir_to_path);
 #endif
 }
 
@@ -211,16 +243,14 @@ inline void initialize_interpreter(bool init_signal_handlers = true,
 
  \endrst */
 inline void finalize_interpreter() {
-    handle builtins(PyEval_GetBuiltins());
-    const char *id = PYBIND11_INTERNALS_ID;
-
     // Get the internals pointer (without creating it if it doesn't exist).  It's possible for the
     // internals to be created during Py_Finalize() (e.g. if a py::capsule calls `get_internals()`
     // during destruction), so we get the pointer-pointer here and check it after Py_Finalize().
     detail::internals **internals_ptr_ptr = detail::get_internals_pp();
-    // It could also be stashed in builtins, so look there too:
-    if (builtins.contains(id) && isinstance<capsule>(builtins[id])) {
-        internals_ptr_ptr = capsule(builtins[id]);
+    // It could also be stashed in state_dict, so look there too:
+    if (object internals_obj
+        = get_internals_obj_from_state_dict(detail::get_python_state_dict())) {
+        internals_ptr_ptr = detail::get_internals_pp_from_capsule(internals_obj);
     }
     // Local internals contains data managed by the current interpreter, so we must clear them to
     // avoid undefined behaviors when initializing another interpreter
@@ -259,6 +289,15 @@ public:
         initialize_interpreter(init_signal_handlers, argc, argv, add_program_dir_to_path);
     }
 
+#if PY_VERSION_HEX >= PYBIND11_PYCONFIG_SUPPORT_PY_VERSION_HEX
+    explicit scoped_interpreter(PyConfig *config,
+                                int argc = 0,
+                                const char *const *argv = nullptr,
+                                bool add_program_dir_to_path = true) {
+        initialize_interpreter(config, argc, argv, add_program_dir_to_path);
+    }
+#endif
+
     scoped_interpreter(const scoped_interpreter &) = delete;
     scoped_interpreter(scoped_interpreter &&other) noexcept { other.is_valid = false; }
     scoped_interpreter &operator=(const scoped_interpreter &) = delete;
diff --git a/pybind11/include/pybind11/functional.h b/pybind11/include/pybind11/functional.h
index 4034990d8..87ec4d10c 100644
--- a/pybind11/include/pybind11/functional.h
+++ b/pybind11/include/pybind11/functional.h
@@ -48,9 +48,16 @@ public:
          */
         if (auto cfunc = func.cpp_function()) {
             auto *cfunc_self = PyCFunction_GET_SELF(cfunc.ptr());
-            if (isinstance<capsule>(cfunc_self)) {
+            if (cfunc_self == nullptr) {
+                PyErr_Clear();
+            } else if (isinstance<capsule>(cfunc_self)) {
                 auto c = reinterpret_borrow<capsule>(cfunc_self);
-                auto *rec = (function_record *) c;
+
+                function_record *rec = nullptr;
+                // Check that we can safely reinterpret the capsule into a function_record
+                if (detail::is_function_record_capsule(c)) {
+                    rec = c.get_pointer<function_record>();
+                }
 
                 while (rec != nullptr) {
                     if (rec->is_stateless
@@ -110,7 +117,7 @@ public:
     template <typename Func>
     static handle cast(Func &&f_, return_value_policy policy, handle /* parent */) {
         if (!f_) {
-            return none().inc_ref();
+            return none().release();
         }
 
         auto result = f_.template target<function_type>();
diff --git a/pybind11/include/pybind11/gil.h b/pybind11/include/pybind11/gil.h
index a0b5de151..570a5581d 100644
--- a/pybind11/include/pybind11/gil.h
+++ b/pybind11/include/pybind11/gil.h
@@ -10,7 +10,10 @@
 #pragma once
 
 #include "detail/common.h"
-#include "detail/internals.h"
+
+#if defined(WITH_THREAD) && !defined(PYBIND11_SIMPLE_GIL_MANAGEMENT)
+#    include "detail/internals.h"
+#endif
 
 PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
 
@@ -21,7 +24,9 @@ PyThreadState *get_thread_state_unchecked();
 
 PYBIND11_NAMESPACE_END(detail)
 
-#if defined(WITH_THREAD) && !defined(PYPY_VERSION)
+#if defined(WITH_THREAD)
+
+#    if !defined(PYBIND11_SIMPLE_GIL_MANAGEMENT)
 
 /* The functions below essentially reproduce the PyGILState_* API using a RAII
  * pattern, but there are a few important differences:
@@ -62,11 +67,11 @@ public:
 
         if (!tstate) {
             tstate = PyThreadState_New(internals.istate);
-#    if defined(PYBIND11_DETAILED_ERROR_MESSAGES)
+#        if defined(PYBIND11_DETAILED_ERROR_MESSAGES)
             if (!tstate) {
                 pybind11_fail("scoped_acquire: could not create thread state!");
             }
-#    endif
+#        endif
             tstate->gilstate_counter = 0;
             PYBIND11_TLS_REPLACE_VALUE(internals.tstate, tstate);
         } else {
@@ -80,24 +85,27 @@ public:
         inc_ref();
     }
 
+    gil_scoped_acquire(const gil_scoped_acquire &) = delete;
+    gil_scoped_acquire &operator=(const gil_scoped_acquire &) = delete;
+
     void inc_ref() { ++tstate->gilstate_counter; }
 
     PYBIND11_NOINLINE void dec_ref() {
         --tstate->gilstate_counter;
-#    if defined(PYBIND11_DETAILED_ERROR_MESSAGES)
+#        if defined(PYBIND11_DETAILED_ERROR_MESSAGES)
         if (detail::get_thread_state_unchecked() != tstate) {
             pybind11_fail("scoped_acquire::dec_ref(): thread state must be current!");
         }
         if (tstate->gilstate_counter < 0) {
             pybind11_fail("scoped_acquire::dec_ref(): reference count underflow!");
         }
-#    endif
+#        endif
         if (tstate->gilstate_counter == 0) {
-#    if defined(PYBIND11_DETAILED_ERROR_MESSAGES)
+#        if defined(PYBIND11_DETAILED_ERROR_MESSAGES)
             if (!release) {
                 pybind11_fail("scoped_acquire::dec_ref(): internal error!");
             }
-#    endif
+#        endif
             PyThreadState_Clear(tstate);
             if (active) {
                 PyThreadState_DeleteCurrent();
@@ -144,6 +152,9 @@ public:
         }
     }
 
+    gil_scoped_release(const gil_scoped_release &) = delete;
+    gil_scoped_release &operator=(const gil_scoped_release &) = delete;
+
     /// This method will disable the PyThreadState_DeleteCurrent call and the
     /// GIL won't be acquired. This method should be used if the interpreter
     /// could be shutting down when this is called, as thread deletion is not
@@ -172,12 +183,16 @@ private:
     bool disassoc;
     bool active = true;
 };
-#elif defined(PYPY_VERSION)
+
+#    else // PYBIND11_SIMPLE_GIL_MANAGEMENT
+
 class gil_scoped_acquire {
     PyGILState_STATE state;
 
 public:
-    gil_scoped_acquire() { state = PyGILState_Ensure(); }
+    gil_scoped_acquire() : state{PyGILState_Ensure()} {}
+    gil_scoped_acquire(const gil_scoped_acquire &) = delete;
+    gil_scoped_acquire &operator=(const gil_scoped_acquire &) = delete;
     ~gil_scoped_acquire() { PyGILState_Release(state); }
     void disarm() {}
 };
@@ -186,17 +201,39 @@ class gil_scoped_release {
     PyThreadState *state;
 
 public:
-    gil_scoped_release() { state = PyEval_SaveThread(); }
+    gil_scoped_release() : state{PyEval_SaveThread()} {}
+    gil_scoped_release(const gil_scoped_release &) = delete;
+    gil_scoped_release &operator=(const gil_scoped_release &) = delete;
     ~gil_scoped_release() { PyEval_RestoreThread(state); }
     void disarm() {}
 };
-#else
+
+#    endif // PYBIND11_SIMPLE_GIL_MANAGEMENT
+
+#else // WITH_THREAD
+
 class gil_scoped_acquire {
+public:
+    gil_scoped_acquire() {
+        // Trick to suppress `unused variable` error messages (at call sites).
+        (void) (this != (this + 1));
+    }
+    gil_scoped_acquire(const gil_scoped_acquire &) = delete;
+    gil_scoped_acquire &operator=(const gil_scoped_acquire &) = delete;
     void disarm() {}
 };
+
 class gil_scoped_release {
+public:
+    gil_scoped_release() {
+        // Trick to suppress `unused variable` error messages (at call sites).
+        (void) (this != (this + 1));
+    }
+    gil_scoped_release(const gil_scoped_release &) = delete;
+    gil_scoped_release &operator=(const gil_scoped_release &) = delete;
     void disarm() {}
 };
-#endif
+
+#endif // WITH_THREAD
 
 PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
diff --git a/pybind11/include/pybind11/numpy.h b/pybind11/include/pybind11/numpy.h
index 0291b02d0..36077ec04 100644
--- a/pybind11/include/pybind11/numpy.h
+++ b/pybind11/include/pybind11/numpy.h
@@ -36,6 +36,8 @@ static_assert(std::is_signed<Py_intptr_t>::value, "Py_intptr_t must be signed");
 
 PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
 
+PYBIND11_WARNING_DISABLE_MSVC(4127)
+
 class array; // Forward declaration
 
 PYBIND11_NAMESPACE_BEGIN(detail)
@@ -537,7 +539,7 @@ PYBIND11_NAMESPACE_END(detail)
 
 class dtype : public object {
 public:
-    PYBIND11_OBJECT_DEFAULT(dtype, object, detail::npy_api::get().PyArrayDescr_Check_);
+    PYBIND11_OBJECT_DEFAULT(dtype, object, detail::npy_api::get().PyArrayDescr_Check_)
 
     explicit dtype(const buffer_info &info) {
         dtype descr(_dtype_from_pep3118()(pybind11::str(info.format)));
@@ -562,6 +564,8 @@ public:
         m_ptr = from_args(args).release().ptr();
     }
 
+    /// Return dtype for the given typenum (one of the NPY_TYPES).
+    /// https://numpy.org/devdocs/reference/c-api/array.html#c.PyArray_DescrFromType
     explicit dtype(int typenum)
         : object(detail::npy_api::get().PyArray_DescrFromType_(typenum), stolen_t{}) {
         if (m_ptr == nullptr) {
@@ -875,7 +879,7 @@ public:
      */
     template <typename T, ssize_t Dims = -1>
     detail::unchecked_mutable_reference<T, Dims> mutable_unchecked() & {
-        if (PYBIND11_SILENCE_MSVC_C4127(Dims >= 0) && ndim() != Dims) {
+        if (Dims >= 0 && ndim() != Dims) {
             throw std::domain_error("array has incorrect number of dimensions: "
                                     + std::to_string(ndim()) + "; expected "
                                     + std::to_string(Dims));
@@ -893,7 +897,7 @@ public:
      */
     template <typename T, ssize_t Dims = -1>
     detail::unchecked_reference<T, Dims> unchecked() const & {
-        if (PYBIND11_SILENCE_MSVC_C4127(Dims >= 0) && ndim() != Dims) {
+        if (Dims >= 0 && ndim() != Dims) {
             throw std::domain_error("array has incorrect number of dimensions: "
                                     + std::to_string(ndim()) + "; expected "
                                     + std::to_string(Dims));
@@ -1119,10 +1123,10 @@ public:
 
     /**
      * Returns a proxy object that provides const access to the array's data without bounds or
-     * dimensionality checking.  Unlike `unchecked()`, this does not require that the underlying
-     * array have the `writable` flag.  Use with care: the array must not be destroyed or reshaped
-     * for the duration of the returned object, and the caller must take care not to access invalid
-     * dimensions or dimension indices.
+     * dimensionality checking.  Unlike `mutable_unchecked()`, this does not require that the
+     * underlying array have the `writable` flag.  Use with care: the array must not be destroyed
+     * or reshaped for the duration of the returned object, and the caller must take care not to
+     * access invalid dimensions or dimension indices.
      */
     template <ssize_t Dims = -1>
     detail::unchecked_reference<T, Dims> unchecked() const & {
@@ -1281,12 +1285,16 @@ private:
 public:
     static constexpr int value = values[detail::is_fmt_numeric<T>::index];
 
-    static pybind11::dtype dtype() {
-        if (auto *ptr = npy_api::get().PyArray_DescrFromType_(value)) {
-            return reinterpret_steal<pybind11::dtype>(ptr);
-        }
-        pybind11_fail("Unsupported buffer format!");
-    }
+    static pybind11::dtype dtype() { return pybind11::dtype(/*typenum*/ value); }
+};
+
+template <typename T>
+struct npy_format_descriptor<T, enable_if_t<is_same_ignoring_cvref<T, PyObject *>::value>> {
+    static constexpr auto name = const_name("object");
+
+    static constexpr int value = npy_api::NPY_OBJECT_;
+
+    static pybind11::dtype dtype() { return pybind11::dtype(/*typenum*/ value); }
 };
 
 #define PYBIND11_DECL_CHAR_FMT                                                                    \
@@ -1401,7 +1409,7 @@ PYBIND11_NOINLINE void register_structured_dtype(any_container<field_descriptor>
     oss << '}';
     auto format_str = oss.str();
 
-    // Sanity check: verify that NumPy properly parses our buffer format string
+    // Smoke test: verify that NumPy properly parses our buffer format string
     auto &api = npy_api::get();
     auto arr = array(buffer_info(nullptr, itemsize, format_str, 1));
     if (!api.PyArray_EquivTypes_(dtype_ptr, arr.dtype().ptr())) {
@@ -1469,7 +1477,7 @@ private:
         }
 
 // Extract name, offset and format descriptor for a struct field
-#    define PYBIND11_FIELD_DESCRIPTOR(T, Field) PYBIND11_FIELD_DESCRIPTOR_EX(T, Field, #    Field)
+#    define PYBIND11_FIELD_DESCRIPTOR(T, Field) PYBIND11_FIELD_DESCRIPTOR_EX(T, Field, #Field)
 
 // The main idea of this macro is borrowed from https://github.com/swansontec/map-macro
 // (C) William Swanson, Paul Fultz
@@ -1866,8 +1874,13 @@ private:
 
         auto result = returned_array::create(trivial, shape);
 
+        PYBIND11_WARNING_PUSH
+#ifdef PYBIND11_DETECTED_CLANG_WITH_MISLEADING_CALL_STD_MOVE_EXPLICITLY_WARNING
+        PYBIND11_WARNING_DISABLE_CLANG("-Wreturn-std-move")
+#endif
+
         if (size == 0) {
-            return std::move(result);
+            return result;
         }
 
         /* Call the function */
@@ -1878,7 +1891,8 @@ private:
             apply_trivial(buffers, params, mutable_data, size, i_seq, vi_seq, bi_seq);
         }
 
-        return std::move(result);
+        return result;
+        PYBIND11_WARNING_POP
     }
 
     template <size_t... Index, size_t... VIndex, size_t... BIndex>
diff --git a/pybind11/include/pybind11/operators.h b/pybind11/include/pybind11/operators.h
index a0c3b78d6..16a88ae17 100644
--- a/pybind11/include/pybind11/operators.h
+++ b/pybind11/include/pybind11/operators.h
@@ -84,6 +84,7 @@ struct op_impl {};
 /// Operator implementation generator
 template <op_id id, op_type ot, typename L, typename R>
 struct op_ {
+    static constexpr bool op_enable_if_hook = true;
     template <typename Class, typename... Extra>
     void execute(Class &cl, const Extra &...extra) const {
         using Base = typename Class::type;
diff --git a/pybind11/include/pybind11/options.h b/pybind11/include/pybind11/options.h
index 1e493bdcc..1b2122522 100644
--- a/pybind11/include/pybind11/options.h
+++ b/pybind11/include/pybind11/options.h
@@ -47,6 +47,16 @@ public:
         return *this;
     }
 
+    options &disable_enum_members_docstring() & {
+        global_state().show_enum_members_docstring = false;
+        return *this;
+    }
+
+    options &enable_enum_members_docstring() & {
+        global_state().show_enum_members_docstring = true;
+        return *this;
+    }
+
     // Getter methods (return the global state):
 
     static bool show_user_defined_docstrings() {
@@ -55,6 +65,10 @@ public:
 
     static bool show_function_signatures() { return global_state().show_function_signatures; }
 
+    static bool show_enum_members_docstring() {
+        return global_state().show_enum_members_docstring;
+    }
+
     // This type is not meant to be allocated on the heap.
     void *operator new(size_t) = delete;
 
@@ -63,6 +77,8 @@ private:
         bool show_user_defined_docstrings = true; //< Include user-supplied texts in docstrings.
         bool show_function_signatures = true;     //< Include auto-generated function signatures
                                                   //  in docstrings.
+        bool show_enum_members_docstring = true;  //< Include auto-generated member list in enum
+                                                  //  docstrings.
     };
 
     static state &global_state() {
diff --git a/pybind11/include/pybind11/pybind11.h b/pybind11/include/pybind11/pybind11.h
index d61dcd5c7..3bce1a01b 100644
--- a/pybind11/include/pybind11/pybind11.h
+++ b/pybind11/include/pybind11/pybind11.h
@@ -35,6 +35,8 @@
 #    include <cxxabi.h>
 #endif
 
+PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
+
 /* https://stackoverflow.com/questions/46798456/handling-gccs-noexcept-type-warning
    This warning is about ABI compatibility, not code health.
    It is only actually needed in a couple places, but apparently GCC 7 "generates this warning if
@@ -43,11 +45,10 @@
    No other GCC version generates this warning.
  */
 #if defined(__GNUC__) && __GNUC__ == 7
-#    pragma GCC diagnostic push
-#    pragma GCC diagnostic ignored "-Wnoexcept-type"
+PYBIND11_WARNING_DISABLE_GCC("-Wnoexcept-type")
 #endif
 
-PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
+PYBIND11_WARNING_DISABLE_MSVC(4127)
 
 PYBIND11_NAMESPACE_BEGIN(detail)
 
@@ -83,6 +84,7 @@ public:
     cpp_function() = default;
     // NOLINTNEXTLINE(google-explicit-constructor)
     cpp_function(std::nullptr_t) {}
+    cpp_function(std::nullptr_t, const is_setter &) {}
 
     /// Construct a cpp_function from a vanilla function pointer
     template <typename Return, typename... Args, typename... Extra>
@@ -177,22 +179,22 @@ protected:
         auto *rec = unique_rec.get();
 
         /* Store the capture object directly in the function record if there is enough space */
-        if (PYBIND11_SILENCE_MSVC_C4127(sizeof(capture) <= sizeof(rec->data))) {
+        if (sizeof(capture) <= sizeof(rec->data)) {
             /* Without these pragmas, GCC warns that there might not be
                enough space to use the placement new operator. However, the
                'if' statement above ensures that this is the case. */
-#if defined(__GNUG__) && __GNUC__ >= 6 && !defined(__clang__) && !defined(__INTEL_COMPILER)
-#    pragma GCC diagnostic push
-#    pragma GCC diagnostic ignored "-Wplacement-new"
+            PYBIND11_WARNING_PUSH
+
+#if defined(__GNUG__) && __GNUC__ >= 6
+            PYBIND11_WARNING_DISABLE_GCC("-Wplacement-new")
 #endif
+
             new ((capture *) &rec->data) capture{std::forward<Func>(f)};
-#if defined(__GNUG__) && __GNUC__ >= 6 && !defined(__clang__) && !defined(__INTEL_COMPILER)
-#    pragma GCC diagnostic pop
-#endif
-#if defined(__GNUG__) && !PYBIND11_HAS_STD_LAUNDER && !defined(__INTEL_COMPILER)
-#    pragma GCC diagnostic push
-#    pragma GCC diagnostic ignored "-Wstrict-aliasing"
+
+#if !PYBIND11_HAS_STD_LAUNDER
+            PYBIND11_WARNING_DISABLE_GCC("-Wstrict-aliasing")
 #endif
+
             // UB without std::launder, but without breaking ABI and/or
             // a significant refactoring it's "impossible" to solve.
             if (!std::is_trivially_destructible<capture>::value) {
@@ -202,9 +204,7 @@ protected:
                     data->~capture();
                 };
             }
-#if defined(__GNUG__) && !PYBIND11_HAS_STD_LAUNDER && !defined(__INTEL_COMPILER)
-#    pragma GCC diagnostic pop
-#endif
+            PYBIND11_WARNING_POP
         } else {
             rec->data[0] = new capture{std::forward<Func>(f)};
             rec->free_data = [](function_record *r) { delete ((capture *) r->data[0]); };
@@ -245,10 +245,16 @@ protected:
             using Guard = extract_guard_t<Extra...>;
 
             /* Perform the function call */
-            handle result
-                = cast_out::cast(std::move(args_converter).template call<Return, Guard>(cap->f),
-                                 policy,
-                                 call.parent);
+            handle result;
+            if (call.func.is_setter) {
+                (void) std::move(args_converter).template call<Return, Guard>(cap->f);
+                result = none().release();
+            } else {
+                result = cast_out::cast(
+                    std::move(args_converter).template call<Return, Guard>(cap->f),
+                    policy,
+                    call.parent);
+            }
 
             /* Invoke call policy post-call hook */
             process_attributes<Extra...>::postcall(call, result);
@@ -468,13 +474,20 @@ protected:
         if (rec->sibling) {
             if (PyCFunction_Check(rec->sibling.ptr())) {
                 auto *self = PyCFunction_GET_SELF(rec->sibling.ptr());
-                capsule rec_capsule = isinstance<capsule>(self) ? reinterpret_borrow<capsule>(self)
-                                                                : capsule(self);
-                chain = (detail::function_record *) rec_capsule;
-                /* Never append a method to an overload chain of a parent class;
-                   instead, hide the parent's overloads in this case */
-                if (!chain->scope.is(rec->scope)) {
+                if (!isinstance<capsule>(self)) {
                     chain = nullptr;
+                } else {
+                    auto rec_capsule = reinterpret_borrow<capsule>(self);
+                    if (detail::is_function_record_capsule(rec_capsule)) {
+                        chain = rec_capsule.get_pointer<detail::function_record>();
+                        /* Never append a method to an overload chain of a parent class;
+                           instead, hide the parent's overloads in this case */
+                        if (!chain->scope.is(rec->scope)) {
+                            chain = nullptr;
+                        }
+                    } else {
+                        chain = nullptr;
+                    }
                 }
             }
             // Don't trigger for things like the default __init__, which are wrapper_descriptors
@@ -495,6 +508,7 @@ protected:
             rec->def->ml_flags = METH_VARARGS | METH_KEYWORDS;
 
             capsule rec_capsule(unique_rec.release(),
+                                detail::get_function_record_capsule_name(),
                                 [](void *ptr) { destruct((detail::function_record *) ptr); });
             guarded_strdup.release();
 
@@ -661,10 +675,13 @@ protected:
     /// Main dispatch logic for calls to functions bound using pybind11
     static PyObject *dispatcher(PyObject *self, PyObject *args_in, PyObject *kwargs_in) {
         using namespace detail;
+        assert(isinstance<capsule>(self));
 
         /* Iterator over the list of potentially admissible overloads */
-        const function_record *overloads = (function_record *) PyCapsule_GetPointer(self, nullptr),
+        const function_record *overloads = reinterpret_cast<function_record *>(
+                                  PyCapsule_GetPointer(self, get_function_record_capsule_name())),
                               *it = overloads;
+        assert(overloads != nullptr);
 
         /* Need to know how many arguments + keyword arguments there are to pick the right
            overload */
@@ -1416,9 +1433,9 @@ template <typename T, enable_if_t<has_operator_delete<T>::value, int> = 0>
 void call_operator_delete(T *p, size_t, size_t) {
     T::operator delete(p);
 }
-template <
-    typename T,
-    enable_if_t<!has_operator_delete<T>::value && has_operator_delete_size<T>::value, int> = 0>
+template <typename T,
+          enable_if_t<!has_operator_delete<T>::value && has_operator_delete_size<T>::value, int>
+          = 0>
 void call_operator_delete(T *p, size_t s, size_t) {
     T::operator delete(p, s);
 }
@@ -1578,14 +1595,14 @@ public:
         return *this;
     }
 
-    template <detail::op_id id, detail::op_type ot, typename L, typename R, typename... Extra>
-    class_ &def(const detail::op_<id, ot, L, R> &op, const Extra &...extra) {
+    template <typename T, typename... Extra, detail::enable_if_t<T::op_enable_if_hook, int> = 0>
+    class_ &def(const T &op, const Extra &...extra) {
         op.execute(*this, extra...);
         return *this;
     }
 
-    template <detail::op_id id, detail::op_type ot, typename L, typename R, typename... Extra>
-    class_ &def_cast(const detail::op_<id, ot, L, R> &op, const Extra &...extra) {
+    template <typename T, typename... Extra, detail::enable_if_t<T::op_enable_if_hook, int> = 0>
+    class_ &def_cast(const T &op, const Extra &...extra) {
         op.execute_cast(*this, extra...);
         return *this;
     }
@@ -1719,7 +1736,8 @@ public:
     template <typename Getter, typename Setter, typename... Extra>
     class_ &
     def_property(const char *name, const Getter &fget, const Setter &fset, const Extra &...extra) {
-        return def_property(name, fget, cpp_function(method_adaptor<type>(fset)), extra...);
+        return def_property(
+            name, fget, cpp_function(method_adaptor<type>(fset), is_setter()), extra...);
     }
     template <typename Getter, typename... Extra>
     class_ &def_property(const char *name,
@@ -1830,8 +1848,7 @@ private:
         if (holder_ptr) {
             init_holder_from_existing(v_h, holder_ptr, std::is_copy_constructible<holder_type>());
             v_h.set_holder_constructed();
-        } else if (PYBIND11_SILENCE_MSVC_C4127(detail::always_construct_holder<holder_type>::value)
-                   || inst->owned) {
+        } else if (detail::always_construct_holder<holder_type>::value || inst->owned) {
             new (std::addressof(v_h.holder<holder_type>())) holder_type(v_h.value_ptr<type>());
             v_h.set_holder_constructed();
         }
@@ -1871,9 +1888,22 @@ private:
 
     static detail::function_record *get_function_record(handle h) {
         h = detail::get_function(h);
-        return h ? (detail::function_record *) reinterpret_borrow<capsule>(
-                   PyCFunction_GET_SELF(h.ptr()))
-                 : nullptr;
+        if (!h) {
+            return nullptr;
+        }
+
+        handle func_self = PyCFunction_GET_SELF(h.ptr());
+        if (!func_self) {
+            throw error_already_set();
+        }
+        if (!isinstance<capsule>(func_self)) {
+            return nullptr;
+        }
+        auto cap = reinterpret_borrow<capsule>(func_self);
+        if (!detail::is_function_record_capsule(cap)) {
+            return nullptr;
+        }
+        return cap.get_pointer<detail::function_record>();
     }
 };
 
@@ -1950,29 +1980,35 @@ struct enum_base {
             name("name"),
             is_method(m_base));
 
-        m_base.attr("__doc__") = static_property(
-            cpp_function(
-                [](handle arg) -> std::string {
-                    std::string docstring;
-                    dict entries = arg.attr("__entries");
-                    if (((PyTypeObject *) arg.ptr())->tp_doc) {
-                        docstring += std::string(((PyTypeObject *) arg.ptr())->tp_doc) + "\n\n";
-                    }
-                    docstring += "Members:";
-                    for (auto kv : entries) {
-                        auto key = std::string(pybind11::str(kv.first));
-                        auto comment = kv.second[int_(1)];
-                        docstring += "\n\n  " + key;
-                        if (!comment.is_none()) {
-                            docstring += " : " + (std::string) pybind11::str(comment);
+        if (options::show_enum_members_docstring()) {
+            m_base.attr("__doc__") = static_property(
+                cpp_function(
+                    [](handle arg) -> std::string {
+                        std::string docstring;
+                        dict entries = arg.attr("__entries");
+                        if (((PyTypeObject *) arg.ptr())->tp_doc) {
+                            docstring += std::string(
+                                reinterpret_cast<PyTypeObject *>(arg.ptr())->tp_doc);
+                            docstring += "\n\n";
                         }
-                    }
-                    return docstring;
-                },
-                name("__doc__")),
-            none(),
-            none(),
-            "");
+                        docstring += "Members:";
+                        for (auto kv : entries) {
+                            auto key = std::string(pybind11::str(kv.first));
+                            auto comment = kv.second[int_(1)];
+                            docstring += "\n\n  ";
+                            docstring += key;
+                            if (!comment.is_none()) {
+                                docstring += " : ";
+                                docstring += pybind11::str(comment).cast<std::string>();
+                            }
+                        }
+                        return docstring;
+                    },
+                    name("__doc__")),
+                none(),
+                none(),
+                "");
+        }
 
         m_base.attr("__members__") = static_property(cpp_function(
                                                          [](handle arg) -> dict {
@@ -2073,7 +2109,7 @@ struct enum_base {
                               + "\" already exists!");
         }
 
-        entries[name] = std::make_pair(value, doc);
+        entries[name] = pybind11::make_tuple(value, doc);
         m_base.attr(std::move(name)) = std::move(value);
     }
 
@@ -2333,7 +2369,7 @@ template <typename Access,
           typename Sentinel,
           typename ValueType,
           typename... Extra>
-iterator make_iterator_impl(Iterator &&first, Sentinel &&last, Extra &&...extra) {
+iterator make_iterator_impl(Iterator first, Sentinel last, Extra &&...extra) {
     using state = detail::iterator_state<Access, Policy, Iterator, Sentinel, ValueType, Extra...>;
     // TODO: state captures only the types of Extra, not the values
 
@@ -2359,7 +2395,7 @@ iterator make_iterator_impl(Iterator &&first, Sentinel &&last, Extra &&...extra)
                 Policy);
     }
 
-    return cast(state{std::forward<Iterator>(first), std::forward<Sentinel>(last), true});
+    return cast(state{first, last, true});
 }
 
 PYBIND11_NAMESPACE_END(detail)
@@ -2370,15 +2406,13 @@ template <return_value_policy Policy = return_value_policy::reference_internal,
           typename Sentinel,
           typename ValueType = typename detail::iterator_access<Iterator>::result_type,
           typename... Extra>
-iterator make_iterator(Iterator &&first, Sentinel &&last, Extra &&...extra) {
+iterator make_iterator(Iterator first, Sentinel last, Extra &&...extra) {
     return detail::make_iterator_impl<detail::iterator_access<Iterator>,
                                       Policy,
                                       Iterator,
                                       Sentinel,
                                       ValueType,
-                                      Extra...>(std::forward<Iterator>(first),
-                                                std::forward<Sentinel>(last),
-                                                std::forward<Extra>(extra)...);
+                                      Extra...>(first, last, std::forward<Extra>(extra)...);
 }
 
 /// Makes a python iterator over the keys (`.first`) of a iterator over pairs from a
@@ -2388,15 +2422,13 @@ template <return_value_policy Policy = return_value_policy::reference_internal,
           typename Sentinel,
           typename KeyType = typename detail::iterator_key_access<Iterator>::result_type,
           typename... Extra>
-iterator make_key_iterator(Iterator &&first, Sentinel &&last, Extra &&...extra) {
+iterator make_key_iterator(Iterator first, Sentinel last, Extra &&...extra) {
     return detail::make_iterator_impl<detail::iterator_key_access<Iterator>,
                                       Policy,
                                       Iterator,
                                       Sentinel,
                                       KeyType,
-                                      Extra...>(std::forward<Iterator>(first),
-                                                std::forward<Sentinel>(last),
-                                                std::forward<Extra>(extra)...);
+                                      Extra...>(first, last, std::forward<Extra>(extra)...);
 }
 
 /// Makes a python iterator over the values (`.second`) of a iterator over pairs from a
@@ -2406,15 +2438,13 @@ template <return_value_policy Policy = return_value_policy::reference_internal,
           typename Sentinel,
           typename ValueType = typename detail::iterator_value_access<Iterator>::result_type,
           typename... Extra>
-iterator make_value_iterator(Iterator &&first, Sentinel &&last, Extra &&...extra) {
+iterator make_value_iterator(Iterator first, Sentinel last, Extra &&...extra) {
     return detail::make_iterator_impl<detail::iterator_value_access<Iterator>,
                                       Policy,
                                       Iterator,
                                       Sentinel,
                                       ValueType,
-                                      Extra...>(std::forward<Iterator>(first),
-                                                std::forward<Sentinel>(last),
-                                                std::forward<Extra>(extra)...);
+                                      Extra...>(first, last, std::forward<Extra>(extra)...);
 }
 
 /// Makes an iterator over values of an stl container or other container supporting
@@ -2858,7 +2888,3 @@ inline function get_overload(const T *this_ptr, const char *name) {
     PYBIND11_OVERRIDE_PURE(PYBIND11_TYPE(ret_type), PYBIND11_TYPE(cname), fn, __VA_ARGS__);
 
 PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
-
-#if defined(__GNUC__) && __GNUC__ == 7
-#    pragma GCC diagnostic pop // -Wnoexcept-type
-#endif
diff --git a/pybind11/include/pybind11/pytypes.h b/pybind11/include/pybind11/pytypes.h
index 339b0961e..64aad6347 100644
--- a/pybind11/include/pybind11/pytypes.h
+++ b/pybind11/include/pybind11/pytypes.h
@@ -33,6 +33,8 @@
 
 PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
 
+PYBIND11_WARNING_DISABLE_MSVC(4127)
+
 /* A few forward declarations */
 class handle;
 class object;
@@ -155,23 +157,23 @@ public:
     object operator-() const;
     object operator~() const;
     object operator+(object_api const &other) const;
-    object operator+=(object_api const &other) const;
+    object operator+=(object_api const &other);
     object operator-(object_api const &other) const;
-    object operator-=(object_api const &other) const;
+    object operator-=(object_api const &other);
     object operator*(object_api const &other) const;
-    object operator*=(object_api const &other) const;
+    object operator*=(object_api const &other);
     object operator/(object_api const &other) const;
-    object operator/=(object_api const &other) const;
+    object operator/=(object_api const &other);
     object operator|(object_api const &other) const;
-    object operator|=(object_api const &other) const;
+    object operator|=(object_api const &other);
     object operator&(object_api const &other) const;
-    object operator&=(object_api const &other) const;
+    object operator&=(object_api const &other);
     object operator^(object_api const &other) const;
-    object operator^=(object_api const &other) const;
+    object operator^=(object_api const &other);
     object operator<<(object_api const &other) const;
-    object operator<<=(object_api const &other) const;
+    object operator<<=(object_api const &other);
     object operator>>(object_api const &other) const;
-    object operator>>=(object_api const &other) const;
+    object operator>>=(object_api const &other);
 
     PYBIND11_DEPRECATED("Use py::str(obj) instead")
     pybind11::str str() const;
@@ -230,7 +232,8 @@ public:
         detail::enable_if_t<detail::all_of<detail::none_of<std::is_base_of<handle, T>,
                                                            detail::is_pyobj_ptr_or_nullptr_t<T>>,
                                            std::is_convertible<T, PyObject *>>::value,
-                            int> = 0>
+                            int>
+        = 0>
     // NOLINTNEXTLINE(google-explicit-constructor)
     handle(T &obj) : m_ptr(obj) {}
 
@@ -246,6 +249,11 @@ public:
     const handle &inc_ref() const & {
 #ifdef PYBIND11_HANDLE_REF_DEBUG
         inc_ref_counter(1);
+#endif
+#ifdef PYBIND11_ASSERT_GIL_HELD_INCREF_DECREF
+        if (m_ptr != nullptr && !PyGILState_Check()) {
+            throw_gilstate_error("pybind11::handle::inc_ref()");
+        }
 #endif
         Py_XINCREF(m_ptr);
         return *this;
@@ -257,6 +265,11 @@ public:
         this function automatically. Returns a reference to itself.
     \endrst */
     const handle &dec_ref() const & {
+#ifdef PYBIND11_ASSERT_GIL_HELD_INCREF_DECREF
+        if (m_ptr != nullptr && !PyGILState_Check()) {
+            throw_gilstate_error("pybind11::handle::dec_ref()");
+        }
+#endif
         Py_XDECREF(m_ptr);
         return *this;
     }
@@ -283,8 +296,33 @@ public:
 protected:
     PyObject *m_ptr = nullptr;
 
-#ifdef PYBIND11_HANDLE_REF_DEBUG
 private:
+#ifdef PYBIND11_ASSERT_GIL_HELD_INCREF_DECREF
+    void throw_gilstate_error(const std::string &function_name) const {
+        fprintf(
+            stderr,
+            "%s is being called while the GIL is either not held or invalid. Please see "
+            "https://pybind11.readthedocs.io/en/stable/advanced/"
+            "misc.html#common-sources-of-global-interpreter-lock-errors for debugging advice.\n"
+            "If you are convinced there is no bug in your code, you can #define "
+            "PYBIND11_NO_ASSERT_GIL_HELD_INCREF_DECREF"
+            "to disable this check. In that case you have to ensure this #define is consistently "
+            "used for all translation units linked into a given pybind11 extension, otherwise "
+            "there will be ODR violations.",
+            function_name.c_str());
+        fflush(stderr);
+        if (Py_TYPE(m_ptr)->tp_name != nullptr) {
+            fprintf(stderr,
+                    "The failing %s call was triggered on a %s object.\n",
+                    function_name.c_str(),
+                    Py_TYPE(m_ptr)->tp_name);
+            fflush(stderr);
+        }
+        throw std::runtime_error(function_name + " PyGILState_Check() failure.");
+    }
+#endif
+
+#ifdef PYBIND11_HANDLE_REF_DEBUG
     static std::size_t inc_ref_counter(std::size_t add) {
         thread_local std::size_t counter = 0;
         counter += add;
@@ -334,12 +372,15 @@ public:
     }
 
     object &operator=(const object &other) {
-        other.inc_ref();
-        // Use temporary variable to ensure `*this` remains valid while
-        // `Py_XDECREF` executes, in case `*this` is accessible from Python.
-        handle temp(m_ptr);
-        m_ptr = other.m_ptr;
-        temp.dec_ref();
+        // Skip inc_ref and dec_ref if both objects are the same
+        if (!this->is(other)) {
+            other.inc_ref();
+            // Use temporary variable to ensure `*this` remains valid while
+            // `Py_XDECREF` executes, in case `*this` is accessible from Python.
+            handle temp(m_ptr);
+            m_ptr = other.m_ptr;
+            temp.dec_ref();
+        }
         return *this;
     }
 
@@ -353,6 +394,20 @@ public:
         return *this;
     }
 
+#define PYBIND11_INPLACE_OP(iop)                                                                  \
+    object iop(object_api const &other) { return operator=(handle::iop(other)); }
+
+    PYBIND11_INPLACE_OP(operator+=)
+    PYBIND11_INPLACE_OP(operator-=)
+    PYBIND11_INPLACE_OP(operator*=)
+    PYBIND11_INPLACE_OP(operator/=)
+    PYBIND11_INPLACE_OP(operator|=)
+    PYBIND11_INPLACE_OP(operator&=)
+    PYBIND11_INPLACE_OP(operator^=)
+    PYBIND11_INPLACE_OP(operator<<=)
+    PYBIND11_INPLACE_OP(operator>>=)
+#undef PYBIND11_INPLACE_OP
+
     // Calling cast() on an object lvalue just copies (via handle::cast)
     template <typename T>
     T cast() const &;
@@ -413,7 +468,7 @@ PYBIND11_NAMESPACE_BEGIN(detail)
 
 // Equivalent to obj.__class__.__name__ (or obj.__name__ if obj is a class).
 inline const char *obj_class_name(PyObject *obj) {
-    if (Py_TYPE(obj) == &PyType_Type) {
+    if (PyType_Check(obj)) {
         return reinterpret_cast<PyTypeObject *>(obj)->tp_name;
     }
     return Py_TYPE(obj)->tp_name;
@@ -421,13 +476,24 @@ inline const char *obj_class_name(PyObject *obj) {
 
 std::string error_string();
 
+// The code in this struct is very unusual, to minimize the chances of
+// masking bugs (elsewhere) by errors during the error handling (here).
+// This is meant to be a lifeline for troubleshooting long-running processes
+// that crash under conditions that are virtually impossible to reproduce.
+// Low-level implementation alternatives are preferred to higher-level ones
+// that might raise cascading exceptions. Last-ditch-kind-of attempts are made
+// to report as much of the original error as possible, even if there are
+// secondary issues obtaining some of the details.
 struct error_fetch_and_normalize {
-    // Immediate normalization is long-established behavior (starting with
-    // https://github.com/pybind/pybind11/commit/135ba8deafb8bf64a15b24d1513899eb600e2011
-    // from Sep 2016) and safest. Normalization could be deferred, but this could mask
-    // errors elsewhere, the performance gain is very minor in typical situations
-    // (usually the dominant bottleneck is EH unwinding), and the implementation here
-    // would be more complex.
+    // This comment only applies to Python <= 3.11:
+    //     Immediate normalization is long-established behavior (starting with
+    //     https://github.com/pybind/pybind11/commit/135ba8deafb8bf64a15b24d1513899eb600e2011
+    //     from Sep 2016) and safest. Normalization could be deferred, but this could mask
+    //     errors elsewhere, the performance gain is very minor in typical situations
+    //     (usually the dominant bottleneck is EH unwinding), and the implementation here
+    //     would be more complex.
+    // Starting with Python 3.12, PyErr_Fetch() normalizes exceptions immediately.
+    // Any errors during normalization are tracked under __notes__.
     explicit error_fetch_and_normalize(const char *called) {
         PyErr_Fetch(&m_type.ptr(), &m_value.ptr(), &m_trace.ptr());
         if (!m_type) {
@@ -442,6 +508,14 @@ struct error_fetch_and_normalize {
                             "of the original active exception type.");
         }
         m_lazy_error_string = exc_type_name_orig;
+#if PY_VERSION_HEX >= 0x030C0000
+        // The presence of __notes__ is likely due to exception normalization
+        // errors, although that is not necessarily true, therefore insert a
+        // hint only:
+        if (PyObject_HasAttrString(m_value.ptr(), "__notes__")) {
+            m_lazy_error_string += "[WITH __notes__]";
+        }
+#else
         // PyErr_NormalizeException() may change the exception type if there are cascading
         // failures. This can potentially be extremely confusing.
         PyErr_NormalizeException(&m_type.ptr(), &m_value.ptr(), &m_trace.ptr());
@@ -451,11 +525,17 @@ struct error_fetch_and_normalize {
                             "active exception.");
         }
         const char *exc_type_name_norm = detail::obj_class_name(m_type.ptr());
-        if (exc_type_name_orig == nullptr) {
+        if (exc_type_name_norm == nullptr) {
             pybind11_fail("Internal error: " + std::string(called)
                           + " failed to obtain the name "
                             "of the normalized active exception type.");
         }
+#    if defined(PYPY_VERSION_NUM) && PYPY_VERSION_NUM < 0x07030a00
+        // This behavior runs the risk of masking errors in the error handling, but avoids a
+        // conflict with PyPy, which relies on the normalization here to change OSError to
+        // FileNotFoundError (https://github.com/pybind/pybind11/issues/4075).
+        m_lazy_error_string = exc_type_name_norm;
+#    else
         if (exc_type_name_norm != m_lazy_error_string) {
             std::string msg = std::string(called)
                               + ": MISMATCH of original and normalized "
@@ -467,6 +547,8 @@ struct error_fetch_and_normalize {
             msg += ": " + format_value_and_trace();
             pybind11_fail(msg);
         }
+#    endif
+#endif
     }
 
     error_fetch_and_normalize(const error_fetch_and_normalize &) = delete;
@@ -477,12 +559,64 @@ struct error_fetch_and_normalize {
         std::string message_error_string;
         if (m_value) {
             auto value_str = reinterpret_steal<object>(PyObject_Str(m_value.ptr()));
+            constexpr const char *message_unavailable_exc
+                = "<MESSAGE UNAVAILABLE DUE TO ANOTHER EXCEPTION>";
             if (!value_str) {
                 message_error_string = detail::error_string();
-                result = "<MESSAGE UNAVAILABLE DUE TO ANOTHER EXCEPTION>";
+                result = message_unavailable_exc;
             } else {
-                result = value_str.cast<std::string>();
+                // Not using `value_str.cast<std::string>()`, to not potentially throw a secondary
+                // error_already_set that will then result in process termination (#4288).
+                auto value_bytes = reinterpret_steal<object>(
+                    PyUnicode_AsEncodedString(value_str.ptr(), "utf-8", "backslashreplace"));
+                if (!value_bytes) {
+                    message_error_string = detail::error_string();
+                    result = message_unavailable_exc;
+                } else {
+                    char *buffer = nullptr;
+                    Py_ssize_t length = 0;
+                    if (PyBytes_AsStringAndSize(value_bytes.ptr(), &buffer, &length) == -1) {
+                        message_error_string = detail::error_string();
+                        result = message_unavailable_exc;
+                    } else {
+                        result = std::string(buffer, static_cast<std::size_t>(length));
+                    }
+                }
             }
+#if PY_VERSION_HEX >= 0x030B0000
+            auto notes
+                = reinterpret_steal<object>(PyObject_GetAttrString(m_value.ptr(), "__notes__"));
+            if (!notes) {
+                PyErr_Clear(); // No notes is good news.
+            } else {
+                auto len_notes = PyList_Size(notes.ptr());
+                if (len_notes < 0) {
+                    result += "\nFAILURE obtaining len(__notes__): " + detail::error_string();
+                } else {
+                    result += "\n__notes__ (len=" + std::to_string(len_notes) + "):";
+                    for (ssize_t i = 0; i < len_notes; i++) {
+                        PyObject *note = PyList_GET_ITEM(notes.ptr(), i);
+                        auto note_bytes = reinterpret_steal<object>(
+                            PyUnicode_AsEncodedString(note, "utf-8", "backslashreplace"));
+                        if (!note_bytes) {
+                            result += "\nFAILURE obtaining __notes__[" + std::to_string(i)
+                                      + "]: " + detail::error_string();
+                        } else {
+                            char *buffer = nullptr;
+                            Py_ssize_t length = 0;
+                            if (PyBytes_AsStringAndSize(note_bytes.ptr(), &buffer, &length)
+                                == -1) {
+                                result += "\nFAILURE formatting __notes__[" + std::to_string(i)
+                                          + "]: " + detail::error_string();
+                            } else {
+                                result += '\n';
+                                result += std::string(buffer, static_cast<std::size_t>(length));
+                            }
+                        }
+                    }
+                }
+            }
+#endif
         } else {
             result = "<MESSAGE UNAVAILABLE>";
         }
@@ -581,12 +715,6 @@ inline std::string error_string() {
 
 PYBIND11_NAMESPACE_END(detail)
 
-#if defined(_MSC_VER)
-#    pragma warning(push)
-#    pragma warning(disable : 4275 4251)
-//     warning C4275: An exported class was derived from a class that wasn't exported.
-//     Can be ignored when derived from a STL class.
-#endif
 /// Fetch and hold an error which was already set in Python.  An instance of this is typically
 /// thrown to propagate python-side errors back through C++ which can either be caught manually or
 /// else falls back to the function dispatcher (which then raises the captured error back to
@@ -646,9 +774,6 @@ private:
     ///          crashes (undefined behavior) if the Python interpreter is finalizing.
     static void m_fetched_error_deleter(detail::error_fetch_and_normalize *raw_ptr);
 };
-#if defined(_MSC_VER)
-#    pragma warning(pop)
-#endif
 
 /// Replaces the current Python error indicator with the chosen error, performing a
 /// 'raise from' to indicate that the chosen error was caused by the original error.
@@ -851,10 +976,8 @@ object object_or_cast(T &&o);
 // Match a PyObject*, which we want to convert directly to handle via its converting constructor
 inline handle object_or_cast(PyObject *ptr) { return ptr; }
 
-#if defined(_MSC_VER) && _MSC_VER < 1920
-#    pragma warning(push)
-#    pragma warning(disable : 4522) // warning C4522: multiple assignment operators specified
-#endif
+PYBIND11_WARNING_PUSH
+PYBIND11_WARNING_DISABLE_MSVC(4522) // warning C4522: multiple assignment operators specified
 template <typename Policy>
 class accessor : public object_api<accessor<Policy>> {
     using key_type = typename Policy::key_type;
@@ -918,9 +1041,7 @@ private:
     key_type key;
     mutable object cache;
 };
-#if defined(_MSC_VER) && _MSC_VER < 1920
-#    pragma warning(pop)
-#endif
+PYBIND11_WARNING_POP
 
 PYBIND11_NAMESPACE_BEGIN(accessor_policies)
 struct obj_attr {
@@ -1266,7 +1387,7 @@ public:
 
 #define PYBIND11_OBJECT_CVT_DEFAULT(Name, Parent, CheckFun, ConvertFun)                           \
     PYBIND11_OBJECT_CVT(Name, Parent, CheckFun, ConvertFun)                                       \
-    Name() : Parent() {}
+    Name() = default;
 
 #define PYBIND11_OBJECT_CHECK_FAILED(Name, o_ptr)                                                 \
     ::pybind11::type_error("Object of type '"                                                     \
@@ -1289,7 +1410,7 @@ public:
 
 #define PYBIND11_OBJECT_DEFAULT(Name, Parent, CheckFun)                                           \
     PYBIND11_OBJECT(Name, Parent, CheckFun)                                                       \
-    Name() : Parent() {}
+    Name() = default;
 
 /// \addtogroup pytypes
 /// @{
@@ -1358,7 +1479,7 @@ public:
 private:
     void advance() {
         value = reinterpret_steal<object>(PyIter_Next(m_ptr));
-        if (PyErr_Occurred()) {
+        if (value.ptr() == nullptr && PyErr_Occurred()) {
             throw error_already_set();
         }
     }
@@ -1408,6 +1529,9 @@ public:
     str(const char *c, const SzType &n)
         : object(PyUnicode_FromStringAndSize(c, ssize_t_cast(n)), stolen_t{}) {
         if (!m_ptr) {
+            if (PyErr_Occurred()) {
+                throw error_already_set();
+            }
             pybind11_fail("Could not allocate string object!");
         }
     }
@@ -1417,6 +1541,9 @@ public:
     // NOLINTNEXTLINE(google-explicit-constructor)
     str(const char *c = "") : object(PyUnicode_FromString(c), stolen_t{}) {
         if (!m_ptr) {
+            if (PyErr_Occurred()) {
+                throw error_already_set();
+            }
             pybind11_fail("Could not allocate string object!");
         }
     }
@@ -1574,6 +1701,9 @@ inline str::str(const bytes &b) {
     }
     auto obj = reinterpret_steal<object>(PyUnicode_FromStringAndSize(buffer, length));
     if (!obj) {
+        if (PyErr_Occurred()) {
+            throw error_already_set();
+        }
         pybind11_fail("Could not allocate string object!");
     }
     m_ptr = obj.release().ptr();
@@ -1651,7 +1781,7 @@ PYBIND11_NAMESPACE_BEGIN(detail)
 // unsigned type: (A)-1 != (B)-1 when A and B are unsigned types of different sizes).
 template <typename Unsigned>
 Unsigned as_unsigned(PyObject *o) {
-    if (PYBIND11_SILENCE_MSVC_C4127(sizeof(Unsigned) <= sizeof(unsigned long))) {
+    if (sizeof(Unsigned) <= sizeof(unsigned long)) {
         unsigned long v = PyLong_AsUnsignedLong(o);
         return v == (unsigned long) -1 && PyErr_Occurred() ? (Unsigned) -1 : (Unsigned) v;
     }
@@ -1668,7 +1798,7 @@ public:
     template <typename T, detail::enable_if_t<std::is_integral<T>::value, int> = 0>
     // NOLINTNEXTLINE(google-explicit-constructor)
     int_(T value) {
-        if (PYBIND11_SILENCE_MSVC_C4127(sizeof(T) <= sizeof(long))) {
+        if (sizeof(T) <= sizeof(long)) {
             if (std::is_signed<T>::value) {
                 m_ptr = PyLong_FromLong((long) value);
             } else {
@@ -1785,43 +1915,28 @@ public:
 
     explicit capsule(const void *value,
                      const char *name = nullptr,
-                     void (*destructor)(PyObject *) = nullptr)
+                     PyCapsule_Destructor destructor = nullptr)
         : object(PyCapsule_New(const_cast<void *>(value), name, destructor), stolen_t{}) {
         if (!m_ptr) {
             throw error_already_set();
         }
     }
 
-    PYBIND11_DEPRECATED("Please pass a destructor that takes a void pointer as input")
-    capsule(const void *value, void (*destruct)(PyObject *))
-        : object(PyCapsule_New(const_cast<void *>(value), nullptr, destruct), stolen_t{}) {
+    PYBIND11_DEPRECATED("Please use the ctor with value, name, destructor args")
+    capsule(const void *value, PyCapsule_Destructor destructor)
+        : object(PyCapsule_New(const_cast<void *>(value), nullptr, destructor), stolen_t{}) {
         if (!m_ptr) {
             throw error_already_set();
         }
     }
 
+    /// Capsule name is nullptr.
     capsule(const void *value, void (*destructor)(void *)) {
-        m_ptr = PyCapsule_New(const_cast<void *>(value), nullptr, [](PyObject *o) {
-            // guard if destructor called while err indicator is set
-            error_scope error_guard;
-            auto destructor = reinterpret_cast<void (*)(void *)>(PyCapsule_GetContext(o));
-            if (destructor == nullptr) {
-                if (PyErr_Occurred()) {
-                    throw error_already_set();
-                }
-                pybind11_fail("Unable to get capsule context");
-            }
-            const char *name = get_name_in_error_scope(o);
-            void *ptr = PyCapsule_GetPointer(o, name);
-            if (ptr == nullptr) {
-                throw error_already_set();
-            }
-            destructor(ptr);
-        });
+        initialize_with_void_ptr_destructor(value, nullptr, destructor);
+    }
 
-        if (!m_ptr || PyCapsule_SetContext(m_ptr, (void *) destructor) != 0) {
-            throw error_already_set();
-        }
+    capsule(const void *value, const char *name, void (*destructor)(void *)) {
+        initialize_with_void_ptr_destructor(value, name, destructor);
     }
 
     explicit capsule(void (*destructor)()) {
@@ -1889,6 +2004,32 @@ private:
 
         return name;
     }
+
+    void initialize_with_void_ptr_destructor(const void *value,
+                                             const char *name,
+                                             void (*destructor)(void *)) {
+        m_ptr = PyCapsule_New(const_cast<void *>(value), name, [](PyObject *o) {
+            // guard if destructor called while err indicator is set
+            error_scope error_guard;
+            auto destructor = reinterpret_cast<void (*)(void *)>(PyCapsule_GetContext(o));
+            if (destructor == nullptr && PyErr_Occurred()) {
+                throw error_already_set();
+            }
+            const char *name = get_name_in_error_scope(o);
+            void *ptr = PyCapsule_GetPointer(o, name);
+            if (ptr == nullptr) {
+                throw error_already_set();
+            }
+
+            if (destructor != nullptr) {
+                destructor(ptr);
+            }
+        });
+
+        if (!m_ptr || PyCapsule_SetContext(m_ptr, reinterpret_cast<void *>(destructor)) != 0) {
+            throw error_already_set();
+        }
+    }
 };
 
 class tuple : public object {
@@ -1943,7 +2084,11 @@ public:
     void clear() /* py-non-const */ { PyDict_Clear(ptr()); }
     template <typename T>
     bool contains(T &&key) const {
-        return PyDict_Contains(m_ptr, detail::object_or_cast(std::forward<T>(key)).ptr()) == 1;
+        auto result = PyDict_Contains(m_ptr, detail::object_or_cast(std::forward<T>(key)).ptr());
+        if (result == -1) {
+            throw error_already_set();
+        }
+        return result == 1;
     }
 
 private:
@@ -1998,14 +2143,20 @@ public:
     detail::list_iterator end() const { return {*this, PyList_GET_SIZE(m_ptr)}; }
     template <typename T>
     void append(T &&val) /* py-non-const */ {
-        PyList_Append(m_ptr, detail::object_or_cast(std::forward<T>(val)).ptr());
+        if (PyList_Append(m_ptr, detail::object_or_cast(std::forward<T>(val)).ptr()) != 0) {
+            throw error_already_set();
+        }
     }
     template <typename IdxType,
               typename ValType,
               detail::enable_if_t<std::is_integral<IdxType>::value, int> = 0>
     void insert(const IdxType &index, ValType &&val) /* py-non-const */ {
-        PyList_Insert(
-            m_ptr, ssize_t_cast(index), detail::object_or_cast(std::forward<ValType>(val)).ptr());
+        if (PyList_Insert(m_ptr,
+                          ssize_t_cast(index),
+                          detail::object_or_cast(std::forward<ValType>(val)).ptr())
+            != 0) {
+            throw error_already_set();
+        }
     }
 };
 
@@ -2023,7 +2174,11 @@ public:
     bool empty() const { return size() == 0; }
     template <typename T>
     bool contains(T &&val) const {
-        return PySet_Contains(m_ptr, detail::object_or_cast(std::forward<T>(val)).ptr()) == 1;
+        auto result = PySet_Contains(m_ptr, detail::object_or_cast(std::forward<T>(val)).ptr());
+        if (result == -1) {
+            throw error_already_set();
+        }
+        return result == 1;
     }
 };
 
@@ -2364,29 +2519,39 @@ bool object_api<D>::rich_compare(object_api const &other, int value) const {
         return result;                                                                            \
     }
 
+#define PYBIND11_MATH_OPERATOR_BINARY_INPLACE(iop, fn)                                            \
+    template <typename D>                                                                         \
+    object object_api<D>::iop(object_api const &other) {                                          \
+        object result = reinterpret_steal<object>(fn(derived().ptr(), other.derived().ptr()));    \
+        if (!result.ptr())                                                                        \
+            throw error_already_set();                                                            \
+        return result;                                                                            \
+    }
+
 PYBIND11_MATH_OPERATOR_UNARY(operator~, PyNumber_Invert)
 PYBIND11_MATH_OPERATOR_UNARY(operator-, PyNumber_Negative)
 PYBIND11_MATH_OPERATOR_BINARY(operator+, PyNumber_Add)
-PYBIND11_MATH_OPERATOR_BINARY(operator+=, PyNumber_InPlaceAdd)
+PYBIND11_MATH_OPERATOR_BINARY_INPLACE(operator+=, PyNumber_InPlaceAdd)
 PYBIND11_MATH_OPERATOR_BINARY(operator-, PyNumber_Subtract)
-PYBIND11_MATH_OPERATOR_BINARY(operator-=, PyNumber_InPlaceSubtract)
+PYBIND11_MATH_OPERATOR_BINARY_INPLACE(operator-=, PyNumber_InPlaceSubtract)
 PYBIND11_MATH_OPERATOR_BINARY(operator*, PyNumber_Multiply)
-PYBIND11_MATH_OPERATOR_BINARY(operator*=, PyNumber_InPlaceMultiply)
+PYBIND11_MATH_OPERATOR_BINARY_INPLACE(operator*=, PyNumber_InPlaceMultiply)
 PYBIND11_MATH_OPERATOR_BINARY(operator/, PyNumber_TrueDivide)
-PYBIND11_MATH_OPERATOR_BINARY(operator/=, PyNumber_InPlaceTrueDivide)
+PYBIND11_MATH_OPERATOR_BINARY_INPLACE(operator/=, PyNumber_InPlaceTrueDivide)
 PYBIND11_MATH_OPERATOR_BINARY(operator|, PyNumber_Or)
-PYBIND11_MATH_OPERATOR_BINARY(operator|=, PyNumber_InPlaceOr)
+PYBIND11_MATH_OPERATOR_BINARY_INPLACE(operator|=, PyNumber_InPlaceOr)
 PYBIND11_MATH_OPERATOR_BINARY(operator&, PyNumber_And)
-PYBIND11_MATH_OPERATOR_BINARY(operator&=, PyNumber_InPlaceAnd)
+PYBIND11_MATH_OPERATOR_BINARY_INPLACE(operator&=, PyNumber_InPlaceAnd)
 PYBIND11_MATH_OPERATOR_BINARY(operator^, PyNumber_Xor)
-PYBIND11_MATH_OPERATOR_BINARY(operator^=, PyNumber_InPlaceXor)
+PYBIND11_MATH_OPERATOR_BINARY_INPLACE(operator^=, PyNumber_InPlaceXor)
 PYBIND11_MATH_OPERATOR_BINARY(operator<<, PyNumber_Lshift)
-PYBIND11_MATH_OPERATOR_BINARY(operator<<=, PyNumber_InPlaceLshift)
+PYBIND11_MATH_OPERATOR_BINARY_INPLACE(operator<<=, PyNumber_InPlaceLshift)
 PYBIND11_MATH_OPERATOR_BINARY(operator>>, PyNumber_Rshift)
-PYBIND11_MATH_OPERATOR_BINARY(operator>>=, PyNumber_InPlaceRshift)
+PYBIND11_MATH_OPERATOR_BINARY_INPLACE(operator>>=, PyNumber_InPlaceRshift)
 
 #undef PYBIND11_MATH_OPERATOR_UNARY
 #undef PYBIND11_MATH_OPERATOR_BINARY
+#undef PYBIND11_MATH_OPERATOR_BINARY_INPLACE
 
 PYBIND11_NAMESPACE_END(detail)
 PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
diff --git a/pybind11/include/pybind11/stl.h b/pybind11/include/pybind11/stl.h
index ab30ecac0..f39f44f7c 100644
--- a/pybind11/include/pybind11/stl.h
+++ b/pybind11/include/pybind11/stl.h
@@ -45,21 +45,35 @@ using forwarded_type = conditional_t<std::is_lvalue_reference<T>::value,
 /// Forwards a value U as rvalue or lvalue according to whether T is rvalue or lvalue; typically
 /// used for forwarding a container's elements.
 template <typename T, typename U>
-forwarded_type<T, U> forward_like(U &&u) {
+constexpr forwarded_type<T, U> forward_like(U &&u) {
     return std::forward<detail::forwarded_type<T, U>>(std::forward<U>(u));
 }
 
+// Checks if a container has a STL style reserve method.
+// This will only return true for a `reserve()` with a `void` return.
+template <typename C>
+using has_reserve_method = std::is_same<decltype(std::declval<C>().reserve(0)), void>;
+
 template <typename Type, typename Key>
 struct set_caster {
     using type = Type;
     using key_conv = make_caster<Key>;
 
+private:
+    template <typename T = Type, enable_if_t<has_reserve_method<T>::value, int> = 0>
+    void reserve_maybe(const anyset &s, Type *) {
+        value.reserve(s.size());
+    }
+    void reserve_maybe(const anyset &, void *) {}
+
+public:
     bool load(handle src, bool convert) {
         if (!isinstance<anyset>(src)) {
             return false;
         }
         auto s = reinterpret_borrow<anyset>(src);
         value.clear();
+        reserve_maybe(s, &value);
         for (auto entry : s) {
             key_conv conv;
             if (!conv.load(entry, convert)) {
@@ -78,7 +92,7 @@ struct set_caster {
         pybind11::set s;
         for (auto &&value : src) {
             auto value_ = reinterpret_steal<object>(
-                key_conv::cast(forward_like<T>(value), policy, parent));
+                key_conv::cast(detail::forward_like<T>(value), policy, parent));
             if (!value_ || !s.add(std::move(value_))) {
                 return handle();
             }
@@ -94,12 +108,21 @@ struct map_caster {
     using key_conv = make_caster<Key>;
     using value_conv = make_caster<Value>;
 
+private:
+    template <typename T = Type, enable_if_t<has_reserve_method<T>::value, int> = 0>
+    void reserve_maybe(const dict &d, Type *) {
+        value.reserve(d.size());
+    }
+    void reserve_maybe(const dict &, void *) {}
+
+public:
     bool load(handle src, bool convert) {
         if (!isinstance<dict>(src)) {
             return false;
         }
         auto d = reinterpret_borrow<dict>(src);
         value.clear();
+        reserve_maybe(d, &value);
         for (auto it : d) {
             key_conv kconv;
             value_conv vconv;
@@ -122,9 +145,9 @@ struct map_caster {
         }
         for (auto &&kv : src) {
             auto key = reinterpret_steal<object>(
-                key_conv::cast(forward_like<T>(kv.first), policy_key, parent));
+                key_conv::cast(detail::forward_like<T>(kv.first), policy_key, parent));
             auto value = reinterpret_steal<object>(
-                value_conv::cast(forward_like<T>(kv.second), policy_value, parent));
+                value_conv::cast(detail::forward_like<T>(kv.second), policy_value, parent));
             if (!key || !value) {
                 return handle();
             }
@@ -160,9 +183,7 @@ struct list_caster {
     }
 
 private:
-    template <
-        typename T = Type,
-        enable_if_t<std::is_same<decltype(std::declval<T>().reserve(0)), void>::value, int> = 0>
+    template <typename T = Type, enable_if_t<has_reserve_method<T>::value, int> = 0>
     void reserve_maybe(const sequence &s, Type *) {
         value.reserve(s.size());
     }
@@ -178,7 +199,7 @@ public:
         ssize_t index = 0;
         for (auto &&value : src) {
             auto value_ = reinterpret_steal<object>(
-                value_conv::cast(forward_like<T>(value), policy, parent));
+                value_conv::cast(detail::forward_like<T>(value), policy, parent));
             if (!value_) {
                 return handle();
             }
@@ -242,7 +263,7 @@ public:
         ssize_t index = 0;
         for (auto &&value : src) {
             auto value_ = reinterpret_steal<object>(
-                value_conv::cast(forward_like<T>(value), policy, parent));
+                value_conv::cast(detail::forward_like<T>(value), policy, parent));
             if (!value_) {
                 return handle();
             }
@@ -252,11 +273,11 @@ public:
     }
 
     PYBIND11_TYPE_CASTER(ArrayType,
-                         const_name("List[") + value_conv::name
+                         const_name<Resizable>(const_name(""), const_name("Annotated["))
+                             + const_name("List[") + value_conv::name + const_name("]")
                              + const_name<Resizable>(const_name(""),
-                                                     const_name("[") + const_name<Size>()
-                                                         + const_name("]"))
-                             + const_name("]"));
+                                                     const_name(", FixedSize(")
+                                                         + const_name<Size>() + const_name(")]")));
 };
 
 template <typename Type, size_t Size>
@@ -290,11 +311,12 @@ struct optional_caster {
     template <typename T>
     static handle cast(T &&src, return_value_policy policy, handle parent) {
         if (!src) {
-            return none().inc_ref();
+            return none().release();
         }
         if (!std::is_lvalue_reference<T>::value) {
             policy = return_value_policy_override<Value>::policy(policy);
         }
+        // NOLINTNEXTLINE(bugprone-unchecked-optional-access)
         return value_conv::cast(*std::forward<T>(src), policy, parent);
     }
 
diff --git a/pybind11/include/pybind11/stl_bind.h b/pybind11/include/pybind11/stl_bind.h
index 22a29b476..49f1b7782 100644
--- a/pybind11/include/pybind11/stl_bind.h
+++ b/pybind11/include/pybind11/stl_bind.h
@@ -10,10 +10,13 @@
 #pragma once
 
 #include "detail/common.h"
+#include "detail/type_caster_base.h"
+#include "cast.h"
 #include "operators.h"
 
 #include <algorithm>
 #include <sstream>
+#include <type_traits>
 
 PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
 PYBIND11_NAMESPACE_BEGIN(detail)
@@ -58,9 +61,11 @@ struct is_comparable<
 /* For a vector/map data structure, recursively check the value type
    (which is std::pair for maps) */
 template <typename T>
-struct is_comparable<T, enable_if_t<container_traits<T>::is_vector>> {
-    static constexpr const bool value = is_comparable<typename T::value_type>::value;
-};
+struct is_comparable<T, enable_if_t<container_traits<T>::is_vector>>
+    : is_comparable<typename recursive_container_traits<T>::type_to_check_recursively> {};
+
+template <>
+struct is_comparable<recursive_bottom> : std::true_type {};
 
 /* For pairs, recursively check the two data types */
 template <typename T>
@@ -352,13 +357,17 @@ void vector_accessor(enable_if_t<vector_needs_copy<Vector>::value, Class_> &cl)
     using DiffType = typename Vector::difference_type;
     using ItType = typename Vector::iterator;
     cl.def("__getitem__", [](const Vector &v, DiffType i) -> T {
-        if (i < 0 && (i += v.size()) < 0) {
+        if (i < 0) {
+            i += v.size();
+            if (i < 0) {
+                throw index_error();
+            }
+        }
+        auto i_st = static_cast<SizeType>(i);
+        if (i_st >= v.size()) {
             throw index_error();
         }
-        if ((SizeType) i >= v.size()) {
-            throw index_error();
-        }
-        return v[(SizeType) i];
+        return v[i_st];
     });
 
     cl.def(
@@ -636,18 +645,52 @@ auto map_if_insertion_operator(Class_ &cl, std::string const &name)
         "Return the canonical string representation of this map.");
 }
 
-template <typename Map>
+template <typename KeyType>
 struct keys_view {
-    Map &map;
+    virtual size_t len() = 0;
+    virtual iterator iter() = 0;
+    virtual bool contains(const KeyType &k) = 0;
+    virtual bool contains(const object &k) = 0;
+    virtual ~keys_view() = default;
 };
 
-template <typename Map>
+template <typename MappedType>
 struct values_view {
+    virtual size_t len() = 0;
+    virtual iterator iter() = 0;
+    virtual ~values_view() = default;
+};
+
+template <typename KeyType, typename MappedType>
+struct items_view {
+    virtual size_t len() = 0;
+    virtual iterator iter() = 0;
+    virtual ~items_view() = default;
+};
+
+template <typename Map, typename KeysView>
+struct KeysViewImpl : public KeysView {
+    explicit KeysViewImpl(Map &map) : map(map) {}
+    size_t len() override { return map.size(); }
+    iterator iter() override { return make_key_iterator(map.begin(), map.end()); }
+    bool contains(const typename Map::key_type &k) override { return map.find(k) != map.end(); }
+    bool contains(const object &) override { return false; }
     Map &map;
 };
 
-template <typename Map>
-struct items_view {
+template <typename Map, typename ValuesView>
+struct ValuesViewImpl : public ValuesView {
+    explicit ValuesViewImpl(Map &map) : map(map) {}
+    size_t len() override { return map.size(); }
+    iterator iter() override { return make_value_iterator(map.begin(), map.end()); }
+    Map &map;
+};
+
+template <typename Map, typename ItemsView>
+struct ItemsViewImpl : public ItemsView {
+    explicit ItemsViewImpl(Map &map) : map(map) {}
+    size_t len() override { return map.size(); }
+    iterator iter() override { return make_iterator(map.begin(), map.end()); }
     Map &map;
 };
 
@@ -657,9 +700,11 @@ template <typename Map, typename holder_type = std::unique_ptr<Map>, typename...
 class_<Map, holder_type> bind_map(handle scope, const std::string &name, Args &&...args) {
     using KeyType = typename Map::key_type;
     using MappedType = typename Map::mapped_type;
-    using KeysView = detail::keys_view<Map>;
-    using ValuesView = detail::values_view<Map>;
-    using ItemsView = detail::items_view<Map>;
+    using StrippedKeyType = detail::remove_cvref_t<KeyType>;
+    using StrippedMappedType = detail::remove_cvref_t<MappedType>;
+    using KeysView = detail::keys_view<StrippedKeyType>;
+    using ValuesView = detail::values_view<StrippedMappedType>;
+    using ItemsView = detail::items_view<StrippedKeyType, StrippedMappedType>;
     using Class_ = class_<Map, holder_type>;
 
     // If either type is a non-module-local bound type then make the map binding non-local as well;
@@ -673,12 +718,57 @@ class_<Map, holder_type> bind_map(handle scope, const std::string &name, Args &&
     }
 
     Class_ cl(scope, name.c_str(), pybind11::module_local(local), std::forward<Args>(args)...);
-    class_<KeysView> keys_view(
-        scope, ("KeysView[" + name + "]").c_str(), pybind11::module_local(local));
-    class_<ValuesView> values_view(
-        scope, ("ValuesView[" + name + "]").c_str(), pybind11::module_local(local));
-    class_<ItemsView> items_view(
-        scope, ("ItemsView[" + name + "]").c_str(), pybind11::module_local(local));
+    static constexpr auto key_type_descr = detail::make_caster<KeyType>::name;
+    static constexpr auto mapped_type_descr = detail::make_caster<MappedType>::name;
+    std::string key_type_name(key_type_descr.text), mapped_type_name(mapped_type_descr.text);
+
+    // If key type isn't properly wrapped, fall back to C++ names
+    if (key_type_name == "%") {
+        key_type_name = detail::type_info_description(typeid(KeyType));
+    }
+    // Similarly for value type:
+    if (mapped_type_name == "%") {
+        mapped_type_name = detail::type_info_description(typeid(MappedType));
+    }
+
+    // Wrap KeysView[KeyType] if it wasn't already wrapped
+    if (!detail::get_type_info(typeid(KeysView))) {
+        class_<KeysView> keys_view(
+            scope, ("KeysView[" + key_type_name + "]").c_str(), pybind11::module_local(local));
+        keys_view.def("__len__", &KeysView::len);
+        keys_view.def("__iter__",
+                      &KeysView::iter,
+                      keep_alive<0, 1>() /* Essential: keep view alive while iterator exists */
+        );
+        keys_view.def("__contains__",
+                      static_cast<bool (KeysView::*)(const KeyType &)>(&KeysView::contains));
+        // Fallback for when the object is not of the key type
+        keys_view.def("__contains__",
+                      static_cast<bool (KeysView::*)(const object &)>(&KeysView::contains));
+    }
+    // Similarly for ValuesView:
+    if (!detail::get_type_info(typeid(ValuesView))) {
+        class_<ValuesView> values_view(scope,
+                                       ("ValuesView[" + mapped_type_name + "]").c_str(),
+                                       pybind11::module_local(local));
+        values_view.def("__len__", &ValuesView::len);
+        values_view.def("__iter__",
+                        &ValuesView::iter,
+                        keep_alive<0, 1>() /* Essential: keep view alive while iterator exists */
+        );
+    }
+    // Similarly for ItemsView:
+    if (!detail::get_type_info(typeid(ItemsView))) {
+        class_<ItemsView> items_view(
+            scope,
+            ("ItemsView[" + key_type_name + ", ").append(mapped_type_name + "]").c_str(),
+            pybind11::module_local(local));
+        items_view.def("__len__", &ItemsView::len);
+        items_view.def("__iter__",
+                       &ItemsView::iter,
+                       keep_alive<0, 1>() /* Essential: keep view alive while iterator exists */
+        );
+    }
 
     cl.def(init<>());
 
@@ -698,19 +788,25 @@ class_<Map, holder_type> bind_map(handle scope, const std::string &name, Args &&
 
     cl.def(
         "keys",
-        [](Map &m) { return KeysView{m}; },
+        [](Map &m) {
+            return std::unique_ptr<KeysView>(new detail::KeysViewImpl<Map, KeysView>(m));
+        },
         keep_alive<0, 1>() /* Essential: keep map alive while view exists */
     );
 
     cl.def(
         "values",
-        [](Map &m) { return ValuesView{m}; },
+        [](Map &m) {
+            return std::unique_ptr<ValuesView>(new detail::ValuesViewImpl<Map, ValuesView>(m));
+        },
         keep_alive<0, 1>() /* Essential: keep map alive while view exists */
     );
 
     cl.def(
         "items",
-        [](Map &m) { return ItemsView{m}; },
+        [](Map &m) {
+            return std::unique_ptr<ItemsView>(new detail::ItemsViewImpl<Map, ItemsView>(m));
+        },
         keep_alive<0, 1>() /* Essential: keep map alive while view exists */
     );
 
@@ -749,36 +845,6 @@ class_<Map, holder_type> bind_map(handle scope, const std::string &name, Args &&
 
     cl.def("__len__", &Map::size);
 
-    keys_view.def("__len__", [](KeysView &view) { return view.map.size(); });
-    keys_view.def(
-        "__iter__",
-        [](KeysView &view) { return make_key_iterator(view.map.begin(), view.map.end()); },
-        keep_alive<0, 1>() /* Essential: keep view alive while iterator exists */
-    );
-    keys_view.def("__contains__", [](KeysView &view, const KeyType &k) -> bool {
-        auto it = view.map.find(k);
-        if (it == view.map.end()) {
-            return false;
-        }
-        return true;
-    });
-    // Fallback for when the object is not of the key type
-    keys_view.def("__contains__", [](KeysView &, const object &) -> bool { return false; });
-
-    values_view.def("__len__", [](ValuesView &view) { return view.map.size(); });
-    values_view.def(
-        "__iter__",
-        [](ValuesView &view) { return make_value_iterator(view.map.begin(), view.map.end()); },
-        keep_alive<0, 1>() /* Essential: keep view alive while iterator exists */
-    );
-
-    items_view.def("__len__", [](ItemsView &view) { return view.map.size(); });
-    items_view.def(
-        "__iter__",
-        [](ItemsView &view) { return make_iterator(view.map.begin(), view.map.end()); },
-        keep_alive<0, 1>() /* Essential: keep view alive while iterator exists */
-    );
-
     return cl;
 }
 
diff --git a/pybind11/include/pybind11/type_caster_pyobject_ptr.h b/pybind11/include/pybind11/type_caster_pyobject_ptr.h
new file mode 100644
index 000000000..aa914f9e1
--- /dev/null
+++ b/pybind11/include/pybind11/type_caster_pyobject_ptr.h
@@ -0,0 +1,61 @@
+// Copyright (c) 2023 The pybind Community.
+
+#pragma once
+
+#include "detail/common.h"
+#include "detail/descr.h"
+#include "cast.h"
+#include "pytypes.h"
+
+PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
+PYBIND11_NAMESPACE_BEGIN(detail)
+
+template <>
+class type_caster<PyObject> {
+public:
+    static constexpr auto name = const_name("object"); // See discussion under PR #4601.
+
+    // This overload is purely to guard against accidents.
+    template <typename T,
+              detail::enable_if_t<!is_same_ignoring_cvref<T, PyObject *>::value, int> = 0>
+    static handle cast(T &&, return_value_policy, handle /*parent*/) {
+        static_assert(is_same_ignoring_cvref<T, PyObject *>::value,
+                      "Invalid C++ type T for to-Python conversion (type_caster<PyObject>).");
+        return nullptr; // Unreachable.
+    }
+
+    static handle cast(PyObject *src, return_value_policy policy, handle /*parent*/) {
+        if (src == nullptr) {
+            throw error_already_set();
+        }
+        if (PyErr_Occurred()) {
+            raise_from(PyExc_SystemError, "src != nullptr but PyErr_Occurred()");
+            throw error_already_set();
+        }
+        if (policy == return_value_policy::take_ownership) {
+            return src;
+        }
+        if (policy == return_value_policy::reference
+            || policy == return_value_policy::automatic_reference) {
+            return handle(src).inc_ref();
+        }
+        pybind11_fail("type_caster<PyObject>::cast(): unsupported return_value_policy: "
+                      + std::to_string(static_cast<int>(policy)));
+    }
+
+    bool load(handle src, bool) {
+        value = reinterpret_borrow<object>(src);
+        return true;
+    }
+
+    template <typename T>
+    using cast_op_type = PyObject *;
+
+    explicit operator PyObject *() { return value.ptr(); }
+
+private:
+    object value;
+};
+
+PYBIND11_NAMESPACE_END(detail)
+PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
diff --git a/pybind11/noxfile.py b/pybind11/noxfile.py
index fe36d70fe..021ced245 100644
--- a/pybind11/noxfile.py
+++ b/pybind11/noxfile.py
@@ -5,7 +5,17 @@ import nox
 nox.needs_version = ">=2022.1.7"
 nox.options.sessions = ["lint", "tests", "tests_packaging"]
 
-PYTHON_VERISONS = ["3.6", "3.7", "3.8", "3.9", "3.10", "3.11", "pypy3.7", "pypy3.8"]
+PYTHON_VERSIONS = [
+    "3.6",
+    "3.7",
+    "3.8",
+    "3.9",
+    "3.10",
+    "3.11",
+    "pypy3.7",
+    "pypy3.8",
+    "pypy3.9",
+]
 
 if os.environ.get("CI", None):
     nox.options.error_on_missing_interpreters = True
@@ -17,10 +27,10 @@ def lint(session: nox.Session) -> None:
     Lint the codebase (except for clang-format/tidy).
     """
     session.install("pre-commit")
-    session.run("pre-commit", "run", "-a")
+    session.run("pre-commit", "run", "-a", *session.posargs)
 
 
-@nox.session(python=PYTHON_VERISONS)
+@nox.session(python=PYTHON_VERSIONS)
 def tests(session: nox.Session) -> None:
     """
     Run the tests (requires a compiler).
@@ -48,7 +58,7 @@ def tests_packaging(session: nox.Session) -> None:
     """
 
     session.install("-r", "tests/requirements.txt", "--prefer-binary")
-    session.run("pytest", "tests/extra_python_package")
+    session.run("pytest", "tests/extra_python_package", *session.posargs)
 
 
 @nox.session(reuse_venv=True)
diff --git a/pybind11/pybind11/__init__.py b/pybind11/pybind11/__init__.py
index a1be96981..7c10b3057 100644
--- a/pybind11/pybind11/__init__.py
+++ b/pybind11/pybind11/__init__.py
@@ -1,16 +1,17 @@
 import sys
 
-if sys.version_info < (3, 6):
+if sys.version_info < (3, 6):  # noqa: UP036
     msg = "pybind11 does not support Python < 3.6. 2.9 was the last release supporting Python 2.7 and 3.5."
     raise ImportError(msg)
 
 
 from ._version import __version__, version_info
-from .commands import get_cmake_dir, get_include
+from .commands import get_cmake_dir, get_include, get_pkgconfig_dir
 
 __all__ = (
     "version_info",
     "__version__",
     "get_include",
     "get_cmake_dir",
+    "get_pkgconfig_dir",
 )
diff --git a/pybind11/pybind11/__main__.py b/pybind11/pybind11/__main__.py
index 22fc4471e..180665c23 100644
--- a/pybind11/pybind11/__main__.py
+++ b/pybind11/pybind11/__main__.py
@@ -4,7 +4,8 @@ import argparse
 import sys
 import sysconfig
 
-from .commands import get_cmake_dir, get_include
+from ._version import __version__
+from .commands import get_cmake_dir, get_include, get_pkgconfig_dir
 
 
 def print_includes() -> None:
@@ -24,8 +25,13 @@ def print_includes() -> None:
 
 
 def main() -> None:
-
     parser = argparse.ArgumentParser()
+    parser.add_argument(
+        "--version",
+        action="version",
+        version=__version__,
+        help="Print the version and exit.",
+    )
     parser.add_argument(
         "--includes",
         action="store_true",
@@ -36,6 +42,11 @@ def main() -> None:
         action="store_true",
         help="Print the CMake module directory, ideal for setting -Dpybind11_ROOT in CMake.",
     )
+    parser.add_argument(
+        "--pkgconfigdir",
+        action="store_true",
+        help="Print the pkgconfig directory, ideal for setting $PKG_CONFIG_PATH.",
+    )
     args = parser.parse_args()
     if not sys.argv[1:]:
         parser.print_help()
@@ -43,6 +54,8 @@ def main() -> None:
         print_includes()
     if args.cmakedir:
         print(get_cmake_dir())
+    if args.pkgconfigdir:
+        print(get_pkgconfig_dir())
 
 
 if __name__ == "__main__":
diff --git a/pybind11/pybind11/_version.py b/pybind11/pybind11/_version.py
index b78d5963d..9280fa054 100644
--- a/pybind11/pybind11/_version.py
+++ b/pybind11/pybind11/_version.py
@@ -8,5 +8,5 @@ def _to_int(s: str) -> Union[int, str]:
         return s
 
 
-__version__ = "2.10.0"
+__version__ = "2.11.1"
 version_info = tuple(_to_int(s) for s in __version__.split("."))
diff --git a/pybind11/pybind11/commands.py b/pybind11/pybind11/commands.py
index a29c8ca61..b11690f46 100644
--- a/pybind11/pybind11/commands.py
+++ b/pybind11/pybind11/commands.py
@@ -3,7 +3,7 @@ import os
 DIR = os.path.abspath(os.path.dirname(__file__))
 
 
-def get_include(user: bool = False) -> str:  # pylint: disable=unused-argument
+def get_include(user: bool = False) -> str:  # noqa: ARG001
     """
     Return the path to the pybind11 include directory. The historical "user"
     argument is unused, and may be removed.
@@ -23,3 +23,15 @@ def get_cmake_dir() -> str:
 
     msg = "pybind11 not installed, installation required to access the CMake files"
     raise ImportError(msg)
+
+
+def get_pkgconfig_dir() -> str:
+    """
+    Return the path to the pybind11 pkgconfig directory.
+    """
+    pkgconfig_installed_path = os.path.join(DIR, "share", "pkgconfig")
+    if os.path.exists(pkgconfig_installed_path):
+        return pkgconfig_installed_path
+
+    msg = "pybind11 not installed, installation required to access the pkgconfig files"
+    raise ImportError(msg)
diff --git a/pybind11/pybind11/setup_helpers.py b/pybind11/pybind11/setup_helpers.py
index 1fd04b915..aeeee9dcf 100644
--- a/pybind11/pybind11/setup_helpers.py
+++ b/pybind11/pybind11/setup_helpers.py
@@ -66,8 +66,8 @@ try:
     from setuptools import Extension as _Extension
     from setuptools.command.build_ext import build_ext as _build_ext
 except ImportError:
-    from distutils.command.build_ext import build_ext as _build_ext
-    from distutils.extension import Extension as _Extension
+    from distutils.command.build_ext import build_ext as _build_ext  # type: ignore[assignment]
+    from distutils.extension import Extension as _Extension  # type: ignore[assignment]
 
 import distutils.ccompiler
 import distutils.errors
@@ -84,7 +84,7 @@ STD_TMPL = "/std:c++{}" if WIN else "-std=c++{}"
 # directory into your path if it sits beside your setup.py.
 
 
-class Pybind11Extension(_Extension):  # type: ignore[misc]
+class Pybind11Extension(_Extension):
     """
     Build a C++11+ Extension module with pybind11. This automatically adds the
     recommended flags when you init the extension and assumes C++ sources - you
@@ -118,7 +118,6 @@ class Pybind11Extension(_Extension):  # type: ignore[misc]
         self.extra_link_args[:0] = flags
 
     def __init__(self, *args: Any, **kwargs: Any) -> None:
-
         self._cxx_level = 0
         cxx_std = kwargs.pop("cxx_std", 0)
 
@@ -145,7 +144,6 @@ class Pybind11Extension(_Extension):  # type: ignore[misc]
         self.cxx_std = cxx_std
 
         cflags = []
-        ldflags = []
         if WIN:
             cflags += ["/EHsc", "/bigobj"]
         else:
@@ -155,11 +153,7 @@ class Pybind11Extension(_Extension):  # type: ignore[misc]
             c_cpp_flags = shlex.split(env_cflags) + shlex.split(env_cppflags)
             if not any(opt.startswith("-g") for opt in c_cpp_flags):
                 cflags += ["-g0"]
-            if MACOS:
-                cflags += ["-stdlib=libc++"]
-                ldflags += ["-stdlib=libc++"]
         self._add_cflags(cflags)
-        self._add_ldflags(ldflags)
 
     @property
     def cxx_std(self) -> int:
@@ -174,9 +168,10 @@ class Pybind11Extension(_Extension):  # type: ignore[misc]
 
     @cxx_std.setter
     def cxx_std(self, level: int) -> None:
-
         if self._cxx_level:
-            warnings.warn("You cannot safely change the cxx_level after setting it!")
+            warnings.warn(
+                "You cannot safely change the cxx_level after setting it!", stacklevel=2
+            )
 
         # MSVC 2015 Update 3 and later only have 14 (and later 17) modes, so
         # force a valid flag here.
@@ -271,7 +266,7 @@ def auto_cpp_level(compiler: Any) -> Union[str, int]:
     raise RuntimeError(msg)
 
 
-class build_ext(_build_ext):  # type: ignore[misc] # noqa: N801
+class build_ext(_build_ext):  # noqa: N801
     """
     Customized build_ext that allows an auto-search for the highest supported
     C++ level for Pybind11Extension. This is only needed for the auto-search
@@ -341,7 +336,7 @@ def naive_recompile(obj: str, src: str) -> bool:
     return os.stat(obj).st_mtime < os.stat(src).st_mtime
 
 
-def no_recompile(obg: str, src: str) -> bool:  # pylint: disable=unused-argument
+def no_recompile(obg: str, src: str) -> bool:  # noqa: ARG001
     """
     This is the safest but slowest choice (and is the default) - will always
     recompile sources.
@@ -439,7 +434,6 @@ class ParallelCompile:
             extra_postargs: Optional[List[str]] = None,
             depends: Optional[List[str]] = None,
         ) -> Any:
-
             # These lines are directly from distutils.ccompiler.CCompiler
             macros, objects, extra_postargs, pp_opts, build = compiler._setup_compile(  # type: ignore[attr-defined]
                 output_dir, macros, include_dirs, sources, depends, extra_postargs
diff --git a/pybind11/pyproject.toml b/pybind11/pyproject.toml
index 3ba1b4b22..59c15ea63 100644
--- a/pybind11/pyproject.toml
+++ b/pybind11/pyproject.toml
@@ -2,6 +2,7 @@
 requires = ["setuptools>=42", "cmake>=3.18", "ninja"]
 build-backend = "setuptools.build_meta"
 
+
 [tool.check-manifest]
 ignore = [
     "tests/**",
@@ -15,11 +16,6 @@ ignore = [
     "noxfile.py",
 ]
 
-[tool.isort]
-# Needs the compiled .so modules and env.py from tests
-known_first_party = "env,pybind11_cross_module_tests,pybind11_tests,"
-# For black compatibility
-profile = "black"
 
 [tool.mypy]
 files = ["pybind11"]
@@ -30,7 +26,7 @@ enable_error_code = ["ignore-without-code", "redundant-expr", "truthy-bool"]
 warn_unreachable = true
 
 [[tool.mypy.overrides]]
-module = ["ghapi.*", "setuptools.*"]
+module = ["ghapi.*"]
 ignore_missing_imports = true
 
 
@@ -58,4 +54,45 @@ messages_control.disable = [
   "invalid-name",
   "protected-access",
   "missing-module-docstring",
+  "unused-argument",  # covered by Ruff ARG
 ]
+
+
+[tool.ruff]
+select = [
+  "E", "F", "W", # flake8
+  "B",           # flake8-bugbear
+  "I",           # isort
+  "N",           # pep8-naming
+  "ARG",         # flake8-unused-arguments
+  "C4",          # flake8-comprehensions
+  "EM",          # flake8-errmsg
+  "ICN",         # flake8-import-conventions
+  "ISC",         # flake8-implicit-str-concat
+  "PGH",         # pygrep-hooks
+  "PIE",         # flake8-pie
+  "PL",          # pylint
+  "PT",          # flake8-pytest-style
+  "RET",         # flake8-return
+  "RUF100",      # Ruff-specific
+  "SIM",         # flake8-simplify
+  "UP",          # pyupgrade
+  "YTT",         # flake8-2020
+]
+ignore = [
+  "PLR",    # Design related pylint
+  "E501",   # Line too long (Black is enough)
+  "PT011",  # Too broad with raises in pytest
+  "PT004",  # Fixture that doesn't return needs underscore (no, it is fine)
+  "SIM118", # iter(x) is not always the same as iter(x.keys())
+]
+target-version = "py37"
+src = ["src"]
+unfixable = ["T20"]
+exclude = []
+line-length = 120
+isort.known-first-party = ["env", "pybind11_cross_module_tests", "pybind11_tests"]
+
+[tool.ruff.per-file-ignores]
+"tests/**" = ["EM", "N"]
+"tests/test_call_policies.py" = ["PLC1901"]
diff --git a/pybind11/setup.cfg b/pybind11/setup.cfg
index 36fbfed4f..92e6c953a 100644
--- a/pybind11/setup.cfg
+++ b/pybind11/setup.cfg
@@ -20,6 +20,7 @@ classifiers =
     Programming Language :: Python :: 3.9
     Programming Language :: Python :: 3.10
     Programming Language :: Python :: 3.11
+    Programming Language :: Python :: 3.12
     License :: OSI Approved :: BSD License
     Programming Language :: Python :: Implementation :: PyPy
     Programming Language :: Python :: Implementation :: CPython
@@ -40,11 +41,3 @@ project_urls =
 [options]
 python_requires = >=3.6
 zip_safe = False
-
-
-[flake8]
-max-line-length = 120
-show_source = True
-exclude = .git, __pycache__, build, dist, docs, tools, venv
-extend-ignore = E203, E722, B950
-extend-select = B9
diff --git a/pybind11/setup.py b/pybind11/setup.py
index a149755bf..9fea7d35c 100644
--- a/pybind11/setup.py
+++ b/pybind11/setup.py
@@ -96,7 +96,7 @@ def get_and_replace(
 
 # Use our input files instead when making the SDist (and anything that depends
 # on it, like a wheel)
-class SDist(setuptools.command.sdist.sdist):  # type: ignore[misc]
+class SDist(setuptools.command.sdist.sdist):
     def make_release_tree(self, base_dir: str, files: List[str]) -> None:
         super().make_release_tree(base_dir, files)
 
@@ -127,6 +127,7 @@ with remove_output("pybind11/include", "pybind11/share"):
             "-DCMAKE_INSTALL_PREFIX=pybind11",
             "-DBUILD_TESTING=OFF",
             "-DPYBIND11_NOPYTHON=ON",
+            "-Dprefix_for_pc_file=${pcfiledir}/../../",
         ]
         if "CMAKE_ARGS" in os.environ:
             fcommand = [
diff --git a/pybind11/tests/CMakeLists.txt b/pybind11/tests/CMakeLists.txt
index 7296cd1b8..80ee9c1f1 100644
--- a/pybind11/tests/CMakeLists.txt
+++ b/pybind11/tests/CMakeLists.txt
@@ -5,20 +5,17 @@
 # All rights reserved. Use of this source code is governed by a
 # BSD-style license that can be found in the LICENSE file.
 
-cmake_minimum_required(VERSION 3.4)
+cmake_minimum_required(VERSION 3.5)
 
-# The `cmake_minimum_required(VERSION 3.4...3.18)` syntax does not work with
+# The `cmake_minimum_required(VERSION 3.5...3.26)` syntax does not work with
 # some versions of VS that have a patched CMake 3.11. This forces us to emulate
 # the behavior using the following workaround:
-if(${CMAKE_VERSION} VERSION_LESS 3.21)
+if(${CMAKE_VERSION} VERSION_LESS 3.26)
   cmake_policy(VERSION ${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION})
 else()
-  cmake_policy(VERSION 3.21)
+  cmake_policy(VERSION 3.26)
 endif()
 
-# Only needed for CMake < 3.5 support
-include(CMakeParseArguments)
-
 # Filter out items; print an optional message if any items filtered. This ignores extensions.
 #
 # Usage:
@@ -128,7 +125,8 @@ set(PYBIND11_TEST_FILES
     test_custom_type_casters
     test_custom_type_setup
     test_docstring_options
-    test_eigen
+    test_eigen_matrix
+    test_eigen_tensor
     test_enum
     test_eval
     test_exceptions
@@ -153,7 +151,11 @@ set(PYBIND11_TEST_FILES
     test_stl_binders
     test_tagbased_polymorphic
     test_thread
+    test_type_caster_pyobject_ptr
     test_union
+    test_unnamed_namespace_a
+    test_unnamed_namespace_b
+    test_vector_unique_ptr_member
     test_virtual_functions)
 
 # Invoking cmake with something like:
@@ -168,7 +170,7 @@ if(PYBIND11_TEST_OVERRIDE)
   # This allows the override to be done with extensions, preserving backwards compatibility.
   foreach(test_name ${TEST_FILES_NO_EXT})
     if(NOT ${test_name} IN_LIST TEST_OVERRIDE_NO_EXT
-    )# If not in the whitelist, add to be filtered out.
+    )# If not in the allowlist, add to be filtered out.
       list(APPEND PYBIND11_TEST_FILTER ${test_name})
     endif()
   endforeach()
@@ -233,7 +235,10 @@ list(GET PYBIND11_EIGEN_VERSION_AND_HASH 1 PYBIND11_EIGEN_VERSION_HASH)
 # Check if Eigen is available; if not, remove from PYBIND11_TEST_FILES (but
 # keep it in PYBIND11_PYTEST_FILES, so that we get the "eigen is not installed"
 # skip message).
-list(FIND PYBIND11_TEST_FILES test_eigen.cpp PYBIND11_TEST_FILES_EIGEN_I)
+list(FIND PYBIND11_TEST_FILES test_eigen_matrix.cpp PYBIND11_TEST_FILES_EIGEN_I)
+if(PYBIND11_TEST_FILES_EIGEN_I EQUAL -1)
+  list(FIND PYBIND11_TEST_FILES test_eigen_tensor.cpp PYBIND11_TEST_FILES_EIGEN_I)
+endif()
 if(PYBIND11_TEST_FILES_EIGEN_I GREATER -1)
   # Try loading via newer Eigen's Eigen3Config first (bypassing tools/FindEigen3.cmake).
   # Eigen 3.3.1+ exports a cmake 3.0+ target for handling dependency requirements, but also
@@ -288,13 +293,34 @@ if(PYBIND11_TEST_FILES_EIGEN_I GREATER -1)
       set(EIGEN3_VERSION ${EIGEN3_VERSION_STRING})
     endif()
     message(STATUS "Building tests with Eigen v${EIGEN3_VERSION}")
+
+    if(NOT (CMAKE_CXX_COMPILER_ID STREQUAL "GNU" AND CMAKE_CXX_COMPILER_VERSION VERSION_LESS 5.0))
+      tests_extra_targets("test_eigen_tensor.py" "eigen_tensor_avoid_stl_array")
+    endif()
+
   else()
-    list(REMOVE_AT PYBIND11_TEST_FILES ${PYBIND11_TEST_FILES_EIGEN_I})
+    list(FIND PYBIND11_TEST_FILES test_eigen_matrix.cpp PYBIND11_TEST_FILES_EIGEN_I)
+    if(PYBIND11_TEST_FILES_EIGEN_I GREATER -1)
+      list(REMOVE_AT PYBIND11_TEST_FILES ${PYBIND11_TEST_FILES_EIGEN_I})
+    endif()
+
+    list(FIND PYBIND11_TEST_FILES test_eigen_tensor.cpp PYBIND11_TEST_FILES_EIGEN_I)
+    if(PYBIND11_TEST_FILES_EIGEN_I GREATER -1)
+      list(REMOVE_AT PYBIND11_TEST_FILES ${PYBIND11_TEST_FILES_EIGEN_I})
+    endif()
     message(
       STATUS "Building tests WITHOUT Eigen, use -DDOWNLOAD_EIGEN=ON on CMake 3.11+ to download")
   endif()
 endif()
 
+# Some code doesn't support gcc 4
+if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" AND CMAKE_CXX_COMPILER_VERSION VERSION_LESS 5.0)
+  list(FIND PYBIND11_TEST_FILES test_eigen_tensor.cpp PYBIND11_TEST_FILES_EIGEN_I)
+  if(PYBIND11_TEST_FILES_EIGEN_I GREATER -1)
+    list(REMOVE_AT PYBIND11_TEST_FILES ${PYBIND11_TEST_FILES_EIGEN_I})
+  endif()
+endif()
+
 # Optional dependency for some tests (boost::variant is only supported with version >= 1.56)
 find_package(Boost 1.56)
 
diff --git a/pybind11/tests/conftest.py b/pybind11/tests/conftest.py
index 02ce263af..ad5b47b4b 100644
--- a/pybind11/tests/conftest.py
+++ b/pybind11/tests/conftest.py
@@ -7,13 +7,36 @@ Adds docstring and exceptions message sanitizers.
 import contextlib
 import difflib
 import gc
+import multiprocessing
 import re
+import sys
 import textwrap
+import traceback
 
 import pytest
 
 # Early diagnostic for failed imports
-import pybind11_tests
+try:
+    import pybind11_tests
+except Exception:
+    # pytest does not show the traceback without this.
+    traceback.print_exc()
+    raise
+
+
+@pytest.fixture(scope="session", autouse=True)
+def use_multiprocessing_forkserver_on_linux():
+    if sys.platform != "linux":
+        # The default on Windows and macOS is "spawn": If it's not broken, don't fix it.
+        return
+
+    # Full background: https://github.com/pybind/pybind11/issues/4105#issuecomment-1301004592
+    # In a nutshell: fork() after starting threads == flakiness in the form of deadlocks.
+    # It is actually a well-known pitfall, unfortunately without guard rails.
+    # "forkserver" is more performant than "spawn" (~9s vs ~13s for tests/test_gil_scoped.py,
+    # visit the issuecomment link above for details).
+    multiprocessing.set_start_method("forkserver")
+
 
 _long_marker = re.compile(r"([0-9])L")
 _hexadecimal = re.compile(r"0x[0-9a-fA-F]+")
@@ -59,9 +82,8 @@ class Output:
         b = _strip_and_dedent(other).splitlines()
         if a == b:
             return True
-        else:
-            self.explanation = _make_explanation(a, b)
-            return False
+        self.explanation = _make_explanation(a, b)
+        return False
 
 
 class Unordered(Output):
@@ -72,9 +94,8 @@ class Unordered(Output):
         b = _split_and_sort(other)
         if a == b:
             return True
-        else:
-            self.explanation = _make_explanation(a, b)
-            return False
+        self.explanation = _make_explanation(a, b)
+        return False
 
 
 class Capture:
@@ -95,9 +116,8 @@ class Capture:
         b = other
         if a == b:
             return True
-        else:
-            self.explanation = a.explanation
-            return False
+        self.explanation = a.explanation
+        return False
 
     def __str__(self):
         return self.out
@@ -114,7 +134,7 @@ class Capture:
         return Output(self.err)
 
 
-@pytest.fixture
+@pytest.fixture()
 def capture(capsys):
     """Extended `capsys` with context manager and custom equality operators"""
     return Capture(capsys)
@@ -135,25 +155,22 @@ class SanitizedString:
         b = _strip_and_dedent(other)
         if a == b:
             return True
-        else:
-            self.explanation = _make_explanation(a.splitlines(), b.splitlines())
-            return False
+        self.explanation = _make_explanation(a.splitlines(), b.splitlines())
+        return False
 
 
 def _sanitize_general(s):
     s = s.strip()
     s = s.replace("pybind11_tests.", "m.")
-    s = _long_marker.sub(r"\1", s)
-    return s
+    return _long_marker.sub(r"\1", s)
 
 
 def _sanitize_docstring(thing):
     s = thing.__doc__
-    s = _sanitize_general(s)
-    return s
+    return _sanitize_general(s)
 
 
-@pytest.fixture
+@pytest.fixture()
 def doc():
     """Sanitize docstrings and add custom failure explanation"""
     return SanitizedString(_sanitize_docstring)
@@ -162,30 +179,20 @@ def doc():
 def _sanitize_message(thing):
     s = str(thing)
     s = _sanitize_general(s)
-    s = _hexadecimal.sub("0", s)
-    return s
+    return _hexadecimal.sub("0", s)
 
 
-@pytest.fixture
+@pytest.fixture()
 def msg():
     """Sanitize messages and add custom failure explanation"""
     return SanitizedString(_sanitize_message)
 
 
-# noinspection PyUnusedLocal
-def pytest_assertrepr_compare(op, left, right):
+def pytest_assertrepr_compare(op, left, right):  # noqa: ARG001
     """Hook to insert custom failure explanation"""
     if hasattr(left, "explanation"):
         return left.explanation
-
-
-@contextlib.contextmanager
-def suppress(exception):
-    """Suppress the desired exception"""
-    try:
-        yield
-    except exception:
-        pass
+    return None
 
 
 def gc_collect():
@@ -196,7 +203,7 @@ def gc_collect():
 
 
 def pytest_configure():
-    pytest.suppress = suppress
+    pytest.suppress = contextlib.suppress
     pytest.gc_collect = gc_collect
 
 
@@ -210,4 +217,5 @@ def pytest_report_header(config):
         f" {pybind11_tests.compiler_info}"
         f" {pybind11_tests.cpp_std}"
         f" {pybind11_tests.PYBIND11_INTERNALS_ID}"
+        f" PYBIND11_SIMPLE_GIL_MANAGEMENT={pybind11_tests.PYBIND11_SIMPLE_GIL_MANAGEMENT}"
     )
diff --git a/pybind11/tests/constructor_stats.h b/pybind11/tests/constructor_stats.h
index a3835c21e..937f6c233 100644
--- a/pybind11/tests/constructor_stats.h
+++ b/pybind11/tests/constructor_stats.h
@@ -115,7 +115,7 @@ public:
 #if defined(PYPY_VERSION)
         PyObject *globals = PyEval_GetGlobals();
         PyObject *result = PyRun_String("import gc\n"
-                                        "for i in range(2):"
+                                        "for i in range(2):\n"
                                         "    gc.collect()\n",
                                         Py_file_input,
                                         globals,
diff --git a/pybind11/tests/cross_module_gil_utils.cpp b/pybind11/tests/cross_module_gil_utils.cpp
index 1436c35d6..7c20849dd 100644
--- a/pybind11/tests/cross_module_gil_utils.cpp
+++ b/pybind11/tests/cross_module_gil_utils.cpp
@@ -6,9 +6,15 @@
     All rights reserved. Use of this source code is governed by a
     BSD-style license that can be found in the LICENSE file.
 */
+#if defined(PYBIND11_INTERNALS_VERSION)
+#    undef PYBIND11_INTERNALS_VERSION
+#endif
+#define PYBIND11_INTERNALS_VERSION 21814642 // Ensure this module has its own `internals` instance.
 #include <pybind11/pybind11.h>
 
 #include <cstdint>
+#include <string>
+#include <thread>
 
 // This file mimics a DSO that makes pybind11 calls but does not define a
 // PYBIND11_MODULE. The purpose is to test that such a DSO can create a
@@ -21,8 +27,54 @@
 namespace {
 
 namespace py = pybind11;
+
 void gil_acquire() { py::gil_scoped_acquire gil; }
 
+std::string gil_multi_acquire_release(unsigned bits) {
+    if ((bits & 0x1u) != 0u) {
+        py::gil_scoped_acquire gil;
+    }
+    if ((bits & 0x2u) != 0u) {
+        py::gil_scoped_release gil;
+    }
+    if ((bits & 0x4u) != 0u) {
+        py::gil_scoped_acquire gil;
+    }
+    if ((bits & 0x8u) != 0u) {
+        py::gil_scoped_release gil;
+    }
+    return PYBIND11_INTERNALS_ID;
+}
+
+struct CustomAutoGIL {
+    CustomAutoGIL() : gstate(PyGILState_Ensure()) {}
+    ~CustomAutoGIL() { PyGILState_Release(gstate); }
+
+    PyGILState_STATE gstate;
+};
+struct CustomAutoNoGIL {
+    CustomAutoNoGIL() : save(PyEval_SaveThread()) {}
+    ~CustomAutoNoGIL() { PyEval_RestoreThread(save); }
+
+    PyThreadState *save;
+};
+
+template <typename Acquire, typename Release>
+void gil_acquire_inner() {
+    Acquire acquire_outer;
+    Acquire acquire_inner;
+    Release release;
+}
+
+template <typename Acquire, typename Release>
+void gil_acquire_nested() {
+    Acquire acquire_outer;
+    Acquire acquire_inner;
+    Release release;
+    auto thread = std::thread(&gil_acquire_inner<Acquire, Release>);
+    thread.join();
+}
+
 constexpr char kModuleName[] = "cross_module_gil_utils";
 
 struct PyModuleDef moduledef = {
@@ -30,6 +82,9 @@ struct PyModuleDef moduledef = {
 
 } // namespace
 
+#define ADD_FUNCTION(Name, ...)                                                                   \
+    PyModule_AddObject(m, Name, PyLong_FromVoidPtr(reinterpret_cast<void *>(&__VA_ARGS__)));
+
 extern "C" PYBIND11_EXPORT PyObject *PyInit_cross_module_gil_utils() {
 
     PyObject *m = PyModule_Create(&moduledef);
@@ -37,8 +92,16 @@ extern "C" PYBIND11_EXPORT PyObject *PyInit_cross_module_gil_utils() {
     if (m != nullptr) {
         static_assert(sizeof(&gil_acquire) == sizeof(void *),
                       "Function pointer must have the same size as void*");
-        PyModule_AddObject(
-            m, "gil_acquire_funcaddr", PyLong_FromVoidPtr(reinterpret_cast<void *>(&gil_acquire)));
+        ADD_FUNCTION("gil_acquire_funcaddr", gil_acquire)
+        ADD_FUNCTION("gil_multi_acquire_release_funcaddr", gil_multi_acquire_release)
+        ADD_FUNCTION("gil_acquire_inner_custom_funcaddr",
+                     gil_acquire_inner<CustomAutoGIL, CustomAutoNoGIL>)
+        ADD_FUNCTION("gil_acquire_nested_custom_funcaddr",
+                     gil_acquire_nested<CustomAutoGIL, CustomAutoNoGIL>)
+        ADD_FUNCTION("gil_acquire_inner_pybind11_funcaddr",
+                     gil_acquire_inner<py::gil_scoped_acquire, py::gil_scoped_release>)
+        ADD_FUNCTION("gil_acquire_nested_pybind11_funcaddr",
+                     gil_acquire_nested<py::gil_scoped_acquire, py::gil_scoped_release>)
     }
 
     return m;
diff --git a/pybind11/tests/eigen_tensor_avoid_stl_array.cpp b/pybind11/tests/eigen_tensor_avoid_stl_array.cpp
new file mode 100644
index 000000000..eacc9e9bd
--- /dev/null
+++ b/pybind11/tests/eigen_tensor_avoid_stl_array.cpp
@@ -0,0 +1,14 @@
+/*
+    tests/eigen_tensor.cpp -- automatic conversion of Eigen Tensor
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#ifndef EIGEN_AVOID_STL_ARRAY
+#    define EIGEN_AVOID_STL_ARRAY
+#endif
+
+#include "test_eigen_tensor.inl"
+
+PYBIND11_MODULE(eigen_tensor_avoid_stl_array, m) { eigen_tensor_test::test_module(m); }
diff --git a/pybind11/tests/env.py b/pybind11/tests/env.py
index 0345df65d..7eea5a3b3 100644
--- a/pybind11/tests/env.py
+++ b/pybind11/tests/env.py
@@ -24,5 +24,4 @@ def deprecated_call():
     pytest_major_minor = (int(pieces[0]), int(pieces[1]))
     if pytest_major_minor < (3, 9):
         return pytest.warns((DeprecationWarning, PendingDeprecationWarning))
-    else:
-        return pytest.deprecated_call()
+    return pytest.deprecated_call()
diff --git a/pybind11/tests/extra_python_package/test_files.py b/pybind11/tests/extra_python_package/test_files.py
index ba16b5224..57387dd8b 100644
--- a/pybind11/tests/extra_python_package/test_files.py
+++ b/pybind11/tests/extra_python_package/test_files.py
@@ -12,6 +12,16 @@ import zipfile
 DIR = os.path.abspath(os.path.dirname(__file__))
 MAIN_DIR = os.path.dirname(os.path.dirname(DIR))
 
+PKGCONFIG = """\
+prefix=${{pcfiledir}}/../../
+includedir=${{prefix}}/include
+
+Name: pybind11
+Description: Seamless operability between C++11 and Python
+Version: {VERSION}
+Cflags: -I${{includedir}}
+"""
+
 
 main_headers = {
     "include/pybind11/attr.h",
@@ -33,6 +43,7 @@ main_headers = {
     "include/pybind11/pytypes.h",
     "include/pybind11/stl.h",
     "include/pybind11/stl_bind.h",
+    "include/pybind11/type_caster_pyobject_ptr.h",
 }
 
 detail_headers = {
@@ -45,6 +56,12 @@ detail_headers = {
     "include/pybind11/detail/typeid.h",
 }
 
+eigen_headers = {
+    "include/pybind11/eigen/common.h",
+    "include/pybind11/eigen/matrix.h",
+    "include/pybind11/eigen/tensor.h",
+}
+
 stl_headers = {
     "include/pybind11/stl/filesystem.h",
 }
@@ -59,6 +76,10 @@ cmake_files = {
     "share/cmake/pybind11/pybind11Tools.cmake",
 }
 
+pkgconfig_files = {
+    "share/pkgconfig/pybind11.pc",
+}
+
 py_files = {
     "__init__.py",
     "__main__.py",
@@ -68,8 +89,8 @@ py_files = {
     "setup_helpers.py",
 }
 
-headers = main_headers | detail_headers | stl_headers
-src_files = headers | cmake_files
+headers = main_headers | detail_headers | eigen_headers | stl_headers
+src_files = headers | cmake_files | pkgconfig_files
 all_files = src_files | py_files
 
 
@@ -78,10 +99,12 @@ sdist_files = {
     "pybind11/include",
     "pybind11/include/pybind11",
     "pybind11/include/pybind11/detail",
+    "pybind11/include/pybind11/eigen",
     "pybind11/include/pybind11/stl",
     "pybind11/share",
     "pybind11/share/cmake",
     "pybind11/share/cmake/pybind11",
+    "pybind11/share/pkgconfig",
     "pyproject.toml",
     "setup.cfg",
     "setup.py",
@@ -89,6 +112,7 @@ sdist_files = {
     "MANIFEST.in",
     "README.rst",
     "PKG-INFO",
+    "SECURITY.md",
 }
 
 local_sdist_files = {
@@ -101,22 +125,24 @@ local_sdist_files = {
 }
 
 
-def test_build_sdist(monkeypatch, tmpdir):
+def read_tz_file(tar: tarfile.TarFile, name: str) -> bytes:
+    start = tar.getnames()[0] + "/"
+    inner_file = tar.extractfile(tar.getmember(f"{start}{name}"))
+    assert inner_file
+    with contextlib.closing(inner_file) as f:
+        return f.read()
 
+
+def normalize_line_endings(value: bytes) -> bytes:
+    return value.replace(os.linesep.encode("utf-8"), b"\n")
+
+
+def test_build_sdist(monkeypatch, tmpdir):
     monkeypatch.chdir(MAIN_DIR)
 
-    out = subprocess.check_output(
-        [
-            sys.executable,
-            "-m",
-            "build",
-            "--sdist",
-            "--outdir",
-            str(tmpdir),
-        ]
+    subprocess.run(
+        [sys.executable, "-m", "build", "--sdist", f"--outdir={tmpdir}"], check=True
     )
-    if hasattr(out, "decode"):
-        out = out.decode()
 
     (sdist,) = tmpdir.visit("*.tar.gz")
 
@@ -125,25 +151,17 @@ def test_build_sdist(monkeypatch, tmpdir):
         version = start[9:-1]
         simpler = {n.split("/", 1)[-1] for n in tar.getnames()[1:]}
 
-        with contextlib.closing(
-            tar.extractfile(tar.getmember(start + "setup.py"))
-        ) as f:
-            setup_py = f.read()
+        setup_py = read_tz_file(tar, "setup.py")
+        pyproject_toml = read_tz_file(tar, "pyproject.toml")
+        pkgconfig = read_tz_file(tar, "pybind11/share/pkgconfig/pybind11.pc")
+        cmake_cfg = read_tz_file(
+            tar, "pybind11/share/cmake/pybind11/pybind11Config.cmake"
+        )
 
-        with contextlib.closing(
-            tar.extractfile(tar.getmember(start + "pyproject.toml"))
-        ) as f:
-            pyproject_toml = f.read()
-
-        with contextlib.closing(
-            tar.extractfile(
-                tar.getmember(
-                    start + "pybind11/share/cmake/pybind11/pybind11Config.cmake"
-                )
-            )
-        ) as f:
-            contents = f.read().decode("utf8")
-        assert 'set(pybind11_INCLUDE_DIR "${PACKAGE_PREFIX_DIR}/include")' in contents
+    assert (
+        'set(pybind11_INCLUDE_DIR "${PACKAGE_PREFIX_DIR}/include")'
+        in cmake_cfg.decode("utf-8")
+    )
 
     files = {f"pybind11/{n}" for n in all_files}
     files |= sdist_files
@@ -154,9 +172,9 @@ def test_build_sdist(monkeypatch, tmpdir):
 
     with open(os.path.join(MAIN_DIR, "tools", "setup_main.py.in"), "rb") as f:
         contents = (
-            string.Template(f.read().decode())
+            string.Template(f.read().decode("utf-8"))
             .substitute(version=version, extra_cmd="")
-            .encode()
+            .encode("utf-8")
         )
     assert setup_py == contents
 
@@ -164,25 +182,18 @@ def test_build_sdist(monkeypatch, tmpdir):
         contents = f.read()
     assert pyproject_toml == contents
 
+    simple_version = ".".join(version.split(".")[:3])
+    pkgconfig_expected = PKGCONFIG.format(VERSION=simple_version).encode("utf-8")
+    assert normalize_line_endings(pkgconfig) == pkgconfig_expected
+
 
 def test_build_global_dist(monkeypatch, tmpdir):
-
     monkeypatch.chdir(MAIN_DIR)
     monkeypatch.setenv("PYBIND11_GLOBAL_SDIST", "1")
-    out = subprocess.check_output(
-        [
-            sys.executable,
-            "-m",
-            "build",
-            "--sdist",
-            "--outdir",
-            str(tmpdir),
-        ]
+    subprocess.run(
+        [sys.executable, "-m", "build", "--sdist", "--outdir", str(tmpdir)], check=True
     )
 
-    if hasattr(out, "decode"):
-        out = out.decode()
-
     (sdist,) = tmpdir.visit("*.tar.gz")
 
     with tarfile.open(str(sdist), "r:gz") as tar:
@@ -190,15 +201,17 @@ def test_build_global_dist(monkeypatch, tmpdir):
         version = start[16:-1]
         simpler = {n.split("/", 1)[-1] for n in tar.getnames()[1:]}
 
-        with contextlib.closing(
-            tar.extractfile(tar.getmember(start + "setup.py"))
-        ) as f:
-            setup_py = f.read()
+        setup_py = read_tz_file(tar, "setup.py")
+        pyproject_toml = read_tz_file(tar, "pyproject.toml")
+        pkgconfig = read_tz_file(tar, "pybind11/share/pkgconfig/pybind11.pc")
+        cmake_cfg = read_tz_file(
+            tar, "pybind11/share/cmake/pybind11/pybind11Config.cmake"
+        )
 
-        with contextlib.closing(
-            tar.extractfile(tar.getmember(start + "pyproject.toml"))
-        ) as f:
-            pyproject_toml = f.read()
+    assert (
+        'set(pybind11_INCLUDE_DIR "${PACKAGE_PREFIX_DIR}/include")'
+        in cmake_cfg.decode("utf-8")
+    )
 
     files = {f"pybind11/{n}" for n in all_files}
     files |= sdist_files
@@ -209,7 +222,7 @@ def test_build_global_dist(monkeypatch, tmpdir):
         contents = (
             string.Template(f.read().decode())
             .substitute(version=version, extra_cmd="")
-            .encode()
+            .encode("utf-8")
         )
         assert setup_py == contents
 
@@ -217,12 +230,16 @@ def test_build_global_dist(monkeypatch, tmpdir):
         contents = f.read()
         assert pyproject_toml == contents
 
+    simple_version = ".".join(version.split(".")[:3])
+    pkgconfig_expected = PKGCONFIG.format(VERSION=simple_version).encode("utf-8")
+    assert normalize_line_endings(pkgconfig) == pkgconfig_expected
+
 
 def tests_build_wheel(monkeypatch, tmpdir):
     monkeypatch.chdir(MAIN_DIR)
 
-    subprocess.check_output(
-        [sys.executable, "-m", "pip", "wheel", ".", "-w", str(tmpdir)]
+    subprocess.run(
+        [sys.executable, "-m", "pip", "wheel", ".", "-w", str(tmpdir)], check=True
     )
 
     (wheel,) = tmpdir.visit("*.whl")
@@ -249,8 +266,8 @@ def tests_build_global_wheel(monkeypatch, tmpdir):
     monkeypatch.chdir(MAIN_DIR)
     monkeypatch.setenv("PYBIND11_GLOBAL_SDIST", "1")
 
-    subprocess.check_output(
-        [sys.executable, "-m", "pip", "wheel", ".", "-w", str(tmpdir)]
+    subprocess.run(
+        [sys.executable, "-m", "pip", "wheel", ".", "-w", str(tmpdir)], check=True
     )
 
     (wheel,) = tmpdir.visit("*.whl")
diff --git a/pybind11/tests/pybind11_tests.cpp b/pybind11/tests/pybind11_tests.cpp
index aa3095594..624034648 100644
--- a/pybind11/tests/pybind11_tests.cpp
+++ b/pybind11/tests/pybind11_tests.cpp
@@ -89,6 +89,12 @@ PYBIND11_MODULE(pybind11_tests, m) {
 #endif
     m.attr("cpp_std") = cpp_std();
     m.attr("PYBIND11_INTERNALS_ID") = PYBIND11_INTERNALS_ID;
+    m.attr("PYBIND11_SIMPLE_GIL_MANAGEMENT") =
+#if defined(PYBIND11_SIMPLE_GIL_MANAGEMENT)
+        true;
+#else
+        false;
+#endif
 
     bind_ConstructorStats(m);
 
diff --git a/pybind11/tests/requirements.txt b/pybind11/tests/requirements.txt
index 04aafa8cf..4ba101119 100644
--- a/pybind11/tests/requirements.txt
+++ b/pybind11/tests/requirements.txt
@@ -6,4 +6,4 @@ numpy==1.22.2; platform_python_implementation!="PyPy" and python_version>="3.10"
 pytest==7.0.0
 pytest-timeout
 scipy==1.5.4; platform_python_implementation!="PyPy" and python_version<"3.10"
-scipy==1.8.0; platform_python_implementation!="PyPy" and python_version=="3.10"
+scipy==1.10.0; platform_python_implementation!="PyPy" and python_version=="3.10"
diff --git a/pybind11/tests/test_async.py b/pybind11/tests/test_async.py
index b9ff9514d..83a4c5036 100644
--- a/pybind11/tests/test_async.py
+++ b/pybind11/tests/test_async.py
@@ -4,7 +4,7 @@ asyncio = pytest.importorskip("asyncio")
 m = pytest.importorskip("pybind11_tests.async_module")
 
 
-@pytest.fixture
+@pytest.fixture()
 def event_loop():
     loop = asyncio.new_event_loop()
     yield loop
@@ -16,7 +16,7 @@ async def get_await_result(x):
 
 
 def test_await(event_loop):
-    assert 5 == event_loop.run_until_complete(get_await_result(m.SupportsAsync()))
+    assert event_loop.run_until_complete(get_await_result(m.SupportsAsync())) == 5
 
 
 def test_await_missing(event_loop):
diff --git a/pybind11/tests/test_buffers.cpp b/pybind11/tests/test_buffers.cpp
index 6b6e8cba7..b5b8c355b 100644
--- a/pybind11/tests/test_buffers.cpp
+++ b/pybind11/tests/test_buffers.cpp
@@ -7,12 +7,47 @@
     BSD-style license that can be found in the LICENSE file.
 */
 
+#include <pybind11/complex.h>
 #include <pybind11/stl.h>
 
 #include "constructor_stats.h"
 #include "pybind11_tests.h"
 
 TEST_SUBMODULE(buffers, m) {
+    m.attr("long_double_and_double_have_same_size") = (sizeof(long double) == sizeof(double));
+
+    m.def("format_descriptor_format_buffer_info_equiv",
+          [](const std::string &cpp_name, const py::buffer &buffer) {
+              // https://google.github.io/styleguide/cppguide.html#Static_and_Global_Variables
+              static auto *format_table = new std::map<std::string, std::string>;
+              static auto *equiv_table
+                  = new std::map<std::string, bool (py::buffer_info::*)() const>;
+              if (format_table->empty()) {
+#define PYBIND11_ASSIGN_HELPER(...)                                                               \
+    (*format_table)[#__VA_ARGS__] = py::format_descriptor<__VA_ARGS__>::format();                 \
+    (*equiv_table)[#__VA_ARGS__] = &py::buffer_info::item_type_is_equivalent_to<__VA_ARGS__>;
+                  PYBIND11_ASSIGN_HELPER(PyObject *)
+                  PYBIND11_ASSIGN_HELPER(bool)
+                  PYBIND11_ASSIGN_HELPER(std::int8_t)
+                  PYBIND11_ASSIGN_HELPER(std::uint8_t)
+                  PYBIND11_ASSIGN_HELPER(std::int16_t)
+                  PYBIND11_ASSIGN_HELPER(std::uint16_t)
+                  PYBIND11_ASSIGN_HELPER(std::int32_t)
+                  PYBIND11_ASSIGN_HELPER(std::uint32_t)
+                  PYBIND11_ASSIGN_HELPER(std::int64_t)
+                  PYBIND11_ASSIGN_HELPER(std::uint64_t)
+                  PYBIND11_ASSIGN_HELPER(float)
+                  PYBIND11_ASSIGN_HELPER(double)
+                  PYBIND11_ASSIGN_HELPER(long double)
+                  PYBIND11_ASSIGN_HELPER(std::complex<float>)
+                  PYBIND11_ASSIGN_HELPER(std::complex<double>)
+                  PYBIND11_ASSIGN_HELPER(std::complex<long double>)
+#undef PYBIND11_ASSIGN_HELPER
+              }
+              return std::pair<std::string, bool>(
+                  (*format_table)[cpp_name], (buffer.request().*((*equiv_table)[cpp_name]))());
+          });
+
     // test_from_python / test_to_python:
     class Matrix {
     public:
diff --git a/pybind11/tests/test_buffers.py b/pybind11/tests/test_buffers.py
index 8354b68cd..63d9d869f 100644
--- a/pybind11/tests/test_buffers.py
+++ b/pybind11/tests/test_buffers.py
@@ -10,6 +10,63 @@ from pybind11_tests import buffers as m
 
 np = pytest.importorskip("numpy")
 
+if m.long_double_and_double_have_same_size:
+    # Determined by the compiler used to build the pybind11 tests
+    # (e.g. MSVC gets here, but MinGW might not).
+    np_float128 = None
+    np_complex256 = None
+else:
+    # Determined by the compiler used to build numpy (e.g. MinGW).
+    np_float128 = getattr(np, *["float128"] * 2)
+    np_complex256 = getattr(np, *["complex256"] * 2)
+
+CPP_NAME_FORMAT_NP_DTYPE_TABLE = [
+    ("PyObject *", "O", object),
+    ("bool", "?", np.bool_),
+    ("std::int8_t", "b", np.int8),
+    ("std::uint8_t", "B", np.uint8),
+    ("std::int16_t", "h", np.int16),
+    ("std::uint16_t", "H", np.uint16),
+    ("std::int32_t", "i", np.int32),
+    ("std::uint32_t", "I", np.uint32),
+    ("std::int64_t", "q", np.int64),
+    ("std::uint64_t", "Q", np.uint64),
+    ("float", "f", np.float32),
+    ("double", "d", np.float64),
+    ("long double", "g", np_float128),
+    ("std::complex<float>", "Zf", np.complex64),
+    ("std::complex<double>", "Zd", np.complex128),
+    ("std::complex<long double>", "Zg", np_complex256),
+]
+CPP_NAME_FORMAT_TABLE = [
+    (cpp_name, format)
+    for cpp_name, format, np_dtype in CPP_NAME_FORMAT_NP_DTYPE_TABLE
+    if np_dtype is not None
+]
+CPP_NAME_NP_DTYPE_TABLE = [
+    (cpp_name, np_dtype) for cpp_name, _, np_dtype in CPP_NAME_FORMAT_NP_DTYPE_TABLE
+]
+
+
+@pytest.mark.parametrize(("cpp_name", "np_dtype"), CPP_NAME_NP_DTYPE_TABLE)
+def test_format_descriptor_format_buffer_info_equiv(cpp_name, np_dtype):
+    if np_dtype is None:
+        pytest.skip(
+            f"cpp_name=`{cpp_name}`: `long double` and `double` have same size."
+        )
+    if isinstance(np_dtype, str):
+        pytest.skip(f"np.{np_dtype} does not exist.")
+    np_array = np.array([], dtype=np_dtype)
+    for other_cpp_name, expected_format in CPP_NAME_FORMAT_TABLE:
+        format, np_array_is_matching = m.format_descriptor_format_buffer_info_equiv(
+            other_cpp_name, np_array
+        )
+        assert format == expected_format
+        if other_cpp_name == cpp_name:
+            assert np_array_is_matching
+        else:
+            assert not np_array_is_matching
+
 
 def test_from_python():
     with pytest.raises(RuntimeError) as excinfo:
@@ -54,7 +111,8 @@ def test_to_python():
     mat2 = np.array(mat, copy=False)
     assert mat2.shape == (5, 4)
     assert abs(mat2).sum() == 11
-    assert mat2[2, 3] == 4 and mat2[3, 2] == 7
+    assert mat2[2, 3] == 4
+    assert mat2[3, 2] == 7
     mat2[2, 3] = 5
     assert mat2[2, 3] == 5
 
diff --git a/pybind11/tests/test_builtin_casters.cpp b/pybind11/tests/test_builtin_casters.cpp
index 6529f47d0..0623b85dc 100644
--- a/pybind11/tests/test_builtin_casters.cpp
+++ b/pybind11/tests/test_builtin_casters.cpp
@@ -73,6 +73,9 @@ PYBIND11_NAMESPACE_END(detail)
 PYBIND11_NAMESPACE_END(pybind11)
 
 TEST_SUBMODULE(builtin_casters, m) {
+    PYBIND11_WARNING_PUSH
+    PYBIND11_WARNING_DISABLE_MSVC(4127)
+
     // test_simple_string
     m.def("string_roundtrip", [](const char *s) { return s; });
 
@@ -86,7 +89,7 @@ TEST_SUBMODULE(builtin_casters, m) {
     std::wstring wstr;
     wstr.push_back(0x61);   // a
     wstr.push_back(0x2e18); // ⸘
-    if (PYBIND11_SILENCE_MSVC_C4127(sizeof(wchar_t) == 2)) {
+    if (sizeof(wchar_t) == 2) {
         wstr.push_back(mathbfA16_1);
         wstr.push_back(mathbfA16_2);
     } // 𝐀, utf16
@@ -113,7 +116,7 @@ TEST_SUBMODULE(builtin_casters, m) {
     // Under Python 2.7, invalid unicode UTF-32 characters didn't appear to trigger
     // UnicodeDecodeError
     m.def("bad_utf32_string", [=]() { return std::u32string({a32, char32_t(0xd800), z32}); });
-    if (PYBIND11_SILENCE_MSVC_C4127(sizeof(wchar_t) == 2)) {
+    if (sizeof(wchar_t) == 2) {
         m.def("bad_wchar_string", [=]() {
             return std::wstring({wchar_t(0x61), wchar_t(0xd800)});
         });
@@ -266,9 +269,14 @@ TEST_SUBMODULE(builtin_casters, m) {
     });
     m.def("lvalue_nested", []() -> const decltype(lvnested) & { return lvnested; });
 
-    static std::pair<int, std::string> int_string_pair{2, "items"};
     m.def(
-        "int_string_pair", []() { return &int_string_pair; }, py::return_value_policy::reference);
+        "int_string_pair",
+        []() {
+            // Using no-destructor idiom to side-step warnings from overzealous compilers.
+            static auto *int_string_pair = new std::pair<int, std::string>{2, "items"};
+            return int_string_pair;
+        },
+        py::return_value_policy::reference);
 
     // test_builtins_cast_return_none
     m.def("return_none_string", []() -> std::string * { return nullptr; });
@@ -379,4 +387,6 @@ TEST_SUBMODULE(builtin_casters, m) {
     m.def("takes_const_ref", [](const ConstRefCasted &x) { return x.tag; });
     m.def("takes_const_ref_wrap",
           [](std::reference_wrapper<const ConstRefCasted> x) { return x.get().tag; });
+
+    PYBIND11_WARNING_POP
 }
diff --git a/pybind11/tests/test_builtin_casters.py b/pybind11/tests/test_builtin_casters.py
index d38ae6802..b1f57bdd9 100644
--- a/pybind11/tests/test_builtin_casters.py
+++ b/pybind11/tests/test_builtin_casters.py
@@ -126,8 +126,8 @@ def test_bytes_to_string():
 
     assert m.strlen(b"hi") == 2
     assert m.string_length(b"world") == 5
-    assert m.string_length("a\x00b".encode()) == 3
-    assert m.strlen("a\x00b".encode()) == 1  # C-string limitation
+    assert m.string_length(b"a\x00b") == 3
+    assert m.strlen(b"a\x00b") == 1  # C-string limitation
 
     # passing in a utf8 encoded string should work
     assert m.string_length("💩".encode()) == 4
@@ -421,13 +421,15 @@ def test_reference_wrapper():
     a2 = m.refwrap_list(copy=True)
     assert [x.value for x in a1] == [2, 3]
     assert [x.value for x in a2] == [2, 3]
-    assert not a1[0] is a2[0] and not a1[1] is a2[1]
+    assert a1[0] is not a2[0]
+    assert a1[1] is not a2[1]
 
     b1 = m.refwrap_list(copy=False)
     b2 = m.refwrap_list(copy=False)
     assert [x.value for x in b1] == [1, 2]
     assert [x.value for x in b2] == [1, 2]
-    assert b1[0] is b2[0] and b1[1] is b2[1]
+    assert b1[0] is b2[0]
+    assert b1[1] is b2[1]
 
     assert m.refwrap_iiw(IncType(5)) == 5
     assert m.refwrap_call_iiw(IncType(10), m.refwrap_iiw) == [10, 10, 10, 10]
diff --git a/pybind11/tests/test_callbacks.cpp b/pybind11/tests/test_callbacks.cpp
index 92b8053de..2fd05dec7 100644
--- a/pybind11/tests/test_callbacks.cpp
+++ b/pybind11/tests/test_callbacks.cpp
@@ -240,4 +240,41 @@ TEST_SUBMODULE(callbacks, m) {
             f();
         }
     });
+
+    auto *custom_def = []() {
+        static PyMethodDef def;
+        def.ml_name = "example_name";
+        def.ml_doc = "Example doc";
+        def.ml_meth = [](PyObject *, PyObject *args) -> PyObject * {
+            if (PyTuple_Size(args) != 1) {
+                throw std::runtime_error("Invalid number of arguments for example_name");
+            }
+            PyObject *first = PyTuple_GetItem(args, 0);
+            if (!PyLong_Check(first)) {
+                throw std::runtime_error("Invalid argument to example_name");
+            }
+            auto result = py::cast(PyLong_AsLong(first) * 9);
+            return result.release().ptr();
+        };
+        def.ml_flags = METH_VARARGS;
+        return &def;
+    }();
+
+    // rec_capsule with name that has the same value (but not pointer) as our internal one
+    // This capsule should be detected by our code as foreign and not inspected as the pointers
+    // shouldn't match
+    constexpr const char *rec_capsule_name
+        = pybind11::detail::internals_function_record_capsule_name;
+    py::capsule rec_capsule(std::malloc(1), [](void *data) { std::free(data); });
+    rec_capsule.set_name(rec_capsule_name);
+    m.add_object("custom_function", PyCFunction_New(custom_def, rec_capsule.ptr()));
+
+    // This test requires a new ABI version to pass
+#if PYBIND11_INTERNALS_VERSION > 4
+    // rec_capsule with nullptr name
+    py::capsule rec_capsule2(std::malloc(1), [](void *data) { std::free(data); });
+    m.add_object("custom_function2", PyCFunction_New(custom_def, rec_capsule2.ptr()));
+#else
+    m.add_object("custom_function2", py::none());
+#endif
 }
diff --git a/pybind11/tests/test_callbacks.py b/pybind11/tests/test_callbacks.py
index 0b1047bbf..4a652f53e 100644
--- a/pybind11/tests/test_callbacks.py
+++ b/pybind11/tests/test_callbacks.py
@@ -5,6 +5,7 @@ import pytest
 
 import env  # noqa: F401
 from pybind11_tests import callbacks as m
+from pybind11_tests import detailed_error_messages_enabled
 
 
 def test_callbacks():
@@ -70,11 +71,20 @@ def test_keyword_args_and_generalized_unpacking():
 
     with pytest.raises(RuntimeError) as excinfo:
         m.test_arg_conversion_error1(f)
-    assert "Unable to convert call argument" in str(excinfo.value)
+    assert str(excinfo.value) == "Unable to convert call argument " + (
+        "'1' of type 'UnregisteredType' to Python object"
+        if detailed_error_messages_enabled
+        else "'1' to Python object (#define PYBIND11_DETAILED_ERROR_MESSAGES or compile in debug mode for details)"
+    )
 
     with pytest.raises(RuntimeError) as excinfo:
         m.test_arg_conversion_error2(f)
-    assert "Unable to convert call argument" in str(excinfo.value)
+    assert str(excinfo.value) == "Unable to convert call argument " + (
+        "'expected_name' of type 'UnregisteredType' to Python object"
+        if detailed_error_messages_enabled
+        else "'expected_name' to Python object "
+        "(#define PYBIND11_DETAILED_ERROR_MESSAGES or compile in debug mode for details)"
+    )
 
 
 def test_lambda_closure_cleanup():
@@ -193,3 +203,16 @@ def test_callback_num_times():
     if len(rates) > 1:
         print("Min    Mean   Max")
         print(f"{min(rates):6.3f} {sum(rates) / len(rates):6.3f} {max(rates):6.3f}")
+
+
+def test_custom_func():
+    assert m.custom_function(4) == 36
+    assert m.roundtrip(m.custom_function)(4) == 36
+
+
+@pytest.mark.skipif(
+    m.custom_function2 is None, reason="Current PYBIND11_INTERNALS_VERSION too low"
+)
+def test_custom_func2():
+    assert m.custom_function2(3) == 27
+    assert m.roundtrip(m.custom_function2)(3) == 27
diff --git a/pybind11/tests/test_chrono.py b/pybind11/tests/test_chrono.py
index 7f47b37a2..a29316c38 100644
--- a/pybind11/tests/test_chrono.py
+++ b/pybind11/tests/test_chrono.py
@@ -7,7 +7,6 @@ from pybind11_tests import chrono as m
 
 
 def test_chrono_system_clock():
-
     # Get the time from both c++ and datetime
     date0 = datetime.datetime.today()
     date1 = m.test_chrono1()
@@ -122,7 +121,6 @@ def test_chrono_system_clock_roundtrip_time(time1, tz, monkeypatch):
 
 
 def test_chrono_duration_roundtrip():
-
     # Get the difference between two times (a timedelta)
     date1 = datetime.datetime.today()
     date2 = datetime.datetime.today()
@@ -143,7 +141,6 @@ def test_chrono_duration_roundtrip():
 
 
 def test_chrono_duration_subtraction_equivalence():
-
     date1 = datetime.datetime.today()
     date2 = datetime.datetime.today()
 
@@ -154,7 +151,6 @@ def test_chrono_duration_subtraction_equivalence():
 
 
 def test_chrono_duration_subtraction_equivalence_date():
-
     date1 = datetime.date.today()
     date2 = datetime.date.today()
 
diff --git a/pybind11/tests/test_class.cpp b/pybind11/tests/test_class.cpp
index c8b8071dc..7241bc881 100644
--- a/pybind11/tests/test_class.cpp
+++ b/pybind11/tests/test_class.cpp
@@ -22,10 +22,8 @@
 
 #include <utility>
 
-#if defined(_MSC_VER)
-#    pragma warning(disable : 4324)
+PYBIND11_WARNING_DISABLE_MSVC(4324)
 //     warning C4324: structure was padded due to alignment specifier
-#endif
 
 // test_brace_initialization
 struct NoBraceInitialization {
@@ -36,7 +34,29 @@ struct NoBraceInitialization {
     std::vector<int> vec;
 };
 
+namespace test_class {
+namespace pr4220_tripped_over_this { // PR #4227
+
+template <int>
+struct SoEmpty {};
+
+template <typename T>
+std::string get_msg(const T &) {
+    return "This is really only meant to exercise successful compilation.";
+}
+
+using Empty0 = SoEmpty<0x0>;
+
+void bind_empty0(py::module_ &m) {
+    py::class_<Empty0>(m, "Empty0").def(py::init<>()).def("get_msg", get_msg<Empty0>);
+}
+
+} // namespace pr4220_tripped_over_this
+} // namespace test_class
+
 TEST_SUBMODULE(class_, m) {
+    m.def("obj_class_name", [](py::handle obj) { return py::detail::obj_class_name(obj.ptr()); });
+
     // test_instance
     struct NoConstructor {
         NoConstructor() = default;
@@ -65,7 +85,7 @@ TEST_SUBMODULE(class_, m) {
         .def_static("new_instance", &NoConstructor::new_instance, "Return an instance");
 
     py::class_<NoConstructorNew>(m, "NoConstructorNew")
-        .def(py::init([](const NoConstructorNew &self) { return self; })) // Need a NOOP __init__
+        .def(py::init([]() { return nullptr; })) // Need a NOOP __init__
         .def_static("__new__",
                     [](const py::object &) { return NoConstructorNew::new_instance(); });
 
@@ -364,6 +384,8 @@ TEST_SUBMODULE(class_, m) {
 
     protected:
         virtual int foo() const { return value; }
+        virtual void *void_foo() { return static_cast<void *>(&value); }
+        virtual void *get_self() { return static_cast<void *>(this); }
 
     private:
         int value = 42;
@@ -372,6 +394,8 @@ TEST_SUBMODULE(class_, m) {
     class TrampolineB : public ProtectedB {
     public:
         int foo() const override { PYBIND11_OVERRIDE(int, ProtectedB, foo, ); }
+        void *void_foo() override { PYBIND11_OVERRIDE(void *, ProtectedB, void_foo, ); }
+        void *get_self() override { PYBIND11_OVERRIDE(void *, ProtectedB, get_self, ); }
     };
 
     class PublicistB : public ProtectedB {
@@ -381,11 +405,23 @@ TEST_SUBMODULE(class_, m) {
         // (in Debug builds only, tested with icpc (ICC) 2021.1 Beta 20200827)
         ~PublicistB() override{}; // NOLINT(modernize-use-equals-default)
         using ProtectedB::foo;
+        using ProtectedB::get_self;
+        using ProtectedB::void_foo;
     };
 
+    m.def("read_foo", [](const void *original) {
+        const int *ptr = reinterpret_cast<const int *>(original);
+        return *ptr;
+    });
+
+    m.def("pointers_equal",
+          [](const void *original, const void *comparison) { return original == comparison; });
+
     py::class_<ProtectedB, TrampolineB>(m, "ProtectedB")
         .def(py::init<>())
-        .def("foo", &PublicistB::foo);
+        .def("foo", &PublicistB::foo)
+        .def("void_foo", &PublicistB::void_foo)
+        .def("get_self", &PublicistB::get_self);
 
     // test_brace_initialization
     struct BraceInitialization {
@@ -517,6 +553,8 @@ TEST_SUBMODULE(class_, m) {
         py::class_<OtherDuplicateNested>(gt, "OtherDuplicateNested");
         py::class_<OtherDuplicateNested>(gt, "YetAnotherDuplicateNested");
     });
+
+    test_class::pr4220_tripped_over_this::bind_empty0(m);
 }
 
 template <int N>
diff --git a/pybind11/tests/test_class.py b/pybind11/tests/test_class.py
index ff9196f0f..ee7467cf8 100644
--- a/pybind11/tests/test_class.py
+++ b/pybind11/tests/test_class.py
@@ -1,10 +1,16 @@
 import pytest
 
-import env  # noqa: F401
+import env
 from pybind11_tests import ConstructorStats, UserType
 from pybind11_tests import class_ as m
 
 
+def test_obj_class_name():
+    expected_name = "UserType" if env.PYPY else "pybind11_tests.UserType"
+    assert m.obj_class_name(UserType(1)) == expected_name
+    assert m.obj_class_name(UserType) == expected_name
+
+
 def test_repr():
     assert "pybind11_type" in repr(type(UserType))
     assert "UserType" in repr(UserType)
@@ -23,7 +29,7 @@ def test_instance(msg):
     assert cstats.alive() == 0
 
 
-def test_instance_new(msg):
+def test_instance_new():
     instance = m.NoConstructorNew()  # .__new__(m.NoConstructor.__class__)
     cstats = ConstructorStats.get(m.NoConstructorNew)
     assert cstats.alive() == 1
@@ -176,7 +182,6 @@ def test_inheritance(msg):
 
 
 def test_inheritance_init(msg):
-
     # Single base
     class Python(m.Pet):
         def __init__(self):
@@ -213,7 +218,7 @@ def test_automatic_upcasting():
 
 
 def test_isinstance():
-    objects = [tuple(), dict(), m.Pet("Polly", "parrot")] + [m.Dog("Molly")] * 4
+    objects = [(), {}, m.Pet("Polly", "parrot")] + [m.Dog("Molly")] * 4
     expected = (True, True, True, True, True, False, False)
     assert m.check_instances(objects) == expected
 
@@ -313,6 +318,8 @@ def test_bind_protected_functions():
 
     b = m.ProtectedB()
     assert b.foo() == 42
+    assert m.read_foo(b.void_foo()) == 42
+    assert m.pointers_equal(b.get_self(), b)
 
     class C(m.ProtectedB):
         def __init__(self):
@@ -417,7 +424,7 @@ def test_exception_rvalue_abort():
 
 
 # https://github.com/pybind/pybind11/issues/1568
-def test_multiple_instances_with_same_pointer(capture):
+def test_multiple_instances_with_same_pointer():
     n = 100
     instances = [m.SamePointer() for _ in range(n)]
     for i in range(n):
@@ -469,3 +476,10 @@ def test_register_duplicate_class():
         m.register_duplicate_nested_class_type(ClassScope)
     expected = 'generic_type: type "YetAnotherDuplicateNested" is already registered!'
     assert str(exc_info.value) == expected
+
+
+def test_pr4220_tripped_over_this():
+    assert (
+        m.Empty0().get_msg()
+        == "This is really only meant to exercise successful compilation."
+    )
diff --git a/pybind11/tests/test_cmake_build/CMakeLists.txt b/pybind11/tests/test_cmake_build/CMakeLists.txt
index 8bfaa386a..e5aa975cf 100644
--- a/pybind11/tests/test_cmake_build/CMakeLists.txt
+++ b/pybind11/tests/test_cmake_build/CMakeLists.txt
@@ -1,6 +1,3 @@
-# Built-in in CMake 3.5+
-include(CMakeParseArguments)
-
 add_custom_target(test_cmake_build)
 
 function(pybind11_add_build_test name)
diff --git a/pybind11/tests/test_cmake_build/installed_embed/CMakeLists.txt b/pybind11/tests/test_cmake_build/installed_embed/CMakeLists.txt
index f7d693998..d9dcb45e4 100644
--- a/pybind11/tests/test_cmake_build/installed_embed/CMakeLists.txt
+++ b/pybind11/tests/test_cmake_build/installed_embed/CMakeLists.txt
@@ -1,12 +1,12 @@
-cmake_minimum_required(VERSION 3.4)
+cmake_minimum_required(VERSION 3.5)
 
-# The `cmake_minimum_required(VERSION 3.4...3.18)` syntax does not work with
+# The `cmake_minimum_required(VERSION 3.5...3.26)` syntax does not work with
 # some versions of VS that have a patched CMake 3.11. This forces us to emulate
 # the behavior using the following workaround:
-if(${CMAKE_VERSION} VERSION_LESS 3.18)
+if(${CMAKE_VERSION} VERSION_LESS 3.26)
   cmake_policy(VERSION ${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION})
 else()
-  cmake_policy(VERSION 3.18)
+  cmake_policy(VERSION 3.26)
 endif()
 
 project(test_installed_embed CXX)
diff --git a/pybind11/tests/test_cmake_build/installed_function/CMakeLists.txt b/pybind11/tests/test_cmake_build/installed_function/CMakeLists.txt
index d7ca4db55..2f4f64275 100644
--- a/pybind11/tests/test_cmake_build/installed_function/CMakeLists.txt
+++ b/pybind11/tests/test_cmake_build/installed_function/CMakeLists.txt
@@ -1,13 +1,13 @@
-cmake_minimum_required(VERSION 3.4)
+cmake_minimum_required(VERSION 3.5)
 project(test_installed_module CXX)
 
-# The `cmake_minimum_required(VERSION 3.4...3.18)` syntax does not work with
+# The `cmake_minimum_required(VERSION 3.5...3.26)` syntax does not work with
 # some versions of VS that have a patched CMake 3.11. This forces us to emulate
 # the behavior using the following workaround:
-if(${CMAKE_VERSION} VERSION_LESS 3.18)
+if(${CMAKE_VERSION} VERSION_LESS 3.26)
   cmake_policy(VERSION ${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION})
 else()
-  cmake_policy(VERSION 3.18)
+  cmake_policy(VERSION 3.26)
 endif()
 
 project(test_installed_function CXX)
diff --git a/pybind11/tests/test_cmake_build/installed_target/CMakeLists.txt b/pybind11/tests/test_cmake_build/installed_target/CMakeLists.txt
index bc5e101f1..a981e236f 100644
--- a/pybind11/tests/test_cmake_build/installed_target/CMakeLists.txt
+++ b/pybind11/tests/test_cmake_build/installed_target/CMakeLists.txt
@@ -1,12 +1,12 @@
-cmake_minimum_required(VERSION 3.4)
+cmake_minimum_required(VERSION 3.5)
 
-# The `cmake_minimum_required(VERSION 3.4...3.18)` syntax does not work with
+# The `cmake_minimum_required(VERSION 3.5...3.26)` syntax does not work with
 # some versions of VS that have a patched CMake 3.11. This forces us to emulate
 # the behavior using the following workaround:
-if(${CMAKE_VERSION} VERSION_LESS 3.18)
+if(${CMAKE_VERSION} VERSION_LESS 3.26)
   cmake_policy(VERSION ${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION})
 else()
-  cmake_policy(VERSION 3.18)
+  cmake_policy(VERSION 3.26)
 endif()
 
 project(test_installed_target CXX)
diff --git a/pybind11/tests/test_cmake_build/subdirectory_embed/CMakeLists.txt b/pybind11/tests/test_cmake_build/subdirectory_embed/CMakeLists.txt
index 58cdd7cfd..f286746b9 100644
--- a/pybind11/tests/test_cmake_build/subdirectory_embed/CMakeLists.txt
+++ b/pybind11/tests/test_cmake_build/subdirectory_embed/CMakeLists.txt
@@ -1,12 +1,12 @@
-cmake_minimum_required(VERSION 3.4)
+cmake_minimum_required(VERSION 3.5)
 
-# The `cmake_minimum_required(VERSION 3.4...3.18)` syntax does not work with
+# The `cmake_minimum_required(VERSION 3.5...3.26)` syntax does not work with
 # some versions of VS that have a patched CMake 3.11. This forces us to emulate
 # the behavior using the following workaround:
-if(${CMAKE_VERSION} VERSION_LESS 3.18)
+if(${CMAKE_VERSION} VERSION_LESS 3.26)
   cmake_policy(VERSION ${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION})
 else()
-  cmake_policy(VERSION 3.18)
+  cmake_policy(VERSION 3.26)
 endif()
 
 project(test_subdirectory_embed CXX)
diff --git a/pybind11/tests/test_cmake_build/subdirectory_function/CMakeLists.txt b/pybind11/tests/test_cmake_build/subdirectory_function/CMakeLists.txt
index 01557c439..275a75c0b 100644
--- a/pybind11/tests/test_cmake_build/subdirectory_function/CMakeLists.txt
+++ b/pybind11/tests/test_cmake_build/subdirectory_function/CMakeLists.txt
@@ -1,12 +1,12 @@
-cmake_minimum_required(VERSION 3.4)
+cmake_minimum_required(VERSION 3.5)
 
-# The `cmake_minimum_required(VERSION 3.4...3.18)` syntax does not work with
+# The `cmake_minimum_required(VERSION 3.5...3.26)` syntax does not work with
 # some versions of VS that have a patched CMake 3.11. This forces us to emulate
 # the behavior using the following workaround:
-if(${CMAKE_VERSION} VERSION_LESS 3.18)
+if(${CMAKE_VERSION} VERSION_LESS 3.26)
   cmake_policy(VERSION ${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION})
 else()
-  cmake_policy(VERSION 3.18)
+  cmake_policy(VERSION 3.26)
 endif()
 
 project(test_subdirectory_function CXX)
diff --git a/pybind11/tests/test_cmake_build/subdirectory_target/CMakeLists.txt b/pybind11/tests/test_cmake_build/subdirectory_target/CMakeLists.txt
index ba82fdee2..37bb2c56e 100644
--- a/pybind11/tests/test_cmake_build/subdirectory_target/CMakeLists.txt
+++ b/pybind11/tests/test_cmake_build/subdirectory_target/CMakeLists.txt
@@ -1,12 +1,12 @@
-cmake_minimum_required(VERSION 3.4)
+cmake_minimum_required(VERSION 3.5)
 
-# The `cmake_minimum_required(VERSION 3.4...3.18)` syntax does not work with
+# The `cmake_minimum_required(VERSION 3.5...3.26)` syntax does not work with
 # some versions of VS that have a patched CMake 3.11. This forces us to emulate
 # the behavior using the following workaround:
-if(${CMAKE_VERSION} VERSION_LESS 3.18)
+if(${CMAKE_VERSION} VERSION_LESS 3.26)
   cmake_policy(VERSION ${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION})
 else()
-  cmake_policy(VERSION 3.18)
+  cmake_policy(VERSION 3.26)
 endif()
 
 project(test_subdirectory_target CXX)
diff --git a/pybind11/tests/test_const_name.py b/pybind11/tests/test_const_name.py
index 10b0caee2..a145f0bbb 100644
--- a/pybind11/tests/test_const_name.py
+++ b/pybind11/tests/test_const_name.py
@@ -3,9 +3,9 @@ import pytest
 from pybind11_tests import const_name as m
 
 
-@pytest.mark.parametrize("func", (m.const_name_tests, m.underscore_tests))
+@pytest.mark.parametrize("func", [m.const_name_tests, m.underscore_tests])
 @pytest.mark.parametrize(
-    "selector, expected",
+    ("selector", "expected"),
     enumerate(
         (
             "",
diff --git a/pybind11/tests/test_constants_and_functions.cpp b/pybind11/tests/test_constants_and_functions.cpp
index 1918a429c..312edca9e 100644
--- a/pybind11/tests/test_constants_and_functions.cpp
+++ b/pybind11/tests/test_constants_and_functions.cpp
@@ -52,15 +52,12 @@ int f1(int x) noexcept { return x + 1; }
 #endif
 int f2(int x) noexcept(true) { return x + 2; }
 int f3(int x) noexcept(false) { return x + 3; }
-#if defined(__GNUG__) && !defined(__INTEL_COMPILER)
-#    pragma GCC diagnostic push
-#    pragma GCC diagnostic ignored "-Wdeprecated"
-#endif
+PYBIND11_WARNING_PUSH
+PYBIND11_WARNING_DISABLE_GCC("-Wdeprecated")
+PYBIND11_WARNING_DISABLE_CLANG("-Wdeprecated")
 // NOLINTNEXTLINE(modernize-use-noexcept)
 int f4(int x) throw() { return x + 4; } // Deprecated equivalent to noexcept(true)
-#if defined(__GNUG__) && !defined(__INTEL_COMPILER)
-#    pragma GCC diagnostic pop
-#endif
+PYBIND11_WARNING_POP
 struct C {
     int m1(int x) noexcept { return x - 1; }
     int m2(int x) const noexcept { return x - 2; }
@@ -68,17 +65,14 @@ struct C {
     int m4(int x) const noexcept(true) { return x - 4; }
     int m5(int x) noexcept(false) { return x - 5; }
     int m6(int x) const noexcept(false) { return x - 6; }
-#if defined(__GNUG__) && !defined(__INTEL_COMPILER)
-#    pragma GCC diagnostic push
-#    pragma GCC diagnostic ignored "-Wdeprecated"
-#endif
+    PYBIND11_WARNING_PUSH
+    PYBIND11_WARNING_DISABLE_GCC("-Wdeprecated")
+    PYBIND11_WARNING_DISABLE_CLANG("-Wdeprecated")
     // NOLINTNEXTLINE(modernize-use-noexcept)
     int m7(int x) throw() { return x - 7; }
     // NOLINTNEXTLINE(modernize-use-noexcept)
     int m8(int x) const throw() { return x - 8; }
-#if defined(__GNUG__) && !defined(__INTEL_COMPILER)
-#    pragma GCC diagnostic pop
-#endif
+    PYBIND11_WARNING_POP
 };
 } // namespace test_exc_sp
 
@@ -126,14 +120,12 @@ TEST_SUBMODULE(constants_and_functions, m) {
         .def("m8", &C::m8);
     m.def("f1", f1);
     m.def("f2", f2);
-#if defined(__INTEL_COMPILER)
-#    pragma warning push
-#    pragma warning disable 878 // incompatible exception specifications
-#endif
+
+    PYBIND11_WARNING_PUSH
+    PYBIND11_WARNING_DISABLE_INTEL(878) // incompatible exception specifications
     m.def("f3", f3);
-#if defined(__INTEL_COMPILER)
-#    pragma warning pop
-#endif
+    PYBIND11_WARNING_POP
+
     m.def("f4", f4);
 
     // test_function_record_leaks
@@ -156,4 +148,7 @@ TEST_SUBMODULE(constants_and_functions, m) {
             py::arg_v("y", 42, "<the answer>"),
             py::arg_v("z", default_value));
     });
+
+    // test noexcept(true) lambda (#4565)
+    m.def("l1", []() noexcept(true) { return 0; });
 }
diff --git a/pybind11/tests/test_constants_and_functions.py b/pybind11/tests/test_constants_and_functions.py
index 5da0b84b8..a1142461c 100644
--- a/pybind11/tests/test_constants_and_functions.py
+++ b/pybind11/tests/test_constants_and_functions.py
@@ -50,3 +50,7 @@ def test_function_record_leaks():
         m.register_large_capture_with_invalid_arguments(m)
     with pytest.raises(RuntimeError):
         m.register_with_raising_repr(m, RaisingRepr())
+
+
+def test_noexcept_lambda():
+    assert m.l1() == 0
diff --git a/pybind11/tests/test_copy_move.cpp b/pybind11/tests/test_copy_move.cpp
index 28c244564..f54733550 100644
--- a/pybind11/tests/test_copy_move.cpp
+++ b/pybind11/tests/test_copy_move.cpp
@@ -13,6 +13,8 @@
 #include "constructor_stats.h"
 #include "pybind11_tests.h"
 
+#include <type_traits>
+
 template <typename derived>
 struct empty {
     static const derived &get_one() { return instance_; }
@@ -293,3 +295,239 @@ TEST_SUBMODULE(copy_move_policies, m) {
     // Make sure that cast from pytype rvalue to other pytype works
     m.def("get_pytype_rvalue_castissue", [](double i) { return py::float_(i).cast<py::int_>(); });
 }
+
+/*
+ * Rest of the file:
+ * static_assert based tests for pybind11 adaptations of
+ * std::is_move_constructible, std::is_copy_constructible and
+ * std::is_copy_assignable (no adaptation of std::is_move_assignable).
+ * Difference between pybind11 and std traits: pybind11 traits will also check
+ * the contained value_types.
+ */
+
+struct NotMovable {
+    NotMovable() = default;
+    NotMovable(NotMovable const &) = default;
+    NotMovable(NotMovable &&) = delete;
+    NotMovable &operator=(NotMovable const &) = default;
+    NotMovable &operator=(NotMovable &&) = delete;
+};
+static_assert(!std::is_move_constructible<NotMovable>::value,
+              "!std::is_move_constructible<NotMovable>::value");
+static_assert(std::is_copy_constructible<NotMovable>::value,
+              "std::is_copy_constructible<NotMovable>::value");
+static_assert(!pybind11::detail::is_move_constructible<NotMovable>::value,
+              "!pybind11::detail::is_move_constructible<NotMovable>::value");
+static_assert(pybind11::detail::is_copy_constructible<NotMovable>::value,
+              "pybind11::detail::is_copy_constructible<NotMovable>::value");
+static_assert(!std::is_move_assignable<NotMovable>::value,
+              "!std::is_move_assignable<NotMovable>::value");
+static_assert(std::is_copy_assignable<NotMovable>::value,
+              "std::is_copy_assignable<NotMovable>::value");
+// pybind11 does not have this
+// static_assert(!pybind11::detail::is_move_assignable<NotMovable>::value,
+//               "!pybind11::detail::is_move_assignable<NotMovable>::value");
+static_assert(pybind11::detail::is_copy_assignable<NotMovable>::value,
+              "pybind11::detail::is_copy_assignable<NotMovable>::value");
+
+struct NotCopyable {
+    NotCopyable() = default;
+    NotCopyable(NotCopyable const &) = delete;
+    NotCopyable(NotCopyable &&) = default;
+    NotCopyable &operator=(NotCopyable const &) = delete;
+    NotCopyable &operator=(NotCopyable &&) = default;
+};
+static_assert(std::is_move_constructible<NotCopyable>::value,
+              "std::is_move_constructible<NotCopyable>::value");
+static_assert(!std::is_copy_constructible<NotCopyable>::value,
+              "!std::is_copy_constructible<NotCopyable>::value");
+static_assert(pybind11::detail::is_move_constructible<NotCopyable>::value,
+              "pybind11::detail::is_move_constructible<NotCopyable>::value");
+static_assert(!pybind11::detail::is_copy_constructible<NotCopyable>::value,
+              "!pybind11::detail::is_copy_constructible<NotCopyable>::value");
+static_assert(std::is_move_assignable<NotCopyable>::value,
+              "std::is_move_assignable<NotCopyable>::value");
+static_assert(!std::is_copy_assignable<NotCopyable>::value,
+              "!std::is_copy_assignable<NotCopyable>::value");
+// pybind11 does not have this
+// static_assert(!pybind11::detail::is_move_assignable<NotCopyable>::value,
+//               "!pybind11::detail::is_move_assignable<NotCopyable>::value");
+static_assert(!pybind11::detail::is_copy_assignable<NotCopyable>::value,
+              "!pybind11::detail::is_copy_assignable<NotCopyable>::value");
+
+struct NotCopyableNotMovable {
+    NotCopyableNotMovable() = default;
+    NotCopyableNotMovable(NotCopyableNotMovable const &) = delete;
+    NotCopyableNotMovable(NotCopyableNotMovable &&) = delete;
+    NotCopyableNotMovable &operator=(NotCopyableNotMovable const &) = delete;
+    NotCopyableNotMovable &operator=(NotCopyableNotMovable &&) = delete;
+};
+static_assert(!std::is_move_constructible<NotCopyableNotMovable>::value,
+              "!std::is_move_constructible<NotCopyableNotMovable>::value");
+static_assert(!std::is_copy_constructible<NotCopyableNotMovable>::value,
+              "!std::is_copy_constructible<NotCopyableNotMovable>::value");
+static_assert(!pybind11::detail::is_move_constructible<NotCopyableNotMovable>::value,
+              "!pybind11::detail::is_move_constructible<NotCopyableNotMovable>::value");
+static_assert(!pybind11::detail::is_copy_constructible<NotCopyableNotMovable>::value,
+              "!pybind11::detail::is_copy_constructible<NotCopyableNotMovable>::value");
+static_assert(!std::is_move_assignable<NotCopyableNotMovable>::value,
+              "!std::is_move_assignable<NotCopyableNotMovable>::value");
+static_assert(!std::is_copy_assignable<NotCopyableNotMovable>::value,
+              "!std::is_copy_assignable<NotCopyableNotMovable>::value");
+// pybind11 does not have this
+// static_assert(!pybind11::detail::is_move_assignable<NotCopyableNotMovable>::value,
+//               "!pybind11::detail::is_move_assignable<NotCopyableNotMovable>::value");
+static_assert(!pybind11::detail::is_copy_assignable<NotCopyableNotMovable>::value,
+              "!pybind11::detail::is_copy_assignable<NotCopyableNotMovable>::value");
+
+struct NotMovableVector : std::vector<NotMovable> {};
+static_assert(std::is_move_constructible<NotMovableVector>::value,
+              "std::is_move_constructible<NotMovableVector>::value");
+static_assert(std::is_copy_constructible<NotMovableVector>::value,
+              "std::is_copy_constructible<NotMovableVector>::value");
+static_assert(!pybind11::detail::is_move_constructible<NotMovableVector>::value,
+              "!pybind11::detail::is_move_constructible<NotMovableVector>::value");
+static_assert(pybind11::detail::is_copy_constructible<NotMovableVector>::value,
+              "pybind11::detail::is_copy_constructible<NotMovableVector>::value");
+static_assert(std::is_move_assignable<NotMovableVector>::value,
+              "std::is_move_assignable<NotMovableVector>::value");
+static_assert(std::is_copy_assignable<NotMovableVector>::value,
+              "std::is_copy_assignable<NotMovableVector>::value");
+// pybind11 does not have this
+// static_assert(!pybind11::detail::is_move_assignable<NotMovableVector>::value,
+//               "!pybind11::detail::is_move_assignable<NotMovableVector>::value");
+static_assert(pybind11::detail::is_copy_assignable<NotMovableVector>::value,
+              "pybind11::detail::is_copy_assignable<NotMovableVector>::value");
+
+struct NotCopyableVector : std::vector<NotCopyable> {};
+static_assert(std::is_move_constructible<NotCopyableVector>::value,
+              "std::is_move_constructible<NotCopyableVector>::value");
+static_assert(std::is_copy_constructible<NotCopyableVector>::value,
+              "std::is_copy_constructible<NotCopyableVector>::value");
+static_assert(pybind11::detail::is_move_constructible<NotCopyableVector>::value,
+              "pybind11::detail::is_move_constructible<NotCopyableVector>::value");
+static_assert(!pybind11::detail::is_copy_constructible<NotCopyableVector>::value,
+              "!pybind11::detail::is_copy_constructible<NotCopyableVector>::value");
+static_assert(std::is_move_assignable<NotCopyableVector>::value,
+              "std::is_move_assignable<NotCopyableVector>::value");
+static_assert(std::is_copy_assignable<NotCopyableVector>::value,
+              "std::is_copy_assignable<NotCopyableVector>::value");
+// pybind11 does not have this
+// static_assert(!pybind11::detail::is_move_assignable<NotCopyableVector>::value,
+//               "!pybind11::detail::is_move_assignable<NotCopyableVector>::value");
+static_assert(!pybind11::detail::is_copy_assignable<NotCopyableVector>::value,
+              "!pybind11::detail::is_copy_assignable<NotCopyableVector>::value");
+
+struct NotCopyableNotMovableVector : std::vector<NotCopyableNotMovable> {};
+static_assert(std::is_move_constructible<NotCopyableNotMovableVector>::value,
+              "std::is_move_constructible<NotCopyableNotMovableVector>::value");
+static_assert(std::is_copy_constructible<NotCopyableNotMovableVector>::value,
+              "std::is_copy_constructible<NotCopyableNotMovableVector>::value");
+static_assert(!pybind11::detail::is_move_constructible<NotCopyableNotMovableVector>::value,
+              "!pybind11::detail::is_move_constructible<NotCopyableNotMovableVector>::value");
+static_assert(!pybind11::detail::is_copy_constructible<NotCopyableNotMovableVector>::value,
+              "!pybind11::detail::is_copy_constructible<NotCopyableNotMovableVector>::value");
+static_assert(std::is_move_assignable<NotCopyableNotMovableVector>::value,
+              "std::is_move_assignable<NotCopyableNotMovableVector>::value");
+static_assert(std::is_copy_assignable<NotCopyableNotMovableVector>::value,
+              "std::is_copy_assignable<NotCopyableNotMovableVector>::value");
+// pybind11 does not have this
+// static_assert(!pybind11::detail::is_move_assignable<NotCopyableNotMovableVector>::value,
+//               "!pybind11::detail::is_move_assignable<NotCopyableNotMovableVector>::value");
+static_assert(!pybind11::detail::is_copy_assignable<NotCopyableNotMovableVector>::value,
+              "!pybind11::detail::is_copy_assignable<NotCopyableNotMovableVector>::value");
+
+struct NotMovableMap : std::map<int, NotMovable> {};
+static_assert(std::is_move_constructible<NotMovableMap>::value,
+              "std::is_move_constructible<NotMovableMap>::value");
+static_assert(std::is_copy_constructible<NotMovableMap>::value,
+              "std::is_copy_constructible<NotMovableMap>::value");
+static_assert(!pybind11::detail::is_move_constructible<NotMovableMap>::value,
+              "!pybind11::detail::is_move_constructible<NotMovableMap>::value");
+static_assert(pybind11::detail::is_copy_constructible<NotMovableMap>::value,
+              "pybind11::detail::is_copy_constructible<NotMovableMap>::value");
+static_assert(std::is_move_assignable<NotMovableMap>::value,
+              "std::is_move_assignable<NotMovableMap>::value");
+static_assert(std::is_copy_assignable<NotMovableMap>::value,
+              "std::is_copy_assignable<NotMovableMap>::value");
+// pybind11 does not have this
+// static_assert(!pybind11::detail::is_move_assignable<NotMovableMap>::value,
+//               "!pybind11::detail::is_move_assignable<NotMovableMap>::value");
+static_assert(pybind11::detail::is_copy_assignable<NotMovableMap>::value,
+              "pybind11::detail::is_copy_assignable<NotMovableMap>::value");
+
+struct NotCopyableMap : std::map<int, NotCopyable> {};
+static_assert(std::is_move_constructible<NotCopyableMap>::value,
+              "std::is_move_constructible<NotCopyableMap>::value");
+static_assert(std::is_copy_constructible<NotCopyableMap>::value,
+              "std::is_copy_constructible<NotCopyableMap>::value");
+static_assert(pybind11::detail::is_move_constructible<NotCopyableMap>::value,
+              "pybind11::detail::is_move_constructible<NotCopyableMap>::value");
+static_assert(!pybind11::detail::is_copy_constructible<NotCopyableMap>::value,
+              "!pybind11::detail::is_copy_constructible<NotCopyableMap>::value");
+static_assert(std::is_move_assignable<NotCopyableMap>::value,
+              "std::is_move_assignable<NotCopyableMap>::value");
+static_assert(std::is_copy_assignable<NotCopyableMap>::value,
+              "std::is_copy_assignable<NotCopyableMap>::value");
+// pybind11 does not have this
+// static_assert(!pybind11::detail::is_move_assignable<NotCopyableMap>::value,
+//               "!pybind11::detail::is_move_assignable<NotCopyableMap>::value");
+static_assert(!pybind11::detail::is_copy_assignable<NotCopyableMap>::value,
+              "!pybind11::detail::is_copy_assignable<NotCopyableMap>::value");
+
+struct NotCopyableNotMovableMap : std::map<int, NotCopyableNotMovable> {};
+static_assert(std::is_move_constructible<NotCopyableNotMovableMap>::value,
+              "std::is_move_constructible<NotCopyableNotMovableMap>::value");
+static_assert(std::is_copy_constructible<NotCopyableNotMovableMap>::value,
+              "std::is_copy_constructible<NotCopyableNotMovableMap>::value");
+static_assert(!pybind11::detail::is_move_constructible<NotCopyableNotMovableMap>::value,
+              "!pybind11::detail::is_move_constructible<NotCopyableNotMovableMap>::value");
+static_assert(!pybind11::detail::is_copy_constructible<NotCopyableNotMovableMap>::value,
+              "!pybind11::detail::is_copy_constructible<NotCopyableNotMovableMap>::value");
+static_assert(std::is_move_assignable<NotCopyableNotMovableMap>::value,
+              "std::is_move_assignable<NotCopyableNotMovableMap>::value");
+static_assert(std::is_copy_assignable<NotCopyableNotMovableMap>::value,
+              "std::is_copy_assignable<NotCopyableNotMovableMap>::value");
+// pybind11 does not have this
+// static_assert(!pybind11::detail::is_move_assignable<NotCopyableNotMovableMap>::value,
+//               "!pybind11::detail::is_move_assignable<NotCopyableNotMovableMap>::value");
+static_assert(!pybind11::detail::is_copy_assignable<NotCopyableNotMovableMap>::value,
+              "!pybind11::detail::is_copy_assignable<NotCopyableNotMovableMap>::value");
+
+struct RecursiveVector : std::vector<RecursiveVector> {};
+static_assert(std::is_move_constructible<RecursiveVector>::value,
+              "std::is_move_constructible<RecursiveVector>::value");
+static_assert(std::is_copy_constructible<RecursiveVector>::value,
+              "std::is_copy_constructible<RecursiveVector>::value");
+static_assert(pybind11::detail::is_move_constructible<RecursiveVector>::value,
+              "pybind11::detail::is_move_constructible<RecursiveVector>::value");
+static_assert(pybind11::detail::is_copy_constructible<RecursiveVector>::value,
+              "pybind11::detail::is_copy_constructible<RecursiveVector>::value");
+static_assert(std::is_move_assignable<RecursiveVector>::value,
+              "std::is_move_assignable<RecursiveVector>::value");
+static_assert(std::is_copy_assignable<RecursiveVector>::value,
+              "std::is_copy_assignable<RecursiveVector>::value");
+// pybind11 does not have this
+// static_assert(!pybind11::detail::is_move_assignable<RecursiveVector>::value,
+//               "!pybind11::detail::is_move_assignable<RecursiveVector>::value");
+static_assert(pybind11::detail::is_copy_assignable<RecursiveVector>::value,
+              "pybind11::detail::is_copy_assignable<RecursiveVector>::value");
+
+struct RecursiveMap : std::map<int, RecursiveMap> {};
+static_assert(std::is_move_constructible<RecursiveMap>::value,
+              "std::is_move_constructible<RecursiveMap>::value");
+static_assert(std::is_copy_constructible<RecursiveMap>::value,
+              "std::is_copy_constructible<RecursiveMap>::value");
+static_assert(pybind11::detail::is_move_constructible<RecursiveMap>::value,
+              "pybind11::detail::is_move_constructible<RecursiveMap>::value");
+static_assert(pybind11::detail::is_copy_constructible<RecursiveMap>::value,
+              "pybind11::detail::is_copy_constructible<RecursiveMap>::value");
+static_assert(std::is_move_assignable<RecursiveMap>::value,
+              "std::is_move_assignable<RecursiveMap>::value");
+static_assert(std::is_copy_assignable<RecursiveMap>::value,
+              "std::is_copy_assignable<RecursiveMap>::value");
+// pybind11 does not have this
+// static_assert(!pybind11::detail::is_move_assignable<RecursiveMap>::value,
+//               "!pybind11::detail::is_move_assignable<RecursiveMap>::value");
+static_assert(pybind11::detail::is_copy_assignable<RecursiveMap>::value,
+              "pybind11::detail::is_copy_assignable<RecursiveMap>::value");
diff --git a/pybind11/tests/test_custom_type_casters.cpp b/pybind11/tests/test_custom_type_casters.cpp
index 25540e368..b4af02a45 100644
--- a/pybind11/tests/test_custom_type_casters.cpp
+++ b/pybind11/tests/test_custom_type_casters.cpp
@@ -21,7 +21,7 @@ public:
 };
 class ArgAlwaysConverts {};
 
-namespace pybind11 {
+namespace PYBIND11_NAMESPACE {
 namespace detail {
 template <>
 struct type_caster<ArgInspector1> {
@@ -74,7 +74,7 @@ public:
     }
 };
 } // namespace detail
-} // namespace pybind11
+} // namespace PYBIND11_NAMESPACE
 
 // test_custom_caster_destruction
 class DestructionTester {
@@ -92,7 +92,7 @@ public:
         return *this;
     }
 };
-namespace pybind11 {
+namespace PYBIND11_NAMESPACE {
 namespace detail {
 template <>
 struct type_caster<DestructionTester> {
@@ -104,7 +104,7 @@ struct type_caster<DestructionTester> {
     }
 };
 } // namespace detail
-} // namespace pybind11
+} // namespace PYBIND11_NAMESPACE
 
 // Define type caster outside of `pybind11::detail` and then alias it.
 namespace other_lib {
@@ -112,7 +112,7 @@ struct MyType {};
 // Corrupt `py` shorthand alias for surrounding context.
 namespace py {}
 // Corrupt unqualified relative `pybind11` namespace.
-namespace pybind11 {}
+namespace PYBIND11_NAMESPACE {}
 // Correct alias.
 namespace py_ = ::pybind11;
 // Define caster. This is effectively no-op, we only ensure it compiles and we
@@ -127,12 +127,12 @@ struct my_caster {
 };
 } // namespace other_lib
 // Effectively "alias" it into correct namespace (via inheritance).
-namespace pybind11 {
+namespace PYBIND11_NAMESPACE {
 namespace detail {
 template <>
 struct type_caster<other_lib::MyType> : public other_lib::my_caster {};
 } // namespace detail
-} // namespace pybind11
+} // namespace PYBIND11_NAMESPACE
 
 TEST_SUBMODULE(custom_type_casters, m) {
     // test_custom_type_casters
diff --git a/pybind11/tests/test_custom_type_casters.py b/pybind11/tests/test_custom_type_casters.py
index adfa6cf86..3a00ea964 100644
--- a/pybind11/tests/test_custom_type_casters.py
+++ b/pybind11/tests/test_custom_type_casters.py
@@ -94,12 +94,14 @@ def test_noconvert_args(msg):
 
 def test_custom_caster_destruction():
     """Tests that returning a pointer to a type that gets converted with a custom type caster gets
-    destroyed when the function has py::return_value_policy::take_ownership policy applied."""
+    destroyed when the function has py::return_value_policy::take_ownership policy applied.
+    """
 
     cstats = m.destruction_tester_cstats()
     # This one *doesn't* have take_ownership: the pointer should be used but not destroyed:
     z = m.custom_caster_no_destroy()
-    assert cstats.alive() == 1 and cstats.default_constructions == 1
+    assert cstats.alive() == 1
+    assert cstats.default_constructions == 1
     assert z
 
     # take_ownership applied: this constructs a new object, casts it, then destroys it:
diff --git a/pybind11/tests/test_custom_type_setup.py b/pybind11/tests/test_custom_type_setup.py
index 19b44c9de..e63ff5758 100644
--- a/pybind11/tests/test_custom_type_setup.py
+++ b/pybind11/tests/test_custom_type_setup.py
@@ -7,7 +7,7 @@ import env  # noqa: F401
 from pybind11_tests import custom_type_setup as m
 
 
-@pytest.fixture
+@pytest.fixture()
 def gc_tester():
     """Tests that an object is garbage collected.
 
diff --git a/pybind11/tests/test_docstring_options.cpp b/pybind11/tests/test_docstring_options.cpp
index 4d44f4e20..dda1cf6e4 100644
--- a/pybind11/tests/test_docstring_options.cpp
+++ b/pybind11/tests/test_docstring_options.cpp
@@ -85,4 +85,57 @@ TEST_SUBMODULE(docstring_options, m) {
                           &DocstringTestFoo::setValue,
                           "This is a property docstring");
     }
+
+    {
+        enum class DocstringTestEnum1 { Member1, Member2 };
+
+        py::enum_<DocstringTestEnum1>(m, "DocstringTestEnum1", "Enum docstring")
+            .value("Member1", DocstringTestEnum1::Member1)
+            .value("Member2", DocstringTestEnum1::Member2);
+    }
+
+    {
+        py::options options;
+        options.enable_enum_members_docstring();
+
+        enum class DocstringTestEnum2 { Member1, Member2 };
+
+        py::enum_<DocstringTestEnum2>(m, "DocstringTestEnum2", "Enum docstring")
+            .value("Member1", DocstringTestEnum2::Member1)
+            .value("Member2", DocstringTestEnum2::Member2);
+    }
+
+    {
+        py::options options;
+        options.disable_enum_members_docstring();
+
+        enum class DocstringTestEnum3 { Member1, Member2 };
+
+        py::enum_<DocstringTestEnum3>(m, "DocstringTestEnum3", "Enum docstring")
+            .value("Member1", DocstringTestEnum3::Member1)
+            .value("Member2", DocstringTestEnum3::Member2);
+    }
+
+    {
+        py::options options;
+        options.disable_user_defined_docstrings();
+
+        enum class DocstringTestEnum4 { Member1, Member2 };
+
+        py::enum_<DocstringTestEnum4>(m, "DocstringTestEnum4", "Enum docstring")
+            .value("Member1", DocstringTestEnum4::Member1)
+            .value("Member2", DocstringTestEnum4::Member2);
+    }
+
+    {
+        py::options options;
+        options.disable_user_defined_docstrings();
+        options.disable_enum_members_docstring();
+
+        enum class DocstringTestEnum5 { Member1, Member2 };
+
+        py::enum_<DocstringTestEnum5>(m, "DocstringTestEnum5", "Enum docstring")
+            .value("Member1", DocstringTestEnum5::Member1)
+            .value("Member2", DocstringTestEnum5::Member2);
+    }
 }
diff --git a/pybind11/tests/test_docstring_options.py b/pybind11/tests/test_docstring_options.py
index fcd16b89f..e6f5a9d98 100644
--- a/pybind11/tests/test_docstring_options.py
+++ b/pybind11/tests/test_docstring_options.py
@@ -39,3 +39,26 @@ def test_docstring_options():
     # Suppression of user-defined docstrings for non-function objects
     assert not m.DocstringTestFoo.__doc__
     assert not m.DocstringTestFoo.value_prop.__doc__
+
+    # Check existig behaviour of enum docstings
+    assert (
+        m.DocstringTestEnum1.__doc__
+        == "Enum docstring\n\nMembers:\n\n  Member1\n\n  Member2"
+    )
+
+    # options.enable_enum_members_docstring()
+    assert (
+        m.DocstringTestEnum2.__doc__
+        == "Enum docstring\n\nMembers:\n\n  Member1\n\n  Member2"
+    )
+
+    # options.disable_enum_members_docstring()
+    assert m.DocstringTestEnum3.__doc__ == "Enum docstring"
+
+    # options.disable_user_defined_docstrings()
+    assert m.DocstringTestEnum4.__doc__ == "Members:\n\n  Member1\n\n  Member2"
+
+    # options.disable_user_defined_docstrings()
+    # options.disable_enum_members_docstring()
+    # When all options are disabled, no docstring (instead of an empty one) should be generated
+    assert m.DocstringTestEnum5.__doc__ is None
diff --git a/pybind11/tests/test_eigen_matrix.cpp b/pybind11/tests/test_eigen_matrix.cpp
new file mode 100644
index 000000000..554cc4d7f
--- /dev/null
+++ b/pybind11/tests/test_eigen_matrix.cpp
@@ -0,0 +1,428 @@
+/*
+    tests/eigen.cpp -- automatic conversion of Eigen types
+
+    Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#include <pybind11/eigen/matrix.h>
+#include <pybind11/stl.h>
+
+#include "constructor_stats.h"
+#include "pybind11_tests.h"
+
+PYBIND11_WARNING_DISABLE_MSVC(4996)
+
+#include <Eigen/Cholesky>
+
+using MatrixXdR = Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>;
+
+// Sets/resets a testing reference matrix to have values of 10*r + c, where r and c are the
+// (1-based) row/column number.
+template <typename M>
+void reset_ref(M &x) {
+    for (int i = 0; i < x.rows(); i++) {
+        for (int j = 0; j < x.cols(); j++) {
+            x(i, j) = 11 + 10 * i + j;
+        }
+    }
+}
+
+// Returns a static, column-major matrix
+Eigen::MatrixXd &get_cm() {
+    static Eigen::MatrixXd *x;
+    if (!x) {
+        x = new Eigen::MatrixXd(3, 3);
+        reset_ref(*x);
+    }
+    return *x;
+}
+// Likewise, but row-major
+MatrixXdR &get_rm() {
+    static MatrixXdR *x;
+    if (!x) {
+        x = new MatrixXdR(3, 3);
+        reset_ref(*x);
+    }
+    return *x;
+}
+// Resets the values of the static matrices returned by get_cm()/get_rm()
+void reset_refs() {
+    reset_ref(get_cm());
+    reset_ref(get_rm());
+}
+
+// Returns element 2,1 from a matrix (used to test copy/nocopy)
+double get_elem(const Eigen::Ref<const Eigen::MatrixXd> &m) { return m(2, 1); };
+
+// Returns a matrix with 10*r + 100*c added to each matrix element (to help test that the matrix
+// reference is referencing rows/columns correctly).
+template <typename MatrixArgType>
+Eigen::MatrixXd adjust_matrix(MatrixArgType m) {
+    Eigen::MatrixXd ret(m);
+    for (int c = 0; c < m.cols(); c++) {
+        for (int r = 0; r < m.rows(); r++) {
+            ret(r, c) += 10 * r + 100 * c; // NOLINT(clang-analyzer-core.uninitialized.Assign)
+        }
+    }
+    return ret;
+}
+
+struct CustomOperatorNew {
+    CustomOperatorNew() = default;
+
+    Eigen::Matrix4d a = Eigen::Matrix4d::Zero();
+    Eigen::Matrix4d b = Eigen::Matrix4d::Identity();
+
+    EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
+};
+
+TEST_SUBMODULE(eigen_matrix, m) {
+    using FixedMatrixR = Eigen::Matrix<float, 5, 6, Eigen::RowMajor>;
+    using FixedMatrixC = Eigen::Matrix<float, 5, 6>;
+    using DenseMatrixR = Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>;
+    using DenseMatrixC = Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic>;
+    using FourRowMatrixC = Eigen::Matrix<float, 4, Eigen::Dynamic>;
+    using FourColMatrixC = Eigen::Matrix<float, Eigen::Dynamic, 4>;
+    using FourRowMatrixR = Eigen::Matrix<float, 4, Eigen::Dynamic>;
+    using FourColMatrixR = Eigen::Matrix<float, Eigen::Dynamic, 4>;
+    using SparseMatrixR = Eigen::SparseMatrix<float, Eigen::RowMajor>;
+    using SparseMatrixC = Eigen::SparseMatrix<float>;
+
+    // various tests
+    m.def("double_col", [](const Eigen::VectorXf &x) -> Eigen::VectorXf { return 2.0f * x; });
+    m.def("double_row",
+          [](const Eigen::RowVectorXf &x) -> Eigen::RowVectorXf { return 2.0f * x; });
+    m.def("double_complex",
+          [](const Eigen::VectorXcf &x) -> Eigen::VectorXcf { return 2.0f * x; });
+    m.def("double_threec", [](py::EigenDRef<Eigen::Vector3f> x) { x *= 2; });
+    m.def("double_threer", [](py::EigenDRef<Eigen::RowVector3f> x) { x *= 2; });
+    m.def("double_mat_cm", [](const Eigen::MatrixXf &x) -> Eigen::MatrixXf { return 2.0f * x; });
+    m.def("double_mat_rm", [](const DenseMatrixR &x) -> DenseMatrixR { return 2.0f * x; });
+
+    // test_eigen_ref_to_python
+    // Different ways of passing via Eigen::Ref; the first and second are the Eigen-recommended
+    m.def("cholesky1",
+          [](const Eigen::Ref<MatrixXdR> &x) -> Eigen::MatrixXd { return x.llt().matrixL(); });
+    m.def("cholesky2", [](const Eigen::Ref<const MatrixXdR> &x) -> Eigen::MatrixXd {
+        return x.llt().matrixL();
+    });
+    m.def("cholesky3",
+          [](const Eigen::Ref<MatrixXdR> &x) -> Eigen::MatrixXd { return x.llt().matrixL(); });
+    m.def("cholesky4", [](const Eigen::Ref<const MatrixXdR> &x) -> Eigen::MatrixXd {
+        return x.llt().matrixL();
+    });
+
+    // test_eigen_ref_mutators
+    // Mutators: these add some value to the given element using Eigen, but Eigen should be mapping
+    // into the numpy array data and so the result should show up there.  There are three versions:
+    // one that works on a contiguous-row matrix (numpy's default), one for a contiguous-column
+    // matrix, and one for any matrix.
+    auto add_rm = [](Eigen::Ref<MatrixXdR> x, int r, int c, double v) { x(r, c) += v; };
+    auto add_cm = [](Eigen::Ref<Eigen::MatrixXd> x, int r, int c, double v) { x(r, c) += v; };
+
+    // Mutators (Eigen maps into numpy variables):
+    m.def("add_rm", add_rm); // Only takes row-contiguous
+    m.def("add_cm", add_cm); // Only takes column-contiguous
+    // Overloaded versions that will accept either row or column contiguous:
+    m.def("add1", add_rm);
+    m.def("add1", add_cm);
+    m.def("add2", add_cm);
+    m.def("add2", add_rm);
+    // This one accepts a matrix of any stride:
+    m.def("add_any",
+          [](py::EigenDRef<Eigen::MatrixXd> x, int r, int c, double v) { x(r, c) += v; });
+
+    // Return mutable references (numpy maps into eigen variables)
+    m.def("get_cm_ref", []() { return Eigen::Ref<Eigen::MatrixXd>(get_cm()); });
+    m.def("get_rm_ref", []() { return Eigen::Ref<MatrixXdR>(get_rm()); });
+    // The same references, but non-mutable (numpy maps into eigen variables, but is !writeable)
+    m.def("get_cm_const_ref", []() { return Eigen::Ref<const Eigen::MatrixXd>(get_cm()); });
+    m.def("get_rm_const_ref", []() { return Eigen::Ref<const MatrixXdR>(get_rm()); });
+
+    m.def("reset_refs", reset_refs); // Restores get_{cm,rm}_ref to original values
+
+    // Increments and returns ref to (same) matrix
+    m.def(
+        "incr_matrix",
+        [](Eigen::Ref<Eigen::MatrixXd> m, double v) {
+            m += Eigen::MatrixXd::Constant(m.rows(), m.cols(), v);
+            return m;
+        },
+        py::return_value_policy::reference);
+
+    // Same, but accepts a matrix of any strides
+    m.def(
+        "incr_matrix_any",
+        [](py::EigenDRef<Eigen::MatrixXd> m, double v) {
+            m += Eigen::MatrixXd::Constant(m.rows(), m.cols(), v);
+            return m;
+        },
+        py::return_value_policy::reference);
+
+    // Returns an eigen slice of even rows
+    m.def(
+        "even_rows",
+        [](py::EigenDRef<Eigen::MatrixXd> m) {
+            return py::EigenDMap<Eigen::MatrixXd>(
+                m.data(),
+                (m.rows() + 1) / 2,
+                m.cols(),
+                py::EigenDStride(m.outerStride(), 2 * m.innerStride()));
+        },
+        py::return_value_policy::reference);
+
+    // Returns an eigen slice of even columns
+    m.def(
+        "even_cols",
+        [](py::EigenDRef<Eigen::MatrixXd> m) {
+            return py::EigenDMap<Eigen::MatrixXd>(
+                m.data(),
+                m.rows(),
+                (m.cols() + 1) / 2,
+                py::EigenDStride(2 * m.outerStride(), m.innerStride()));
+        },
+        py::return_value_policy::reference);
+
+    // Returns diagonals: a vector-like object with an inner stride != 1
+    m.def("diagonal", [](const Eigen::Ref<const Eigen::MatrixXd> &x) { return x.diagonal(); });
+    m.def("diagonal_1",
+          [](const Eigen::Ref<const Eigen::MatrixXd> &x) { return x.diagonal<1>(); });
+    m.def("diagonal_n",
+          [](const Eigen::Ref<const Eigen::MatrixXd> &x, int index) { return x.diagonal(index); });
+
+    // Return a block of a matrix (gives non-standard strides)
+    m.def("block",
+          [m](const py::object &x_obj,
+              int start_row,
+              int start_col,
+              int block_rows,
+              int block_cols) {
+              return m.attr("_block")(x_obj, x_obj, start_row, start_col, block_rows, block_cols);
+          });
+
+    m.def(
+        "_block",
+        [](const py::object &x_obj,
+           const Eigen::Ref<const Eigen::MatrixXd> &x,
+           int start_row,
+           int start_col,
+           int block_rows,
+           int block_cols) {
+            // See PR #4217 for background. This test is a bit over the top, but might be useful
+            // as a concrete example to point to when explaining the dangling reference trap.
+            auto i0 = py::make_tuple(0, 0);
+            auto x0_orig = x_obj[*i0].cast<double>();
+            if (x(0, 0) != x0_orig) {
+                throw std::runtime_error(
+                    "Something in the type_caster for Eigen::Ref is terribly wrong.");
+            }
+            double x0_mod = x0_orig + 1;
+            x_obj[*i0] = x0_mod;
+            auto copy_detected = (x(0, 0) != x0_mod);
+            x_obj[*i0] = x0_orig;
+            if (copy_detected) {
+                throw std::runtime_error("type_caster for Eigen::Ref made a copy.");
+            }
+            return x.block(start_row, start_col, block_rows, block_cols);
+        },
+        py::keep_alive<0, 1>());
+
+    // test_eigen_return_references, test_eigen_keepalive
+    // return value referencing/copying tests:
+    class ReturnTester {
+        Eigen::MatrixXd mat = create();
+
+    public:
+        ReturnTester() { print_created(this); }
+        ~ReturnTester() { print_destroyed(this); }
+        static Eigen::MatrixXd create() { return Eigen::MatrixXd::Ones(10, 10); }
+        // NOLINTNEXTLINE(readability-const-return-type)
+        static const Eigen::MatrixXd createConst() { return Eigen::MatrixXd::Ones(10, 10); }
+        Eigen::MatrixXd &get() { return mat; }
+        Eigen::MatrixXd *getPtr() { return &mat; }
+        const Eigen::MatrixXd &view() { return mat; }
+        const Eigen::MatrixXd *viewPtr() { return &mat; }
+        Eigen::Ref<Eigen::MatrixXd> ref() { return mat; }
+        Eigen::Ref<const Eigen::MatrixXd> refConst() { return mat; }
+        Eigen::Block<Eigen::MatrixXd> block(int r, int c, int nrow, int ncol) {
+            return mat.block(r, c, nrow, ncol);
+        }
+        Eigen::Block<const Eigen::MatrixXd> blockConst(int r, int c, int nrow, int ncol) const {
+            return mat.block(r, c, nrow, ncol);
+        }
+        py::EigenDMap<Eigen::Matrix2d> corners() {
+            return py::EigenDMap<Eigen::Matrix2d>(
+                mat.data(),
+                py::EigenDStride(mat.outerStride() * (mat.outerSize() - 1),
+                                 mat.innerStride() * (mat.innerSize() - 1)));
+        }
+        py::EigenDMap<const Eigen::Matrix2d> cornersConst() const {
+            return py::EigenDMap<const Eigen::Matrix2d>(
+                mat.data(),
+                py::EigenDStride(mat.outerStride() * (mat.outerSize() - 1),
+                                 mat.innerStride() * (mat.innerSize() - 1)));
+        }
+    };
+    using rvp = py::return_value_policy;
+    py::class_<ReturnTester>(m, "ReturnTester")
+        .def(py::init<>())
+        .def_static("create", &ReturnTester::create)
+        .def_static("create_const", &ReturnTester::createConst)
+        .def("get", &ReturnTester::get, rvp::reference_internal)
+        .def("get_ptr", &ReturnTester::getPtr, rvp::reference_internal)
+        .def("view", &ReturnTester::view, rvp::reference_internal)
+        .def("view_ptr", &ReturnTester::view, rvp::reference_internal)
+        .def("copy_get", &ReturnTester::get)       // Default rvp: copy
+        .def("copy_view", &ReturnTester::view)     //         "
+        .def("ref", &ReturnTester::ref)            // Default for Ref is to reference
+        .def("ref_const", &ReturnTester::refConst) // Likewise, but const
+        .def("ref_safe", &ReturnTester::ref, rvp::reference_internal)
+        .def("ref_const_safe", &ReturnTester::refConst, rvp::reference_internal)
+        .def("copy_ref", &ReturnTester::ref, rvp::copy)
+        .def("copy_ref_const", &ReturnTester::refConst, rvp::copy)
+        .def("block", &ReturnTester::block)
+        .def("block_safe", &ReturnTester::block, rvp::reference_internal)
+        .def("block_const", &ReturnTester::blockConst, rvp::reference_internal)
+        .def("copy_block", &ReturnTester::block, rvp::copy)
+        .def("corners", &ReturnTester::corners, rvp::reference_internal)
+        .def("corners_const", &ReturnTester::cornersConst, rvp::reference_internal);
+
+    // test_special_matrix_objects
+    // Returns a DiagonalMatrix with diagonal (1,2,3,...)
+    m.def("incr_diag", [](int k) {
+        Eigen::DiagonalMatrix<int, Eigen::Dynamic> m(k);
+        for (int i = 0; i < k; i++) {
+            m.diagonal()[i] = i + 1;
+        }
+        return m;
+    });
+
+    // Returns a SelfAdjointView referencing the lower triangle of m
+    m.def("symmetric_lower",
+          [](const Eigen::MatrixXi &m) { return m.selfadjointView<Eigen::Lower>(); });
+    // Returns a SelfAdjointView referencing the lower triangle of m
+    m.def("symmetric_upper",
+          [](const Eigen::MatrixXi &m) { return m.selfadjointView<Eigen::Upper>(); });
+
+    // Test matrix for various functions below.
+    Eigen::MatrixXf mat(5, 6);
+    mat << 0, 3, 0, 0, 0, 11, 22, 0, 0, 0, 17, 11, 7, 5, 0, 1, 0, 11, 0, 0, 0, 0, 0, 11, 0, 0, 14,
+        0, 8, 11;
+
+    // test_fixed, and various other tests
+    m.def("fixed_r", [mat]() -> FixedMatrixR { return FixedMatrixR(mat); });
+    // Our Eigen does a hack which respects constness through the numpy writeable flag.
+    // Therefore, the const return actually affects this type despite being an rvalue.
+    // NOLINTNEXTLINE(readability-const-return-type)
+    m.def("fixed_r_const", [mat]() -> const FixedMatrixR { return FixedMatrixR(mat); });
+    m.def("fixed_c", [mat]() -> FixedMatrixC { return FixedMatrixC(mat); });
+    m.def("fixed_copy_r", [](const FixedMatrixR &m) -> FixedMatrixR { return m; });
+    m.def("fixed_copy_c", [](const FixedMatrixC &m) -> FixedMatrixC { return m; });
+    // test_mutator_descriptors
+    m.def("fixed_mutator_r", [](const Eigen::Ref<FixedMatrixR> &) {});
+    m.def("fixed_mutator_c", [](const Eigen::Ref<FixedMatrixC> &) {});
+    m.def("fixed_mutator_a", [](const py::EigenDRef<FixedMatrixC> &) {});
+    // test_dense
+    m.def("dense_r", [mat]() -> DenseMatrixR { return DenseMatrixR(mat); });
+    m.def("dense_c", [mat]() -> DenseMatrixC { return DenseMatrixC(mat); });
+    m.def("dense_copy_r", [](const DenseMatrixR &m) -> DenseMatrixR { return m; });
+    m.def("dense_copy_c", [](const DenseMatrixC &m) -> DenseMatrixC { return m; });
+    // test_sparse, test_sparse_signature
+    m.def("sparse_r", [mat]() -> SparseMatrixR {
+        // NOLINTNEXTLINE(clang-analyzer-core.uninitialized.UndefReturn)
+        return Eigen::SparseView<Eigen::MatrixXf>(mat);
+    });
+    m.def("sparse_c",
+          [mat]() -> SparseMatrixC { return Eigen::SparseView<Eigen::MatrixXf>(mat); });
+    m.def("sparse_copy_r", [](const SparseMatrixR &m) -> SparseMatrixR { return m; });
+    m.def("sparse_copy_c", [](const SparseMatrixC &m) -> SparseMatrixC { return m; });
+    // test_partially_fixed
+    m.def("partial_copy_four_rm_r", [](const FourRowMatrixR &m) -> FourRowMatrixR { return m; });
+    m.def("partial_copy_four_rm_c", [](const FourColMatrixR &m) -> FourColMatrixR { return m; });
+    m.def("partial_copy_four_cm_r", [](const FourRowMatrixC &m) -> FourRowMatrixC { return m; });
+    m.def("partial_copy_four_cm_c", [](const FourColMatrixC &m) -> FourColMatrixC { return m; });
+
+    // test_cpp_casting
+    // Test that we can cast a numpy object to a Eigen::MatrixXd explicitly
+    m.def("cpp_copy", [](py::handle m) { return m.cast<Eigen::MatrixXd>()(1, 0); });
+    m.def("cpp_ref_c", [](py::handle m) { return m.cast<Eigen::Ref<Eigen::MatrixXd>>()(1, 0); });
+    m.def("cpp_ref_r", [](py::handle m) { return m.cast<Eigen::Ref<MatrixXdR>>()(1, 0); });
+    m.def("cpp_ref_any",
+          [](py::handle m) { return m.cast<py::EigenDRef<Eigen::MatrixXd>>()(1, 0); });
+
+    // [workaround(intel)] ICC 20/21 breaks with py::arg().stuff, using py::arg{}.stuff works.
+
+    // test_nocopy_wrapper
+    // Test that we can prevent copying into an argument that would normally copy: First a version
+    // that would allow copying (if types or strides don't match) for comparison:
+    m.def("get_elem", &get_elem);
+    // Now this alternative that calls the tells pybind to fail rather than copy:
+    m.def(
+        "get_elem_nocopy",
+        [](const Eigen::Ref<const Eigen::MatrixXd> &m) -> double { return get_elem(m); },
+        py::arg{}.noconvert());
+    // Also test a row-major-only no-copy const ref:
+    m.def(
+        "get_elem_rm_nocopy",
+        [](Eigen::Ref<const Eigen::Matrix<long, -1, -1, Eigen::RowMajor>> &m) -> long {
+            return m(2, 1);
+        },
+        py::arg{}.noconvert());
+
+    // test_issue738, test_zero_length
+    // Issue #738: 1×N or N×1 2D matrices were neither accepted nor properly copied with an
+    // incompatible stride value on the length-1 dimension--but that should be allowed (without
+    // requiring a copy!) because the stride value can be safely ignored on a size-1 dimension.
+    // Similarly, 0×N or N×0 matrices were not accepted--again, these should be allowed since
+    // they contain no data. This particularly affects numpy ≥ 1.23, which sets the strides to
+    // 0 if any dimension size is 0.
+    m.def("iss738_f1",
+          &adjust_matrix<const Eigen::Ref<const Eigen::MatrixXd> &>,
+          py::arg{}.noconvert());
+    m.def("iss738_f2",
+          &adjust_matrix<const Eigen::Ref<const Eigen::Matrix<double, -1, -1, Eigen::RowMajor>> &>,
+          py::arg{}.noconvert());
+
+    // test_issue1105
+    // Issue #1105: when converting from a numpy two-dimensional (Nx1) or (1xN) value into a dense
+    // eigen Vector or RowVector, the argument would fail to load because the numpy copy would
+    // fail: numpy won't broadcast a Nx1 into a 1-dimensional vector.
+    m.def("iss1105_col", [](const Eigen::VectorXd &) { return true; });
+    m.def("iss1105_row", [](const Eigen::RowVectorXd &) { return true; });
+
+    // test_named_arguments
+    // Make sure named arguments are working properly:
+    m.def(
+        "matrix_multiply",
+        [](const py::EigenDRef<const Eigen::MatrixXd> &A,
+           const py::EigenDRef<const Eigen::MatrixXd> &B) -> Eigen::MatrixXd {
+            if (A.cols() != B.rows()) {
+                throw std::domain_error("Nonconformable matrices!");
+            }
+            return A * B;
+        },
+        py::arg("A"),
+        py::arg("B"));
+
+    // test_custom_operator_new
+    py::class_<CustomOperatorNew>(m, "CustomOperatorNew")
+        .def(py::init<>())
+        .def_readonly("a", &CustomOperatorNew::a)
+        .def_readonly("b", &CustomOperatorNew::b);
+
+    // test_eigen_ref_life_support
+    // In case of a failure (the caster's temp array does not live long enough), creating
+    // a new array (np.ones(10)) increases the chances that the temp array will be garbage
+    // collected and/or that its memory will be overridden with different values.
+    m.def("get_elem_direct", [](const Eigen::Ref<const Eigen::VectorXd> &v) {
+        py::module_::import("numpy").attr("ones")(10);
+        return v(5);
+    });
+    m.def("get_elem_indirect", [](std::vector<Eigen::Ref<const Eigen::VectorXd>> v) {
+        py::module_::import("numpy").attr("ones")(10);
+        return v[0](5);
+    });
+}
diff --git a/pybind11/tests/test_eigen_matrix.py b/pybind11/tests/test_eigen_matrix.py
new file mode 100644
index 000000000..b2e76740b
--- /dev/null
+++ b/pybind11/tests/test_eigen_matrix.py
@@ -0,0 +1,807 @@
+import pytest
+
+from pybind11_tests import ConstructorStats
+
+np = pytest.importorskip("numpy")
+m = pytest.importorskip("pybind11_tests.eigen_matrix")
+
+
+ref = np.array(
+    [
+        [0.0, 3, 0, 0, 0, 11],
+        [22, 0, 0, 0, 17, 11],
+        [7, 5, 0, 1, 0, 11],
+        [0, 0, 0, 0, 0, 11],
+        [0, 0, 14, 0, 8, 11],
+    ]
+)
+
+
+def assert_equal_ref(mat):
+    np.testing.assert_array_equal(mat, ref)
+
+
+def assert_sparse_equal_ref(sparse_mat):
+    assert_equal_ref(sparse_mat.toarray())
+
+
+def test_fixed():
+    assert_equal_ref(m.fixed_c())
+    assert_equal_ref(m.fixed_r())
+    assert_equal_ref(m.fixed_copy_r(m.fixed_r()))
+    assert_equal_ref(m.fixed_copy_c(m.fixed_c()))
+    assert_equal_ref(m.fixed_copy_r(m.fixed_c()))
+    assert_equal_ref(m.fixed_copy_c(m.fixed_r()))
+
+
+def test_dense():
+    assert_equal_ref(m.dense_r())
+    assert_equal_ref(m.dense_c())
+    assert_equal_ref(m.dense_copy_r(m.dense_r()))
+    assert_equal_ref(m.dense_copy_c(m.dense_c()))
+    assert_equal_ref(m.dense_copy_r(m.dense_c()))
+    assert_equal_ref(m.dense_copy_c(m.dense_r()))
+
+
+def test_partially_fixed():
+    ref2 = np.array([[0.0, 1, 2, 3], [4, 5, 6, 7], [8, 9, 10, 11], [12, 13, 14, 15]])
+    np.testing.assert_array_equal(m.partial_copy_four_rm_r(ref2), ref2)
+    np.testing.assert_array_equal(m.partial_copy_four_rm_c(ref2), ref2)
+    np.testing.assert_array_equal(m.partial_copy_four_rm_r(ref2[:, 1]), ref2[:, [1]])
+    np.testing.assert_array_equal(m.partial_copy_four_rm_c(ref2[0, :]), ref2[[0], :])
+    np.testing.assert_array_equal(
+        m.partial_copy_four_rm_r(ref2[:, (0, 2)]), ref2[:, (0, 2)]
+    )
+    np.testing.assert_array_equal(
+        m.partial_copy_four_rm_c(ref2[(3, 1, 2), :]), ref2[(3, 1, 2), :]
+    )
+
+    np.testing.assert_array_equal(m.partial_copy_four_cm_r(ref2), ref2)
+    np.testing.assert_array_equal(m.partial_copy_four_cm_c(ref2), ref2)
+    np.testing.assert_array_equal(m.partial_copy_four_cm_r(ref2[:, 1]), ref2[:, [1]])
+    np.testing.assert_array_equal(m.partial_copy_four_cm_c(ref2[0, :]), ref2[[0], :])
+    np.testing.assert_array_equal(
+        m.partial_copy_four_cm_r(ref2[:, (0, 2)]), ref2[:, (0, 2)]
+    )
+    np.testing.assert_array_equal(
+        m.partial_copy_four_cm_c(ref2[(3, 1, 2), :]), ref2[(3, 1, 2), :]
+    )
+
+    # TypeError should be raise for a shape mismatch
+    functions = [
+        m.partial_copy_four_rm_r,
+        m.partial_copy_four_rm_c,
+        m.partial_copy_four_cm_r,
+        m.partial_copy_four_cm_c,
+    ]
+    matrix_with_wrong_shape = [[1, 2], [3, 4]]
+    for f in functions:
+        with pytest.raises(TypeError) as excinfo:
+            f(matrix_with_wrong_shape)
+        assert "incompatible function arguments" in str(excinfo.value)
+
+
+def test_mutator_descriptors():
+    zr = np.arange(30, dtype="float32").reshape(5, 6)  # row-major
+    zc = zr.reshape(6, 5).transpose()  # column-major
+
+    m.fixed_mutator_r(zr)
+    m.fixed_mutator_c(zc)
+    m.fixed_mutator_a(zr)
+    m.fixed_mutator_a(zc)
+    with pytest.raises(TypeError) as excinfo:
+        m.fixed_mutator_r(zc)
+    assert (
+        "(arg0: numpy.ndarray[numpy.float32[5, 6],"
+        " flags.writeable, flags.c_contiguous]) -> None" in str(excinfo.value)
+    )
+    with pytest.raises(TypeError) as excinfo:
+        m.fixed_mutator_c(zr)
+    assert (
+        "(arg0: numpy.ndarray[numpy.float32[5, 6],"
+        " flags.writeable, flags.f_contiguous]) -> None" in str(excinfo.value)
+    )
+    with pytest.raises(TypeError) as excinfo:
+        m.fixed_mutator_a(np.array([[1, 2], [3, 4]], dtype="float32"))
+    assert "(arg0: numpy.ndarray[numpy.float32[5, 6], flags.writeable]) -> None" in str(
+        excinfo.value
+    )
+    zr.flags.writeable = False
+    with pytest.raises(TypeError):
+        m.fixed_mutator_r(zr)
+    with pytest.raises(TypeError):
+        m.fixed_mutator_a(zr)
+
+
+def test_cpp_casting():
+    assert m.cpp_copy(m.fixed_r()) == 22.0
+    assert m.cpp_copy(m.fixed_c()) == 22.0
+    z = np.array([[5.0, 6], [7, 8]])
+    assert m.cpp_copy(z) == 7.0
+    assert m.cpp_copy(m.get_cm_ref()) == 21.0
+    assert m.cpp_copy(m.get_rm_ref()) == 21.0
+    assert m.cpp_ref_c(m.get_cm_ref()) == 21.0
+    assert m.cpp_ref_r(m.get_rm_ref()) == 21.0
+    with pytest.raises(RuntimeError) as excinfo:
+        # Can't reference m.fixed_c: it contains floats, m.cpp_ref_any wants doubles
+        m.cpp_ref_any(m.fixed_c())
+    assert "Unable to cast Python instance" in str(excinfo.value)
+    with pytest.raises(RuntimeError) as excinfo:
+        # Can't reference m.fixed_r: it contains floats, m.cpp_ref_any wants doubles
+        m.cpp_ref_any(m.fixed_r())
+    assert "Unable to cast Python instance" in str(excinfo.value)
+    assert m.cpp_ref_any(m.ReturnTester.create()) == 1.0
+
+    assert m.cpp_ref_any(m.get_cm_ref()) == 21.0
+    assert m.cpp_ref_any(m.get_cm_ref()) == 21.0
+
+
+def test_pass_readonly_array():
+    z = np.full((5, 6), 42.0)
+    z.flags.writeable = False
+    np.testing.assert_array_equal(z, m.fixed_copy_r(z))
+    np.testing.assert_array_equal(m.fixed_r_const(), m.fixed_r())
+    assert not m.fixed_r_const().flags.writeable
+    np.testing.assert_array_equal(m.fixed_copy_r(m.fixed_r_const()), m.fixed_r_const())
+
+
+def test_nonunit_stride_from_python():
+    counting_mat = np.arange(9.0, dtype=np.float32).reshape((3, 3))
+    second_row = counting_mat[1, :]
+    second_col = counting_mat[:, 1]
+    np.testing.assert_array_equal(m.double_row(second_row), 2.0 * second_row)
+    np.testing.assert_array_equal(m.double_col(second_row), 2.0 * second_row)
+    np.testing.assert_array_equal(m.double_complex(second_row), 2.0 * second_row)
+    np.testing.assert_array_equal(m.double_row(second_col), 2.0 * second_col)
+    np.testing.assert_array_equal(m.double_col(second_col), 2.0 * second_col)
+    np.testing.assert_array_equal(m.double_complex(second_col), 2.0 * second_col)
+
+    counting_3d = np.arange(27.0, dtype=np.float32).reshape((3, 3, 3))
+    slices = [counting_3d[0, :, :], counting_3d[:, 0, :], counting_3d[:, :, 0]]
+    for ref_mat in slices:
+        np.testing.assert_array_equal(m.double_mat_cm(ref_mat), 2.0 * ref_mat)
+        np.testing.assert_array_equal(m.double_mat_rm(ref_mat), 2.0 * ref_mat)
+
+    # Mutator:
+    m.double_threer(second_row)
+    m.double_threec(second_col)
+    np.testing.assert_array_equal(counting_mat, [[0.0, 2, 2], [6, 16, 10], [6, 14, 8]])
+
+
+def test_negative_stride_from_python(msg):
+    """Eigen doesn't support (as of yet) negative strides. When a function takes an Eigen matrix by
+    copy or const reference, we can pass a numpy array that has negative strides.  Otherwise, an
+    exception will be thrown as Eigen will not be able to map the numpy array."""
+
+    counting_mat = np.arange(9.0, dtype=np.float32).reshape((3, 3))
+    counting_mat = counting_mat[::-1, ::-1]
+    second_row = counting_mat[1, :]
+    second_col = counting_mat[:, 1]
+    np.testing.assert_array_equal(m.double_row(second_row), 2.0 * second_row)
+    np.testing.assert_array_equal(m.double_col(second_row), 2.0 * second_row)
+    np.testing.assert_array_equal(m.double_complex(second_row), 2.0 * second_row)
+    np.testing.assert_array_equal(m.double_row(second_col), 2.0 * second_col)
+    np.testing.assert_array_equal(m.double_col(second_col), 2.0 * second_col)
+    np.testing.assert_array_equal(m.double_complex(second_col), 2.0 * second_col)
+
+    counting_3d = np.arange(27.0, dtype=np.float32).reshape((3, 3, 3))
+    counting_3d = counting_3d[::-1, ::-1, ::-1]
+    slices = [counting_3d[0, :, :], counting_3d[:, 0, :], counting_3d[:, :, 0]]
+    for ref_mat in slices:
+        np.testing.assert_array_equal(m.double_mat_cm(ref_mat), 2.0 * ref_mat)
+        np.testing.assert_array_equal(m.double_mat_rm(ref_mat), 2.0 * ref_mat)
+
+    # Mutator:
+    with pytest.raises(TypeError) as excinfo:
+        m.double_threer(second_row)
+    assert (
+        msg(excinfo.value)
+        == """
+        double_threer(): incompatible function arguments. The following argument types are supported:
+            1. (arg0: numpy.ndarray[numpy.float32[1, 3], flags.writeable]) -> None
+
+        Invoked with: """
+        + repr(np.array([5.0, 4.0, 3.0], dtype="float32"))
+    )
+
+    with pytest.raises(TypeError) as excinfo:
+        m.double_threec(second_col)
+    assert (
+        msg(excinfo.value)
+        == """
+        double_threec(): incompatible function arguments. The following argument types are supported:
+            1. (arg0: numpy.ndarray[numpy.float32[3, 1], flags.writeable]) -> None
+
+        Invoked with: """
+        + repr(np.array([7.0, 4.0, 1.0], dtype="float32"))
+    )
+
+
+def test_block_runtime_error_type_caster_eigen_ref_made_a_copy():
+    with pytest.raises(RuntimeError) as excinfo:
+        m.block(ref, 0, 0, 0, 0)
+    assert str(excinfo.value) == "type_caster for Eigen::Ref made a copy."
+
+
+def test_nonunit_stride_to_python():
+    assert np.all(m.diagonal(ref) == ref.diagonal())
+    assert np.all(m.diagonal_1(ref) == ref.diagonal(1))
+    for i in range(-5, 7):
+        assert np.all(m.diagonal_n(ref, i) == ref.diagonal(i)), f"m.diagonal_n({i})"
+
+    # Must be order="F", otherwise the type_caster will make a copy and
+    # m.block() will return a dangling reference (heap-use-after-free).
+    rof = np.asarray(ref, order="F")
+    assert np.all(m.block(rof, 2, 1, 3, 3) == rof[2:5, 1:4])
+    assert np.all(m.block(rof, 1, 4, 4, 2) == rof[1:, 4:])
+    assert np.all(m.block(rof, 1, 4, 3, 2) == rof[1:4, 4:])
+
+
+def test_eigen_ref_to_python():
+    chols = [m.cholesky1, m.cholesky2, m.cholesky3, m.cholesky4]
+    for i, chol in enumerate(chols, start=1):
+        mymat = chol(np.array([[1.0, 2, 4], [2, 13, 23], [4, 23, 77]]))
+        assert np.all(
+            mymat == np.array([[1, 0, 0], [2, 3, 0], [4, 5, 6]])
+        ), f"cholesky{i}"
+
+
+def assign_both(a1, a2, r, c, v):
+    a1[r, c] = v
+    a2[r, c] = v
+
+
+def array_copy_but_one(a, r, c, v):
+    z = np.array(a, copy=True)
+    z[r, c] = v
+    return z
+
+
+def test_eigen_return_references():
+    """Tests various ways of returning references and non-referencing copies"""
+
+    primary = np.ones((10, 10))
+    a = m.ReturnTester()
+    a_get1 = a.get()
+    assert not a_get1.flags.owndata
+    assert a_get1.flags.writeable
+    assign_both(a_get1, primary, 3, 3, 5)
+    a_get2 = a.get_ptr()
+    assert not a_get2.flags.owndata
+    assert a_get2.flags.writeable
+    assign_both(a_get1, primary, 2, 3, 6)
+
+    a_view1 = a.view()
+    assert not a_view1.flags.owndata
+    assert not a_view1.flags.writeable
+    with pytest.raises(ValueError):
+        a_view1[2, 3] = 4
+    a_view2 = a.view_ptr()
+    assert not a_view2.flags.owndata
+    assert not a_view2.flags.writeable
+    with pytest.raises(ValueError):
+        a_view2[2, 3] = 4
+
+    a_copy1 = a.copy_get()
+    assert a_copy1.flags.owndata
+    assert a_copy1.flags.writeable
+    np.testing.assert_array_equal(a_copy1, primary)
+    a_copy1[7, 7] = -44  # Shouldn't affect anything else
+    c1want = array_copy_but_one(primary, 7, 7, -44)
+    a_copy2 = a.copy_view()
+    assert a_copy2.flags.owndata
+    assert a_copy2.flags.writeable
+    np.testing.assert_array_equal(a_copy2, primary)
+    a_copy2[4, 4] = -22  # Shouldn't affect anything else
+    c2want = array_copy_but_one(primary, 4, 4, -22)
+
+    a_ref1 = a.ref()
+    assert not a_ref1.flags.owndata
+    assert a_ref1.flags.writeable
+    assign_both(a_ref1, primary, 1, 1, 15)
+    a_ref2 = a.ref_const()
+    assert not a_ref2.flags.owndata
+    assert not a_ref2.flags.writeable
+    with pytest.raises(ValueError):
+        a_ref2[5, 5] = 33
+    a_ref3 = a.ref_safe()
+    assert not a_ref3.flags.owndata
+    assert a_ref3.flags.writeable
+    assign_both(a_ref3, primary, 0, 7, 99)
+    a_ref4 = a.ref_const_safe()
+    assert not a_ref4.flags.owndata
+    assert not a_ref4.flags.writeable
+    with pytest.raises(ValueError):
+        a_ref4[7, 0] = 987654321
+
+    a_copy3 = a.copy_ref()
+    assert a_copy3.flags.owndata
+    assert a_copy3.flags.writeable
+    np.testing.assert_array_equal(a_copy3, primary)
+    a_copy3[8, 1] = 11
+    c3want = array_copy_but_one(primary, 8, 1, 11)
+    a_copy4 = a.copy_ref_const()
+    assert a_copy4.flags.owndata
+    assert a_copy4.flags.writeable
+    np.testing.assert_array_equal(a_copy4, primary)
+    a_copy4[8, 4] = 88
+    c4want = array_copy_but_one(primary, 8, 4, 88)
+
+    a_block1 = a.block(3, 3, 2, 2)
+    assert not a_block1.flags.owndata
+    assert a_block1.flags.writeable
+    a_block1[0, 0] = 55
+    primary[3, 3] = 55
+    a_block2 = a.block_safe(2, 2, 3, 2)
+    assert not a_block2.flags.owndata
+    assert a_block2.flags.writeable
+    a_block2[2, 1] = -123
+    primary[4, 3] = -123
+    a_block3 = a.block_const(6, 7, 4, 3)
+    assert not a_block3.flags.owndata
+    assert not a_block3.flags.writeable
+    with pytest.raises(ValueError):
+        a_block3[2, 2] = -44444
+
+    a_copy5 = a.copy_block(2, 2, 2, 3)
+    assert a_copy5.flags.owndata
+    assert a_copy5.flags.writeable
+    np.testing.assert_array_equal(a_copy5, primary[2:4, 2:5])
+    a_copy5[1, 1] = 777
+    c5want = array_copy_but_one(primary[2:4, 2:5], 1, 1, 777)
+
+    a_corn1 = a.corners()
+    assert not a_corn1.flags.owndata
+    assert a_corn1.flags.writeable
+    a_corn1 *= 50
+    a_corn1[1, 1] = 999
+    primary[0, 0] = 50
+    primary[0, 9] = 50
+    primary[9, 0] = 50
+    primary[9, 9] = 999
+    a_corn2 = a.corners_const()
+    assert not a_corn2.flags.owndata
+    assert not a_corn2.flags.writeable
+    with pytest.raises(ValueError):
+        a_corn2[1, 0] = 51
+
+    # All of the changes made all the way along should be visible everywhere
+    # now (except for the copies, of course)
+    np.testing.assert_array_equal(a_get1, primary)
+    np.testing.assert_array_equal(a_get2, primary)
+    np.testing.assert_array_equal(a_view1, primary)
+    np.testing.assert_array_equal(a_view2, primary)
+    np.testing.assert_array_equal(a_ref1, primary)
+    np.testing.assert_array_equal(a_ref2, primary)
+    np.testing.assert_array_equal(a_ref3, primary)
+    np.testing.assert_array_equal(a_ref4, primary)
+    np.testing.assert_array_equal(a_block1, primary[3:5, 3:5])
+    np.testing.assert_array_equal(a_block2, primary[2:5, 2:4])
+    np.testing.assert_array_equal(a_block3, primary[6:10, 7:10])
+    np.testing.assert_array_equal(
+        a_corn1, primary[0 :: primary.shape[0] - 1, 0 :: primary.shape[1] - 1]
+    )
+    np.testing.assert_array_equal(
+        a_corn2, primary[0 :: primary.shape[0] - 1, 0 :: primary.shape[1] - 1]
+    )
+
+    np.testing.assert_array_equal(a_copy1, c1want)
+    np.testing.assert_array_equal(a_copy2, c2want)
+    np.testing.assert_array_equal(a_copy3, c3want)
+    np.testing.assert_array_equal(a_copy4, c4want)
+    np.testing.assert_array_equal(a_copy5, c5want)
+
+
+def assert_keeps_alive(cl, method, *args):
+    cstats = ConstructorStats.get(cl)
+    start_with = cstats.alive()
+    a = cl()
+    assert cstats.alive() == start_with + 1
+    z = method(a, *args)
+    assert cstats.alive() == start_with + 1
+    del a
+    # Here's the keep alive in action:
+    assert cstats.alive() == start_with + 1
+    del z
+    # Keep alive should have expired:
+    assert cstats.alive() == start_with
+
+
+def test_eigen_keepalive():
+    a = m.ReturnTester()
+    cstats = ConstructorStats.get(m.ReturnTester)
+    assert cstats.alive() == 1
+    unsafe = [a.ref(), a.ref_const(), a.block(1, 2, 3, 4)]
+    copies = [
+        a.copy_get(),
+        a.copy_view(),
+        a.copy_ref(),
+        a.copy_ref_const(),
+        a.copy_block(4, 3, 2, 1),
+    ]
+    del a
+    assert cstats.alive() == 0
+    del unsafe
+    del copies
+
+    for meth in [
+        m.ReturnTester.get,
+        m.ReturnTester.get_ptr,
+        m.ReturnTester.view,
+        m.ReturnTester.view_ptr,
+        m.ReturnTester.ref_safe,
+        m.ReturnTester.ref_const_safe,
+        m.ReturnTester.corners,
+        m.ReturnTester.corners_const,
+    ]:
+        assert_keeps_alive(m.ReturnTester, meth)
+
+    for meth in [m.ReturnTester.block_safe, m.ReturnTester.block_const]:
+        assert_keeps_alive(m.ReturnTester, meth, 4, 3, 2, 1)
+
+
+def test_eigen_ref_mutators():
+    """Tests Eigen's ability to mutate numpy values"""
+
+    orig = np.array([[1.0, 2, 3], [4, 5, 6], [7, 8, 9]])
+    zr = np.array(orig)
+    zc = np.array(orig, order="F")
+    m.add_rm(zr, 1, 0, 100)
+    assert np.all(zr == np.array([[1.0, 2, 3], [104, 5, 6], [7, 8, 9]]))
+    m.add_cm(zc, 1, 0, 200)
+    assert np.all(zc == np.array([[1.0, 2, 3], [204, 5, 6], [7, 8, 9]]))
+
+    m.add_any(zr, 1, 0, 20)
+    assert np.all(zr == np.array([[1.0, 2, 3], [124, 5, 6], [7, 8, 9]]))
+    m.add_any(zc, 1, 0, 10)
+    assert np.all(zc == np.array([[1.0, 2, 3], [214, 5, 6], [7, 8, 9]]))
+
+    # Can't reference a col-major array with a row-major Ref, and vice versa:
+    with pytest.raises(TypeError):
+        m.add_rm(zc, 1, 0, 1)
+    with pytest.raises(TypeError):
+        m.add_cm(zr, 1, 0, 1)
+
+    # Overloads:
+    m.add1(zr, 1, 0, -100)
+    m.add2(zr, 1, 0, -20)
+    assert np.all(zr == orig)
+    m.add1(zc, 1, 0, -200)
+    m.add2(zc, 1, 0, -10)
+    assert np.all(zc == orig)
+
+    # a non-contiguous slice (this won't work on either the row- or
+    # column-contiguous refs, but should work for the any)
+    cornersr = zr[0::2, 0::2]
+    cornersc = zc[0::2, 0::2]
+
+    assert np.all(cornersr == np.array([[1.0, 3], [7, 9]]))
+    assert np.all(cornersc == np.array([[1.0, 3], [7, 9]]))
+
+    with pytest.raises(TypeError):
+        m.add_rm(cornersr, 0, 1, 25)
+    with pytest.raises(TypeError):
+        m.add_cm(cornersr, 0, 1, 25)
+    with pytest.raises(TypeError):
+        m.add_rm(cornersc, 0, 1, 25)
+    with pytest.raises(TypeError):
+        m.add_cm(cornersc, 0, 1, 25)
+    m.add_any(cornersr, 0, 1, 25)
+    m.add_any(cornersc, 0, 1, 44)
+    assert np.all(zr == np.array([[1.0, 2, 28], [4, 5, 6], [7, 8, 9]]))
+    assert np.all(zc == np.array([[1.0, 2, 47], [4, 5, 6], [7, 8, 9]]))
+
+    # You shouldn't be allowed to pass a non-writeable array to a mutating Eigen method:
+    zro = zr[0:4, 0:4]
+    zro.flags.writeable = False
+    with pytest.raises(TypeError):
+        m.add_rm(zro, 0, 0, 0)
+    with pytest.raises(TypeError):
+        m.add_any(zro, 0, 0, 0)
+    with pytest.raises(TypeError):
+        m.add1(zro, 0, 0, 0)
+    with pytest.raises(TypeError):
+        m.add2(zro, 0, 0, 0)
+
+    # integer array shouldn't be passable to a double-matrix-accepting mutating func:
+    zi = np.array([[1, 2], [3, 4]])
+    with pytest.raises(TypeError):
+        m.add_rm(zi)
+
+
+def test_numpy_ref_mutators():
+    """Tests numpy mutating Eigen matrices (for returned Eigen::Ref<...>s)"""
+
+    m.reset_refs()  # In case another test already changed it
+
+    zc = m.get_cm_ref()
+    zcro = m.get_cm_const_ref()
+    zr = m.get_rm_ref()
+    zrro = m.get_rm_const_ref()
+
+    assert [zc[1, 2], zcro[1, 2], zr[1, 2], zrro[1, 2]] == [23] * 4
+
+    assert not zc.flags.owndata
+    assert zc.flags.writeable
+    assert not zr.flags.owndata
+    assert zr.flags.writeable
+    assert not zcro.flags.owndata
+    assert not zcro.flags.writeable
+    assert not zrro.flags.owndata
+    assert not zrro.flags.writeable
+
+    zc[1, 2] = 99
+    expect = np.array([[11.0, 12, 13], [21, 22, 99], [31, 32, 33]])
+    # We should have just changed zc, of course, but also zcro and the original eigen matrix
+    assert np.all(zc == expect)
+    assert np.all(zcro == expect)
+    assert np.all(m.get_cm_ref() == expect)
+
+    zr[1, 2] = 99
+    assert np.all(zr == expect)
+    assert np.all(zrro == expect)
+    assert np.all(m.get_rm_ref() == expect)
+
+    # Make sure the readonly ones are numpy-readonly:
+    with pytest.raises(ValueError):
+        zcro[1, 2] = 6
+    with pytest.raises(ValueError):
+        zrro[1, 2] = 6
+
+    # We should be able to explicitly copy like this (and since we're copying,
+    # the const should drop away)
+    y1 = np.array(m.get_cm_const_ref())
+
+    assert y1.flags.owndata
+    assert y1.flags.writeable
+    # We should get copies of the eigen data, which was modified above:
+    assert y1[1, 2] == 99
+    y1[1, 2] += 12
+    assert y1[1, 2] == 111
+    assert zc[1, 2] == 99  # Make sure we aren't referencing the original
+
+
+def test_both_ref_mutators():
+    """Tests a complex chain of nested eigen/numpy references"""
+
+    m.reset_refs()  # In case another test already changed it
+
+    z = m.get_cm_ref()  # numpy -> eigen
+    z[0, 2] -= 3
+    z2 = m.incr_matrix(z, 1)  # numpy -> eigen -> numpy -> eigen
+    z2[1, 1] += 6
+    z3 = m.incr_matrix(z, 2)  # (numpy -> eigen)^3
+    z3[2, 2] += -5
+    z4 = m.incr_matrix(z, 3)  # (numpy -> eigen)^4
+    z4[1, 1] -= 1
+    z5 = m.incr_matrix(z, 4)  # (numpy -> eigen)^5
+    z5[0, 0] = 0
+    assert np.all(z == z2)
+    assert np.all(z == z3)
+    assert np.all(z == z4)
+    assert np.all(z == z5)
+    expect = np.array([[0.0, 22, 20], [31, 37, 33], [41, 42, 38]])
+    assert np.all(z == expect)
+
+    y = np.array(range(100), dtype="float64").reshape(10, 10)
+    y2 = m.incr_matrix_any(y, 10)  # np -> eigen -> np
+    y3 = m.incr_matrix_any(
+        y2[0::2, 0::2], -33
+    )  # np -> eigen -> np slice -> np -> eigen -> np
+    y4 = m.even_rows(y3)  # numpy -> eigen slice -> (... y3)
+    y5 = m.even_cols(y4)  # numpy -> eigen slice -> (... y4)
+    y6 = m.incr_matrix_any(y5, 1000)  # numpy -> eigen -> (... y5)
+
+    # Apply same mutations using just numpy:
+    yexpect = np.array(range(100), dtype="float64").reshape(10, 10)
+    yexpect += 10
+    yexpect[0::2, 0::2] -= 33
+    yexpect[0::4, 0::4] += 1000
+    assert np.all(y6 == yexpect[0::4, 0::4])
+    assert np.all(y5 == yexpect[0::4, 0::4])
+    assert np.all(y4 == yexpect[0::4, 0::2])
+    assert np.all(y3 == yexpect[0::2, 0::2])
+    assert np.all(y2 == yexpect)
+    assert np.all(y == yexpect)
+
+
+def test_nocopy_wrapper():
+    # get_elem requires a column-contiguous matrix reference, but should be
+    # callable with other types of matrix (via copying):
+    int_matrix_colmajor = np.array([[1, 2, 3], [4, 5, 6], [7, 8, 9]], order="F")
+    dbl_matrix_colmajor = np.array(
+        int_matrix_colmajor, dtype="double", order="F", copy=True
+    )
+    int_matrix_rowmajor = np.array(int_matrix_colmajor, order="C", copy=True)
+    dbl_matrix_rowmajor = np.array(
+        int_matrix_rowmajor, dtype="double", order="C", copy=True
+    )
+
+    # All should be callable via get_elem:
+    assert m.get_elem(int_matrix_colmajor) == 8
+    assert m.get_elem(dbl_matrix_colmajor) == 8
+    assert m.get_elem(int_matrix_rowmajor) == 8
+    assert m.get_elem(dbl_matrix_rowmajor) == 8
+
+    # All but the second should fail with m.get_elem_nocopy:
+    with pytest.raises(TypeError) as excinfo:
+        m.get_elem_nocopy(int_matrix_colmajor)
+    assert "get_elem_nocopy(): incompatible function arguments." in str(excinfo.value)
+    assert ", flags.f_contiguous" in str(excinfo.value)
+    assert m.get_elem_nocopy(dbl_matrix_colmajor) == 8
+    with pytest.raises(TypeError) as excinfo:
+        m.get_elem_nocopy(int_matrix_rowmajor)
+    assert "get_elem_nocopy(): incompatible function arguments." in str(excinfo.value)
+    assert ", flags.f_contiguous" in str(excinfo.value)
+    with pytest.raises(TypeError) as excinfo:
+        m.get_elem_nocopy(dbl_matrix_rowmajor)
+    assert "get_elem_nocopy(): incompatible function arguments." in str(excinfo.value)
+    assert ", flags.f_contiguous" in str(excinfo.value)
+
+    # For the row-major test, we take a long matrix in row-major, so only the third is allowed:
+    with pytest.raises(TypeError) as excinfo:
+        m.get_elem_rm_nocopy(int_matrix_colmajor)
+    assert "get_elem_rm_nocopy(): incompatible function arguments." in str(
+        excinfo.value
+    )
+    assert ", flags.c_contiguous" in str(excinfo.value)
+    with pytest.raises(TypeError) as excinfo:
+        m.get_elem_rm_nocopy(dbl_matrix_colmajor)
+    assert "get_elem_rm_nocopy(): incompatible function arguments." in str(
+        excinfo.value
+    )
+    assert ", flags.c_contiguous" in str(excinfo.value)
+    assert m.get_elem_rm_nocopy(int_matrix_rowmajor) == 8
+    with pytest.raises(TypeError) as excinfo:
+        m.get_elem_rm_nocopy(dbl_matrix_rowmajor)
+    assert "get_elem_rm_nocopy(): incompatible function arguments." in str(
+        excinfo.value
+    )
+    assert ", flags.c_contiguous" in str(excinfo.value)
+
+
+def test_eigen_ref_life_support():
+    """Ensure the lifetime of temporary arrays created by the `Ref` caster
+
+    The `Ref` caster sometimes creates a copy which needs to stay alive. This needs to
+    happen both for directs casts (just the array) or indirectly (e.g. list of arrays).
+    """
+
+    a = np.full(shape=10, fill_value=8, dtype=np.int8)
+    assert m.get_elem_direct(a) == 8
+
+    list_of_a = [a]
+    assert m.get_elem_indirect(list_of_a) == 8
+
+
+def test_special_matrix_objects():
+    assert np.all(m.incr_diag(7) == np.diag([1.0, 2, 3, 4, 5, 6, 7]))
+
+    asymm = np.array([[1.0, 2, 3, 4], [5, 6, 7, 8], [9, 10, 11, 12], [13, 14, 15, 16]])
+    symm_lower = np.array(asymm)
+    symm_upper = np.array(asymm)
+    for i in range(4):
+        for j in range(i + 1, 4):
+            symm_lower[i, j] = symm_lower[j, i]
+            symm_upper[j, i] = symm_upper[i, j]
+
+    assert np.all(m.symmetric_lower(asymm) == symm_lower)
+    assert np.all(m.symmetric_upper(asymm) == symm_upper)
+
+
+def test_dense_signature(doc):
+    assert (
+        doc(m.double_col)
+        == """
+        double_col(arg0: numpy.ndarray[numpy.float32[m, 1]]) -> numpy.ndarray[numpy.float32[m, 1]]
+    """
+    )
+    assert (
+        doc(m.double_row)
+        == """
+        double_row(arg0: numpy.ndarray[numpy.float32[1, n]]) -> numpy.ndarray[numpy.float32[1, n]]
+    """
+    )
+    assert doc(m.double_complex) == (
+        """
+        double_complex(arg0: numpy.ndarray[numpy.complex64[m, 1]])"""
+        """ -> numpy.ndarray[numpy.complex64[m, 1]]
+    """
+    )
+    assert doc(m.double_mat_rm) == (
+        """
+        double_mat_rm(arg0: numpy.ndarray[numpy.float32[m, n]])"""
+        """ -> numpy.ndarray[numpy.float32[m, n]]
+    """
+    )
+
+
+def test_named_arguments():
+    a = np.array([[1.0, 2], [3, 4], [5, 6]])
+    b = np.ones((2, 1))
+
+    assert np.all(m.matrix_multiply(a, b) == np.array([[3.0], [7], [11]]))
+    assert np.all(m.matrix_multiply(A=a, B=b) == np.array([[3.0], [7], [11]]))
+    assert np.all(m.matrix_multiply(B=b, A=a) == np.array([[3.0], [7], [11]]))
+
+    with pytest.raises(ValueError) as excinfo:
+        m.matrix_multiply(b, a)
+    assert str(excinfo.value) == "Nonconformable matrices!"
+
+    with pytest.raises(ValueError) as excinfo:
+        m.matrix_multiply(A=b, B=a)
+    assert str(excinfo.value) == "Nonconformable matrices!"
+
+    with pytest.raises(ValueError) as excinfo:
+        m.matrix_multiply(B=a, A=b)
+    assert str(excinfo.value) == "Nonconformable matrices!"
+
+
+def test_sparse():
+    pytest.importorskip("scipy")
+    assert_sparse_equal_ref(m.sparse_r())
+    assert_sparse_equal_ref(m.sparse_c())
+    assert_sparse_equal_ref(m.sparse_copy_r(m.sparse_r()))
+    assert_sparse_equal_ref(m.sparse_copy_c(m.sparse_c()))
+    assert_sparse_equal_ref(m.sparse_copy_r(m.sparse_c()))
+    assert_sparse_equal_ref(m.sparse_copy_c(m.sparse_r()))
+
+
+def test_sparse_signature(doc):
+    pytest.importorskip("scipy")
+    assert (
+        doc(m.sparse_copy_r)
+        == """
+        sparse_copy_r(arg0: scipy.sparse.csr_matrix[numpy.float32]) -> scipy.sparse.csr_matrix[numpy.float32]
+    """
+    )
+    assert (
+        doc(m.sparse_copy_c)
+        == """
+        sparse_copy_c(arg0: scipy.sparse.csc_matrix[numpy.float32]) -> scipy.sparse.csc_matrix[numpy.float32]
+    """
+    )
+
+
+def test_issue738():
+    """Ignore strides on a length-1 dimension (even if they would be incompatible length > 1)"""
+    assert np.all(m.iss738_f1(np.array([[1.0, 2, 3]])) == np.array([[1.0, 102, 203]]))
+    assert np.all(
+        m.iss738_f1(np.array([[1.0], [2], [3]])) == np.array([[1.0], [12], [23]])
+    )
+
+    assert np.all(m.iss738_f2(np.array([[1.0, 2, 3]])) == np.array([[1.0, 102, 203]]))
+    assert np.all(
+        m.iss738_f2(np.array([[1.0], [2], [3]])) == np.array([[1.0], [12], [23]])
+    )
+
+
+@pytest.mark.parametrize("func", [m.iss738_f1, m.iss738_f2])
+@pytest.mark.parametrize("sizes", [(0, 2), (2, 0)])
+def test_zero_length(func, sizes):
+    """Ignore strides on a length-0 dimension (even if they would be incompatible length > 1)"""
+    assert np.all(func(np.zeros(sizes)) == np.zeros(sizes))
+
+
+def test_issue1105():
+    """Issue 1105: 1xN or Nx1 input arrays weren't accepted for eigen
+    compile-time row vectors or column vector"""
+    assert m.iss1105_row(np.ones((1, 7)))
+    assert m.iss1105_col(np.ones((7, 1)))
+
+    # These should still fail (incompatible dimensions):
+    with pytest.raises(TypeError) as excinfo:
+        m.iss1105_row(np.ones((7, 1)))
+    assert "incompatible function arguments" in str(excinfo.value)
+    with pytest.raises(TypeError) as excinfo:
+        m.iss1105_col(np.ones((1, 7)))
+    assert "incompatible function arguments" in str(excinfo.value)
+
+
+def test_custom_operator_new():
+    """Using Eigen types as member variables requires a class-specific
+    operator new with proper alignment"""
+
+    o = m.CustomOperatorNew()
+    np.testing.assert_allclose(o.a, 0.0)
+    np.testing.assert_allclose(o.b.diagonal(), 1.0)
diff --git a/pybind11/tests/test_eigen_tensor.cpp b/pybind11/tests/test_eigen_tensor.cpp
new file mode 100644
index 000000000..503c69c7d
--- /dev/null
+++ b/pybind11/tests/test_eigen_tensor.cpp
@@ -0,0 +1,18 @@
+/*
+    tests/eigen_tensor.cpp -- automatic conversion of Eigen Tensor
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#define PYBIND11_TEST_EIGEN_TENSOR_NAMESPACE eigen_tensor
+
+#ifdef EIGEN_AVOID_STL_ARRAY
+#    undef EIGEN_AVOID_STL_ARRAY
+#endif
+
+#include "test_eigen_tensor.inl"
+
+#include "pybind11_tests.h"
+
+test_initializer egien_tensor("eigen_tensor", eigen_tensor_test::test_module);
diff --git a/pybind11/tests/test_eigen_tensor.inl b/pybind11/tests/test_eigen_tensor.inl
new file mode 100644
index 000000000..d864ce737
--- /dev/null
+++ b/pybind11/tests/test_eigen_tensor.inl
@@ -0,0 +1,333 @@
+/*
+    tests/eigen_tensor.cpp -- automatic conversion of Eigen Tensor
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#include <pybind11/eigen/tensor.h>
+
+PYBIND11_NAMESPACE_BEGIN(eigen_tensor_test)
+
+namespace py = pybind11;
+
+PYBIND11_WARNING_DISABLE_MSVC(4127)
+
+template <typename M>
+void reset_tensor(M &x) {
+    for (int i = 0; i < x.dimension(0); i++) {
+        for (int j = 0; j < x.dimension(1); j++) {
+            for (int k = 0; k < x.dimension(2); k++) {
+                x(i, j, k) = i * (5 * 2) + j * 2 + k;
+            }
+        }
+    }
+}
+
+template <typename M>
+bool check_tensor(M &x) {
+    for (int i = 0; i < x.dimension(0); i++) {
+        for (int j = 0; j < x.dimension(1); j++) {
+            for (int k = 0; k < x.dimension(2); k++) {
+                if (x(i, j, k) != (i * (5 * 2) + j * 2 + k)) {
+                    return false;
+                }
+            }
+        }
+    }
+    return true;
+}
+
+template <int Options>
+Eigen::Tensor<double, 3, Options> &get_tensor() {
+    static Eigen::Tensor<double, 3, Options> *x;
+
+    if (!x) {
+        x = new Eigen::Tensor<double, 3, Options>(3, 5, 2);
+        reset_tensor(*x);
+    }
+
+    return *x;
+}
+
+template <int Options>
+Eigen::TensorMap<Eigen::Tensor<double, 3, Options>> &get_tensor_map() {
+    static Eigen::TensorMap<Eigen::Tensor<double, 3, Options>> *x;
+
+    if (!x) {
+        x = new Eigen::TensorMap<Eigen::Tensor<double, 3, Options>>(get_tensor<Options>());
+    }
+
+    return *x;
+}
+
+template <int Options>
+Eigen::TensorFixedSize<double, Eigen::Sizes<3, 5, 2>, Options> &get_fixed_tensor() {
+    static Eigen::TensorFixedSize<double, Eigen::Sizes<3, 5, 2>, Options> *x;
+
+    if (!x) {
+        Eigen::aligned_allocator<Eigen::TensorFixedSize<double, Eigen::Sizes<3, 5, 2>, Options>>
+            allocator;
+        x = new (allocator.allocate(1))
+            Eigen::TensorFixedSize<double, Eigen::Sizes<3, 5, 2>, Options>();
+        reset_tensor(*x);
+    }
+
+    return *x;
+}
+
+template <int Options>
+const Eigen::Tensor<double, 3, Options> &get_const_tensor() {
+    return get_tensor<Options>();
+}
+
+template <int Options>
+struct CustomExample {
+    CustomExample() : member(get_tensor<Options>()), view_member(member) {}
+
+    Eigen::Tensor<double, 3, Options> member;
+    Eigen::TensorMap<Eigen::Tensor<double, 3, Options>> view_member;
+};
+
+template <int Options>
+void init_tensor_module(pybind11::module &m) {
+    const char *needed_options = "";
+    if (Options == Eigen::ColMajor) {
+        needed_options = "F";
+    } else {
+        needed_options = "C";
+    }
+    m.attr("needed_options") = needed_options;
+
+    m.def("setup", []() {
+        reset_tensor(get_tensor<Options>());
+        reset_tensor(get_fixed_tensor<Options>());
+    });
+
+    m.def("is_ok", []() {
+        return check_tensor(get_tensor<Options>()) && check_tensor(get_fixed_tensor<Options>());
+    });
+
+    py::class_<CustomExample<Options>>(m, "CustomExample", py::module_local())
+        .def(py::init<>())
+        .def_readonly(
+            "member", &CustomExample<Options>::member, py::return_value_policy::reference_internal)
+        .def_readonly("member_view",
+                      &CustomExample<Options>::view_member,
+                      py::return_value_policy::reference_internal);
+
+    m.def(
+        "copy_fixed_tensor",
+        []() { return &get_fixed_tensor<Options>(); },
+        py::return_value_policy::copy);
+
+    m.def(
+        "copy_tensor", []() { return &get_tensor<Options>(); }, py::return_value_policy::copy);
+
+    m.def(
+        "copy_const_tensor",
+        []() { return &get_const_tensor<Options>(); },
+        py::return_value_policy::copy);
+
+    m.def(
+        "move_fixed_tensor_copy",
+        []() -> Eigen::TensorFixedSize<double, Eigen::Sizes<3, 5, 2>, Options> {
+            return get_fixed_tensor<Options>();
+        },
+        py::return_value_policy::move);
+
+    m.def(
+        "move_tensor_copy",
+        []() -> Eigen::Tensor<double, 3, Options> { return get_tensor<Options>(); },
+        py::return_value_policy::move);
+
+    m.def(
+        "move_const_tensor",
+        []() -> const Eigen::Tensor<double, 3, Options> & { return get_const_tensor<Options>(); },
+        py::return_value_policy::move);
+
+    m.def(
+        "take_fixed_tensor",
+
+        []() {
+            Eigen::aligned_allocator<
+                Eigen::TensorFixedSize<double, Eigen::Sizes<3, 5, 2>, Options>>
+                allocator;
+            return new (allocator.allocate(1))
+                Eigen::TensorFixedSize<double, Eigen::Sizes<3, 5, 2>, Options>(
+                    get_fixed_tensor<Options>());
+        },
+        py::return_value_policy::take_ownership);
+
+    m.def(
+        "take_tensor",
+        []() { return new Eigen::Tensor<double, 3, Options>(get_tensor<Options>()); },
+        py::return_value_policy::take_ownership);
+
+    m.def(
+        "take_const_tensor",
+        []() -> const Eigen::Tensor<double, 3, Options> * {
+            return new Eigen::Tensor<double, 3, Options>(get_tensor<Options>());
+        },
+        py::return_value_policy::take_ownership);
+
+    m.def(
+        "take_view_tensor",
+        []() -> const Eigen::TensorMap<Eigen::Tensor<double, 3, Options>> * {
+            return new Eigen::TensorMap<Eigen::Tensor<double, 3, Options>>(get_tensor<Options>());
+        },
+        py::return_value_policy::take_ownership);
+
+    m.def(
+        "reference_tensor",
+        []() { return &get_tensor<Options>(); },
+        py::return_value_policy::reference);
+
+    m.def(
+        "reference_tensor_v2",
+        []() -> Eigen::Tensor<double, 3, Options> & { return get_tensor<Options>(); },
+        py::return_value_policy::reference);
+
+    m.def(
+        "reference_tensor_internal",
+        []() { return &get_tensor<Options>(); },
+        py::return_value_policy::reference_internal);
+
+    m.def(
+        "reference_fixed_tensor",
+        []() { return &get_tensor<Options>(); },
+        py::return_value_policy::reference);
+
+    m.def(
+        "reference_const_tensor",
+        []() { return &get_const_tensor<Options>(); },
+        py::return_value_policy::reference);
+
+    m.def(
+        "reference_const_tensor_v2",
+        []() -> const Eigen::Tensor<double, 3, Options> & { return get_const_tensor<Options>(); },
+        py::return_value_policy::reference);
+
+    m.def(
+        "reference_view_of_tensor",
+        []() -> Eigen::TensorMap<Eigen::Tensor<double, 3, Options>> {
+            return get_tensor_map<Options>();
+        },
+        py::return_value_policy::reference);
+
+    m.def(
+        "reference_view_of_tensor_v2",
+        // NOLINTNEXTLINE(readability-const-return-type)
+        []() -> const Eigen::TensorMap<Eigen::Tensor<double, 3, Options>> {
+            return get_tensor_map<Options>(); // NOLINT(readability-const-return-type)
+        },                                    // NOLINT(readability-const-return-type)
+        py::return_value_policy::reference);
+
+    m.def(
+        "reference_view_of_tensor_v3",
+        []() -> Eigen::TensorMap<Eigen::Tensor<double, 3, Options>> * {
+            return &get_tensor_map<Options>();
+        },
+        py::return_value_policy::reference);
+
+    m.def(
+        "reference_view_of_tensor_v4",
+        []() -> const Eigen::TensorMap<Eigen::Tensor<double, 3, Options>> * {
+            return &get_tensor_map<Options>();
+        },
+        py::return_value_policy::reference);
+
+    m.def(
+        "reference_view_of_tensor_v5",
+        []() -> Eigen::TensorMap<Eigen::Tensor<double, 3, Options>> & {
+            return get_tensor_map<Options>();
+        },
+        py::return_value_policy::reference);
+
+    m.def(
+        "reference_view_of_tensor_v6",
+        []() -> const Eigen::TensorMap<Eigen::Tensor<double, 3, Options>> & {
+            return get_tensor_map<Options>();
+        },
+        py::return_value_policy::reference);
+
+    m.def(
+        "reference_view_of_fixed_tensor",
+        []() {
+            return Eigen::TensorMap<
+                Eigen::TensorFixedSize<double, Eigen::Sizes<3, 5, 2>, Options>>(
+                get_fixed_tensor<Options>());
+        },
+        py::return_value_policy::reference);
+
+    m.def("round_trip_tensor",
+          [](const Eigen::Tensor<double, 3, Options> &tensor) { return tensor; });
+
+    m.def(
+        "round_trip_tensor_noconvert",
+        [](const Eigen::Tensor<double, 3, Options> &tensor) { return tensor; },
+        py::arg("tensor").noconvert());
+
+    m.def("round_trip_tensor2",
+          [](const Eigen::Tensor<int32_t, 3, Options> &tensor) { return tensor; });
+
+    m.def("round_trip_fixed_tensor",
+          [](const Eigen::TensorFixedSize<double, Eigen::Sizes<3, 5, 2>, Options> &tensor) {
+              return tensor;
+          });
+
+    m.def(
+        "round_trip_view_tensor",
+        [](Eigen::TensorMap<Eigen::Tensor<double, 3, Options>> view) { return view; },
+        py::return_value_policy::reference);
+
+    m.def(
+        "round_trip_view_tensor_ref",
+        [](Eigen::TensorMap<Eigen::Tensor<double, 3, Options>> &view) { return view; },
+        py::return_value_policy::reference);
+
+    m.def(
+        "round_trip_view_tensor_ptr",
+        [](Eigen::TensorMap<Eigen::Tensor<double, 3, Options>> *view) { return view; },
+        py::return_value_policy::reference);
+
+    m.def(
+        "round_trip_aligned_view_tensor",
+        [](Eigen::TensorMap<Eigen::Tensor<double, 3, Options>, Eigen::Aligned> view) {
+            return view;
+        },
+        py::return_value_policy::reference);
+
+    m.def(
+        "round_trip_const_view_tensor",
+        [](Eigen::TensorMap<const Eigen::Tensor<double, 3, Options>> view) {
+            return Eigen::Tensor<double, 3, Options>(view);
+        },
+        py::return_value_policy::move);
+
+    m.def(
+        "round_trip_rank_0",
+        [](const Eigen::Tensor<double, 0, Options> &tensor) { return tensor; },
+        py::return_value_policy::move);
+
+    m.def(
+        "round_trip_rank_0_noconvert",
+        [](const Eigen::Tensor<double, 0, Options> &tensor) { return tensor; },
+        py::arg("tensor").noconvert(),
+        py::return_value_policy::move);
+
+    m.def(
+        "round_trip_rank_0_view",
+        [](Eigen::TensorMap<Eigen::Tensor<double, 0, Options>> &tensor) { return tensor; },
+        py::return_value_policy::reference);
+}
+
+void test_module(py::module_ &m) {
+    auto f_style = m.def_submodule("f_style");
+    auto c_style = m.def_submodule("c_style");
+
+    init_tensor_module<Eigen::ColMajor>(f_style);
+    init_tensor_module<Eigen::RowMajor>(c_style);
+}
+
+PYBIND11_NAMESPACE_END(eigen_tensor_test)
diff --git a/pybind11/tests/test_eigen_tensor.py b/pybind11/tests/test_eigen_tensor.py
new file mode 100644
index 000000000..3e7ee6b7f
--- /dev/null
+++ b/pybind11/tests/test_eigen_tensor.py
@@ -0,0 +1,288 @@
+import sys
+
+import pytest
+
+np = pytest.importorskip("numpy")
+eigen_tensor = pytest.importorskip("pybind11_tests.eigen_tensor")
+submodules = [eigen_tensor.c_style, eigen_tensor.f_style]
+try:
+    import eigen_tensor_avoid_stl_array as avoid
+
+    submodules += [avoid.c_style, avoid.f_style]
+except ImportError as e:
+    # Ensure config, build, toolchain, etc. issues are not masked here:
+    msg = (
+        "import eigen_tensor_avoid_stl_array FAILED, while "
+        "import pybind11_tests.eigen_tensor succeeded. "
+        "Please ensure that "
+        "test_eigen_tensor.cpp & "
+        "eigen_tensor_avoid_stl_array.cpp "
+        "are built together (or both are not built if Eigen is not available)."
+    )
+    raise RuntimeError(msg) from e
+
+tensor_ref = np.empty((3, 5, 2), dtype=np.int64)
+
+for i in range(tensor_ref.shape[0]):
+    for j in range(tensor_ref.shape[1]):
+        for k in range(tensor_ref.shape[2]):
+            tensor_ref[i, j, k] = i * (5 * 2) + j * 2 + k
+
+indices = (2, 3, 1)
+
+
+@pytest.fixture(autouse=True)
+def cleanup():
+    for module in submodules:
+        module.setup()
+
+    yield
+
+    for module in submodules:
+        assert module.is_ok()
+
+
+def test_import_avoid_stl_array():
+    pytest.importorskip("eigen_tensor_avoid_stl_array")
+    assert len(submodules) == 4
+
+
+def assert_equal_tensor_ref(mat, writeable=True, modified=None):
+    assert mat.flags.writeable == writeable
+
+    copy = np.array(tensor_ref)
+    if modified is not None:
+        copy[indices] = modified
+
+    np.testing.assert_array_equal(mat, copy)
+
+
+@pytest.mark.parametrize("m", submodules)
+@pytest.mark.parametrize("member_name", ["member", "member_view"])
+def test_reference_internal(m, member_name):
+    if not hasattr(sys, "getrefcount"):
+        pytest.skip("No reference counting")
+    foo = m.CustomExample()
+    counts = sys.getrefcount(foo)
+    mem = getattr(foo, member_name)
+    assert_equal_tensor_ref(mem, writeable=False)
+    new_counts = sys.getrefcount(foo)
+    assert new_counts == counts + 1
+    assert_equal_tensor_ref(mem, writeable=False)
+    del mem
+    assert sys.getrefcount(foo) == counts
+
+
+assert_equal_funcs = [
+    "copy_tensor",
+    "copy_fixed_tensor",
+    "copy_const_tensor",
+    "move_tensor_copy",
+    "move_fixed_tensor_copy",
+    "take_tensor",
+    "take_fixed_tensor",
+    "reference_tensor",
+    "reference_tensor_v2",
+    "reference_fixed_tensor",
+    "reference_view_of_tensor",
+    "reference_view_of_tensor_v3",
+    "reference_view_of_tensor_v5",
+    "reference_view_of_fixed_tensor",
+]
+
+assert_equal_const_funcs = [
+    "reference_view_of_tensor_v2",
+    "reference_view_of_tensor_v4",
+    "reference_view_of_tensor_v6",
+    "reference_const_tensor",
+    "reference_const_tensor_v2",
+]
+
+
+@pytest.mark.parametrize("m", submodules)
+@pytest.mark.parametrize("func_name", assert_equal_funcs + assert_equal_const_funcs)
+def test_convert_tensor_to_py(m, func_name):
+    writeable = func_name in assert_equal_funcs
+    assert_equal_tensor_ref(getattr(m, func_name)(), writeable=writeable)
+
+
+@pytest.mark.parametrize("m", submodules)
+def test_bad_cpp_to_python_casts(m):
+    with pytest.raises(
+        RuntimeError, match="Cannot use reference internal when there is no parent"
+    ):
+        m.reference_tensor_internal()
+
+    with pytest.raises(RuntimeError, match="Cannot move from a constant reference"):
+        m.move_const_tensor()
+
+    with pytest.raises(
+        RuntimeError, match="Cannot take ownership of a const reference"
+    ):
+        m.take_const_tensor()
+
+    with pytest.raises(
+        RuntimeError,
+        match="Invalid return_value_policy for Eigen Map type, must be either reference or reference_internal",
+    ):
+        m.take_view_tensor()
+
+
+@pytest.mark.parametrize("m", submodules)
+def test_bad_python_to_cpp_casts(m):
+    with pytest.raises(
+        TypeError, match=r"^round_trip_tensor\(\): incompatible function arguments"
+    ):
+        m.round_trip_tensor(np.zeros((2, 3)))
+
+    with pytest.raises(TypeError, match=r"^Cannot cast array data from dtype"):
+        m.round_trip_tensor(np.zeros(dtype=np.str_, shape=(2, 3, 1)))
+
+    with pytest.raises(
+        TypeError,
+        match=r"^round_trip_tensor_noconvert\(\): incompatible function arguments",
+    ):
+        m.round_trip_tensor_noconvert(tensor_ref)
+
+    assert_equal_tensor_ref(
+        m.round_trip_tensor_noconvert(tensor_ref.astype(np.float64))
+    )
+
+    bad_options = "C" if m.needed_options == "F" else "F"
+    # Shape, dtype and the order need to be correct for a TensorMap cast
+    with pytest.raises(
+        TypeError, match=r"^round_trip_view_tensor\(\): incompatible function arguments"
+    ):
+        m.round_trip_view_tensor(
+            np.zeros((3, 5, 2), dtype=np.float64, order=bad_options)
+        )
+
+    with pytest.raises(
+        TypeError, match=r"^round_trip_view_tensor\(\): incompatible function arguments"
+    ):
+        m.round_trip_view_tensor(
+            np.zeros((3, 5, 2), dtype=np.float32, order=m.needed_options)
+        )
+
+    with pytest.raises(
+        TypeError, match=r"^round_trip_view_tensor\(\): incompatible function arguments"
+    ):
+        m.round_trip_view_tensor(
+            np.zeros((3, 5), dtype=np.float64, order=m.needed_options)
+        )
+
+    temp = np.zeros((3, 5, 2), dtype=np.float64, order=m.needed_options)
+    with pytest.raises(
+        TypeError, match=r"^round_trip_view_tensor\(\): incompatible function arguments"
+    ):
+        m.round_trip_view_tensor(
+            temp[:, ::-1, :],
+        )
+
+    temp = np.zeros((3, 5, 2), dtype=np.float64, order=m.needed_options)
+    temp.setflags(write=False)
+    with pytest.raises(
+        TypeError, match=r"^round_trip_view_tensor\(\): incompatible function arguments"
+    ):
+        m.round_trip_view_tensor(temp)
+
+
+@pytest.mark.parametrize("m", submodules)
+def test_references_actually_refer(m):
+    a = m.reference_tensor()
+    temp = a[indices]
+    a[indices] = 100
+    assert_equal_tensor_ref(m.copy_const_tensor(), modified=100)
+    a[indices] = temp
+    assert_equal_tensor_ref(m.copy_const_tensor())
+
+    a = m.reference_view_of_tensor()
+    a[indices] = 100
+    assert_equal_tensor_ref(m.copy_const_tensor(), modified=100)
+    a[indices] = temp
+    assert_equal_tensor_ref(m.copy_const_tensor())
+
+
+@pytest.mark.parametrize("m", submodules)
+def test_round_trip(m):
+    assert_equal_tensor_ref(m.round_trip_tensor(tensor_ref))
+
+    with pytest.raises(TypeError, match="^Cannot cast array data from"):
+        assert_equal_tensor_ref(m.round_trip_tensor2(tensor_ref))
+
+    assert_equal_tensor_ref(m.round_trip_tensor2(np.array(tensor_ref, dtype=np.int32)))
+    assert_equal_tensor_ref(m.round_trip_fixed_tensor(tensor_ref))
+    assert_equal_tensor_ref(m.round_trip_aligned_view_tensor(m.reference_tensor()))
+
+    copy = np.array(tensor_ref, dtype=np.float64, order=m.needed_options)
+    assert_equal_tensor_ref(m.round_trip_view_tensor(copy))
+    assert_equal_tensor_ref(m.round_trip_view_tensor_ref(copy))
+    assert_equal_tensor_ref(m.round_trip_view_tensor_ptr(copy))
+    copy.setflags(write=False)
+    assert_equal_tensor_ref(m.round_trip_const_view_tensor(copy))
+
+    np.testing.assert_array_equal(
+        tensor_ref[:, ::-1, :], m.round_trip_tensor(tensor_ref[:, ::-1, :])
+    )
+
+    assert m.round_trip_rank_0(np.float64(3.5)) == 3.5
+    assert m.round_trip_rank_0(3.5) == 3.5
+
+    with pytest.raises(
+        TypeError,
+        match=r"^round_trip_rank_0_noconvert\(\): incompatible function arguments",
+    ):
+        m.round_trip_rank_0_noconvert(np.float64(3.5))
+
+    with pytest.raises(
+        TypeError,
+        match=r"^round_trip_rank_0_noconvert\(\): incompatible function arguments",
+    ):
+        m.round_trip_rank_0_noconvert(3.5)
+
+    with pytest.raises(
+        TypeError, match=r"^round_trip_rank_0_view\(\): incompatible function arguments"
+    ):
+        m.round_trip_rank_0_view(np.float64(3.5))
+
+    with pytest.raises(
+        TypeError, match=r"^round_trip_rank_0_view\(\): incompatible function arguments"
+    ):
+        m.round_trip_rank_0_view(3.5)
+
+
+@pytest.mark.parametrize("m", submodules)
+def test_round_trip_references_actually_refer(m):
+    # Need to create a copy that matches the type on the C side
+    copy = np.array(tensor_ref, dtype=np.float64, order=m.needed_options)
+    a = m.round_trip_view_tensor(copy)
+    temp = a[indices]
+    a[indices] = 100
+    assert_equal_tensor_ref(copy, modified=100)
+    a[indices] = temp
+    assert_equal_tensor_ref(copy)
+
+
+@pytest.mark.parametrize("m", submodules)
+def test_doc_string(m, doc):
+    assert (
+        doc(m.copy_tensor) == "copy_tensor() -> numpy.ndarray[numpy.float64[?, ?, ?]]"
+    )
+    assert (
+        doc(m.copy_fixed_tensor)
+        == "copy_fixed_tensor() -> numpy.ndarray[numpy.float64[3, 5, 2]]"
+    )
+    assert (
+        doc(m.reference_const_tensor)
+        == "reference_const_tensor() -> numpy.ndarray[numpy.float64[?, ?, ?]]"
+    )
+
+    order_flag = f"flags.{m.needed_options.lower()}_contiguous"
+    assert doc(m.round_trip_view_tensor) == (
+        f"round_trip_view_tensor(arg0: numpy.ndarray[numpy.float64[?, ?, ?], flags.writeable, {order_flag}])"
+        f" -> numpy.ndarray[numpy.float64[?, ?, ?], flags.writeable, {order_flag}]"
+    )
+    assert doc(m.round_trip_const_view_tensor) == (
+        f"round_trip_const_view_tensor(arg0: numpy.ndarray[numpy.float64[?, ?, ?], {order_flag}])"
+        " -> numpy.ndarray[numpy.float64[?, ?, ?]]"
+    )
diff --git a/pybind11/tests/test_embed/catch.cpp b/pybind11/tests/test_embed/catch.cpp
index 96d2e3f92..558a7a35e 100644
--- a/pybind11/tests/test_embed/catch.cpp
+++ b/pybind11/tests/test_embed/catch.cpp
@@ -3,11 +3,9 @@
 
 #include <pybind11/embed.h>
 
-#ifdef _MSC_VER
 // Silence MSVC C++17 deprecation warning from Catch regarding std::uncaught_exceptions (up to
 // catch 2.0.1; this should be fixed in the next catch release after 2.0.1).
-#    pragma warning(disable : 4996)
-#endif
+PYBIND11_WARNING_DISABLE_MSVC(4996)
 
 // Catch uses _ internally, which breaks gettext style defines
 #ifdef _
@@ -20,7 +18,25 @@
 namespace py = pybind11;
 
 int main(int argc, char *argv[]) {
+    // Setup for TEST_CASE in test_interpreter.cpp, tagging on a large random number:
+    std::string updated_pythonpath("pybind11_test_embed_PYTHONPATH_2099743835476552");
+    const char *preexisting_pythonpath = getenv("PYTHONPATH");
+    if (preexisting_pythonpath != nullptr) {
+#if defined(_WIN32)
+        updated_pythonpath += ';';
+#else
+        updated_pythonpath += ':';
+#endif
+        updated_pythonpath += preexisting_pythonpath;
+    }
+#if defined(_WIN32)
+    _putenv_s("PYTHONPATH", updated_pythonpath.c_str());
+#else
+    setenv("PYTHONPATH", updated_pythonpath.c_str(), /*replace=*/1);
+#endif
+
     py::scoped_interpreter guard{};
+
     auto result = Catch::Session().run(argc, argv);
 
     return result < 0xff ? result : 0xff;
diff --git a/pybind11/tests/test_embed/test_interpreter.cpp b/pybind11/tests/test_embed/test_interpreter.cpp
index 1c45457a0..c6c8a22d9 100644
--- a/pybind11/tests/test_embed/test_interpreter.cpp
+++ b/pybind11/tests/test_embed/test_interpreter.cpp
@@ -1,10 +1,8 @@
 #include <pybind11/embed.h>
 
-#ifdef _MSC_VER
 // Silence MSVC C++17 deprecation warning from Catch regarding std::uncaught_exceptions (up to
 // catch 2.0.1; this should be fixed in the next catch release after 2.0.1).
-#    pragma warning(disable : 4996)
-#endif
+PYBIND11_WARNING_DISABLE_MSVC(4996)
 
 #include <catch.hpp>
 #include <cstdlib>
@@ -16,6 +14,11 @@
 namespace py = pybind11;
 using namespace py::literals;
 
+size_t get_sys_path_size() {
+    auto sys_path = py::module::import("sys").attr("path");
+    return py::len(sys_path);
+}
+
 class Widget {
 public:
     explicit Widget(std::string message) : message(std::move(message)) {}
@@ -75,6 +78,13 @@ PYBIND11_EMBEDDED_MODULE(throw_error_already_set, ) {
     d["missing"].cast<py::object>();
 }
 
+TEST_CASE("PYTHONPATH is used to update sys.path") {
+    // The setup for this TEST_CASE is in catch.cpp!
+    auto sys_path = py::str(py::module_::import("sys").attr("path")).cast<std::string>();
+    REQUIRE_THAT(sys_path,
+                 Catch::Matchers::Contains("pybind11_test_embed_PYTHONPATH_2099743835476552"));
+}
+
 TEST_CASE("Pass classes and data between modules defined in C++ and Python") {
     auto module_ = py::module_::import("test_interpreter");
     REQUIRE(py::hasattr(module_, "DerivedWidget"));
@@ -161,10 +171,94 @@ TEST_CASE("There can be only one interpreter") {
     py::initialize_interpreter();
 }
 
-bool has_pybind11_internals_builtin() {
-    auto builtins = py::handle(PyEval_GetBuiltins());
-    return builtins.contains(PYBIND11_INTERNALS_ID);
-};
+#if PY_VERSION_HEX >= PYBIND11_PYCONFIG_SUPPORT_PY_VERSION_HEX
+TEST_CASE("Custom PyConfig") {
+    py::finalize_interpreter();
+    PyConfig config;
+    PyConfig_InitPythonConfig(&config);
+    REQUIRE_NOTHROW(py::scoped_interpreter{&config});
+    {
+        py::scoped_interpreter p{&config};
+        REQUIRE(py::module_::import("widget_module").attr("add")(1, 41).cast<int>() == 42);
+    }
+    py::initialize_interpreter();
+}
+
+TEST_CASE("scoped_interpreter with PyConfig_InitIsolatedConfig and argv") {
+    py::finalize_interpreter();
+    {
+        PyConfig config;
+        PyConfig_InitIsolatedConfig(&config);
+        char *argv[] = {strdup("a.out")};
+        py::scoped_interpreter argv_scope{&config, 1, argv};
+        std::free(argv[0]);
+        auto module = py::module::import("test_interpreter");
+        auto py_widget = module.attr("DerivedWidget")("The question");
+        const auto &cpp_widget = py_widget.cast<const Widget &>();
+        REQUIRE(cpp_widget.argv0() == "a.out");
+    }
+    py::initialize_interpreter();
+}
+
+TEST_CASE("scoped_interpreter with PyConfig_InitPythonConfig and argv") {
+    py::finalize_interpreter();
+    {
+        PyConfig config;
+        PyConfig_InitPythonConfig(&config);
+
+        // `initialize_interpreter() overrides the default value for config.parse_argv (`1`) by
+        // changing it to `0`. This test exercises `scoped_interpreter` with the default config.
+        char *argv[] = {strdup("a.out"), strdup("arg1")};
+        py::scoped_interpreter argv_scope(&config, 2, argv);
+        std::free(argv[0]);
+        std::free(argv[1]);
+        auto module = py::module::import("test_interpreter");
+        auto py_widget = module.attr("DerivedWidget")("The question");
+        const auto &cpp_widget = py_widget.cast<const Widget &>();
+        REQUIRE(cpp_widget.argv0() == "arg1");
+    }
+    py::initialize_interpreter();
+}
+#endif
+
+TEST_CASE("Add program dir to path pre-PyConfig") {
+    py::finalize_interpreter();
+    size_t path_size_add_program_dir_to_path_false = 0;
+    {
+        py::scoped_interpreter scoped_interp{true, 0, nullptr, false};
+        path_size_add_program_dir_to_path_false = get_sys_path_size();
+    }
+    {
+        py::scoped_interpreter scoped_interp{};
+        REQUIRE(get_sys_path_size() == path_size_add_program_dir_to_path_false + 1);
+    }
+    py::initialize_interpreter();
+}
+
+#if PY_VERSION_HEX >= PYBIND11_PYCONFIG_SUPPORT_PY_VERSION_HEX
+TEST_CASE("Add program dir to path using PyConfig") {
+    py::finalize_interpreter();
+    size_t path_size_add_program_dir_to_path_false = 0;
+    {
+        PyConfig config;
+        PyConfig_InitPythonConfig(&config);
+        py::scoped_interpreter scoped_interp{&config, 0, nullptr, false};
+        path_size_add_program_dir_to_path_false = get_sys_path_size();
+    }
+    {
+        PyConfig config;
+        PyConfig_InitPythonConfig(&config);
+        py::scoped_interpreter scoped_interp{&config};
+        REQUIRE(get_sys_path_size() == path_size_add_program_dir_to_path_false + 1);
+    }
+    py::initialize_interpreter();
+}
+#endif
+
+bool has_state_dict_internals_obj() {
+    return bool(
+        py::detail::get_internals_obj_from_state_dict(py::detail::get_python_state_dict()));
+}
 
 bool has_pybind11_internals_static() {
     auto **&ipp = py::detail::get_internals_pp();
@@ -174,7 +268,7 @@ bool has_pybind11_internals_static() {
 TEST_CASE("Restart the interpreter") {
     // Verify pre-restart state.
     REQUIRE(py::module_::import("widget_module").attr("add")(1, 2).cast<int>() == 3);
-    REQUIRE(has_pybind11_internals_builtin());
+    REQUIRE(has_state_dict_internals_obj());
     REQUIRE(has_pybind11_internals_static());
     REQUIRE(py::module_::import("external_module").attr("A")(123).attr("value").cast<int>()
             == 123);
@@ -191,10 +285,10 @@ TEST_CASE("Restart the interpreter") {
     REQUIRE(Py_IsInitialized() == 1);
 
     // Internals are deleted after a restart.
-    REQUIRE_FALSE(has_pybind11_internals_builtin());
+    REQUIRE_FALSE(has_state_dict_internals_obj());
     REQUIRE_FALSE(has_pybind11_internals_static());
     pybind11::detail::get_internals();
-    REQUIRE(has_pybind11_internals_builtin());
+    REQUIRE(has_state_dict_internals_obj());
     REQUIRE(has_pybind11_internals_static());
     REQUIRE(reinterpret_cast<uintptr_t>(*py::detail::get_internals_pp())
             == py::module_::import("external_module").attr("internals_at")().cast<uintptr_t>());
@@ -209,13 +303,13 @@ TEST_CASE("Restart the interpreter") {
               py::detail::get_internals();
               *static_cast<bool *>(ran) = true;
           });
-    REQUIRE_FALSE(has_pybind11_internals_builtin());
+    REQUIRE_FALSE(has_state_dict_internals_obj());
     REQUIRE_FALSE(has_pybind11_internals_static());
     REQUIRE_FALSE(ran);
     py::finalize_interpreter();
     REQUIRE(ran);
     py::initialize_interpreter();
-    REQUIRE_FALSE(has_pybind11_internals_builtin());
+    REQUIRE_FALSE(has_state_dict_internals_obj());
     REQUIRE_FALSE(has_pybind11_internals_static());
 
     // C++ modules can be reloaded.
@@ -237,7 +331,7 @@ TEST_CASE("Subinterpreter") {
 
         REQUIRE(m.attr("add")(1, 2).cast<int>() == 3);
     }
-    REQUIRE(has_pybind11_internals_builtin());
+    REQUIRE(has_state_dict_internals_obj());
     REQUIRE(has_pybind11_internals_static());
 
     /// Create and switch to a subinterpreter.
@@ -247,7 +341,7 @@ TEST_CASE("Subinterpreter") {
     // Subinterpreters get their own copy of builtins. detail::get_internals() still
     // works by returning from the static variable, i.e. all interpreters share a single
     // global pybind11::internals;
-    REQUIRE_FALSE(has_pybind11_internals_builtin());
+    REQUIRE_FALSE(has_state_dict_internals_obj());
     REQUIRE(has_pybind11_internals_static());
 
     // Modules tags should be gone.
@@ -286,7 +380,6 @@ TEST_CASE("Threads") {
 
     {
         py::gil_scoped_release gil_release{};
-        REQUIRE(has_pybind11_internals_static());
 
         auto threads = std::vector<std::thread>();
         for (auto i = 0; i < num_threads; ++i) {
diff --git a/pybind11/tests/test_enum.py b/pybind11/tests/test_enum.py
index f14a72398..4e85d29c3 100644
--- a/pybind11/tests/test_enum.py
+++ b/pybind11/tests/test_enum.py
@@ -1,3 +1,5 @@
+# ruff: noqa: SIM201 SIM300 SIM202
+
 import pytest
 
 from pybind11_tests import enums as m
diff --git a/pybind11/tests/test_exceptions.cpp b/pybind11/tests/test_exceptions.cpp
index 3ec999d1d..854c7e6f7 100644
--- a/pybind11/tests/test_exceptions.cpp
+++ b/pybind11/tests/test_exceptions.cpp
@@ -105,11 +105,6 @@ struct PythonAlreadySetInDestructor {
     py::str s;
 };
 
-std::string error_already_set_what(const py::object &exc_type, const py::object &exc_value) {
-    PyErr_SetObject(exc_type.ptr(), exc_value.ptr());
-    return py::error_already_set().what();
-}
-
 TEST_SUBMODULE(exceptions, m) {
     m.def("throw_std_exception",
           []() { throw std::runtime_error("This exception was intentionally thrown."); });
@@ -334,4 +329,19 @@ TEST_SUBMODULE(exceptions, m) {
             e.restore();
         }
     });
+
+    // https://github.com/pybind/pybind11/issues/4075
+    m.def("test_pypy_oserror_normalization", []() {
+        try {
+            py::module_::import("io").attr("open")("this_filename_must_not_exist", "r");
+        } catch (const py::error_already_set &e) {
+            return py::str(e.what()); // str must be built before e goes out of scope.
+        }
+        return py::str("UNEXPECTED");
+    });
+
+    m.def("test_fn_cast_int", [](const py::function &fn) {
+        // function returns None instead of int, should give a useful error message
+        fn().cast<int>();
+    });
 }
diff --git a/pybind11/tests/test_exceptions.py b/pybind11/tests/test_exceptions.py
index a5984a142..ccac4536d 100644
--- a/pybind11/tests/test_exceptions.py
+++ b/pybind11/tests/test_exceptions.py
@@ -4,6 +4,7 @@ import pytest
 
 import env
 import pybind11_cross_module_tests as cm
+import pybind11_tests  # noqa: F401
 from pybind11_tests import exceptions as m
 
 
@@ -72,9 +73,9 @@ def test_cross_module_exceptions(msg):
 
 # TODO: FIXME
 @pytest.mark.xfail(
-    "env.PYPY and env.MACOS",
+    "env.MACOS and (env.PYPY or pybind11_tests.compiler_info.startswith('Homebrew Clang'))",
     raises=RuntimeError,
-    reason="Expected failure with PyPy and libc++ (Issue #2847 & PR #2999)",
+    reason="See Issue #2847, PR #2999, PR #4324",
 )
 def test_cross_module_exception_translator():
     with pytest.raises(KeyError):
@@ -93,8 +94,7 @@ def ignore_pytest_unraisable_warning(f):
     if hasattr(pytest, unraisable):  # Python >= 3.8 and pytest >= 6
         dec = pytest.mark.filterwarnings(f"ignore::pytest.{unraisable}")
         return dec(f)
-    else:
-        return f
+    return f
 
 
 # TODO: find out why this fails on PyPy, https://foss.heptapod.net/pypy/pypy/-/issues/3583
@@ -182,11 +182,11 @@ def test_custom(msg):
         m.throws5_1()
     assert msg(excinfo.value) == "MyException5 subclass"
 
-    with pytest.raises(m.MyException5) as excinfo:
+    with pytest.raises(m.MyException5) as excinfo:  # noqa: PT012
         try:
             m.throws5()
-        except m.MyException5_1:
-            raise RuntimeError("Exception error: caught child from parent")
+        except m.MyException5_1 as err:
+            raise RuntimeError("Exception error: caught child from parent") from err
     assert msg(excinfo.value) == "this is a helper-defined translated exception"
 
 
@@ -211,7 +211,7 @@ def test_nested_throws(capture):
         m.try_catch(m.MyException5, throw_myex)
     assert str(excinfo.value) == "nested error"
 
-    def pycatch(exctype, f, *args):
+    def pycatch(exctype, f, *args):  # noqa: ARG001
         try:
             f(*args)
         except m.MyException as e:
@@ -275,6 +275,20 @@ def test_local_translator(msg):
     assert msg(excinfo.value) == "this mod"
 
 
+def test_error_already_set_message_with_unicode_surrogate():  # Issue #4288
+    assert m.error_already_set_what(RuntimeError, "\ud927") == (
+        "RuntimeError: \\ud927",
+        False,
+    )
+
+
+def test_error_already_set_message_with_malformed_utf8():
+    assert m.error_already_set_what(RuntimeError, b"\x80") == (
+        "RuntimeError: b'\\x80'",
+        False,
+    )
+
+
 class FlakyException(Exception):
     def __init__(self, failure_point):
         if failure_point == "failure_point_init":
@@ -288,12 +302,12 @@ class FlakyException(Exception):
 
 
 @pytest.mark.parametrize(
-    "exc_type, exc_value, expected_what",
-    (
+    ("exc_type", "exc_value", "expected_what"),
+    [
         (ValueError, "plain_str", "ValueError: plain_str"),
         (ValueError, ("tuple_elem",), "ValueError: tuple_elem"),
         (FlakyException, ("happy",), "FlakyException: FlakyException.__str__"),
-    ),
+    ],
 )
 def test_error_already_set_what_with_happy_exceptions(
     exc_type, exc_value, expected_what
@@ -303,8 +317,7 @@ def test_error_already_set_what_with_happy_exceptions(
     assert what == expected_what
 
 
-@pytest.mark.skipif("env.PYPY", reason="PyErr_NormalizeException Segmentation fault")
-def test_flaky_exception_failure_point_init():
+def _test_flaky_exception_failure_point_init_before_py_3_12():
     with pytest.raises(RuntimeError) as excinfo:
         m.error_already_set_what(FlakyException, ("failure_point_init",))
     lines = str(excinfo.value).splitlines()
@@ -318,7 +331,33 @@ def test_flaky_exception_failure_point_init():
     # Checking the first two lines of the traceback as formatted in error_string():
     assert "test_exceptions.py(" in lines[3]
     assert lines[3].endswith("): __init__")
-    assert lines[4].endswith("): test_flaky_exception_failure_point_init")
+    assert lines[4].endswith(
+        "): _test_flaky_exception_failure_point_init_before_py_3_12"
+    )
+
+
+def _test_flaky_exception_failure_point_init_py_3_12():
+    # Behavior change in Python 3.12: https://github.com/python/cpython/issues/102594
+    what, py_err_set_after_what = m.error_already_set_what(
+        FlakyException, ("failure_point_init",)
+    )
+    assert not py_err_set_after_what
+    lines = what.splitlines()
+    assert lines[0].endswith("ValueError[WITH __notes__]: triggered_failure_point_init")
+    assert lines[1] == "__notes__ (len=1):"
+    assert "Normalization failed:" in lines[2]
+    assert "FlakyException" in lines[2]
+
+
+@pytest.mark.skipif(
+    "env.PYPY and sys.version_info[:2] < (3, 12)",
+    reason="PyErr_NormalizeException Segmentation fault",
+)
+def test_flaky_exception_failure_point_init():
+    if sys.version_info[:2] < (3, 12):
+        _test_flaky_exception_failure_point_init_before_py_3_12()
+    else:
+        _test_flaky_exception_failure_point_init_py_3_12()
 
 
 def test_flaky_exception_failure_point_str():
@@ -327,10 +366,7 @@ def test_flaky_exception_failure_point_str():
     )
     assert not py_err_set_after_what
     lines = what.splitlines()
-    if env.PYPY and len(lines) == 3:
-        n = 3  # Traceback is missing.
-    else:
-        n = 5
+    n = 3 if env.PYPY and len(lines) == 3 else 5
     assert (
         lines[:n]
         == [
@@ -360,3 +396,18 @@ def test_error_already_set_double_restore():
         "Internal error: pybind11::detail::error_fetch_and_normalize::restore()"
         " called a second time. ORIGINAL ERROR: ValueError: Random error."
     )
+
+
+def test_pypy_oserror_normalization():
+    # https://github.com/pybind/pybind11/issues/4075
+    what = m.test_pypy_oserror_normalization()
+    assert "this_filename_must_not_exist" in what
+
+
+def test_fn_cast_int_exception():
+    with pytest.raises(RuntimeError) as excinfo:
+        m.test_fn_cast_int(lambda: None)
+
+    assert str(excinfo.value).startswith(
+        "Unable to cast Python instance of type <class 'NoneType'> to C++ type"
+    )
diff --git a/pybind11/tests/test_factory_constructors.py b/pybind11/tests/test_factory_constructors.py
index 120a587c4..04df80260 100644
--- a/pybind11/tests/test_factory_constructors.py
+++ b/pybind11/tests/test_factory_constructors.py
@@ -96,7 +96,7 @@ def test_init_factory_signature(msg):
         3. __init__(self: m.factory_constructors.TestFactory1, arg0: m.factory_constructors.tag.pointer_tag) -> None
 
         4. __init__(self: m.factory_constructors.TestFactory1, arg0: handle, arg1: int, arg2: handle) -> None
-    """  # noqa: E501 line too long
+    """
     )
 
 
diff --git a/pybind11/tests/test_gil_scoped.cpp b/pybind11/tests/test_gil_scoped.cpp
index 97efdc161..f136086e8 100644
--- a/pybind11/tests/test_gil_scoped.cpp
+++ b/pybind11/tests/test_gil_scoped.cpp
@@ -11,6 +11,13 @@
 
 #include "pybind11_tests.h"
 
+#include <string>
+#include <thread>
+
+#define CROSS_MODULE(Function)                                                                    \
+    auto cm = py::module_::import("cross_module_gil_utils");                                      \
+    auto target = reinterpret_cast<void (*)()>(PyLong_AsVoidPtr(cm.attr(Function).ptr()));
+
 class VirtClass {
 public:
     virtual ~VirtClass() = default;
@@ -28,6 +35,16 @@ class PyVirtClass : public VirtClass {
 };
 
 TEST_SUBMODULE(gil_scoped, m) {
+    m.attr("defined_THREAD_SANITIZER") =
+#if defined(THREAD_SANITIZER)
+        true;
+#else
+        false;
+#endif
+
+    m.def("intentional_deadlock",
+          []() { std::thread([]() { py::gil_scoped_acquire gil_acquired; }).join(); });
+
     py::class_<VirtClass, PyVirtClass>(m, "VirtClass")
         .def(py::init<>())
         .def("virtual_func", &VirtClass::virtual_func)
@@ -37,11 +54,91 @@ TEST_SUBMODULE(gil_scoped, m) {
     m.def("test_callback_std_func", [](const std::function<void()> &func) { func(); });
     m.def("test_callback_virtual_func", [](VirtClass &virt) { virt.virtual_func(); });
     m.def("test_callback_pure_virtual_func", [](VirtClass &virt) { virt.pure_virtual_func(); });
-    m.def("test_cross_module_gil", []() {
-        auto cm = py::module_::import("cross_module_gil_utils");
-        auto gil_acquire = reinterpret_cast<void (*)()>(
-            PyLong_AsVoidPtr(cm.attr("gil_acquire_funcaddr").ptr()));
+    m.def("test_cross_module_gil_released", []() {
+        CROSS_MODULE("gil_acquire_funcaddr")
         py::gil_scoped_release gil_release;
-        gil_acquire();
+        target();
+    });
+    m.def("test_cross_module_gil_acquired", []() {
+        CROSS_MODULE("gil_acquire_funcaddr")
+        py::gil_scoped_acquire gil_acquire;
+        target();
+    });
+    m.def("test_cross_module_gil_inner_custom_released", []() {
+        CROSS_MODULE("gil_acquire_inner_custom_funcaddr")
+        py::gil_scoped_release gil_release;
+        target();
+    });
+    m.def("test_cross_module_gil_inner_custom_acquired", []() {
+        CROSS_MODULE("gil_acquire_inner_custom_funcaddr")
+        py::gil_scoped_acquire gil_acquire;
+        target();
+    });
+    m.def("test_cross_module_gil_inner_pybind11_released", []() {
+        CROSS_MODULE("gil_acquire_inner_pybind11_funcaddr")
+        py::gil_scoped_release gil_release;
+        target();
+    });
+    m.def("test_cross_module_gil_inner_pybind11_acquired", []() {
+        CROSS_MODULE("gil_acquire_inner_pybind11_funcaddr")
+        py::gil_scoped_acquire gil_acquire;
+        target();
+    });
+    m.def("test_cross_module_gil_nested_custom_released", []() {
+        CROSS_MODULE("gil_acquire_nested_custom_funcaddr")
+        py::gil_scoped_release gil_release;
+        target();
+    });
+    m.def("test_cross_module_gil_nested_custom_acquired", []() {
+        CROSS_MODULE("gil_acquire_nested_custom_funcaddr")
+        py::gil_scoped_acquire gil_acquire;
+        target();
+    });
+    m.def("test_cross_module_gil_nested_pybind11_released", []() {
+        CROSS_MODULE("gil_acquire_nested_pybind11_funcaddr")
+        py::gil_scoped_release gil_release;
+        target();
+    });
+    m.def("test_cross_module_gil_nested_pybind11_acquired", []() {
+        CROSS_MODULE("gil_acquire_nested_pybind11_funcaddr")
+        py::gil_scoped_acquire gil_acquire;
+        target();
+    });
+    m.def("test_release_acquire", [](const py::object &obj) {
+        py::gil_scoped_release gil_released;
+        py::gil_scoped_acquire gil_acquired;
+        return py::str(obj);
+    });
+    m.def("test_nested_acquire", [](const py::object &obj) {
+        py::gil_scoped_release gil_released;
+        py::gil_scoped_acquire gil_acquired_outer;
+        py::gil_scoped_acquire gil_acquired_inner;
+        return py::str(obj);
+    });
+    m.def("test_multi_acquire_release_cross_module", [](unsigned bits) {
+        py::set internals_ids;
+        internals_ids.add(PYBIND11_INTERNALS_ID);
+        {
+            py::gil_scoped_release gil_released;
+            auto thread_f = [bits, &internals_ids]() {
+                py::gil_scoped_acquire gil_acquired;
+                auto cm = py::module_::import("cross_module_gil_utils");
+                auto target = reinterpret_cast<std::string (*)(unsigned)>(
+                    PyLong_AsVoidPtr(cm.attr("gil_multi_acquire_release_funcaddr").ptr()));
+                std::string cm_internals_id = target(bits >> 3);
+                internals_ids.add(cm_internals_id);
+            };
+            if ((bits & 0x1u) != 0u) {
+                thread_f();
+            }
+            if ((bits & 0x2u) != 0u) {
+                std::thread non_python_thread(thread_f);
+                non_python_thread.join();
+            }
+            if ((bits & 0x4u) != 0u) {
+                thread_f();
+            }
+        }
+        return internals_ids;
     });
 }
diff --git a/pybind11/tests/test_gil_scoped.py b/pybind11/tests/test_gil_scoped.py
index 52374b0cc..fc8af9b77 100644
--- a/pybind11/tests/test_gil_scoped.py
+++ b/pybind11/tests/test_gil_scoped.py
@@ -1,45 +1,197 @@
 import multiprocessing
+import sys
 import threading
+import time
 
+import pytest
+
+import env
 from pybind11_tests import gil_scoped as m
 
 
+class ExtendedVirtClass(m.VirtClass):
+    def virtual_func(self):
+        pass
+
+    def pure_virtual_func(self):
+        pass
+
+
+def test_callback_py_obj():
+    m.test_callback_py_obj(lambda: None)
+
+
+def test_callback_std_func():
+    m.test_callback_std_func(lambda: None)
+
+
+def test_callback_virtual_func():
+    extended = ExtendedVirtClass()
+    m.test_callback_virtual_func(extended)
+
+
+def test_callback_pure_virtual_func():
+    extended = ExtendedVirtClass()
+    m.test_callback_pure_virtual_func(extended)
+
+
+def test_cross_module_gil_released():
+    """Makes sure that the GIL can be acquired by another module from a GIL-released state."""
+    m.test_cross_module_gil_released()  # Should not raise a SIGSEGV
+
+
+def test_cross_module_gil_acquired():
+    """Makes sure that the GIL can be acquired by another module from a GIL-acquired state."""
+    m.test_cross_module_gil_acquired()  # Should not raise a SIGSEGV
+
+
+def test_cross_module_gil_inner_custom_released():
+    """Makes sure that the GIL can be acquired/released by another module
+    from a GIL-released state using custom locking logic."""
+    m.test_cross_module_gil_inner_custom_released()
+
+
+def test_cross_module_gil_inner_custom_acquired():
+    """Makes sure that the GIL can be acquired/acquired by another module
+    from a GIL-acquired state using custom locking logic."""
+    m.test_cross_module_gil_inner_custom_acquired()
+
+
+def test_cross_module_gil_inner_pybind11_released():
+    """Makes sure that the GIL can be acquired/released by another module
+    from a GIL-released state using pybind11 locking logic."""
+    m.test_cross_module_gil_inner_pybind11_released()
+
+
+def test_cross_module_gil_inner_pybind11_acquired():
+    """Makes sure that the GIL can be acquired/acquired by another module
+    from a GIL-acquired state using pybind11 locking logic."""
+    m.test_cross_module_gil_inner_pybind11_acquired()
+
+
+def test_cross_module_gil_nested_custom_released():
+    """Makes sure that the GIL can be nested acquired/released by another module
+    from a GIL-released state using custom locking logic."""
+    m.test_cross_module_gil_nested_custom_released()
+
+
+def test_cross_module_gil_nested_custom_acquired():
+    """Makes sure that the GIL can be nested acquired/acquired by another module
+    from a GIL-acquired state using custom locking logic."""
+    m.test_cross_module_gil_nested_custom_acquired()
+
+
+def test_cross_module_gil_nested_pybind11_released():
+    """Makes sure that the GIL can be nested acquired/released by another module
+    from a GIL-released state using pybind11 locking logic."""
+    m.test_cross_module_gil_nested_pybind11_released()
+
+
+def test_cross_module_gil_nested_pybind11_acquired():
+    """Makes sure that the GIL can be nested acquired/acquired by another module
+    from a GIL-acquired state using pybind11 locking logic."""
+    m.test_cross_module_gil_nested_pybind11_acquired()
+
+
+def test_release_acquire():
+    assert m.test_release_acquire(0xAB) == "171"
+
+
+def test_nested_acquire():
+    assert m.test_nested_acquire(0xAB) == "171"
+
+
+def test_multi_acquire_release_cross_module():
+    for bits in range(16 * 8):
+        internals_ids = m.test_multi_acquire_release_cross_module(bits)
+        assert len(internals_ids) == 2 if bits % 8 else 1
+
+
+# Intentionally putting human review in the loop here, to guard against accidents.
+VARS_BEFORE_ALL_BASIC_TESTS = dict(vars())  # Make a copy of the dict (critical).
+ALL_BASIC_TESTS = (
+    test_callback_py_obj,
+    test_callback_std_func,
+    test_callback_virtual_func,
+    test_callback_pure_virtual_func,
+    test_cross_module_gil_released,
+    test_cross_module_gil_acquired,
+    test_cross_module_gil_inner_custom_released,
+    test_cross_module_gil_inner_custom_acquired,
+    test_cross_module_gil_inner_pybind11_released,
+    test_cross_module_gil_inner_pybind11_acquired,
+    test_cross_module_gil_nested_custom_released,
+    test_cross_module_gil_nested_custom_acquired,
+    test_cross_module_gil_nested_pybind11_released,
+    test_cross_module_gil_nested_pybind11_acquired,
+    test_release_acquire,
+    test_nested_acquire,
+    test_multi_acquire_release_cross_module,
+)
+
+
+def test_all_basic_tests_completeness():
+    num_found = 0
+    for key, value in VARS_BEFORE_ALL_BASIC_TESTS.items():
+        if not key.startswith("test_"):
+            continue
+        assert value in ALL_BASIC_TESTS
+        num_found += 1
+    assert len(ALL_BASIC_TESTS) == num_found
+
+
+def _intentional_deadlock():
+    m.intentional_deadlock()
+
+
+ALL_BASIC_TESTS_PLUS_INTENTIONAL_DEADLOCK = ALL_BASIC_TESTS + (_intentional_deadlock,)
+
+
 def _run_in_process(target, *args, **kwargs):
-    """Runs target in process and returns its exitcode after 10s (None if still alive)."""
+    test_fn = target if len(args) == 0 else args[0]
+    # Do not need to wait much, 10s should be more than enough.
+    timeout = 0.1 if test_fn is _intentional_deadlock else 10
     process = multiprocessing.Process(target=target, args=args, kwargs=kwargs)
     process.daemon = True
     try:
+        t_start = time.time()
         process.start()
-        # Do not need to wait much, 10s should be more than enough.
-        process.join(timeout=10)
+        if timeout >= 100:  # For debugging.
+            print(
+                "\nprocess.pid STARTED", process.pid, (sys.argv, target, args, kwargs)
+            )
+            print(f"COPY-PASTE-THIS: gdb {sys.argv[0]} -p {process.pid}", flush=True)
+        process.join(timeout=timeout)
+        if timeout >= 100:
+            print("\nprocess.pid JOINED", process.pid, flush=True)
+        t_delta = time.time() - t_start
+        if process.exitcode == 66 and m.defined_THREAD_SANITIZER:  # Issue #2754
+            # WOULD-BE-NICE-TO-HAVE: Check that the message below is actually in the output.
+            # Maybe this could work:
+            # https://gist.github.com/alexeygrigorev/01ce847f2e721b513b42ea4a6c96905e
+            pytest.skip(
+                "ThreadSanitizer: starting new threads after multi-threaded fork is not supported."
+            )
+        elif test_fn is _intentional_deadlock:
+            assert process.exitcode is None
+            return 0
+
+        if process.exitcode is None:
+            assert t_delta > 0.9 * timeout
+            msg = "DEADLOCK, most likely, exactly what this test is meant to detect."
+            if env.PYPY and env.WIN:
+                pytest.skip(msg)
+            raise RuntimeError(msg)
         return process.exitcode
     finally:
         if process.is_alive():
             process.terminate()
 
 
-def _python_to_cpp_to_python():
-    """Calls different C++ functions that come back to Python."""
-
-    class ExtendedVirtClass(m.VirtClass):
-        def virtual_func(self):
-            pass
-
-        def pure_virtual_func(self):
-            pass
-
-    extended = ExtendedVirtClass()
-    m.test_callback_py_obj(lambda: None)
-    m.test_callback_std_func(lambda: None)
-    m.test_callback_virtual_func(extended)
-    m.test_callback_pure_virtual_func(extended)
-
-
-def _python_to_cpp_to_python_from_threads(num_threads, parallel=False):
-    """Calls different C++ functions that come back to Python, from Python threads."""
+def _run_in_threads(test_fn, num_threads, parallel):
     threads = []
     for _ in range(num_threads):
-        thread = threading.Thread(target=_python_to_cpp_to_python)
+        thread = threading.Thread(target=test_fn)
         thread.daemon = True
         thread.start()
         if parallel:
@@ -51,43 +203,40 @@ def _python_to_cpp_to_python_from_threads(num_threads, parallel=False):
 
 
 # TODO: FIXME, sometimes returns -11 (segfault) instead of 0 on macOS Python 3.9
-def test_python_to_cpp_to_python_from_thread():
+@pytest.mark.parametrize("test_fn", ALL_BASIC_TESTS_PLUS_INTENTIONAL_DEADLOCK)
+def test_run_in_process_one_thread(test_fn):
     """Makes sure there is no GIL deadlock when running in a thread.
 
     It runs in a separate process to be able to stop and assert if it deadlocks.
     """
-    assert _run_in_process(_python_to_cpp_to_python_from_threads, 1) == 0
+    assert _run_in_process(_run_in_threads, test_fn, num_threads=1, parallel=False) == 0
 
 
 # TODO: FIXME on macOS Python 3.9
-def test_python_to_cpp_to_python_from_thread_multiple_parallel():
+@pytest.mark.parametrize("test_fn", ALL_BASIC_TESTS_PLUS_INTENTIONAL_DEADLOCK)
+def test_run_in_process_multiple_threads_parallel(test_fn):
     """Makes sure there is no GIL deadlock when running in a thread multiple times in parallel.
 
     It runs in a separate process to be able to stop and assert if it deadlocks.
     """
-    assert _run_in_process(_python_to_cpp_to_python_from_threads, 8, parallel=True) == 0
+    assert _run_in_process(_run_in_threads, test_fn, num_threads=8, parallel=True) == 0
 
 
 # TODO: FIXME on macOS Python 3.9
-def test_python_to_cpp_to_python_from_thread_multiple_sequential():
+@pytest.mark.parametrize("test_fn", ALL_BASIC_TESTS_PLUS_INTENTIONAL_DEADLOCK)
+def test_run_in_process_multiple_threads_sequential(test_fn):
     """Makes sure there is no GIL deadlock when running in a thread multiple times sequentially.
 
     It runs in a separate process to be able to stop and assert if it deadlocks.
     """
-    assert (
-        _run_in_process(_python_to_cpp_to_python_from_threads, 8, parallel=False) == 0
-    )
+    assert _run_in_process(_run_in_threads, test_fn, num_threads=8, parallel=False) == 0
 
 
 # TODO: FIXME on macOS Python 3.9
-def test_python_to_cpp_to_python_from_process():
+@pytest.mark.parametrize("test_fn", ALL_BASIC_TESTS_PLUS_INTENTIONAL_DEADLOCK)
+def test_run_in_process_direct(test_fn):
     """Makes sure there is no GIL deadlock when using processes.
 
     This test is for completion, but it was never an issue.
     """
-    assert _run_in_process(_python_to_cpp_to_python) == 0
-
-
-def test_cross_module_gil():
-    """Makes sure that the GIL can be acquired by another module from a GIL-released state."""
-    m.test_cross_module_gil()  # Should not raise a SIGSEGV
+    assert _run_in_process(test_fn) == 0
diff --git a/pybind11/tests/test_iostream.py b/pybind11/tests/test_iostream.py
index 5bbdf6955..d283eb152 100644
--- a/pybind11/tests/test_iostream.py
+++ b/pybind11/tests/test_iostream.py
@@ -9,16 +9,16 @@ def test_captured(capsys):
     m.captured_output(msg)
     stdout, stderr = capsys.readouterr()
     assert stdout == msg
-    assert stderr == ""
+    assert not stderr
 
     m.captured_output_default(msg)
     stdout, stderr = capsys.readouterr()
     assert stdout == msg
-    assert stderr == ""
+    assert not stderr
 
     m.captured_err(msg)
     stdout, stderr = capsys.readouterr()
-    assert stdout == ""
+    assert not stdout
     assert stderr == msg
 
 
@@ -30,7 +30,7 @@ def test_captured_large_string(capsys):
     m.captured_output_default(msg)
     stdout, stderr = capsys.readouterr()
     assert stdout == msg
-    assert stderr == ""
+    assert not stderr
 
 
 def test_captured_utf8_2byte_offset0(capsys):
@@ -40,7 +40,7 @@ def test_captured_utf8_2byte_offset0(capsys):
     m.captured_output_default(msg)
     stdout, stderr = capsys.readouterr()
     assert stdout == msg
-    assert stderr == ""
+    assert not stderr
 
 
 def test_captured_utf8_2byte_offset1(capsys):
@@ -50,7 +50,7 @@ def test_captured_utf8_2byte_offset1(capsys):
     m.captured_output_default(msg)
     stdout, stderr = capsys.readouterr()
     assert stdout == msg
-    assert stderr == ""
+    assert not stderr
 
 
 def test_captured_utf8_3byte_offset0(capsys):
@@ -60,7 +60,7 @@ def test_captured_utf8_3byte_offset0(capsys):
     m.captured_output_default(msg)
     stdout, stderr = capsys.readouterr()
     assert stdout == msg
-    assert stderr == ""
+    assert not stderr
 
 
 def test_captured_utf8_3byte_offset1(capsys):
@@ -70,7 +70,7 @@ def test_captured_utf8_3byte_offset1(capsys):
     m.captured_output_default(msg)
     stdout, stderr = capsys.readouterr()
     assert stdout == msg
-    assert stderr == ""
+    assert not stderr
 
 
 def test_captured_utf8_3byte_offset2(capsys):
@@ -80,7 +80,7 @@ def test_captured_utf8_3byte_offset2(capsys):
     m.captured_output_default(msg)
     stdout, stderr = capsys.readouterr()
     assert stdout == msg
-    assert stderr == ""
+    assert not stderr
 
 
 def test_captured_utf8_4byte_offset0(capsys):
@@ -90,7 +90,7 @@ def test_captured_utf8_4byte_offset0(capsys):
     m.captured_output_default(msg)
     stdout, stderr = capsys.readouterr()
     assert stdout == msg
-    assert stderr == ""
+    assert not stderr
 
 
 def test_captured_utf8_4byte_offset1(capsys):
@@ -100,7 +100,7 @@ def test_captured_utf8_4byte_offset1(capsys):
     m.captured_output_default(msg)
     stdout, stderr = capsys.readouterr()
     assert stdout == msg
-    assert stderr == ""
+    assert not stderr
 
 
 def test_captured_utf8_4byte_offset2(capsys):
@@ -110,7 +110,7 @@ def test_captured_utf8_4byte_offset2(capsys):
     m.captured_output_default(msg)
     stdout, stderr = capsys.readouterr()
     assert stdout == msg
-    assert stderr == ""
+    assert not stderr
 
 
 def test_captured_utf8_4byte_offset3(capsys):
@@ -120,7 +120,7 @@ def test_captured_utf8_4byte_offset3(capsys):
     m.captured_output_default(msg)
     stdout, stderr = capsys.readouterr()
     assert stdout == msg
-    assert stderr == ""
+    assert not stderr
 
 
 def test_guard_capture(capsys):
@@ -128,7 +128,7 @@ def test_guard_capture(capsys):
     m.guard_output(msg)
     stdout, stderr = capsys.readouterr()
     assert stdout == msg
-    assert stderr == ""
+    assert not stderr
 
 
 def test_series_captured(capture):
@@ -145,7 +145,7 @@ def test_flush(capfd):
     with m.ostream_redirect():
         m.noisy_function(msg, flush=False)
         stdout, stderr = capfd.readouterr()
-        assert stdout == ""
+        assert not stdout
 
         m.noisy_function(msg2, flush=True)
         stdout, stderr = capfd.readouterr()
@@ -164,15 +164,15 @@ def test_not_captured(capfd):
         m.raw_output(msg)
     stdout, stderr = capfd.readouterr()
     assert stdout == msg
-    assert stderr == ""
-    assert stream.getvalue() == ""
+    assert not stderr
+    assert not stream.getvalue()
 
     stream = StringIO()
     with redirect_stdout(stream):
         m.captured_output(msg)
     stdout, stderr = capfd.readouterr()
-    assert stdout == ""
-    assert stderr == ""
+    assert not stdout
+    assert not stderr
     assert stream.getvalue() == msg
 
 
@@ -182,16 +182,16 @@ def test_err(capfd):
     with redirect_stderr(stream):
         m.raw_err(msg)
     stdout, stderr = capfd.readouterr()
-    assert stdout == ""
+    assert not stdout
     assert stderr == msg
-    assert stream.getvalue() == ""
+    assert not stream.getvalue()
 
     stream = StringIO()
     with redirect_stderr(stream):
         m.captured_err(msg)
     stdout, stderr = capfd.readouterr()
-    assert stdout == ""
-    assert stderr == ""
+    assert not stdout
+    assert not stderr
     assert stream.getvalue() == msg
 
 
@@ -221,14 +221,13 @@ def test_redirect(capfd):
         m.raw_output(msg)
     stdout, stderr = capfd.readouterr()
     assert stdout == msg
-    assert stream.getvalue() == ""
+    assert not stream.getvalue()
 
     stream = StringIO()
-    with redirect_stdout(stream):
-        with m.ostream_redirect():
-            m.raw_output(msg)
+    with redirect_stdout(stream), m.ostream_redirect():
+        m.raw_output(msg)
     stdout, stderr = capfd.readouterr()
-    assert stdout == ""
+    assert not stdout
     assert stream.getvalue() == msg
 
     stream = StringIO()
@@ -236,7 +235,7 @@ def test_redirect(capfd):
         m.raw_output(msg)
     stdout, stderr = capfd.readouterr()
     assert stdout == msg
-    assert stream.getvalue() == ""
+    assert not stream.getvalue()
 
 
 def test_redirect_err(capfd):
@@ -244,13 +243,12 @@ def test_redirect_err(capfd):
     msg2 = "StdErr"
 
     stream = StringIO()
-    with redirect_stderr(stream):
-        with m.ostream_redirect(stdout=False):
-            m.raw_output(msg)
-            m.raw_err(msg2)
+    with redirect_stderr(stream), m.ostream_redirect(stdout=False):
+        m.raw_output(msg)
+        m.raw_err(msg2)
     stdout, stderr = capfd.readouterr()
     assert stdout == msg
-    assert stderr == ""
+    assert not stderr
     assert stream.getvalue() == msg2
 
 
@@ -260,14 +258,12 @@ def test_redirect_both(capfd):
 
     stream = StringIO()
     stream2 = StringIO()
-    with redirect_stdout(stream):
-        with redirect_stderr(stream2):
-            with m.ostream_redirect():
-                m.raw_output(msg)
-                m.raw_err(msg2)
+    with redirect_stdout(stream), redirect_stderr(stream2), m.ostream_redirect():
+        m.raw_output(msg)
+        m.raw_err(msg2)
     stdout, stderr = capfd.readouterr()
-    assert stdout == ""
-    assert stderr == ""
+    assert not stdout
+    assert not stderr
     assert stream.getvalue() == msg
     assert stream2.getvalue() == msg2
 
diff --git a/pybind11/tests/test_kwargs_and_defaults.cpp b/pybind11/tests/test_kwargs_and_defaults.cpp
index 7418afefb..77e72c0c7 100644
--- a/pybind11/tests/test_kwargs_and_defaults.cpp
+++ b/pybind11/tests/test_kwargs_and_defaults.cpp
@@ -43,7 +43,15 @@ TEST_SUBMODULE(kwargs_and_defaults, m) {
     m.def("kw_func_udl_z", kw_func, "x"_a, "y"_a = 0);
 
     // test_args_and_kwargs
-    m.def("args_function", [](py::args args) -> py::tuple { return std::move(args); });
+    m.def("args_function", [](py::args args) -> py::tuple {
+        PYBIND11_WARNING_PUSH
+
+#ifdef PYBIND11_DETECTED_CLANG_WITH_MISLEADING_CALL_STD_MOVE_EXPLICITLY_WARNING
+        PYBIND11_WARNING_DISABLE_CLANG("-Wreturn-std-move")
+#endif
+        return args;
+        PYBIND11_WARNING_POP
+    });
     m.def("args_kwargs_function", [](const py::args &args, const py::kwargs &kwargs) {
         return py::make_tuple(args, kwargs);
     });
diff --git a/pybind11/tests/test_kwargs_and_defaults.py b/pybind11/tests/test_kwargs_and_defaults.py
index ab7017886..7174726fc 100644
--- a/pybind11/tests/test_kwargs_and_defaults.py
+++ b/pybind11/tests/test_kwargs_and_defaults.py
@@ -25,7 +25,7 @@ def test_function_signatures(doc):
     )
 
 
-def test_named_arguments(msg):
+def test_named_arguments():
     assert m.kw_func0(5, 10) == "x=5, y=10"
 
     assert m.kw_func1(5, 10) == "x=5, y=10"
@@ -43,8 +43,7 @@ def test_named_arguments(msg):
         # noinspection PyArgumentList
         m.kw_func2(x=5, y=10, z=12)
     assert excinfo.match(
-        r"(?s)^kw_func2\(\): incompatible.*Invoked with: kwargs: ((x=5|y=10|z=12)(, |$))"
-        + "{3}$"
+        r"(?s)^kw_func2\(\): incompatible.*Invoked with: kwargs: ((x=5|y=10|z=12)(, |$)){3}$"
     )
 
     assert m.kw_func4() == "{13 17}"
@@ -59,7 +58,7 @@ def test_arg_and_kwargs():
     assert m.args_function(*args) == args
 
     args = "a1", "a2"
-    kwargs = dict(arg3="a3", arg4=4)
+    kwargs = {"arg3": "a3", "arg4": 4}
     assert m.args_kwargs_function(*args, **kwargs) == (args, kwargs)
 
 
@@ -177,7 +176,7 @@ def test_mixed_args_and_kwargs(msg):
 
     assert (
         m.args_kwonly_kwargs_defaults.__doc__
-        == "args_kwonly_kwargs_defaults(i: int = 1, j: float = 3.14159, *args, z: int = 42, **kwargs) -> tuple\n"  # noqa: E501 line too long
+        == "args_kwonly_kwargs_defaults(i: int = 1, j: float = 3.14159, *args, z: int = 42, **kwargs) -> tuple\n"
     )
     assert m.args_kwonly_kwargs_defaults() == (1, 3.14159, (), 42, {})
     assert m.args_kwonly_kwargs_defaults(2) == (2, 3.14159, (), 42, {})
@@ -233,15 +232,15 @@ def test_keyword_only_args(msg):
     x.method(i=1, j=2)
     assert (
         m.first_arg_kw_only.__init__.__doc__
-        == "__init__(self: pybind11_tests.kwargs_and_defaults.first_arg_kw_only, *, i: int = 0) -> None\n"  # noqa: E501 line too long
+        == "__init__(self: pybind11_tests.kwargs_and_defaults.first_arg_kw_only, *, i: int = 0) -> None\n"
     )
     assert (
         m.first_arg_kw_only.method.__doc__
-        == "method(self: pybind11_tests.kwargs_and_defaults.first_arg_kw_only, *, i: int = 1, j: int = 2) -> None\n"  # noqa: E501 line too long
+        == "method(self: pybind11_tests.kwargs_and_defaults.first_arg_kw_only, *, i: int = 1, j: int = 2) -> None\n"
     )
 
 
-def test_positional_only_args(msg):
+def test_positional_only_args():
     assert m.pos_only_all(1, 2) == (1, 2)
     assert m.pos_only_all(2, 1) == (2, 1)
 
@@ -283,7 +282,7 @@ def test_positional_only_args(msg):
     # Mix it with args and kwargs:
     assert (
         m.args_kwonly_full_monty.__doc__
-        == "args_kwonly_full_monty(arg0: int = 1, arg1: int = 2, /, j: float = 3.14159, *args, z: int = 42, **kwargs) -> tuple\n"  # noqa: E501 line too long
+        == "args_kwonly_full_monty(arg0: int = 1, arg1: int = 2, /, j: float = 3.14159, *args, z: int = 42, **kwargs) -> tuple\n"
     )
     assert m.args_kwonly_full_monty() == (1, 2, 3.14159, (), 42, {})
     assert m.args_kwonly_full_monty(8) == (8, 2, 3.14159, (), 42, {})
@@ -326,18 +325,18 @@ def test_positional_only_args(msg):
     # https://github.com/pybind/pybind11/pull/3402#issuecomment-963341987
     assert (
         m.first_arg_kw_only.pos_only.__doc__
-        == "pos_only(self: pybind11_tests.kwargs_and_defaults.first_arg_kw_only, /, i: int, j: int) -> None\n"  # noqa: E501 line too long
+        == "pos_only(self: pybind11_tests.kwargs_and_defaults.first_arg_kw_only, /, i: int, j: int) -> None\n"
     )
 
 
 def test_signatures():
-    assert "kw_only_all(*, i: int, j: int) -> tuple\n" == m.kw_only_all.__doc__
-    assert "kw_only_mixed(i: int, *, j: int) -> tuple\n" == m.kw_only_mixed.__doc__
-    assert "pos_only_all(i: int, j: int, /) -> tuple\n" == m.pos_only_all.__doc__
-    assert "pos_only_mix(i: int, /, j: int) -> tuple\n" == m.pos_only_mix.__doc__
+    assert m.kw_only_all.__doc__ == "kw_only_all(*, i: int, j: int) -> tuple\n"
+    assert m.kw_only_mixed.__doc__ == "kw_only_mixed(i: int, *, j: int) -> tuple\n"
+    assert m.pos_only_all.__doc__ == "pos_only_all(i: int, j: int, /) -> tuple\n"
+    assert m.pos_only_mix.__doc__ == "pos_only_mix(i: int, /, j: int) -> tuple\n"
     assert (
-        "pos_kw_only_mix(i: int, /, j: int, *, k: int) -> tuple\n"
-        == m.pos_kw_only_mix.__doc__
+        m.pos_kw_only_mix.__doc__
+        == "pos_kw_only_mix(i: int, /, j: int, *, k: int) -> tuple\n"
     )
 
 
diff --git a/pybind11/tests/test_local_bindings.py b/pybind11/tests/test_local_bindings.py
index 654d96d49..d64187739 100644
--- a/pybind11/tests/test_local_bindings.py
+++ b/pybind11/tests/test_local_bindings.py
@@ -130,7 +130,8 @@ def test_stl_bind_global():
 def test_mixed_local_global():
     """Local types take precedence over globally registered types: a module with a `module_local`
     type can be registered even if the type is already registered globally.  With the module,
-    casting will go to the local type; outside the module casting goes to the global type."""
+    casting will go to the local type; outside the module casting goes to the global type.
+    """
     import pybind11_cross_module_tests as cm
 
     m.register_mixed_global()
diff --git a/pybind11/tests/test_methods_and_attributes.cpp b/pybind11/tests/test_methods_and_attributes.cpp
index 815dd5e98..31d46eb7e 100644
--- a/pybind11/tests/test_methods_and_attributes.cpp
+++ b/pybind11/tests/test_methods_and_attributes.cpp
@@ -177,6 +177,38 @@ struct RValueRefParam {
     std::size_t func4(std::string &&s) const & { return s.size(); }
 };
 
+namespace pybind11_tests {
+namespace exercise_is_setter {
+
+struct FieldBase {
+    int int_value() const { return int_value_; }
+
+    FieldBase &SetIntValue(int int_value) {
+        int_value_ = int_value;
+        return *this;
+    }
+
+private:
+    int int_value_ = -99;
+};
+
+struct Field : FieldBase {};
+
+void add_bindings(py::module &m) {
+    py::module sm = m.def_submodule("exercise_is_setter");
+    // NOTE: FieldBase is not wrapped, therefore ...
+    py::class_<Field>(sm, "Field")
+        .def(py::init<>())
+        .def_property(
+            "int_value",
+            &Field::int_value,
+            &Field::SetIntValue // ... the `FieldBase &` return value here cannot be converted.
+        );
+}
+
+} // namespace exercise_is_setter
+} // namespace pybind11_tests
+
 TEST_SUBMODULE(methods_and_attributes, m) {
     // test_methods_and_attributes
     py::class_<ExampleMandA> emna(m, "ExampleMandA");
@@ -456,4 +488,6 @@ TEST_SUBMODULE(methods_and_attributes, m) {
         .def("func2", &RValueRefParam::func2)
         .def("func3", &RValueRefParam::func3)
         .def("func4", &RValueRefParam::func4);
+
+    pybind11_tests::exercise_is_setter::add_bindings(m);
 }
diff --git a/pybind11/tests/test_methods_and_attributes.py b/pybind11/tests/test_methods_and_attributes.py
index 0a2ae1239..955a85f67 100644
--- a/pybind11/tests/test_methods_and_attributes.py
+++ b/pybind11/tests/test_methods_and_attributes.py
@@ -183,9 +183,9 @@ def test_static_properties():
 
     # Only static attributes can be deleted
     del m.TestPropertiesOverride.def_readonly_static
+    assert hasattr(m.TestPropertiesOverride, "def_readonly_static")
     assert (
-        hasattr(m.TestPropertiesOverride, "def_readonly_static")
-        and m.TestPropertiesOverride.def_readonly_static
+        m.TestPropertiesOverride.def_readonly_static
         is m.TestProperties.def_readonly_static
     )
     assert "def_readonly_static" not in m.TestPropertiesOverride.__dict__
@@ -256,10 +256,7 @@ def test_no_mixed_overloads():
 
 @pytest.mark.parametrize("access", ["ro", "rw", "static_ro", "static_rw"])
 def test_property_return_value_policies(access):
-    if not access.startswith("static"):
-        obj = m.TestPropRVP()
-    else:
-        obj = m.TestPropRVP
+    obj = m.TestPropRVP() if not access.startswith("static") else m.TestPropRVP
 
     ref = getattr(obj, access + "_ref")
     assert ref.value == 1
@@ -525,3 +522,12 @@ def test_rvalue_ref_param():
     assert r.func2("1234") == 4
     assert r.func3("12345") == 5
     assert r.func4("123456") == 6
+
+
+def test_is_setter():
+    fld = m.exercise_is_setter.Field()
+    assert fld.int_value == -99
+    setter_return = fld.int_value = 100
+    assert isinstance(setter_return, int)
+    assert setter_return == 100
+    assert fld.int_value == 100
diff --git a/pybind11/tests/test_modules.py b/pybind11/tests/test_modules.py
index e11d68e78..2f6d825b7 100644
--- a/pybind11/tests/test_modules.py
+++ b/pybind11/tests/test_modules.py
@@ -1,3 +1,5 @@
+import builtins
+
 import pytest
 
 import env
@@ -61,7 +63,6 @@ def test_importing():
     from pybind11_tests.modules import OD
 
     assert OD is OrderedDict
-    assert str(OD([(1, "a"), (2, "b")])) == "OrderedDict([(1, 'a'), (2, 'b')])"
 
 
 def test_pydoc():
@@ -86,12 +87,7 @@ def test_builtin_key_type():
 
     Previous versions of pybind11 would add a unicode key in python 2.
     """
-    if hasattr(__builtins__, "keys"):
-        keys = __builtins__.keys()
-    else:  # this is to make pypy happy since builtins is different there.
-        keys = __builtins__.__dict__.keys()
-
-    assert {type(k) for k in keys} == {str}
+    assert all(type(k) == str for k in dir(builtins))
 
 
 @pytest.mark.xfail("env.PYPY", reason="PyModule_GetName()")
@@ -107,11 +103,10 @@ def test_def_submodule_failures():
         sm_name_orig = sm.__name__
         sm.__name__ = malformed_utf8
         try:
-            with pytest.raises(Exception):
-                # Seen with Python 3.9: SystemError: nameless module
-                # But we do not want to exercise the internals of PyModule_GetName(), which could
-                # change in future versions of Python, but a bad __name__ is very likely to cause
-                # some kind of failure indefinitely.
+            # We want to assert that a bad __name__ causes some kind of failure, although we do not want to exercise
+            # the internals of PyModule_GetName(). Currently all supported Python versions raise SystemError. If that
+            # changes in future Python versions, simply add the new expected exception types here.
+            with pytest.raises(SystemError):
                 m.def_submodule(sm, b"SubSubModuleName")
         finally:
             # Clean up to ensure nothing gets upset by a module with an invalid __name__.
diff --git a/pybind11/tests/test_numpy_array.cpp b/pybind11/tests/test_numpy_array.cpp
index 69ddbe1ef..8c122a865 100644
--- a/pybind11/tests/test_numpy_array.cpp
+++ b/pybind11/tests/test_numpy_array.cpp
@@ -521,4 +521,32 @@ TEST_SUBMODULE(numpy_array, sm) {
     sm.def("test_fmt_desc_double", [](const py::array_t<double> &) {});
     sm.def("test_fmt_desc_const_float", [](const py::array_t<const float> &) {});
     sm.def("test_fmt_desc_const_double", [](const py::array_t<const double> &) {});
+
+    sm.def("round_trip_float", [](double d) { return d; });
+
+    sm.def("pass_array_pyobject_ptr_return_sum_str_values",
+           [](const py::array_t<PyObject *> &objs) {
+               std::string sum_str_values;
+               for (const auto &obj : objs) {
+                   sum_str_values += py::str(obj.attr("value"));
+               }
+               return sum_str_values;
+           });
+
+    sm.def("pass_array_pyobject_ptr_return_as_list",
+           [](const py::array_t<PyObject *> &objs) -> py::list { return objs; });
+
+    sm.def("return_array_pyobject_ptr_cpp_loop", [](const py::list &objs) {
+        py::size_t arr_size = py::len(objs);
+        py::array_t<PyObject *> arr_from_list(static_cast<py::ssize_t>(arr_size));
+        PyObject **data = arr_from_list.mutable_data();
+        for (py::size_t i = 0; i < arr_size; i++) {
+            assert(data[i] == nullptr);
+            data[i] = py::cast<PyObject *>(objs[i].attr("value"));
+        }
+        return arr_from_list;
+    });
+
+    sm.def("return_array_pyobject_ptr_from_list",
+           [](const py::list &objs) -> py::array_t<PyObject *> { return objs; });
 }
diff --git a/pybind11/tests/test_numpy_array.py b/pybind11/tests/test_numpy_array.py
index 504963b16..12e7d17d1 100644
--- a/pybind11/tests/test_numpy_array.py
+++ b/pybind11/tests/test_numpy_array.py
@@ -22,7 +22,7 @@ def test_dtypes():
             )
 
 
-@pytest.fixture(scope="function")
+@pytest.fixture()
 def arr():
     return np.array([[1, 2, 3], [4, 5, 6]], "=u2")
 
@@ -67,7 +67,7 @@ def test_array_attributes():
 
 
 @pytest.mark.parametrize(
-    "args, ret", [([], 0), ([0], 0), ([1], 3), ([0, 1], 1), ([1, 2], 5)]
+    ("args", "ret"), [([], 0), ([0], 0), ([1], 3), ([0, 1], 1), ([1, 2], 5)]
 )
 def test_index_offset(arr, args, ret):
     assert m.index_at(arr, *args) == ret
@@ -93,7 +93,7 @@ def test_dim_check_fail(arr):
 
 
 @pytest.mark.parametrize(
-    "args, ret",
+    ("args", "ret"),
     [
         ([], [1, 2, 3, 4, 5, 6]),
         ([1], [4, 5, 6]),
@@ -211,12 +211,14 @@ def test_wrap():
             assert b[0, 0] == 1234
 
     a1 = np.array([1, 2], dtype=np.int16)
-    assert a1.flags.owndata and a1.base is None
+    assert a1.flags.owndata
+    assert a1.base is None
     a2 = m.wrap(a1)
     assert_references(a1, a2)
 
     a1 = np.array([[1, 2], [3, 4]], dtype=np.float32, order="F")
-    assert a1.flags.owndata and a1.base is None
+    assert a1.flags.owndata
+    assert a1.base is None
     a2 = m.wrap(a1)
     assert_references(a1, a2)
 
@@ -451,13 +453,15 @@ def test_array_resize():
     try:
         m.array_resize3(a, 3, True)
     except ValueError as e:
-        assert str(e).startswith("cannot resize an array")
+        assert str(e).startswith("cannot resize an array")  # noqa: PT017
     # transposed array doesn't own data
     b = a.transpose()
     try:
         m.array_resize3(b, 3, False)
     except ValueError as e:
-        assert str(e).startswith("cannot resize this array: it does not own its data")
+        assert str(e).startswith(  # noqa: PT017
+            "cannot resize this array: it does not own its data"
+        )
     # ... but reshape should be fine
     m.array_reshape2(b)
     assert b.shape == (8, 8)
@@ -585,3 +589,80 @@ def test_dtype_refcount_leak():
     m.ndim(a)
     after = getrefcount(dtype)
     assert after == before
+
+
+def test_round_trip_float():
+    arr = np.zeros((), np.float64)
+    arr[()] = 37.2
+    assert m.round_trip_float(arr) == 37.2
+
+
+# HINT: An easy and robust way (although only manual unfortunately) to check for
+#       ref-count leaks in the test_.*pyobject_ptr.* functions below is to
+#           * temporarily insert `while True:` (one-by-one),
+#           * run this test, and
+#           * run the Linux `top` command in another shell to visually monitor
+#             `RES` for a minute or two.
+#       If there is a leak, it is usually evident in seconds because the `RES`
+#       value increases without bounds. (Don't forget to Ctrl-C the test!)
+
+
+# For use as a temporary user-defined object, to maximize sensitivity of the tests below:
+#     * Ref-count leaks will be immediately evident.
+#     * Sanitizers are much more likely to detect heap-use-after-free due to
+#       other ref-count bugs.
+class PyValueHolder:
+    def __init__(self, value):
+        self.value = value
+
+
+def WrapWithPyValueHolder(*values):
+    return [PyValueHolder(v) for v in values]
+
+
+def UnwrapPyValueHolder(vhs):
+    return [vh.value for vh in vhs]
+
+
+def test_pass_array_pyobject_ptr_return_sum_str_values_ndarray():
+    # Intentionally all temporaries, do not change.
+    assert (
+        m.pass_array_pyobject_ptr_return_sum_str_values(
+            np.array(WrapWithPyValueHolder(-3, "four", 5.0), dtype=object)
+        )
+        == "-3four5.0"
+    )
+
+
+def test_pass_array_pyobject_ptr_return_sum_str_values_list():
+    # Intentionally all temporaries, do not change.
+    assert (
+        m.pass_array_pyobject_ptr_return_sum_str_values(
+            WrapWithPyValueHolder(2, "three", -4.0)
+        )
+        == "2three-4.0"
+    )
+
+
+def test_pass_array_pyobject_ptr_return_as_list():
+    # Intentionally all temporaries, do not change.
+    assert UnwrapPyValueHolder(
+        m.pass_array_pyobject_ptr_return_as_list(
+            np.array(WrapWithPyValueHolder(-1, "two", 3.0), dtype=object)
+        )
+    ) == [-1, "two", 3.0]
+
+
+@pytest.mark.parametrize(
+    ("return_array_pyobject_ptr", "unwrap"),
+    [
+        (m.return_array_pyobject_ptr_cpp_loop, list),
+        (m.return_array_pyobject_ptr_from_list, UnwrapPyValueHolder),
+    ],
+)
+def test_return_array_pyobject_ptr_cpp_loop(return_array_pyobject_ptr, unwrap):
+    # Intentionally all temporaries, do not change.
+    arr_from_list = return_array_pyobject_ptr(WrapWithPyValueHolder(6, "seven", -8.0))
+    assert isinstance(arr_from_list, np.ndarray)
+    assert arr_from_list.dtype == np.dtype("O")
+    assert unwrap(arr_from_list) == [6, "seven", -8.0]
diff --git a/pybind11/tests/test_numpy_dtypes.py b/pybind11/tests/test_numpy_dtypes.py
index fcfd587b1..d10457eeb 100644
--- a/pybind11/tests/test_numpy_dtypes.py
+++ b/pybind11/tests/test_numpy_dtypes.py
@@ -130,14 +130,10 @@ def test_dtype(simple_dtype):
         partial_nested_fmt(),
         "[('a','S3'),('b','S3')]",
         (
-            "{{'names':['a','b','c','d'],"
-            + "'formats':[('S4',(3,)),('"
-            + e
-            + "i4',(2,)),('u1',(3,)),('"
-            + e
-            + "f4',(4,2))],"
-            + "'offsets':[0,12,20,24],'itemsize':56}}"
-        ).format(e=e),
+            "{'names':['a','b','c','d'],"
+            f"'formats':[('S4',(3,)),('{e}i4',(2,)),('u1',(3,)),('{e}f4',(4,2))],"
+            "'offsets':[0,12,20,24],'itemsize':56}"
+        ),
         "[('e1','" + e + "i8'),('e2','u1')]",
         "[('x','i1'),('y','" + e + "u8')]",
         "[('cflt','" + e + "c8'),('cdbl','" + e + "c16')]",
@@ -291,19 +287,17 @@ def test_array_array():
 
     arr = m.create_array_array(3)
     assert str(arr.dtype).replace(" ", "") == (
-        "{{'names':['a','b','c','d'],"
-        + "'formats':[('S4',(3,)),('"
-        + e
-        + "i4',(2,)),('u1',(3,)),('{e}f4',(4,2))],"
-        + "'offsets':[0,12,20,24],'itemsize':56}}"
-    ).format(e=e)
+        "{'names':['a','b','c','d'],"
+        f"'formats':[('S4',(3,)),('{e}i4',(2,)),('u1',(3,)),('{e}f4',(4,2))],"
+        "'offsets':[0,12,20,24],'itemsize':56}"
+    )
     assert m.print_array_array(arr) == [
         "a={{A,B,C,D},{K,L,M,N},{U,V,W,X}},b={0,1},"
-        + "c={0,1,2},d={{0,1},{10,11},{20,21},{30,31}}",
+        "c={0,1,2},d={{0,1},{10,11},{20,21},{30,31}}",
         "a={{W,X,Y,Z},{G,H,I,J},{Q,R,S,T}},b={1000,1001},"
-        + "c={10,11,12},d={{100,101},{110,111},{120,121},{130,131}}",
+        "c={10,11,12},d={{100,101},{110,111},{120,121},{130,131}}",
         "a={{S,T,U,V},{C,D,E,F},{M,N,O,P}},b={2000,2001},"
-        + "c={20,21,22},d={{200,201},{210,211},{220,221},{230,231}}",
+        "c={20,21,22},d={{200,201},{210,211},{220,221},{230,231}}",
     ]
     assert arr["a"].tolist() == [
         [b"ABCD", b"KLMN", b"UVWX"],
diff --git a/pybind11/tests/test_numpy_vectorize.py b/pybind11/tests/test_numpy_vectorize.py
index 7e8c015c4..f1e8b6254 100644
--- a/pybind11/tests/test_numpy_vectorize.py
+++ b/pybind11/tests/test_numpy_vectorize.py
@@ -149,7 +149,7 @@ def test_docs(doc):
         doc(m.vectorized_func)
         == """
         vectorized_func(arg0: numpy.ndarray[numpy.int32], arg1: numpy.ndarray[numpy.float32], arg2: numpy.ndarray[numpy.float64]) -> object
-    """  # noqa: E501 line too long
+    """
     )
 
 
diff --git a/pybind11/tests/test_operator_overloading.cpp b/pybind11/tests/test_operator_overloading.cpp
index a4b895a89..112a363b4 100644
--- a/pybind11/tests/test_operator_overloading.cpp
+++ b/pybind11/tests/test_operator_overloading.cpp
@@ -132,22 +132,18 @@ struct hash<HashMe> {
 // Not a good abs function, but easy to test.
 std::string abs(const Vector2 &) { return "abs(Vector2)"; }
 
-// MSVC & Intel warns about unknown pragmas, and warnings are errors.
-#if !defined(_MSC_VER) && !defined(__INTEL_COMPILER)
-#    pragma GCC diagnostic push
 // clang 7.0.0 and Apple LLVM 10.0.1 introduce `-Wself-assign-overloaded` to
 // `-Wall`, which is used here for overloading (e.g. `py::self += py::self `).
-// Here, we suppress the warning using `#pragma diagnostic`.
+// Here, we suppress the warning
 // Taken from: https://github.com/RobotLocomotion/drake/commit/aaf84b46
 // TODO(eric): This could be resolved using a function / functor (e.g. `py::self()`).
-#    if defined(__APPLE__) && defined(__clang__)
-#        if (__clang_major__ >= 10)
-#            pragma GCC diagnostic ignored "-Wself-assign-overloaded"
-#        endif
-#    elif defined(__clang__)
-#        if (__clang_major__ >= 7)
-#            pragma GCC diagnostic ignored "-Wself-assign-overloaded"
-#        endif
+#if defined(__APPLE__) && defined(__clang__)
+#    if (__clang_major__ >= 10)
+PYBIND11_WARNING_DISABLE_CLANG("-Wself-assign-overloaded")
+#    endif
+#elif defined(__clang__)
+#    if (__clang_major__ >= 7)
+PYBIND11_WARNING_DISABLE_CLANG("-Wself-assign-overloaded")
 #    endif
 #endif
 
@@ -283,6 +279,3 @@ TEST_SUBMODULE(operators, m) {
 
     m.def("get_unhashable_HashMe_set", []() { return std::unordered_set<HashMe>{{"one"}}; });
 }
-#if !defined(_MSC_VER) && !defined(__INTEL_COMPILER)
-#    pragma GCC diagnostic pop
-#endif
diff --git a/pybind11/tests/test_operator_overloading.py b/pybind11/tests/test_operator_overloading.py
index b228da3cc..9fde305a0 100644
--- a/pybind11/tests/test_operator_overloading.py
+++ b/pybind11/tests/test_operator_overloading.py
@@ -130,7 +130,6 @@ def test_nested():
 
 
 def test_overriding_eq_reset_hash():
-
     assert m.Comparable(15) is not m.Comparable(15)
     assert m.Comparable(15) == m.Comparable(15)
 
diff --git a/pybind11/tests/test_pytypes.cpp b/pybind11/tests/test_pytypes.cpp
index f532e2608..b4ee64289 100644
--- a/pybind11/tests/test_pytypes.cpp
+++ b/pybind11/tests/test_pytypes.cpp
@@ -99,6 +99,8 @@ void m_defs(py::module_ &m) {
 } // namespace handle_from_move_only_type_with_operator_PyObject
 
 TEST_SUBMODULE(pytypes, m) {
+    m.def("obj_class_name", [](py::handle obj) { return py::detail::obj_class_name(obj.ptr()); });
+
     handle_from_move_only_type_with_operator_PyObject::m_defs(m);
 
     // test_bool
@@ -109,6 +111,11 @@ TEST_SUBMODULE(pytypes, m) {
     m.def("get_iterator", [] { return py::iterator(); });
     // test_iterable
     m.def("get_iterable", [] { return py::iterable(); });
+    m.def("get_frozenset_from_iterable",
+          [](const py::iterable &iter) { return py::frozenset(iter); });
+    m.def("get_list_from_iterable", [](const py::iterable &iter) { return py::list(iter); });
+    m.def("get_set_from_iterable", [](const py::iterable &iter) { return py::set(iter); });
+    m.def("get_tuple_from_iterable", [](const py::iterable &iter) { return py::tuple(iter); });
     // test_float
     m.def("get_float", [] { return py::float_(0.0f); });
     // test_list
@@ -178,7 +185,7 @@ TEST_SUBMODULE(pytypes, m) {
         return d2;
     });
     m.def("dict_contains",
-          [](const py::dict &dict, py::object val) { return dict.contains(val); });
+          [](const py::dict &dict, const py::object &val) { return dict.contains(val); });
     m.def("dict_contains",
           [](const py::dict &dict, const char *val) { return dict.contains(val); });
 
@@ -201,7 +208,12 @@ TEST_SUBMODULE(pytypes, m) {
     m.def("str_from_char_ssize_t", []() { return py::str{"red", (py::ssize_t) 3}; });
     m.def("str_from_char_size_t", []() { return py::str{"blue", (py::size_t) 4}; });
     m.def("str_from_string", []() { return py::str(std::string("baz")); });
+    m.def("str_from_std_string_input", [](const std::string &stri) { return py::str(stri); });
+    m.def("str_from_cstr_input", [](const char *c_str) { return py::str(c_str); });
     m.def("str_from_bytes", []() { return py::str(py::bytes("boo", 3)); });
+    m.def("str_from_bytes_input",
+          [](const py::bytes &encoded_str) { return py::str(encoded_str); });
+
     m.def("str_from_object", [](const py::object &obj) { return py::str(obj); });
     m.def("repr_from_object", [](const py::object &obj) { return py::repr(obj); });
     m.def("str_from_handle", [](py::handle h) { return py::str(h); });
@@ -248,6 +260,15 @@ TEST_SUBMODULE(pytypes, m) {
         });
     });
 
+    m.def("return_capsule_with_destructor_3", []() {
+        py::print("creating capsule");
+        auto cap = py::capsule((void *) 1233, "oname", [](void *ptr) {
+            py::print("destructing capsule: {}"_s.format((size_t) ptr));
+        });
+        py::print("original name: {}"_s.format(cap.name()));
+        return cap;
+    });
+
     m.def("return_renamed_capsule_with_destructor_2", []() {
         py::print("creating capsule");
         auto cap = py::capsule((void *) 1234, [](void *ptr) {
@@ -284,6 +305,12 @@ TEST_SUBMODULE(pytypes, m) {
         return capsule;
     });
 
+    m.def("return_capsule_with_explicit_nullptr_dtor", []() {
+        py::print("creating capsule with explicit nullptr dtor");
+        return py::capsule(reinterpret_cast<void *>(1234),
+                           static_cast<void (*)(void *)>(nullptr)); // PR #4221
+    });
+
     // test_accessors
     m.def("accessor_api", [](const py::object &o) {
         auto d = py::dict();
@@ -527,6 +554,9 @@ TEST_SUBMODULE(pytypes, m) {
 
     m.def("hash_function", [](py::object obj) { return py::hash(std::move(obj)); });
 
+    m.def("obj_contains",
+          [](py::object &obj, const py::object &key) { return obj.contains(key); });
+
     m.def("test_number_protocol", [](const py::object &a, const py::object &b) {
         py::list l;
         l.append(a.equal(b));
@@ -756,4 +786,38 @@ TEST_SUBMODULE(pytypes, m) {
         }
         return o;
     });
+
+    // testing immutable object augmented assignment: #issue 3812
+    m.def("inplace_append", [](py::object &a, const py::object &b) {
+        a += b;
+        return a;
+    });
+    m.def("inplace_subtract", [](py::object &a, const py::object &b) {
+        a -= b;
+        return a;
+    });
+    m.def("inplace_multiply", [](py::object &a, const py::object &b) {
+        a *= b;
+        return a;
+    });
+    m.def("inplace_divide", [](py::object &a, const py::object &b) {
+        a /= b;
+        return a;
+    });
+    m.def("inplace_or", [](py::object &a, const py::object &b) {
+        a |= b;
+        return a;
+    });
+    m.def("inplace_and", [](py::object &a, const py::object &b) {
+        a &= b;
+        return a;
+    });
+    m.def("inplace_lshift", [](py::object &a, const py::object &b) {
+        a <<= b;
+        return a;
+    });
+    m.def("inplace_rshift", [](py::object &a, const py::object &b) {
+        a >>= b;
+        return a;
+    });
 }
diff --git a/pybind11/tests/test_pytypes.py b/pybind11/tests/test_pytypes.py
index 7a0a8b4ab..eda7a20a9 100644
--- a/pybind11/tests/test_pytypes.py
+++ b/pybind11/tests/test_pytypes.py
@@ -9,7 +9,13 @@ from pybind11_tests import detailed_error_messages_enabled
 from pybind11_tests import pytypes as m
 
 
-def test_handle_from_move_only_type_with_operator_PyObject():  # noqa: N802
+def test_obj_class_name():
+    assert m.obj_class_name(None) == "NoneType"
+    assert m.obj_class_name(list) == "list"
+    assert m.obj_class_name([]) == "list"
+
+
+def test_handle_from_move_only_type_with_operator_PyObject():
     assert m.handle_from_move_only_type_with_operator_PyObject_ncnst()
     assert m.handle_from_move_only_type_with_operator_PyObject_const()
 
@@ -26,6 +32,22 @@ def test_iterator(doc):
     assert doc(m.get_iterator) == "get_iterator() -> Iterator"
 
 
+@pytest.mark.parametrize(
+    ("pytype", "from_iter_func"),
+    [
+        (frozenset, m.get_frozenset_from_iterable),
+        (list, m.get_list_from_iterable),
+        (set, m.get_set_from_iterable),
+        (tuple, m.get_tuple_from_iterable),
+    ],
+)
+def test_from_iterable(pytype, from_iter_func):
+    my_iter = iter(range(10))
+    s = from_iter_func(my_iter)
+    assert type(s) == pytype
+    assert s == pytype(range(10))
+
+
 def test_iterable(doc):
     assert doc(m.get_iterable) == "get_iterable() -> Iterable"
 
@@ -65,7 +87,7 @@ def test_list(capture, doc):
     assert doc(m.print_list) == "print_list(arg0: list) -> None"
 
 
-def test_none(capture, doc):
+def test_none(doc):
     assert doc(m.get_none) == "get_none() -> None"
     assert doc(m.print_none) == "print_none(arg0: None) -> None"
 
@@ -152,6 +174,31 @@ def test_dict(capture, doc):
     assert m.dict_keyword_constructor() == {"x": 1, "y": 2, "z": 3}
 
 
+class CustomContains:
+    d = {"key": None}
+
+    def __contains__(self, m):
+        return m in self.d
+
+
+@pytest.mark.parametrize(
+    ("arg", "func"),
+    [
+        (set(), m.anyset_contains),
+        ({}, m.dict_contains),
+        (CustomContains(), m.obj_contains),
+    ],
+)
+@pytest.mark.xfail("env.PYPY and sys.pypy_version_info < (7, 3, 10)", strict=False)
+def test_unhashable_exceptions(arg, func):
+    class Unhashable:
+        __hash__ = None
+
+    with pytest.raises(TypeError) as exc_info:
+        func(arg, Unhashable())
+    assert "unhashable type:" in str(exc_info.value)
+
+
 def test_tuple():
     assert m.tuple_no_args() == ()
     assert m.tuple_ssize_t() == ()
@@ -203,6 +250,20 @@ def test_str(doc):
         m.str_from_string_from_str(ucs_surrogates_str)
 
 
+@pytest.mark.parametrize(
+    "func",
+    [
+        m.str_from_bytes_input,
+        m.str_from_cstr_input,
+        m.str_from_std_string_input,
+    ],
+)
+def test_surrogate_pairs_unicode_error(func):
+    input_str = "\ud83d\ude4f".encode("utf-8", "surrogatepass")
+    with pytest.raises(UnicodeDecodeError):
+        func(input_str)
+
+
 def test_bytes(doc):
     assert m.bytes_from_char_ssize_t().decode() == "green"
     assert m.bytes_from_char_size_t().decode() == "purple"
@@ -212,7 +273,7 @@ def test_bytes(doc):
     assert doc(m.bytes_from_str) == "bytes_from_str() -> bytes"
 
 
-def test_bytearray(doc):
+def test_bytearray():
     assert m.bytearray_from_char_ssize_t().decode() == "$%"
     assert m.bytearray_from_char_size_t().decode() == "@$!"
     assert m.bytearray_from_string().decode() == "foo"
@@ -258,6 +319,19 @@ def test_capsule(capture):
     """
     )
 
+    with capture:
+        a = m.return_capsule_with_destructor_3()
+        del a
+        pytest.gc_collect()
+    assert (
+        capture.unordered
+        == """
+        creating capsule
+        destructing capsule: 1233
+        original name: oname
+    """
+    )
+
     with capture:
         a = m.return_renamed_capsule_with_destructor_2()
         del a
@@ -283,6 +357,17 @@ def test_capsule(capture):
     """
     )
 
+    with capture:
+        a = m.return_capsule_with_explicit_nullptr_dtor()
+        del a
+        pytest.gc_collect()
+    assert (
+        capture.unordered
+        == """
+        creating capsule with explicit nullptr dtor
+    """
+    )
+
 
 def test_accessors():
     class SubTestObject:
@@ -313,7 +398,7 @@ def test_accessors():
     assert d["implicit_list"] == [1, 2, 3]
     assert all(x in TestObject.__dict__ for x in d["implicit_dict"])
 
-    assert m.tuple_accessor(tuple()) == (0, 1, 2)
+    assert m.tuple_accessor(()) == (0, 1, 2)
 
     d = m.accessor_assignment()
     assert d["get"] == 0
@@ -403,7 +488,7 @@ def test_pybind11_str_raw_str():
     assert cvt({}) == "{}"
     assert cvt({3: 4}) == "{3: 4}"
     assert cvt(set()) == "set()"
-    assert cvt({3, 3}) == "{3}"
+    assert cvt({3}) == "{3}"
 
     valid_orig = "DZ"
     valid_utf8 = valid_orig.encode("utf-8")
@@ -464,7 +549,7 @@ def test_print(capture):
     assert str(excinfo.value) == "Unable to convert call argument " + (
         "'1' of type 'UnregisteredType' to Python object"
         if detailed_error_messages_enabled
-        else "to Python object (#define PYBIND11_DETAILED_ERROR_MESSAGES or compile in debug mode for details)"
+        else "'1' to Python object (#define PYBIND11_DETAILED_ERROR_MESSAGES or compile in debug mode for details)"
     )
 
 
@@ -521,7 +606,7 @@ def test_issue2361():
 
 
 @pytest.mark.parametrize(
-    "method, args, fmt, expected_view",
+    ("method", "args", "fmt", "expected_view"),
     [
         (m.test_memoryview_object, (b"red",), "B", b"red"),
         (m.test_memoryview_buffer_info, (b"green",), "B", b"green"),
@@ -579,7 +664,7 @@ def test_memoryview_from_memory():
 
 
 def test_builtin_functions():
-    assert m.get_len([i for i in range(42)]) == 42
+    assert m.get_len(list(range(42))) == 42
     with pytest.raises(TypeError) as exc_info:
         m.get_len(i for i in range(42))
     assert str(exc_info.value) in [
@@ -623,7 +708,7 @@ def test_pass_bytes_or_unicode_to_string_types():
 
 
 @pytest.mark.parametrize(
-    "create_weakref, create_weakref_with_callback",
+    ("create_weakref", "create_weakref_with_callback"),
     [
         (m.weakref_from_handle, m.weakref_from_handle_and_function),
         (m.weakref_from_object, m.weakref_from_object_and_function),
@@ -638,7 +723,7 @@ def test_weakref(create_weakref, create_weakref_with_callback):
 
     callback_called = False
 
-    def callback(wr):
+    def callback(_):
         nonlocal callback_called
         callback_called = True
 
@@ -658,7 +743,7 @@ def test_weakref(create_weakref, create_weakref_with_callback):
 
 
 @pytest.mark.parametrize(
-    "create_weakref, has_callback",
+    ("create_weakref", "has_callback"),
     [
         (m.weakref_from_handle, False),
         (m.weakref_from_object, False),
@@ -676,10 +761,7 @@ def test_weakref_err(create_weakref, has_callback):
     ob = C()
     # Should raise TypeError on CPython
     with pytest.raises(TypeError) if not env.PYPY else contextlib.nullcontext():
-        if has_callback:
-            _ = create_weakref(ob, callback)
-        else:
-            _ = create_weakref(ob)
+        _ = create_weakref(ob, callback) if has_callback else create_weakref(ob)
 
 
 def test_cpp_iterators():
@@ -739,3 +821,78 @@ def test_populate_obj_str_attrs():
     new_attrs = {k: v for k, v in new_o.__dict__.items() if not k.startswith("_")}
     assert all(isinstance(v, str) for v in new_attrs.values())
     assert len(new_attrs) == pop
+
+
+@pytest.mark.parametrize(
+    ("a", "b"),
+    [("foo", "bar"), (1, 2), (1.0, 2.0), (list(range(3)), list(range(3, 6)))],
+)
+def test_inplace_append(a, b):
+    expected = a + b
+    assert m.inplace_append(a, b) == expected
+
+
+@pytest.mark.parametrize(
+    ("a", "b"), [(3, 2), (3.0, 2.0), (set(range(3)), set(range(2)))]
+)
+def test_inplace_subtract(a, b):
+    expected = a - b
+    assert m.inplace_subtract(a, b) == expected
+
+
+@pytest.mark.parametrize(("a", "b"), [(3, 2), (3.0, 2.0), ([1], 3)])
+def test_inplace_multiply(a, b):
+    expected = a * b
+    assert m.inplace_multiply(a, b) == expected
+
+
+@pytest.mark.parametrize(("a", "b"), [(6, 3), (6.0, 3.0)])
+def test_inplace_divide(a, b):
+    expected = a / b
+    assert m.inplace_divide(a, b) == expected
+
+
+@pytest.mark.parametrize(
+    ("a", "b"),
+    [
+        (False, True),
+        (
+            set(),
+            {
+                1,
+            },
+        ),
+    ],
+)
+def test_inplace_or(a, b):
+    expected = a | b
+    assert m.inplace_or(a, b) == expected
+
+
+@pytest.mark.parametrize(
+    ("a", "b"),
+    [
+        (True, False),
+        (
+            {1, 2, 3},
+            {
+                1,
+            },
+        ),
+    ],
+)
+def test_inplace_and(a, b):
+    expected = a & b
+    assert m.inplace_and(a, b) == expected
+
+
+@pytest.mark.parametrize(("a", "b"), [(8, 1), (-3, 2)])
+def test_inplace_lshift(a, b):
+    expected = a << b
+    assert m.inplace_lshift(a, b) == expected
+
+
+@pytest.mark.parametrize(("a", "b"), [(8, 1), (-2, 2)])
+def test_inplace_rshift(a, b):
+    expected = a >> b
+    assert m.inplace_rshift(a, b) == expected
diff --git a/pybind11/tests/test_sequences_and_iterators.cpp b/pybind11/tests/test_sequences_and_iterators.cpp
index b867f49a2..1de65edbf 100644
--- a/pybind11/tests/test_sequences_and_iterators.cpp
+++ b/pybind11/tests/test_sequences_and_iterators.cpp
@@ -559,4 +559,23 @@ TEST_SUBMODULE(sequences_and_iterators, m) {
           []() { return py::make_iterator<py::return_value_policy::copy>(list); });
     m.def("make_iterator_2",
           []() { return py::make_iterator<py::return_value_policy::automatic>(list); });
+
+    // test_iterator on c arrays
+    // #4100: ensure lvalue required as increment operand
+    class CArrayHolder {
+    public:
+        CArrayHolder(double x, double y, double z) {
+            values[0] = x;
+            values[1] = y;
+            values[2] = z;
+        };
+        double values[3];
+    };
+
+    py::class_<CArrayHolder>(m, "CArrayHolder")
+        .def(py::init<double, double, double>())
+        .def(
+            "__iter__",
+            [](const CArrayHolder &v) { return py::make_iterator(v.values, v.values + 3); },
+            py::keep_alive<0, 1>());
 }
diff --git a/pybind11/tests/test_sequences_and_iterators.py b/pybind11/tests/test_sequences_and_iterators.py
index 062e3b3d3..dc129f2bf 100644
--- a/pybind11/tests/test_sequences_and_iterators.py
+++ b/pybind11/tests/test_sequences_and_iterators.py
@@ -1,5 +1,5 @@
 import pytest
-from pytest import approx
+from pytest import approx  # noqa: PT013
 
 from pybind11_tests import ConstructorStats
 from pybind11_tests import sequences_and_iterators as m
@@ -103,7 +103,8 @@ def test_sequence():
 
     assert "Sequence" in repr(s)
     assert len(s) == 5
-    assert s[0] == 0 and s[3] == 0
+    assert s[0] == 0
+    assert s[3] == 0
     assert 12.34 not in s
     s[0], s[3] = 12.34, 56.78
     assert 12.34 in s
@@ -241,3 +242,11 @@ def test_iterator_rvp():
     assert list(m.make_iterator_1()) == [1, 2, 3]
     assert list(m.make_iterator_2()) == [1, 2, 3]
     assert not isinstance(m.make_iterator_1(), type(m.make_iterator_2()))
+
+
+def test_carray_iterator():
+    """#4100: Check for proper iterator overload with C-Arrays"""
+    args_gt = [float(i) for i in range(3)]
+    arr_h = m.CArrayHolder(*args_gt)
+    args = list(arr_h)
+    assert args_gt == args
diff --git a/pybind11/tests/test_smart_ptr.cpp b/pybind11/tests/test_smart_ptr.cpp
index 2c23a9a19..6d9efcedc 100644
--- a/pybind11/tests/test_smart_ptr.cpp
+++ b/pybind11/tests/test_smart_ptr.cpp
@@ -266,14 +266,14 @@ struct ElementList {
 // It is always possible to construct a ref<T> from an Object* pointer without
 // possible inconsistencies, hence the 'true' argument at the end.
 // Make pybind11 aware of the non-standard getter member function
-namespace pybind11 {
+namespace PYBIND11_NAMESPACE {
 namespace detail {
 template <typename T>
 struct holder_helper<ref<T>> {
     static const T *get(const ref<T> &p) { return p.get_ptr(); }
 };
 } // namespace detail
-} // namespace pybind11
+} // namespace PYBIND11_NAMESPACE
 
 // Make pybind aware of the ref-counted wrapper type (s):
 PYBIND11_DECLARE_HOLDER_TYPE(T, ref<T>, true);
diff --git a/pybind11/tests/test_stl.cpp b/pybind11/tests/test_stl.cpp
index 38d32fda9..d45465d68 100644
--- a/pybind11/tests/test_stl.cpp
+++ b/pybind11/tests/test_stl.cpp
@@ -23,7 +23,7 @@
 #if defined(PYBIND11_TEST_BOOST)
 #    include <boost/optional.hpp>
 
-namespace pybind11 {
+namespace PYBIND11_NAMESPACE {
 namespace detail {
 template <typename T>
 struct type_caster<boost::optional<T>> : optional_caster<boost::optional<T>> {};
@@ -31,7 +31,7 @@ struct type_caster<boost::optional<T>> : optional_caster<boost::optional<T>> {};
 template <>
 struct type_caster<boost::none_t> : void_caster<boost::none_t> {};
 } // namespace detail
-} // namespace pybind11
+} // namespace PYBIND11_NAMESPACE
 #endif
 
 // Test with `std::variant` in C++17 mode, or with `boost::variant` in C++11/14
@@ -43,7 +43,7 @@ using std::variant;
 #    define PYBIND11_TEST_VARIANT 1
 using boost::variant;
 
-namespace pybind11 {
+namespace PYBIND11_NAMESPACE {
 namespace detail {
 template <typename... Ts>
 struct type_caster<boost::variant<Ts...>> : variant_caster<boost::variant<Ts...>> {};
@@ -56,7 +56,7 @@ struct visit_helper<boost::variant> {
     }
 };
 } // namespace detail
-} // namespace pybind11
+} // namespace PYBIND11_NAMESPACE
 #endif
 
 PYBIND11_MAKE_OPAQUE(std::vector<std::string, std::allocator<std::string>>);
@@ -159,13 +159,13 @@ private:
     std::vector<T> storage;
 };
 
-namespace pybind11 {
+namespace PYBIND11_NAMESPACE {
 namespace detail {
 template <typename T>
 struct type_caster<ReferenceSensitiveOptional<T>>
     : optional_caster<ReferenceSensitiveOptional<T>> {};
 } // namespace detail
-} // namespace pybind11
+} // namespace PYBIND11_NAMESPACE
 
 TEST_SUBMODULE(stl, m) {
     // test_vector
@@ -176,9 +176,14 @@ TEST_SUBMODULE(stl, m) {
     m.def("load_bool_vector",
           [](const std::vector<bool> &v) { return v.at(0) == true && v.at(1) == false; });
     // Unnumbered regression (caused by #936): pointers to stl containers aren't castable
-    static std::vector<RValueCaster> lvv{2};
     m.def(
-        "cast_ptr_vector", []() { return &lvv; }, py::return_value_policy::reference);
+        "cast_ptr_vector",
+        []() {
+            // Using no-destructor idiom to side-step warnings from overzealous compilers.
+            static auto *v = new std::vector<RValueCaster>{2};
+            return v;
+        },
+        py::return_value_policy::reference);
 
     // test_deque
     m.def("cast_deque", []() { return std::deque<int>{1}; });
@@ -237,6 +242,7 @@ TEST_SUBMODULE(stl, m) {
     lvn["b"].emplace_back();        // add a list
     lvn["b"].back().emplace_back(); // add an array
     lvn["b"].back().emplace_back(); // add another array
+    static std::vector<RValueCaster> lvv{2};
     m.def("cast_lv_vector", []() -> const decltype(lvv) & { return lvv; });
     m.def("cast_lv_array", []() -> const decltype(lva) & { return lva; });
     m.def("cast_lv_map", []() -> const decltype(lvm) & { return lvm; });
diff --git a/pybind11/tests/test_stl.py b/pybind11/tests/test_stl.py
index d30c38211..8a614f8b8 100644
--- a/pybind11/tests/test_stl.py
+++ b/pybind11/tests/test_stl.py
@@ -14,7 +14,7 @@ def test_vector(doc):
 
     assert m.cast_bool_vector() == [True, False]
     assert m.load_bool_vector([True, False])
-    assert m.load_bool_vector(tuple([True, False]))
+    assert m.load_bool_vector((True, False))
 
     assert doc(m.cast_vector) == "cast_vector() -> List[int]"
     assert doc(m.load_vector) == "load_vector(arg0: List[int]) -> bool"
@@ -23,7 +23,7 @@ def test_vector(doc):
     assert m.cast_ptr_vector() == ["lvalue", "lvalue"]
 
 
-def test_deque(doc):
+def test_deque():
     """std::deque <-> list"""
     lst = m.cast_deque()
     assert lst == [1]
@@ -39,8 +39,11 @@ def test_array(doc):
     assert m.load_array(lst)
     assert m.load_array(tuple(lst))
 
-    assert doc(m.cast_array) == "cast_array() -> List[int[2]]"
-    assert doc(m.load_array) == "load_array(arg0: List[int[2]]) -> bool"
+    assert doc(m.cast_array) == "cast_array() -> Annotated[List[int], FixedSize(2)]"
+    assert (
+        doc(m.load_array)
+        == "load_array(arg0: Annotated[List[int], FixedSize(2)]) -> bool"
+    )
 
 
 def test_valarray(doc):
@@ -95,7 +98,8 @@ def test_recursive_casting():
 
     # Issue #853 test case:
     z = m.cast_unique_ptr_vector()
-    assert z[0].value == 7 and z[1].value == 42
+    assert z[0].value == 7
+    assert z[1].value == 42
 
 
 def test_move_out_container():
@@ -366,7 +370,7 @@ def test_issue_1561():
     """check fix for issue #1561"""
     bar = m.Issue1561Outer()
     bar.list = [m.Issue1561Inner("bar")]
-    bar.list
+    assert bar.list
     assert bar.list[0].data == "bar"
 
 
diff --git a/pybind11/tests/test_stl_binders.cpp b/pybind11/tests/test_stl_binders.cpp
index ca9630bd1..1681760aa 100644
--- a/pybind11/tests/test_stl_binders.cpp
+++ b/pybind11/tests/test_stl_binders.cpp
@@ -70,6 +70,44 @@ NestMap *times_hundred(int n) {
     return m;
 }
 
+/*
+ * Recursive data structures as test for issue #4623
+ */
+struct RecursiveVector : std::vector<RecursiveVector> {
+    using Parent = std::vector<RecursiveVector>;
+    using Parent::Parent;
+};
+
+struct RecursiveMap : std::map<int, RecursiveMap> {
+    using Parent = std::map<int, RecursiveMap>;
+    using Parent::Parent;
+};
+
+/*
+ * Pybind11 does not catch more complicated recursion schemes, such as mutual
+ * recursion.
+ * In that case custom recursive_container_traits specializations need to be added,
+ * thus manually telling pybind11 about the recursion.
+ */
+struct MutuallyRecursiveContainerPairMV;
+struct MutuallyRecursiveContainerPairVM;
+
+struct MutuallyRecursiveContainerPairMV : std::map<int, MutuallyRecursiveContainerPairVM> {};
+struct MutuallyRecursiveContainerPairVM : std::vector<MutuallyRecursiveContainerPairMV> {};
+
+namespace pybind11 {
+namespace detail {
+template <typename SFINAE>
+struct recursive_container_traits<MutuallyRecursiveContainerPairMV, SFINAE> {
+    using type_to_check_recursively = recursive_bottom;
+};
+template <typename SFINAE>
+struct recursive_container_traits<MutuallyRecursiveContainerPairVM, SFINAE> {
+    using type_to_check_recursively = recursive_bottom;
+};
+} // namespace detail
+} // namespace pybind11
+
 TEST_SUBMODULE(stl_binders, m) {
     // test_vector_int
     py::bind_vector<std::vector<unsigned int>>(m, "VectorInt", py::buffer_protocol());
@@ -129,6 +167,12 @@ TEST_SUBMODULE(stl_binders, m) {
             m, "VectorUndeclStruct", py::buffer_protocol());
     });
 
+    // Bind recursive container types
+    py::bind_vector<RecursiveVector>(m, "RecursiveVector");
+    py::bind_map<RecursiveMap>(m, "RecursiveMap");
+    py::bind_map<MutuallyRecursiveContainerPairMV>(m, "MutuallyRecursiveContainerPairMV");
+    py::bind_vector<MutuallyRecursiveContainerPairVM>(m, "MutuallyRecursiveContainerPairVM");
+
     // The rest depends on numpy:
     try {
         py::module_::import("numpy");
diff --git a/pybind11/tests/test_stl_binders.py b/pybind11/tests/test_stl_binders.py
index d5e9ccced..e002f5b67 100644
--- a/pybind11/tests/test_stl_binders.py
+++ b/pybind11/tests/test_stl_binders.py
@@ -186,9 +186,9 @@ def test_map_string_double():
     um["ua"] = 1.1
     um["ub"] = 2.6
 
-    assert sorted(list(um)) == ["ua", "ub"]
+    assert sorted(um) == ["ua", "ub"]
     assert list(um.keys()) == list(um)
-    assert sorted(list(um.items())) == [("ua", 1.1), ("ub", 2.6)]
+    assert sorted(um.items()) == [("ua", 1.1), ("ub", 2.6)]
     assert list(zip(um.keys(), um.values())) == list(um.items())
     assert "UnorderedMapStringDouble" in str(um)
 
@@ -304,8 +304,52 @@ def test_map_delitem():
     um["ua"] = 1.1
     um["ub"] = 2.6
 
-    assert sorted(list(um)) == ["ua", "ub"]
-    assert sorted(list(um.items())) == [("ua", 1.1), ("ub", 2.6)]
+    assert sorted(um) == ["ua", "ub"]
+    assert sorted(um.items()) == [("ua", 1.1), ("ub", 2.6)]
     del um["ua"]
-    assert sorted(list(um)) == ["ub"]
-    assert sorted(list(um.items())) == [("ub", 2.6)]
+    assert sorted(um) == ["ub"]
+    assert sorted(um.items()) == [("ub", 2.6)]
+
+
+def test_map_view_types():
+    map_string_double = m.MapStringDouble()
+    unordered_map_string_double = m.UnorderedMapStringDouble()
+    map_string_double_const = m.MapStringDoubleConst()
+    unordered_map_string_double_const = m.UnorderedMapStringDoubleConst()
+
+    assert map_string_double.keys().__class__.__name__ == "KeysView[str]"
+    assert map_string_double.values().__class__.__name__ == "ValuesView[float]"
+    assert map_string_double.items().__class__.__name__ == "ItemsView[str, float]"
+
+    keys_type = type(map_string_double.keys())
+    assert type(unordered_map_string_double.keys()) is keys_type
+    assert type(map_string_double_const.keys()) is keys_type
+    assert type(unordered_map_string_double_const.keys()) is keys_type
+
+    values_type = type(map_string_double.values())
+    assert type(unordered_map_string_double.values()) is values_type
+    assert type(map_string_double_const.values()) is values_type
+    assert type(unordered_map_string_double_const.values()) is values_type
+
+    items_type = type(map_string_double.items())
+    assert type(unordered_map_string_double.items()) is items_type
+    assert type(map_string_double_const.items()) is items_type
+    assert type(unordered_map_string_double_const.items()) is items_type
+
+
+def test_recursive_vector():
+    recursive_vector = m.RecursiveVector()
+    recursive_vector.append(m.RecursiveVector())
+    recursive_vector[0].append(m.RecursiveVector())
+    recursive_vector[0].append(m.RecursiveVector())
+    # Can't use len() since test_stl_binders.cpp does not include stl.h,
+    # so the necessary conversion is missing
+    assert recursive_vector[0].count(m.RecursiveVector()) == 2
+
+
+def test_recursive_map():
+    recursive_map = m.RecursiveMap()
+    recursive_map[100] = m.RecursiveMap()
+    recursive_map[100][101] = m.RecursiveMap()
+    recursive_map[100][102] = m.RecursiveMap()
+    assert list(recursive_map[100].keys()) == [101, 102]
diff --git a/pybind11/tests/test_tagbased_polymorphic.cpp b/pybind11/tests/test_tagbased_polymorphic.cpp
index 2807e86ba..12ba6532f 100644
--- a/pybind11/tests/test_tagbased_polymorphic.cpp
+++ b/pybind11/tests/test_tagbased_polymorphic.cpp
@@ -117,7 +117,7 @@ std::string Animal::name_of_kind(Kind kind) {
     return raw_name;
 }
 
-namespace pybind11 {
+namespace PYBIND11_NAMESPACE {
 template <typename itype>
 struct polymorphic_type_hook<itype, detail::enable_if_t<std::is_base_of<Animal, itype>::value>> {
     static const void *get(const itype *src, const std::type_info *&type) {
@@ -125,7 +125,7 @@ struct polymorphic_type_hook<itype, detail::enable_if_t<std::is_base_of<Animal,
         return src;
     }
 };
-} // namespace pybind11
+} // namespace PYBIND11_NAMESPACE
 
 TEST_SUBMODULE(tagbased_polymorphic, m) {
     py::class_<Animal>(m, "Animal").def_readonly("name", &Animal::name);
diff --git a/pybind11/tests/test_type_caster_pyobject_ptr.cpp b/pybind11/tests/test_type_caster_pyobject_ptr.cpp
new file mode 100644
index 000000000..1667ea126
--- /dev/null
+++ b/pybind11/tests/test_type_caster_pyobject_ptr.cpp
@@ -0,0 +1,130 @@
+#include <pybind11/functional.h>
+#include <pybind11/stl.h>
+#include <pybind11/type_caster_pyobject_ptr.h>
+
+#include "pybind11_tests.h"
+
+#include <cstddef>
+#include <vector>
+
+namespace {
+
+std::vector<PyObject *> make_vector_pyobject_ptr(const py::object &ValueHolder) {
+    std::vector<PyObject *> vec_obj;
+    for (int i = 1; i < 3; i++) {
+        vec_obj.push_back(ValueHolder(i * 93).release().ptr());
+    }
+    // This vector now owns the refcounts.
+    return vec_obj;
+}
+
+} // namespace
+
+TEST_SUBMODULE(type_caster_pyobject_ptr, m) {
+    m.def("cast_from_pyobject_ptr", []() {
+        PyObject *ptr = PyLong_FromLongLong(6758L);
+        return py::cast(ptr, py::return_value_policy::take_ownership);
+    });
+    m.def("cast_handle_to_pyobject_ptr", [](py::handle obj) {
+        auto rc1 = obj.ref_count();
+        auto *ptr = py::cast<PyObject *>(obj);
+        auto rc2 = obj.ref_count();
+        if (rc2 != rc1 + 1) {
+            return -1;
+        }
+        return 100 - py::reinterpret_steal<py::object>(ptr).attr("value").cast<int>();
+    });
+    m.def("cast_object_to_pyobject_ptr", [](py::object obj) {
+        py::handle hdl = obj;
+        auto rc1 = hdl.ref_count();
+        auto *ptr = py::cast<PyObject *>(std::move(obj));
+        auto rc2 = hdl.ref_count();
+        if (rc2 != rc1) {
+            return -1;
+        }
+        return 300 - py::reinterpret_steal<py::object>(ptr).attr("value").cast<int>();
+    });
+    m.def("cast_list_to_pyobject_ptr", [](py::list lst) {
+        // This is to cover types implicitly convertible to object.
+        py::handle hdl = lst;
+        auto rc1 = hdl.ref_count();
+        auto *ptr = py::cast<PyObject *>(std::move(lst));
+        auto rc2 = hdl.ref_count();
+        if (rc2 != rc1) {
+            return -1;
+        }
+        return 400 - static_cast<int>(py::len(py::reinterpret_steal<py::list>(ptr)));
+    });
+
+    m.def(
+        "return_pyobject_ptr",
+        []() { return PyLong_FromLongLong(2314L); },
+        py::return_value_policy::take_ownership);
+    m.def("pass_pyobject_ptr", [](PyObject *ptr) {
+        return 200 - py::reinterpret_borrow<py::object>(ptr).attr("value").cast<int>();
+    });
+
+    m.def("call_callback_with_object_return",
+          [](const std::function<py::object(int)> &cb, int value) { return cb(value); });
+    m.def(
+        "call_callback_with_pyobject_ptr_return",
+        [](const std::function<PyObject *(int)> &cb, int value) { return cb(value); },
+        py::return_value_policy::take_ownership);
+    m.def(
+        "call_callback_with_pyobject_ptr_arg",
+        [](const std::function<int(PyObject *)> &cb, py::handle obj) { return cb(obj.ptr()); },
+        py::arg("cb"), // This triggers return_value_policy::automatic_reference
+        py::arg("obj"));
+
+    m.def("cast_to_pyobject_ptr_nullptr", [](bool set_error) {
+        if (set_error) {
+            PyErr_SetString(PyExc_RuntimeError, "Reflective of healthy error handling.");
+        }
+        PyObject *ptr = nullptr;
+        py::cast(ptr);
+    });
+
+    m.def("cast_to_pyobject_ptr_non_nullptr_with_error_set", []() {
+        PyErr_SetString(PyExc_RuntimeError, "Reflective of unhealthy error handling.");
+        py::cast(Py_None);
+    });
+
+    m.def("pass_list_pyobject_ptr", [](const std::vector<PyObject *> &vec_obj) {
+        int acc = 0;
+        for (const auto &ptr : vec_obj) {
+            acc = acc * 1000 + py::reinterpret_borrow<py::object>(ptr).attr("value").cast<int>();
+        }
+        return acc;
+    });
+
+    m.def("return_list_pyobject_ptr_take_ownership",
+          make_vector_pyobject_ptr,
+          // Ownership is transferred one-by-one when the vector is converted to a Python list.
+          py::return_value_policy::take_ownership);
+
+    m.def("return_list_pyobject_ptr_reference",
+          make_vector_pyobject_ptr,
+          // Ownership is not transferred.
+          py::return_value_policy::reference);
+
+    m.def("dec_ref_each_pyobject_ptr", [](const std::vector<PyObject *> &vec_obj) {
+        std::size_t i = 0;
+        for (; i < vec_obj.size(); i++) {
+            py::handle h(vec_obj[i]);
+            if (static_cast<std::size_t>(h.ref_count()) < 2) {
+                break; // Something is badly wrong.
+            }
+            h.dec_ref();
+        }
+        return i;
+    });
+
+    m.def("pass_pyobject_ptr_and_int", [](PyObject *, int) {});
+
+#ifdef PYBIND11_NO_COMPILE_SECTION // Change to ifndef for manual testing.
+    {
+        PyObject *ptr = nullptr;
+        (void) py::cast(*ptr);
+    }
+#endif
+}
diff --git a/pybind11/tests/test_type_caster_pyobject_ptr.py b/pybind11/tests/test_type_caster_pyobject_ptr.py
new file mode 100644
index 000000000..1f1ece2ba
--- /dev/null
+++ b/pybind11/tests/test_type_caster_pyobject_ptr.py
@@ -0,0 +1,104 @@
+import pytest
+
+from pybind11_tests import type_caster_pyobject_ptr as m
+
+
+# For use as a temporary user-defined object, to maximize sensitivity of the tests below.
+class ValueHolder:
+    def __init__(self, value):
+        self.value = value
+
+
+def test_cast_from_pyobject_ptr():
+    assert m.cast_from_pyobject_ptr() == 6758
+
+
+def test_cast_handle_to_pyobject_ptr():
+    assert m.cast_handle_to_pyobject_ptr(ValueHolder(24)) == 76
+
+
+def test_cast_object_to_pyobject_ptr():
+    assert m.cast_object_to_pyobject_ptr(ValueHolder(43)) == 257
+
+
+def test_cast_list_to_pyobject_ptr():
+    assert m.cast_list_to_pyobject_ptr([1, 2, 3, 4, 5]) == 395
+
+
+def test_return_pyobject_ptr():
+    assert m.return_pyobject_ptr() == 2314
+
+
+def test_pass_pyobject_ptr():
+    assert m.pass_pyobject_ptr(ValueHolder(82)) == 118
+
+
+@pytest.mark.parametrize(
+    "call_callback",
+    [
+        m.call_callback_with_object_return,
+        m.call_callback_with_pyobject_ptr_return,
+    ],
+)
+def test_call_callback_with_object_return(call_callback):
+    def cb(value):
+        if value < 0:
+            raise ValueError("Raised from cb")
+        return ValueHolder(1000 - value)
+
+    assert call_callback(cb, 287).value == 713
+
+    with pytest.raises(ValueError, match="^Raised from cb$"):
+        call_callback(cb, -1)
+
+
+def test_call_callback_with_pyobject_ptr_arg():
+    def cb(obj):
+        return 300 - obj.value
+
+    assert m.call_callback_with_pyobject_ptr_arg(cb, ValueHolder(39)) == 261
+
+
+@pytest.mark.parametrize("set_error", [True, False])
+def test_cast_to_python_nullptr(set_error):
+    expected = {
+        True: r"^Reflective of healthy error handling\.$",
+        False: (
+            r"^Internal error: pybind11::error_already_set called "
+            r"while Python error indicator not set\.$"
+        ),
+    }[set_error]
+    with pytest.raises(RuntimeError, match=expected):
+        m.cast_to_pyobject_ptr_nullptr(set_error)
+
+
+def test_cast_to_python_non_nullptr_with_error_set():
+    with pytest.raises(SystemError) as excinfo:
+        m.cast_to_pyobject_ptr_non_nullptr_with_error_set()
+    assert str(excinfo.value) == "src != nullptr but PyErr_Occurred()"
+    assert str(excinfo.value.__cause__) == "Reflective of unhealthy error handling."
+
+
+def test_pass_list_pyobject_ptr():
+    acc = m.pass_list_pyobject_ptr([ValueHolder(842), ValueHolder(452)])
+    assert acc == 842452
+
+
+def test_return_list_pyobject_ptr_take_ownership():
+    vec_obj = m.return_list_pyobject_ptr_take_ownership(ValueHolder)
+    assert [e.value for e in vec_obj] == [93, 186]
+
+
+def test_return_list_pyobject_ptr_reference():
+    vec_obj = m.return_list_pyobject_ptr_reference(ValueHolder)
+    assert [e.value for e in vec_obj] == [93, 186]
+    # Commenting out the next `assert` will leak the Python references.
+    # An easy way to see evidence of the leaks:
+    # Insert `while True:` as the first line of this function and monitor the
+    # process RES (Resident Memory Size) with the Unix top command.
+    assert m.dec_ref_each_pyobject_ptr(vec_obj) == 2
+
+
+def test_type_caster_name_via_incompatible_function_arguments_type_error():
+    with pytest.raises(TypeError, match=r"1\. \(arg0: object, arg1: int\) -> None"):
+        m.pass_pyobject_ptr_and_int(ValueHolder(101), ValueHolder(202))
diff --git a/pybind11/tests/test_unnamed_namespace_a.cpp b/pybind11/tests/test_unnamed_namespace_a.cpp
new file mode 100644
index 000000000..2152e64bd
--- /dev/null
+++ b/pybind11/tests/test_unnamed_namespace_a.cpp
@@ -0,0 +1,38 @@
+#include "pybind11_tests.h"
+
+namespace {
+struct any_struct {};
+} // namespace
+
+TEST_SUBMODULE(unnamed_namespace_a, m) {
+    if (py::detail::get_type_info(typeid(any_struct)) == nullptr) {
+        py::class_<any_struct>(m, "unnamed_namespace_a_any_struct");
+    } else {
+        m.attr("unnamed_namespace_a_any_struct") = py::none();
+    }
+    m.attr("PYBIND11_INTERNALS_VERSION") = PYBIND11_INTERNALS_VERSION;
+    m.attr("defined_WIN32_or__WIN32") =
+#if defined(WIN32) || defined(_WIN32)
+        true;
+#else
+        false;
+#endif
+    m.attr("defined___clang__") =
+#if defined(__clang__)
+        true;
+#else
+        false;
+#endif
+    m.attr("defined__LIBCPP_VERSION") =
+#if defined(_LIBCPP_VERSION)
+        true;
+#else
+        false;
+#endif
+    m.attr("defined___GLIBCXX__") =
+#if defined(__GLIBCXX__)
+        true;
+#else
+        false;
+#endif
+}
diff --git a/pybind11/tests/test_unnamed_namespace_a.py b/pybind11/tests/test_unnamed_namespace_a.py
new file mode 100644
index 000000000..9d9856c5a
--- /dev/null
+++ b/pybind11/tests/test_unnamed_namespace_a.py
@@ -0,0 +1,34 @@
+import pytest
+
+from pybind11_tests import unnamed_namespace_a as m
+from pybind11_tests import unnamed_namespace_b as mb
+
+XFAIL_CONDITION = (
+    "(m.PYBIND11_INTERNALS_VERSION <= 4 and (m.defined___clang__ or not m.defined___GLIBCXX__))"
+    " or "
+    "(m.PYBIND11_INTERNALS_VERSION >= 5 and not m.defined_WIN32_or__WIN32"
+    " and "
+    "(m.defined___clang__ or m.defined__LIBCPP_VERSION))"
+)
+XFAIL_REASON = "Known issues: https://github.com/pybind/pybind11/pull/4319"
+
+
+@pytest.mark.xfail(XFAIL_CONDITION, reason=XFAIL_REASON, strict=False)
+@pytest.mark.parametrize(
+    "any_struct", [m.unnamed_namespace_a_any_struct, mb.unnamed_namespace_b_any_struct]
+)
+def test_have_class_any_struct(any_struct):
+    assert any_struct is not None
+
+
+def test_have_at_least_one_class_any_struct():
+    assert (
+        m.unnamed_namespace_a_any_struct is not None
+        or mb.unnamed_namespace_b_any_struct is not None
+    )
+
+
+@pytest.mark.xfail(XFAIL_CONDITION, reason=XFAIL_REASON, strict=True)
+def test_have_both_class_any_struct():
+    assert m.unnamed_namespace_a_any_struct is not None
+    assert mb.unnamed_namespace_b_any_struct is not None
diff --git a/pybind11/tests/test_unnamed_namespace_b.cpp b/pybind11/tests/test_unnamed_namespace_b.cpp
new file mode 100644
index 000000000..f97757a7d
--- /dev/null
+++ b/pybind11/tests/test_unnamed_namespace_b.cpp
@@ -0,0 +1,13 @@
+#include "pybind11_tests.h"
+
+namespace {
+struct any_struct {};
+} // namespace
+
+TEST_SUBMODULE(unnamed_namespace_b, m) {
+    if (py::detail::get_type_info(typeid(any_struct)) == nullptr) {
+        py::class_<any_struct>(m, "unnamed_namespace_b_any_struct");
+    } else {
+        m.attr("unnamed_namespace_b_any_struct") = py::none();
+    }
+}
diff --git a/pybind11/tests/test_unnamed_namespace_b.py b/pybind11/tests/test_unnamed_namespace_b.py
new file mode 100644
index 000000000..4bcaa7a6c
--- /dev/null
+++ b/pybind11/tests/test_unnamed_namespace_b.py
@@ -0,0 +1,5 @@
+from pybind11_tests import unnamed_namespace_b as m
+
+
+def test_have_attr_any_struct():
+    assert hasattr(m, "unnamed_namespace_b_any_struct")
diff --git a/pybind11/tests/test_vector_unique_ptr_member.cpp b/pybind11/tests/test_vector_unique_ptr_member.cpp
new file mode 100644
index 000000000..680cf9a6d
--- /dev/null
+++ b/pybind11/tests/test_vector_unique_ptr_member.cpp
@@ -0,0 +1,54 @@
+#include "pybind11_tests.h"
+
+#include <cstddef>
+#include <memory>
+#include <vector>
+
+namespace pybind11_tests {
+namespace vector_unique_ptr_member {
+
+struct DataType {};
+
+// Reduced from a use case in the wild.
+struct VectorOwner {
+    static std::unique_ptr<VectorOwner> Create(std::size_t num_elems) {
+        return std::unique_ptr<VectorOwner>(
+            new VectorOwner(std::vector<std::unique_ptr<DataType>>(num_elems)));
+    }
+
+    std::size_t data_size() const { return data_.size(); }
+
+private:
+    explicit VectorOwner(std::vector<std::unique_ptr<DataType>> data) : data_(std::move(data)) {}
+
+    const std::vector<std::unique_ptr<DataType>> data_;
+};
+
+} // namespace vector_unique_ptr_member
+} // namespace pybind11_tests
+
+namespace pybind11 {
+namespace detail {
+
+template <>
+struct is_copy_constructible<pybind11_tests::vector_unique_ptr_member::VectorOwner>
+    : std::false_type {};
+
+template <>
+struct is_move_constructible<pybind11_tests::vector_unique_ptr_member::VectorOwner>
+    : std::false_type {};
+
+} // namespace detail
+} // namespace pybind11
+
+using namespace pybind11_tests::vector_unique_ptr_member;
+
+py::object py_cast_VectorOwner_ptr(VectorOwner *ptr) { return py::cast(ptr); }
+
+TEST_SUBMODULE(vector_unique_ptr_member, m) {
+    py::class_<VectorOwner>(m, "VectorOwner")
+        .def_static("Create", &VectorOwner::Create)
+        .def("data_size", &VectorOwner::data_size);
+
+    m.def("py_cast_VectorOwner_ptr", py_cast_VectorOwner_ptr);
+}
diff --git a/pybind11/tests/test_vector_unique_ptr_member.py b/pybind11/tests/test_vector_unique_ptr_member.py
new file mode 100644
index 000000000..2da3d97c3
--- /dev/null
+++ b/pybind11/tests/test_vector_unique_ptr_member.py
@@ -0,0 +1,14 @@
+import pytest
+
+from pybind11_tests import vector_unique_ptr_member as m
+
+
+@pytest.mark.parametrize("num_elems", range(3))
+def test_create(num_elems):
+    vo = m.VectorOwner.Create(num_elems)
+    assert vo.data_size() == num_elems
+
+
+def test_cast():
+    vo = m.VectorOwner.Create(0)
+    assert m.py_cast_VectorOwner_ptr(vo) is vo
diff --git a/pybind11/tests/test_virtual_functions.cpp b/pybind11/tests/test_virtual_functions.cpp
index 323aa0d22..93b136ad3 100644
--- a/pybind11/tests/test_virtual_functions.cpp
+++ b/pybind11/tests/test_virtual_functions.cpp
@@ -173,7 +173,8 @@ struct AdderBase {
     using DataVisitor = std::function<void(const Data &)>;
 
     virtual void
-    operator()(const Data &first, const Data &second, const DataVisitor &visitor) const = 0;
+    operator()(const Data &first, const Data &second, const DataVisitor &visitor) const
+        = 0;
     virtual ~AdderBase() = default;
     AdderBase() = default;
     AdderBase(const AdderBase &) = delete;
diff --git a/pybind11/tests/test_virtual_functions.py b/pybind11/tests/test_virtual_functions.py
index 4d00d3690..c17af7df5 100644
--- a/pybind11/tests/test_virtual_functions.py
+++ b/pybind11/tests/test_virtual_functions.py
@@ -192,8 +192,7 @@ def test_move_support():
     class NCVirtExt(m.NCVirt):
         def get_noncopyable(self, a, b):
             # Constructs and returns a new instance:
-            nc = m.NonCopyable(a * a, b * b)
-            return nc
+            return m.NonCopyable(a * a, b * b)
 
         def get_movable(self, a, b):
             # Return a referenced copy
@@ -256,7 +255,7 @@ def test_dispatch_issue(msg):
     assert m.dispatch_issue_go(b) == "Yay.."
 
 
-def test_recursive_dispatch_issue(msg):
+def test_recursive_dispatch_issue():
     """#3357: Recursive dispatch fails to find python function override"""
 
     class Data(m.Data):
@@ -269,7 +268,7 @@ def test_recursive_dispatch_issue(msg):
             # lambda is a workaround, which adds extra frame to the
             # current CPython thread. Removing lambda reveals the bug
             # [https://github.com/pybind/pybind11/issues/3357]
-            (lambda: visitor(Data(first.value + second.value)))()
+            (lambda: visitor(Data(first.value + second.value)))()  # noqa: PLC3002
 
     class StoreResultVisitor:
         def __init__(self):
diff --git a/pybind11/tools/FindCatch.cmake b/pybind11/tools/FindCatch.cmake
index 57bba58b3..5d3fcbfb1 100644
--- a/pybind11/tools/FindCatch.cmake
+++ b/pybind11/tools/FindCatch.cmake
@@ -36,10 +36,14 @@ endfunction()
 function(_download_catch version destination_dir)
   message(STATUS "Downloading catch v${version}...")
   set(url https://github.com/philsquared/Catch/releases/download/v${version}/catch.hpp)
-  file(DOWNLOAD ${url} "${destination_dir}/catch.hpp" STATUS status)
+  file(
+    DOWNLOAD ${url} "${destination_dir}/catch.hpp"
+    STATUS status
+    LOG log)
   list(GET status 0 error)
   if(error)
-    message(FATAL_ERROR "Could not download ${url}")
+    string(REPLACE "\n" "\n  " log "  ${log}")
+    message(FATAL_ERROR "Could not download URL:\n" "  ${url}\n" "Log:\n" "${log}")
   endif()
   set(CATCH_INCLUDE_DIR
       "${destination_dir}"
diff --git a/pybind11/tools/FindPythonLibsNew.cmake b/pybind11/tools/FindPythonLibsNew.cmake
index a5a628fd7..ce558d4ec 100644
--- a/pybind11/tools/FindPythonLibsNew.cmake
+++ b/pybind11/tools/FindPythonLibsNew.cmake
@@ -151,9 +151,13 @@ if(NOT _PYTHON_SUCCESS MATCHES 0)
   return()
 endif()
 
+option(
+  PYBIND11_PYTHONLIBS_OVERWRITE
+  "Overwrite cached values read from Python library (classic search). Turn off if cross-compiling and manually setting these values."
+  ON)
 # Can manually set values when cross-compiling
 macro(_PYBIND11_GET_IF_UNDEF lst index name)
-  if(NOT DEFINED "${name}")
+  if(PYBIND11_PYTHONLIBS_OVERWRITE OR NOT DEFINED "${name}")
     list(GET "${lst}" "${index}" "${name}")
   endif()
 endmacro()
@@ -204,7 +208,9 @@ string(REGEX REPLACE "\\\\" "/" PYTHON_PREFIX "${PYTHON_PREFIX}")
 string(REGEX REPLACE "\\\\" "/" PYTHON_INCLUDE_DIR "${PYTHON_INCLUDE_DIR}")
 string(REGEX REPLACE "\\\\" "/" PYTHON_SITE_PACKAGES "${PYTHON_SITE_PACKAGES}")
 
-if(CMAKE_HOST_WIN32)
+if(DEFINED PYTHON_LIBRARY)
+  # Don't write to PYTHON_LIBRARY if it's already set
+elseif(CMAKE_HOST_WIN32)
   set(PYTHON_LIBRARY "${PYTHON_PREFIX}/libs/python${PYTHON_LIBRARY_SUFFIX}.lib")
 
   # when run in a venv, PYTHON_PREFIX points to it. But the libraries remain in the
@@ -270,7 +276,7 @@ if(NOT PYTHON_DEBUG_LIBRARY)
 endif()
 set(PYTHON_DEBUG_LIBRARIES "${PYTHON_DEBUG_LIBRARY}")
 
-find_package_message(PYTHON "Found PythonLibs: ${PYTHON_LIBRARY}"
+find_package_message(PYTHON "Found PythonLibs: ${PYTHON_LIBRARIES}"
                      "${PYTHON_EXECUTABLE}${PYTHON_VERSION_STRING}")
 
 set(PYTHONLIBS_FOUND TRUE)
diff --git a/pybind11/tools/JoinPaths.cmake b/pybind11/tools/JoinPaths.cmake
new file mode 100644
index 000000000..c68d91b84
--- /dev/null
+++ b/pybind11/tools/JoinPaths.cmake
@@ -0,0 +1,23 @@
+# This module provides function for joining paths
+# known from most languages
+#
+# SPDX-License-Identifier: (MIT OR CC0-1.0)
+# Copyright 2020 Jan Tojnar
+# https://github.com/jtojnar/cmake-snips
+#
+# Modelled after Python’s os.path.join
+# https://docs.python.org/3.7/library/os.path.html#os.path.join
+# Windows not supported
+function(join_paths joined_path first_path_segment)
+    set(temp_path "${first_path_segment}")
+    foreach(current_segment IN LISTS ARGN)
+        if(NOT ("${current_segment}" STREQUAL ""))
+            if(IS_ABSOLUTE "${current_segment}")
+                set(temp_path "${current_segment}")
+            else()
+                set(temp_path "${temp_path}/${current_segment}")
+            endif()
+        endif()
+    endforeach()
+    set(${joined_path} "${temp_path}" PARENT_SCOPE)
+endfunction()
diff --git a/pybind11/tools/codespell_ignore_lines_from_errors.py b/pybind11/tools/codespell_ignore_lines_from_errors.py
new file mode 100644
index 000000000..4ec9add12
--- /dev/null
+++ b/pybind11/tools/codespell_ignore_lines_from_errors.py
@@ -0,0 +1,39 @@
+"""Simple script for rebuilding .codespell-ignore-lines
+
+Usage:
+
+cat < /dev/null > .codespell-ignore-lines
+pre-commit run --all-files codespell >& /tmp/codespell_errors.txt
+python3 tools/codespell_ignore_lines_from_errors.py /tmp/codespell_errors.txt > .codespell-ignore-lines
+
+git diff to review changes, then commit, push.
+"""
+
+import sys
+from typing import List
+
+
+def run(args: List[str]) -> None:
+    assert len(args) == 1, "codespell_errors.txt"
+    cache = {}
+    done = set()
+    with open(args[0]) as f:
+        lines = f.read().splitlines()
+
+    for line in sorted(lines):
+        i = line.find(" ==> ")
+        if i > 0:
+            flds = line[:i].split(":")
+            if len(flds) >= 2:
+                filename, line_num = flds[:2]
+                if filename not in cache:
+                    with open(filename) as f:
+                        cache[filename] = f.read().splitlines()
+                supp = cache[filename][int(line_num) - 1]
+                if supp not in done:
+                    print(supp)
+                    done.add(supp)
+
+
+if __name__ == "__main__":
+    run(args=sys.argv[1:])
diff --git a/pybind11/tools/make_changelog.py b/pybind11/tools/make_changelog.py
index 839040a93..b5bd83294 100755
--- a/pybind11/tools/make_changelog.py
+++ b/pybind11/tools/make_changelog.py
@@ -31,8 +31,10 @@ issues = (issue for page in issues_pages for issue in page)
 missing = []
 
 for issue in issues:
-    changelog = ENTRY.findall(issue.body)
-    if changelog:
+    changelog = ENTRY.findall(issue.body or "")
+    if not changelog or not changelog[0]:
+        missing.append(issue)
+    else:
         (msg,) = changelog
         if not msg.startswith("* "):
             msg = "* " + msg
@@ -44,9 +46,6 @@ for issue in issues:
         print(Syntax(msg, "rst", theme="ansi_light", word_wrap=True))
         print()
 
-    else:
-        missing.append(issue)
-
 if missing:
     print()
     print("[blue]" + "-" * 30)
diff --git a/pybind11/tools/pybind11.pc.in b/pybind11/tools/pybind11.pc.in
new file mode 100644
index 000000000..402f0b357
--- /dev/null
+++ b/pybind11/tools/pybind11.pc.in
@@ -0,0 +1,7 @@
+prefix=@prefix_for_pc_file@
+includedir=@includedir_for_pc_file@
+
+Name: @PROJECT_NAME@
+Description: Seamless operability between C++11 and Python
+Version: @PROJECT_VERSION@
+Cflags: -I${includedir}
diff --git a/pybind11/tools/pybind11Common.cmake b/pybind11/tools/pybind11Common.cmake
index e1fb601ac..308d1b70d 100644
--- a/pybind11/tools/pybind11Common.cmake
+++ b/pybind11/tools/pybind11Common.cmake
@@ -5,8 +5,8 @@ Adds the following targets::
     pybind11::pybind11 - link to headers and pybind11
     pybind11::module - Adds module links
     pybind11::embed - Adds embed links
-    pybind11::lto - Link time optimizations (manual selection)
-    pybind11::thin_lto - Link time optimizations (manual selection)
+    pybind11::lto - Link time optimizations (only if CMAKE_INTERPROCEDURAL_OPTIMIZATION is not set)
+    pybind11::thin_lto - Link time optimizations (only if CMAKE_INTERPROCEDURAL_OPTIMIZATION is not set)
     pybind11::python_link_helper - Adds link to Python libraries
     pybind11::windows_extras - MSVC bigobj and mp for building multithreaded
     pybind11::opt_size - avoid optimizations that increase code size
@@ -20,7 +20,7 @@ Adds the following functions::
 
 # CMake 3.10 has an include_guard command, but we can't use that yet
 # include_guard(global) (pre-CMake 3.10)
-if(TARGET pybind11::lto)
+if(TARGET pybind11::pybind11)
   return()
 endif()
 
@@ -163,11 +163,19 @@ endif()
 
 # --------------------- Python specifics -------------------------
 
+# CMake 3.27 removes the classic FindPythonInterp if CMP0148 is NEW
+if(CMAKE_VERSION VERSION_LESS "3.27")
+  set(_pybind11_missing_old_python "OLD")
+else()
+  cmake_policy(GET CMP0148 _pybind11_missing_old_python)
+endif()
+
 # Check to see which Python mode we are in, new, old, or no python
 if(PYBIND11_NOPYTHON)
   set(_pybind11_nopython ON)
 elseif(
-  PYBIND11_FINDPYTHON
+  _pybind11_missing_old_python STREQUAL "NEW"
+  OR PYBIND11_FINDPYTHON
   OR Python_FOUND
   OR Python2_FOUND
   OR Python3_FOUND)
@@ -311,6 +319,16 @@ function(_pybind11_generate_lto target prefer_thin_lto)
         HAS_FLTO "-flto${cxx_append}" "-flto${linker_append}" PYBIND11_LTO_CXX_FLAGS
         PYBIND11_LTO_LINKER_FLAGS)
     endif()
+  elseif(CMAKE_CXX_COMPILER_ID MATCHES "IntelLLVM")
+    # IntelLLVM equivalent to LTO is called IPO; also IntelLLVM is WIN32/UNIX
+    # WARNING/HELP WANTED: This block of code is currently not covered by pybind11 GitHub Actions!
+    if(WIN32)
+      _pybind11_return_if_cxx_and_linker_flags_work(
+        HAS_INTEL_IPO "-Qipo" "-Qipo" PYBIND11_LTO_CXX_FLAGS PYBIND11_LTO_LINKER_FLAGS)
+    else()
+      _pybind11_return_if_cxx_and_linker_flags_work(
+        HAS_INTEL_IPO "-ipo" "-ipo" PYBIND11_LTO_CXX_FLAGS PYBIND11_LTO_LINKER_FLAGS)
+    endif()
   elseif(CMAKE_CXX_COMPILER_ID MATCHES "Intel")
     # Intel equivalent to LTO is called IPO
     _pybind11_return_if_cxx_and_linker_flags_work(HAS_INTEL_IPO "-ipo" "-ipo"
@@ -362,11 +380,13 @@ function(_pybind11_generate_lto target prefer_thin_lto)
   endif()
 endfunction()
 
-add_library(pybind11::lto IMPORTED INTERFACE ${optional_global})
-_pybind11_generate_lto(pybind11::lto FALSE)
+if(NOT DEFINED CMAKE_INTERPROCEDURAL_OPTIMIZATION)
+  add_library(pybind11::lto IMPORTED INTERFACE ${optional_global})
+  _pybind11_generate_lto(pybind11::lto FALSE)
 
-add_library(pybind11::thin_lto IMPORTED INTERFACE ${optional_global})
-_pybind11_generate_lto(pybind11::thin_lto TRUE)
+  add_library(pybind11::thin_lto IMPORTED INTERFACE ${optional_global})
+  _pybind11_generate_lto(pybind11::thin_lto TRUE)
+endif()
 
 # ---------------------- pybind11_strip -----------------------------
 
diff --git a/pybind11/tools/pybind11Config.cmake.in b/pybind11/tools/pybind11Config.cmake.in
index 9383e8c67..5734f437b 100644
--- a/pybind11/tools/pybind11Config.cmake.in
+++ b/pybind11/tools/pybind11Config.cmake.in
@@ -63,7 +63,9 @@ Modes
 
 There are two modes provided; classic, which is built on the old Python
 discovery packages in CMake, or the new FindPython mode, which uses FindPython
-from 3.12+ forward (3.15+ _highly_ recommended).
+from 3.12+ forward (3.15+ _highly_ recommended). If you set the minimum or
+maximum version of CMake to 3.27+, then FindPython is the default (since
+FindPythonInterp/FindPythonLibs has been removed via policy `CMP0148`).
 
 New FindPython mode
 ^^^^^^^^^^^^^^^^^^^
diff --git a/pybind11/tools/pybind11NewTools.cmake b/pybind11/tools/pybind11NewTools.cmake
index abba0fe0e..7d7424a79 100644
--- a/pybind11/tools/pybind11NewTools.cmake
+++ b/pybind11/tools/pybind11NewTools.cmake
@@ -9,7 +9,7 @@ if(CMAKE_VERSION VERSION_LESS 3.12)
   message(FATAL_ERROR "You cannot use the new FindPython module with CMake < 3.12")
 endif()
 
-include_guard(GLOBAL)
+include_guard(DIRECTORY)
 
 get_property(
   is_config
@@ -233,7 +233,9 @@ function(pybind11_add_module target_name)
     endif()
   endif()
 
-  if(NOT MSVC AND NOT ${CMAKE_BUILD_TYPE} MATCHES Debug|RelWithDebInfo)
+  # Use case-insensitive comparison to match the result of $<CONFIG:cfgs>
+  string(TOUPPER "${CMAKE_BUILD_TYPE}" uppercase_CMAKE_BUILD_TYPE)
+  if(NOT MSVC AND NOT "${uppercase_CMAKE_BUILD_TYPE}" MATCHES DEBUG|RELWITHDEBINFO)
     # Strip unnecessary sections of the binary on Linux/macOS
     pybind11_strip(${target_name})
   endif()
diff --git a/pybind11/tools/pybind11Tools.cmake b/pybind11/tools/pybind11Tools.cmake
index 5535e872f..66ad00a47 100644
--- a/pybind11/tools/pybind11Tools.cmake
+++ b/pybind11/tools/pybind11Tools.cmake
@@ -115,6 +115,7 @@ if(PYTHON_IS_DEBUG)
     PROPERTY INTERFACE_COMPILE_DEFINITIONS Py_DEBUG)
 endif()
 
+# The <3.11 code here does not support release/debug builds at the same time, like on vcpkg
 if(CMAKE_VERSION VERSION_LESS 3.11)
   set_property(
     TARGET pybind11::module
@@ -130,16 +131,19 @@ if(CMAKE_VERSION VERSION_LESS 3.11)
     APPEND
     PROPERTY INTERFACE_LINK_LIBRARIES pybind11::pybind11 $<BUILD_INTERFACE:${PYTHON_LIBRARIES}>)
 else()
+  # The IMPORTED INTERFACE library here is to ensure that "debug" and "release" get processed outside
+  # of a generator expression - https://gitlab.kitware.com/cmake/cmake/-/issues/18424, as they are
+  # target_link_library keywords rather than real libraries.
+  add_library(pybind11::_ClassicPythonLibraries IMPORTED INTERFACE)
+  target_link_libraries(pybind11::_ClassicPythonLibraries INTERFACE ${PYTHON_LIBRARIES})
   target_link_libraries(
     pybind11::module
     INTERFACE
       pybind11::python_link_helper
-      "$<$<OR:$<PLATFORM_ID:Windows>,$<PLATFORM_ID:Cygwin>>:$<BUILD_INTERFACE:${PYTHON_LIBRARIES}>>"
-  )
+      "$<$<OR:$<PLATFORM_ID:Windows>,$<PLATFORM_ID:Cygwin>>:pybind11::_ClassicPythonLibraries>")
 
   target_link_libraries(pybind11::embed INTERFACE pybind11::pybind11
-                                                  $<BUILD_INTERFACE:${PYTHON_LIBRARIES}>)
-
+                                                  pybind11::_ClassicPythonLibraries)
 endif()
 
 function(pybind11_extension name)
@@ -208,7 +212,9 @@ function(pybind11_add_module target_name)
     endif()
   endif()
 
-  if(NOT MSVC AND NOT ${CMAKE_BUILD_TYPE} MATCHES Debug|RelWithDebInfo)
+  # Use case-insensitive comparison to match the result of $<CONFIG:cfgs>
+  string(TOUPPER "${CMAKE_BUILD_TYPE}" uppercase_CMAKE_BUILD_TYPE)
+  if(NOT MSVC AND NOT "${uppercase_CMAKE_BUILD_TYPE}" MATCHES DEBUG|RELWITHDEBINFO)
     pybind11_strip(${target_name})
   endif()
 
diff --git a/pybind11/tools/setup_global.py.in b/pybind11/tools/setup_global.py.in
index 8aa387178..885ac5c72 100644
--- a/pybind11/tools/setup_global.py.in
+++ b/pybind11/tools/setup_global.py.in
@@ -27,9 +27,11 @@ class InstallHeadersNested(install_headers):
 
 main_headers = glob.glob("pybind11/include/pybind11/*.h")
 detail_headers = glob.glob("pybind11/include/pybind11/detail/*.h")
+eigen_headers = glob.glob("pybind11/include/pybind11/eigen/*.h")
 stl_headers = glob.glob("pybind11/include/pybind11/stl/*.h")
 cmake_files = glob.glob("pybind11/share/cmake/pybind11/*.cmake")
-headers = main_headers + detail_headers + stl_headers
+pkgconfig_files = glob.glob("pybind11/share/pkgconfig/*.pc")
+headers = main_headers + detail_headers + stl_headers + eigen_headers
 
 cmdclass = {"install_headers": InstallHeadersNested}
 $extra_cmd
@@ -51,8 +53,10 @@ setup(
     headers=headers,
     data_files=[
         (base + "share/cmake/pybind11", cmake_files),
+        (base + "share/pkgconfig", pkgconfig_files),
         (base + "include/pybind11", main_headers),
         (base + "include/pybind11/detail", detail_headers),
+        (base + "include/pybind11/eigen", eigen_headers),
         (base + "include/pybind11/stl", stl_headers),
     ],
     cmdclass=cmdclass,
diff --git a/pybind11/tools/setup_main.py.in b/pybind11/tools/setup_main.py.in
index 738d73faa..6358cc7b9 100644
--- a/pybind11/tools/setup_main.py.in
+++ b/pybind11/tools/setup_main.py.in
@@ -15,15 +15,19 @@ setup(
         "pybind11",
         "pybind11.include.pybind11",
         "pybind11.include.pybind11.detail",
+        "pybind11.include.pybind11.eigen",
         "pybind11.include.pybind11.stl",
         "pybind11.share.cmake.pybind11",
+        "pybind11.share.pkgconfig",
     ],
     package_data={
         "pybind11": ["py.typed"],
         "pybind11.include.pybind11": ["*.h"],
         "pybind11.include.pybind11.detail": ["*.h"],
+        "pybind11.include.pybind11.eigen": ["*.h"],
         "pybind11.include.pybind11.stl": ["*.h"],
         "pybind11.share.cmake.pybind11": ["*.cmake"],
+        "pybind11.share.pkgconfig": ["*.pc"],
     },
     extras_require={
         "global": ["pybind11_global==$version"]

From fe2080f2b13404f05f5b3c75de0725e39a79e7c2 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 5 Sep 2023 12:04:54 -0400
Subject: [PATCH 150/206] fix warnings due to PEP 420

---
 python/setup.py.in | 15 ++++++---------
 1 file changed, 6 insertions(+), 9 deletions(-)

diff --git a/python/setup.py.in b/python/setup.py.in
index 9aa4b71f4..e15e39075 100644
--- a/python/setup.py.in
+++ b/python/setup.py.in
@@ -1,19 +1,17 @@
 """Setup file to install the GTSAM package."""
 
-try:
-    from setuptools import setup, find_packages
-except ImportError:
-    from distutils.core import setup, find_packages
+from setuptools import setup, find_namespace_packages
 
-packages = find_packages(where=".")
+packages = find_namespace_packages(
+    where=".",
+    exclude=('build', 'build.*', 'CMakeFiles', 'CMakeFiles.*',
+             'gtsam.notebooks', '*.preamble', '*.specializations', 'dist'))
 print("PACKAGES: ", packages)
 
 package_data = {
     '': [
         "./*.so",
-        "./*.dll",
-        "Data/*"  # Add the data files to the package
-        "Data/**/*"  # Add the data files in subdirectories
+        "./*.dll"
     ]
 }
 
@@ -41,7 +39,6 @@ setup(
         'Operating System :: Microsoft :: Windows',
         'Operating System :: POSIX',
         'License :: OSI Approved :: BSD License',
-        'Programming Language :: Python :: 2',
         'Programming Language :: Python :: 3',
     ],
     packages=packages,

From 67ef015e0c536cee576450e4cad0b87e2cbc2cfb Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 5 Sep 2023 12:36:56 -0400
Subject: [PATCH 151/206] separate required and dev dependencies

---
 python/dev_requirements.txt | 2 ++
 python/requirements.txt     | 1 -
 2 files changed, 2 insertions(+), 1 deletion(-)
 create mode 100644 python/dev_requirements.txt

diff --git a/python/dev_requirements.txt b/python/dev_requirements.txt
new file mode 100644
index 000000000..6970ee613
--- /dev/null
+++ b/python/dev_requirements.txt
@@ -0,0 +1,2 @@
+-r requirements.txt
+pyparsing>=2.4.2
\ No newline at end of file
diff --git a/python/requirements.txt b/python/requirements.txt
index 481d27d8e..099cc80d6 100644
--- a/python/requirements.txt
+++ b/python/requirements.txt
@@ -1,2 +1 @@
 numpy>=1.11.0
-pyparsing>=2.4.2

From 42e4a4f6daab701bdcf0b404ef9f1c40fbb101cf Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 5 Sep 2023 12:37:12 -0400
Subject: [PATCH 152/206] install dev dependencies using CMake

---
 python/CMakeLists.txt | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index 2b2abf507..f67cbb67e 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -1,9 +1,16 @@
 set(GTSAM_PYTHON_BUILD_DIRECTORY ${PROJECT_BINARY_DIR}/python)
+set(PROJECT_PYTHON_SOURCE_DIR ${PROJECT_SOURCE_DIR}/python)
 
 if (NOT GTSAM_BUILD_PYTHON)
     return()
 endif()
 
+# Install development dependencies to build wrapper
+message(STATUS "Installing Python development dependencies")
+execute_process(COMMAND "${PYTHON_EXECUTABLE}" "-m" "pip" "install" "-r" "dev_requirements.txt"
+                WORKING_DIRECTORY ${PROJECT_PYTHON_SOURCE_DIR}
+                OUTPUT_QUIET)
+
 # Generate setup.py.
 file(READ "${PROJECT_SOURCE_DIR}/README.md" README_CONTENTS)
 configure_file(${PROJECT_SOURCE_DIR}/python/setup.py.in

From cb661a9f8929dfb064b2eca75091542e7562ac5e Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 5 Sep 2023 12:38:37 -0400
Subject: [PATCH 153/206] use variable for Python source directory

---
 python/CMakeLists.txt | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index f67cbb67e..61c9797c2 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -1,5 +1,5 @@
-set(GTSAM_PYTHON_BUILD_DIRECTORY ${PROJECT_BINARY_DIR}/python)
 set(PROJECT_PYTHON_SOURCE_DIR ${PROJECT_SOURCE_DIR}/python)
+set(GTSAM_PYTHON_BUILD_DIRECTORY ${PROJECT_BINARY_DIR}/python)
 
 if (NOT GTSAM_BUILD_PYTHON)
     return()
@@ -13,11 +13,11 @@ execute_process(COMMAND "${PYTHON_EXECUTABLE}" "-m" "pip" "install" "-r" "dev_re
 
 # Generate setup.py.
 file(READ "${PROJECT_SOURCE_DIR}/README.md" README_CONTENTS)
-configure_file(${PROJECT_SOURCE_DIR}/python/setup.py.in
+configure_file(${PROJECT_PYTHON_SOURCE_DIR}/setup.py.in
                 ${GTSAM_PYTHON_BUILD_DIRECTORY}/setup.py)
 
 # Supply MANIFEST.in for older versions of Python
-file(COPY ${PROJECT_SOURCE_DIR}/python/MANIFEST.in
+file(COPY ${PROJECT_PYTHON_SOURCE_DIR}/MANIFEST.in
      DESTINATION ${GTSAM_PYTHON_BUILD_DIRECTORY})
 
 set(WRAP_BUILD_TYPE_POSTFIXES ${GTSAM_BUILD_TYPE_POSTFIXES})
@@ -106,7 +106,7 @@ pybind_wrap(${GTSAM_PYTHON_TARGET} # target
             "gtsam" # module_name
             "gtsam" # top_namespace
             "${ignore}" # ignore_classes
-            ${PROJECT_SOURCE_DIR}/python/gtsam/gtsam.tpl
+            ${PROJECT_PYTHON_SOURCE_DIR}/gtsam/gtsam.tpl
             gtsam # libs
             "gtsam;gtsam_header" # dependencies
             ${GTSAM_ENABLE_BOOST_SERIALIZATION} # use_boost_serialization
@@ -185,7 +185,7 @@ if(GTSAM_UNSTABLE_BUILD_PYTHON)
             "gtsam_unstable" # module_name
             "gtsam" # top_namespace
             "${ignore}" # ignore_classes
-            ${PROJECT_SOURCE_DIR}/python/gtsam_unstable/gtsam_unstable.tpl
+            ${PROJECT_PYTHON_SOURCE_DIR}/gtsam_unstable/gtsam_unstable.tpl
             gtsam_unstable # libs
             "gtsam_unstable;gtsam_unstable_header" # dependencies
             ${GTSAM_ENABLE_BOOST_SERIALIZATION} # use_boost_serialization

From b8ec7650350ac8c423e22903affe8bda7f4ae28c Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 5 Sep 2023 12:40:10 -0400
Subject: [PATCH 154/206] remove requirements install step as it is now a part
 of the cmake process

---
 .github/scripts/python.sh             | 2 --
 docker/ubuntu-gtsam-python/Dockerfile | 3 ---
 python/README.md                      | 2 +-
 3 files changed, 1 insertion(+), 6 deletions(-)

diff --git a/.github/scripts/python.sh b/.github/scripts/python.sh
index c72e9abd6..08b8084a0 100644
--- a/.github/scripts/python.sh
+++ b/.github/scripts/python.sh
@@ -39,8 +39,6 @@ function install_dependencies()
   if [ "${GTSAM_WITH_TBB:-OFF}" == "ON" ]; then
     install_tbb
   fi
-
-  $PYTHON -m pip install -r $GITHUB_WORKSPACE/python/requirements.txt
 }
 
 function build()
diff --git a/docker/ubuntu-gtsam-python/Dockerfile b/docker/ubuntu-gtsam-python/Dockerfile
index 85eed4d4e..4a7c4b37f 100644
--- a/docker/ubuntu-gtsam-python/Dockerfile
+++ b/docker/ubuntu-gtsam-python/Dockerfile
@@ -6,9 +6,6 @@ FROM borglab/ubuntu-gtsam:bionic
 # Install pip
 RUN apt-get install -y python3-pip python3-dev
 
-# Install python wrapper requirements
-RUN python3 -m pip install -U -r /usr/src/gtsam/python/requirements.txt
-
 # Run cmake again, now with python toolbox on
 WORKDIR /usr/src/gtsam/build
 RUN cmake \
diff --git a/python/README.md b/python/README.md
index 278d62094..e81be74fc 100644
--- a/python/README.md
+++ b/python/README.md
@@ -16,7 +16,7 @@ For instructions on updating the version of the [wrap library](https://github.co
 - This wrapper needs `pyparsing(>=2.4.2)`, and `numpy(>=1.11.0)`. These can be installed as follows:
 
   ```bash
-  pip install -r <gtsam_folder>/python/requirements.txt
+  pip install -r <gtsam_folder>/python/dev_requirements.txt
   ```
 
 ## Install

From 651159f939ad85090902fd89264cc7a0b01b937d Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 7 Sep 2023 16:29:37 -0400
Subject: [PATCH 155/206] remove std:: from return type pair

---
 gtsam/discrete/discrete.i | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/gtsam/discrete/discrete.i b/gtsam/discrete/discrete.i
index fe8cbc7f3..a1731f8e5 100644
--- a/gtsam/discrete/discrete.i
+++ b/gtsam/discrete/discrete.i
@@ -280,11 +280,11 @@ class DiscreteLookupDAG {
 };
 
 #include <gtsam/discrete/DiscreteFactorGraph.h>
-std::pair<gtsam::DiscreteConditional*, gtsam::DecisionTreeFactor*>
+pair<gtsam::DiscreteConditional*, gtsam::DecisionTreeFactor*>
 EliminateDiscrete(const gtsam::DiscreteFactorGraph& factors,
                   const gtsam::Ordering& frontalKeys);
 
-std::pair<gtsam::DiscreteConditional*, gtsam::DecisionTreeFactor*>
+pair<gtsam::DiscreteConditional*, gtsam::DecisionTreeFactor*>
 EliminateForMPE(const gtsam::DiscreteFactorGraph& factors,
                 const gtsam::Ordering& frontalKeys);
 

From d2e4dff214d5c0fb7b8fd7b93ef2f3d936f280ac Mon Sep 17 00:00:00 2001
From: Jose Luis Blanco-Claraco <joseluisblancoc@gmail.com>
Date: Tue, 5 Sep 2023 11:10:01 +0200
Subject: [PATCH 156/206] Relax unit test thresholds to fix 32bit issues

Use a conditional threshold depending on architecture
---
 gtsam/geometry/tests/testSphericalCamera.cpp | 25 +++++++++++++-------
 1 file changed, 16 insertions(+), 9 deletions(-)

diff --git a/gtsam/geometry/tests/testSphericalCamera.cpp b/gtsam/geometry/tests/testSphericalCamera.cpp
index 4bc851f35..cf8970dc4 100644
--- a/gtsam/geometry/tests/testSphericalCamera.cpp
+++ b/gtsam/geometry/tests/testSphericalCamera.cpp
@@ -24,6 +24,13 @@
 #include <cmath>
 #include <iostream>
 
+#if defined(__i686__) || defined(__i386__)
+// See issue discussion: https://github.com/borglab/gtsam/issues/1605
+constexpr double TEST_THRESHOLD = 1e-5;
+#else
+constexpr double TEST_THRESHOLD = 1e-7;
+#endif
+
 using namespace std::placeholders;
 using namespace std;
 using namespace gtsam;
@@ -104,8 +111,8 @@ TEST(SphericalCamera, Dproject) {
   Matrix numerical_pose = numericalDerivative21(project3, pose, point1);
   Matrix numerical_point = numericalDerivative22(project3, pose, point1);
   EXPECT(assert_equal(bearing1, result));
-  EXPECT(assert_equal(numerical_pose, Dpose, 1e-7));
-  EXPECT(assert_equal(numerical_point, Dpoint, 1e-7));
+  EXPECT(assert_equal(numerical_pose, Dpose, TEST_THRESHOLD));
+  EXPECT(assert_equal(numerical_point, Dpoint, TEST_THRESHOLD));
 }
 
 /* ************************************************************************* */
@@ -123,8 +130,8 @@ TEST(SphericalCamera, reprojectionError) {
   Matrix numerical_point =
       numericalDerivative32(reprojectionError2, pose, point1, bearing1);
   EXPECT(assert_equal(Vector2(0.0, 0.0), result));
-  EXPECT(assert_equal(numerical_pose, Dpose, 1e-7));
-  EXPECT(assert_equal(numerical_point, Dpoint, 1e-7));
+  EXPECT(assert_equal(numerical_pose, Dpose, TEST_THRESHOLD));
+  EXPECT(assert_equal(numerical_point, Dpoint, TEST_THRESHOLD));
 }
 
 /* ************************************************************************* */
@@ -137,9 +144,9 @@ TEST(SphericalCamera, reprojectionError_noisy) {
       numericalDerivative31(reprojectionError2, pose, point1, bearing_noisy);
   Matrix numerical_point =
       numericalDerivative32(reprojectionError2, pose, point1, bearing_noisy);
-  EXPECT(assert_equal(Vector2(-0.050282, 0.00833482), result, 1e-5));
-  EXPECT(assert_equal(numerical_pose, Dpose, 1e-7));
-  EXPECT(assert_equal(numerical_point, Dpoint, 1e-7));
+  EXPECT(assert_equal(Vector2(-0.050282, 0.00833482), result, 1e2*TEST_THRESHOLD));
+  EXPECT(assert_equal(numerical_pose, Dpose, TEST_THRESHOLD));
+  EXPECT(assert_equal(numerical_point, Dpoint, TEST_THRESHOLD));
 }
 
 /* ************************************************************************* */
@@ -151,8 +158,8 @@ TEST(SphericalCamera, Dproject2) {
   camera.project2(point1, Dpose, Dpoint);
   Matrix numerical_pose = numericalDerivative21(project3, pose1, point1);
   Matrix numerical_point = numericalDerivative22(project3, pose1, point1);
-  CHECK(assert_equal(numerical_pose, Dpose, 1e-7));
-  CHECK(assert_equal(numerical_point, Dpoint, 1e-7));
+  CHECK(assert_equal(numerical_pose, Dpose, TEST_THRESHOLD));
+  CHECK(assert_equal(numerical_point, Dpoint, TEST_THRESHOLD));
 }
 
 /* ************************************************************************* */

From 87e7a03108dc27dd34a2a0eb561208474b435d34 Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio@traversaro.it>
Date: Sat, 9 Sep 2023 16:00:49 +0200
Subject: [PATCH 157/206] Remove setting CMAKE_MACOSX_RPATH to 0 by default

---
 CMakeLists.txt | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 309cc7c4e..63c7f9e54 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,11 +1,5 @@
 cmake_minimum_required(VERSION 3.0)
 
-# new feature to Cmake Version > 2.8.12
-# Mac ONLY. Define Relative Path on Mac OS
-if(NOT DEFINED CMAKE_MACOSX_RPATH)
-  set(CMAKE_MACOSX_RPATH 0)
-endif()
-
 # Set the version number for the library
 set (GTSAM_VERSION_MAJOR 4)
 set (GTSAM_VERSION_MINOR 3)

From d6e9889f45c6df3e9410db8e3eadfbe61e75c232 Mon Sep 17 00:00:00 2001
From: achintyamohan <achintyamohan2002@gmail.com>
Date: Sun, 10 Sep 2023 20:07:12 -0400
Subject: [PATCH 158/206] Add cpp example for GNC

---
 examples/GNCExample.cpp | 67 +++++++++++++++++++++++++++++++++++++++++
 1 file changed, 67 insertions(+)
 create mode 100644 examples/GNCExample.cpp

diff --git a/examples/GNCExample.cpp b/examples/GNCExample.cpp
new file mode 100644
index 000000000..651e470c8
--- /dev/null
+++ b/examples/GNCExample.cpp
@@ -0,0 +1,67 @@
+/* ----------------------------------------------------------------------------
+
+ * 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 GNCExample.cpp
+ * @brief Simple example showcasing a Graduated Non-Convexity based solver
+ * @author Achintya Mohan
+ */
+
+#include <gtsam/geometry/Point2.h>
+#include <gtsam/nonlinear/GncOptimizer.h>
+#include <gtsam/nonlinear/GncParams.h>
+#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
+#include <gtsam/nonlinear/LevenbergMarquardtParams.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
+#include <gtsam/slam/BetweenFactor.h>
+
+#include <iostream>
+
+using namespace std;
+using namespace gtsam;
+
+int main() {
+  cout << "Graduated Non-Convexity Example\n";
+
+  NonlinearFactorGraph graph;
+
+  // Add a prior to the first point, set to the origin
+  auto priorNoise = noiseModel::Isotropic::Sigma(2, 0.1);
+  graph.addPrior(1, Point2(0.0, 0.0), priorNoise);
+
+  // Add additional factors, noise models must be Gaussian 
+  Point2 x1(1.0, 0.0);
+  graph.emplace_shared<BetweenFactor<Point2>>(1, 2, x1, noiseModel::Isotropic::Sigma(2, 0.2));
+  Point2 x2(1.1, 0.1);
+  graph.emplace_shared<BetweenFactor<Point2>>(2, 3, x2, noiseModel::Isotropic::Sigma(2, 0.4));
+
+  // Initial estimates
+  Values initial;
+  initial.insert(1, Point2(0.5, -0.1));
+  initial.insert(2, Point2(1.3, 0.1));
+  initial.insert(3, Point2(0.8, 0.2));
+
+  // Set options for the non-minimal solver
+  LevenbergMarquardtParams lmParams;
+  lmParams.setMaxIterations(1000);
+  lmParams.setRelativeErrorTol(1e-5);
+
+  // Set GNC-specific options
+  GncParams<LevenbergMarquardtParams> gncParams(lmParams);
+  gncParams.setLossType(GncLossType::TLS);
+
+  // Optimize the graph and print results
+  GncOptimizer<GncParams<LevenbergMarquardtParams>> optimizer(graph, initial, gncParams);
+  Values result = optimizer.optimize();
+  result.print("Final Result:");
+
+  return 0;
+}
\ No newline at end of file

From 5cb98a6dcdf7cf4b0624f97e526cff99b4a6b85a Mon Sep 17 00:00:00 2001
From: achintyamohan <achintyamohan2002@gmail.com>
Date: Mon, 11 Sep 2023 16:54:31 -0400
Subject: [PATCH 159/206] Modify GNC example, add comments to explain example
 purpose

---
 examples/GNCExample.cpp | 30 +++++++++++++++++++-----------
 1 file changed, 19 insertions(+), 11 deletions(-)

diff --git a/examples/GNCExample.cpp b/examples/GNCExample.cpp
index 651e470c8..8a4f0706f 100644
--- a/examples/GNCExample.cpp
+++ b/examples/GNCExample.cpp
@@ -15,7 +15,14 @@
  * @author Achintya Mohan
  */
 
-#include <gtsam/geometry/Point2.h>
+/**
+ * A simple 2D pose graph optimization example
+ * - The robot is initially at origin (0.0, 0.0, 0.0) 
+ * - We have full odometry measurements for 2 motions
+ * - The robot first moves to (1.0, 0.0, 0.1) and then to (1.0, 1.0, 0.2) 
+ */
+
+#include <gtsam/geometry/Pose2.h>
 #include <gtsam/nonlinear/GncOptimizer.h>
 #include <gtsam/nonlinear/GncParams.h>
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
@@ -34,20 +41,20 @@ int main() {
   NonlinearFactorGraph graph;
 
   // Add a prior to the first point, set to the origin
-  auto priorNoise = noiseModel::Isotropic::Sigma(2, 0.1);
-  graph.addPrior(1, Point2(0.0, 0.0), priorNoise);
+  auto priorNoise = noiseModel::Isotropic::Sigma(3, 0.1);
+  graph.addPrior(1, Pose2(0.0, 0.0, 0.0), priorNoise);
 
   // Add additional factors, noise models must be Gaussian 
-  Point2 x1(1.0, 0.0);
-  graph.emplace_shared<BetweenFactor<Point2>>(1, 2, x1, noiseModel::Isotropic::Sigma(2, 0.2));
-  Point2 x2(1.1, 0.1);
-  graph.emplace_shared<BetweenFactor<Point2>>(2, 3, x2, noiseModel::Isotropic::Sigma(2, 0.4));
+  Pose2 x1(1.0, 0.0, 0.1);
+  graph.emplace_shared<BetweenFactor<Pose2>>(1, 2, x1, noiseModel::Isotropic::Sigma(3, 0.2));
+  Pose2 x2(0.0, 1.0, 0.1);
+  graph.emplace_shared<BetweenFactor<Pose2>>(2, 3, x2, noiseModel::Isotropic::Sigma(3, 0.4));
 
   // Initial estimates
   Values initial;
-  initial.insert(1, Point2(0.5, -0.1));
-  initial.insert(2, Point2(1.3, 0.1));
-  initial.insert(3, Point2(0.8, 0.2));
+  initial.insert(1, Pose2(0.2, 0.5, -0.1));
+  initial.insert(2, Pose2(0.8, 0.3, 0.1));
+  initial.insert(3, Pose2(0.8, 0.2, 0.3));
 
   // Set options for the non-minimal solver
   LevenbergMarquardtParams lmParams;
@@ -64,4 +71,5 @@ int main() {
   result.print("Final Result:");
 
   return 0;
-}
\ No newline at end of file
+}
+

From e859e9932b3c417f45e2c8fedfe72c34ddb069c4 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 15 Sep 2023 16:27:48 -0400
Subject: [PATCH 160/206] fix CMake variable in doc folder

---
 doc/CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/doc/CMakeLists.txt b/doc/CMakeLists.txt
index f0975821f..05e0a13ef 100644
--- a/doc/CMakeLists.txt
+++ b/doc/CMakeLists.txt
@@ -56,7 +56,7 @@ if (GTSAM_BUILD_DOCS)
     if (GTSAM_BUILD_UNSTABLE)
         list(APPEND doc_subdirs ${gtsam_unstable_doc_subdirs})
     endif()
-    if (GTSAM_BUILD_EXAMPLES)
+    if (GTSAM_BUILD_EXAMPLES_ALWAYS)
         list(APPEND doc_subdirs examples)
     endif()
     

From 84b42ed3920a02feb6dd0e424a0aa02df8a50edb Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 18 Sep 2023 22:54:23 -0400
Subject: [PATCH 161/206] use the string argument in DiscreteKeys::print

---
 gtsam/discrete/DiscreteKey.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/gtsam/discrete/DiscreteKey.cpp b/gtsam/discrete/DiscreteKey.cpp
index 79d11d8a7..17f233695 100644
--- a/gtsam/discrete/DiscreteKey.cpp
+++ b/gtsam/discrete/DiscreteKey.cpp
@@ -49,6 +49,7 @@ namespace gtsam {
 
   void DiscreteKeys::print(const std::string& s,
                            const KeyFormatter& keyFormatter) const {
+    std::cout << (s.empty() ? "" : s + " ") << std::endl;
     for (auto&& dkey : *this) {
       std::cout << DefaultKeyFormatter(dkey.first) << " " << dkey.second
                 << std::endl;

From bef76b50f9634aec1f9ce0a92ed809ab90ea1807 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 18 Sep 2023 22:54:45 -0400
Subject: [PATCH 162/206] change TODO to note since calling .eval() in Eigen is
 valid

---
 gtsam/geometry/CameraSet.h | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/gtsam/geometry/CameraSet.h b/gtsam/geometry/CameraSet.h
index 950747102..cf4beb883 100644
--- a/gtsam/geometry/CameraSet.h
+++ b/gtsam/geometry/CameraSet.h
@@ -438,8 +438,7 @@ class CameraSet : public std::vector<CAMERA, Eigen::aligned_allocator<CAMERA>> {
 
       // (DxD) += (DxZDim) * ( (ZDimxD) - (ZDimx3) * (3xZDim) * (ZDimxD) )
       // add contribution of current factor
-      // TODO(gareth): Eigen doesn't let us pass the expression. Call eval() for
-      // now...
+      // Eigen doesn't let us pass the expression so we call eval()
       augmentedHessian.updateDiagonalBlock(
           aug_i,
           ((FiT *

From 299e5fd42e0ce93d36c14e7e97c9d66c1d664905 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 18 Sep 2023 22:55:34 -0400
Subject: [PATCH 163/206] remove unnecessary push_back

---
 gtsam/hybrid/HybridNonlinearFactorGraph.cpp | 2 --
 1 file changed, 2 deletions(-)

diff --git a/gtsam/hybrid/HybridNonlinearFactorGraph.cpp b/gtsam/hybrid/HybridNonlinearFactorGraph.cpp
index 2459e4ec9..e51adb9cd 100644
--- a/gtsam/hybrid/HybridNonlinearFactorGraph.cpp
+++ b/gtsam/hybrid/HybridNonlinearFactorGraph.cpp
@@ -56,8 +56,6 @@ HybridGaussianFactorGraph::shared_ptr HybridNonlinearFactorGraph::linearize(
   for (auto& f : factors_) {
     // First check if it is a valid factor
     if (!f) {
-      // TODO(dellaert): why?
-      linearFG->push_back(GaussianFactor::shared_ptr());
       continue;
     }
     // Check if it is a nonlinear mixture factor

From 8255ad596cecda7e9c9a6ee050d68d13df25c83c Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 18 Sep 2023 22:57:24 -0400
Subject: [PATCH 164/206] add Testable traits to DiscreteBayesTree and
 HybridBayesTree

---
 gtsam/discrete/DiscreteBayesTree.h | 8 ++++++++
 gtsam/hybrid/HybridBayesTree.h     | 4 ++++
 2 files changed, 12 insertions(+)

diff --git a/gtsam/discrete/DiscreteBayesTree.h b/gtsam/discrete/DiscreteBayesTree.h
index 34f8f5d4a..89baf49a9 100644
--- a/gtsam/discrete/DiscreteBayesTree.h
+++ b/gtsam/discrete/DiscreteBayesTree.h
@@ -110,4 +110,12 @@ class GTSAM_EXPORT DiscreteBayesTree
   /// @}
 };
 
+/// traits
+template <>
+struct traits<DiscreteBayesTreeClique>
+    : public Testable<DiscreteBayesTreeClique> {};
+
+template <>
+struct traits<DiscreteBayesTree> : public Testable<DiscreteBayesTree> {};
+
 }  // namespace gtsam
diff --git a/gtsam/hybrid/HybridBayesTree.h b/gtsam/hybrid/HybridBayesTree.h
index bc2a0f852..f91e16cbf 100644
--- a/gtsam/hybrid/HybridBayesTree.h
+++ b/gtsam/hybrid/HybridBayesTree.h
@@ -123,6 +123,10 @@ class GTSAM_EXPORT HybridBayesTree : public BayesTree<HybridBayesTreeClique> {
 };
 
 /// traits
+template <>
+struct traits<HybridBayesTreeClique> : public Testable<HybridBayesTreeClique> {
+};
+
 template <>
 struct traits<HybridBayesTree> : public Testable<HybridBayesTree> {};
 

From 3779f5280d14f2700227e403d87f8189d018b5ad Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 18 Sep 2023 22:57:59 -0400
Subject: [PATCH 165/206] use STL to make DecisionTreeFactor::combine more
 efficient

---
 gtsam/discrete/DecisionTreeFactor.cpp | 24 ++++++++++++++++--------
 1 file changed, 16 insertions(+), 8 deletions(-)

diff --git a/gtsam/discrete/DecisionTreeFactor.cpp b/gtsam/discrete/DecisionTreeFactor.cpp
index 17731453a..7202e6853 100644
--- a/gtsam/discrete/DecisionTreeFactor.cpp
+++ b/gtsam/discrete/DecisionTreeFactor.cpp
@@ -164,15 +164,23 @@ namespace gtsam {
     }
 
     // create new factor, note we collect keys that are not in frontalKeys
-    // TODO(frank): why do we need this??? result should contain correct keys!!!
+    /*
+    Due to branch merging, the labels in `result` may be missing some keys
+    E.g. After branch merging, we may get a ADT like:
+      Leaf [2] 1.0204082
+
+    This is missing the key values used for branching.
+    */
+    KeyVector difference, frontalKeys_(frontalKeys), keys_(keys());
+    // Get the difference of the frontalKeys and the factor keys using set_difference
+    std::sort(keys_.begin(), keys_.end());
+    std::sort(frontalKeys_.begin(), frontalKeys_.end());
+    std::set_difference(keys_.begin(), keys_.end(), frontalKeys_.begin(),
+                        frontalKeys_.end(), back_inserter(difference));
+
     DiscreteKeys dkeys;
-    for (i = 0; i < keys().size(); i++) {
-      Key j = keys()[i];
-      // TODO(frank): inefficient!
-      if (std::find(frontalKeys.begin(), frontalKeys.end(), j) !=
-          frontalKeys.end())
-        continue;
-      dkeys.push_back(DiscreteKey(j, cardinality(j)));
+    for (Key key : difference) {
+      dkeys.push_back(DiscreteKey(key, cardinality(key)));
     }
     return std::make_shared<DecisionTreeFactor>(dkeys, result);
   }

From 3a34b79a554b24ef7eecd00cbd6ab9e93d55ec8c Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 18 Sep 2023 23:02:36 -0400
Subject: [PATCH 166/206] improve docstring for HybridGaussianISAM

---
 gtsam/hybrid/HybridGaussianISAM.h | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/gtsam/hybrid/HybridGaussianISAM.h b/gtsam/hybrid/HybridGaussianISAM.h
index 8578f3dc5..ba2de52d2 100644
--- a/gtsam/hybrid/HybridGaussianISAM.h
+++ b/gtsam/hybrid/HybridGaussianISAM.h
@@ -29,7 +29,8 @@
 namespace gtsam {
 
 /**
- * @brief 
+ * @brief Incremental Smoothing and Mapping (ISAM) algorithm
+ * for hybrid factor graphs.
  *
  * @ingroup hybrid
  */

From 15c5a94e96fa3fb7f2d445d2c5e2fd19781b18fd Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 18 Sep 2023 23:03:07 -0400
Subject: [PATCH 167/206] remove unused CMake variable

---
 gtsam/CMakeLists.txt | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt
index 555e077b8..cb87a6bcd 100644
--- a/gtsam/CMakeLists.txt
+++ b/gtsam/CMakeLists.txt
@@ -145,10 +145,6 @@ if (GTSAM_USE_EIGEN_MKL)
   target_include_directories(gtsam PUBLIC ${MKL_INCLUDE_DIR})
 endif()
 
-if(GTSAM_USE_TBB)
-  target_include_directories(gtsam PUBLIC ${TBB_INCLUDE_DIRS})
-endif()
-
 # Add includes for source directories 'BEFORE' boost and any system include
 # paths so that the compiler uses GTSAM headers in our source directory instead
 # of any previously installed GTSAM headers.

From 066f53775a468a1bbd4b5aefa3f1ebba38022a1f Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 18 Sep 2023 23:04:33 -0400
Subject: [PATCH 168/206] resolve test in testDiscreteMarginals

---
 gtsam/discrete/tests/testDiscreteMarginals.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/discrete/tests/testDiscreteMarginals.cpp b/gtsam/discrete/tests/testDiscreteMarginals.cpp
index ad9b1b191..76bed2fd6 100644
--- a/gtsam/discrete/tests/testDiscreteMarginals.cpp
+++ b/gtsam/discrete/tests/testDiscreteMarginals.cpp
@@ -121,7 +121,7 @@ TEST_UNSAFE( DiscreteMarginals, truss ) {
 
   Clique expected0(std::make_shared<DiscreteConditional>((key[0] | key[2], key[4]) = "2/1 2/1 2/1 2/1"));
   Clique::shared_ptr actual0 = (*bayesTree)[0];
-//  EXPECT(assert_equal(expected0, *actual0)); // TODO, correct but fails
+  EXPECT(assert_equal(expected0, *actual0));
 
   Clique expected1(std::make_shared<DiscreteConditional>((key[1] | key[3], key[4]) = "1/2 1/2 1/2 1/2"));
   Clique::shared_ptr actual1 = (*bayesTree)[1];

From 2a386f8631e38de120d67138e6f2bfeb56d0f644 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 18 Sep 2023 23:04:53 -0400
Subject: [PATCH 169/206] imrpove bounds checks in Chebyshev2

---
 gtsam/basis/Chebyshev2.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/gtsam/basis/Chebyshev2.cpp b/gtsam/basis/Chebyshev2.cpp
index 44876b6e9..63fca64cc 100644
--- a/gtsam/basis/Chebyshev2.cpp
+++ b/gtsam/basis/Chebyshev2.cpp
@@ -32,7 +32,7 @@ Weights Chebyshev2::CalculateWeights(size_t N, double x, double a, double b) {
     const double dj =
         x - Point(N, j, a, b);  // only thing that depends on [a,b]
 
-    if (std::abs(dj) < 1e-10) {
+    if (std::abs(dj) < 1e-12) {
       // exceptional case: x coincides with a Chebyshev point
       weights.setZero();
       weights(j) = 1;
@@ -73,7 +73,7 @@ Weights Chebyshev2::DerivativeWeights(size_t N, double x, double a, double b) {
   for (size_t j = 0; j < N; j++) {
     const double dj =
         x - Point(N, j, a, b);  // only thing that depends on [a,b]
-    if (std::abs(dj) < 1e-10) {
+    if (std::abs(dj) < 1e-12) {
       // exceptional case: x coincides with a Chebyshev point
       weightDerivatives.setZero();
       // compute the jth row of the differentiation matrix for this point

From b2efd64d2bfd8ab378dc8dd16faff971d82391b4 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 18 Sep 2023 23:05:25 -0400
Subject: [PATCH 170/206] overload the Chebyshev2::Point method to reduce
 duplication

---
 gtsam/basis/Chebyshev2.h | 27 +++++++++++++++------------
 1 file changed, 15 insertions(+), 12 deletions(-)

diff --git a/gtsam/basis/Chebyshev2.h b/gtsam/basis/Chebyshev2.h
index 4c3542d56..55bb39488 100644
--- a/gtsam/basis/Chebyshev2.h
+++ b/gtsam/basis/Chebyshev2.h
@@ -51,27 +51,30 @@ class GTSAM_EXPORT Chebyshev2 : public Basis<Chebyshev2> {
   using Parameters = Eigen::Matrix<double, /*Nx1*/ -1, 1>;
   using DiffMatrix = Eigen::Matrix<double, /*NxN*/ -1, -1>;
 
-  /// Specific Chebyshev point
-  static double Point(size_t N, int j) {
+  /**
+   * @brief Specific Chebyshev point, within [a,b] interval.
+   * Default interval is [-1, 1]
+   * 
+   * @param N The degree of the polynomial
+   * @param j The index of the Chebyshev point
+   * @param a Lower bound of interval (default: -1)
+   * @param b Upper bound of interval (default: 1)
+   * @return double
+   */
+  static double Point(size_t N, int j, double a = -1, double b = 1) {
     assert(j >= 0 && size_t(j) < N);
     const double dtheta = M_PI / (N > 1 ? (N - 1) : 1);
     // We add -PI so that we get values ordered from -1 to +1
-    // sin(- M_PI_2 + dtheta*j); also works
-    return cos(-M_PI + dtheta * j);
-  }
-
-  /// Specific Chebyshev point, within [a,b] interval
-  static double Point(size_t N, int j, double a, double b) {
-    assert(j >= 0 && size_t(j) < N);
-    const double dtheta = M_PI / (N - 1);
-    // We add -PI so that we get values ordered from -1 to +1
+    // sin(-M_PI_2 + dtheta*j); also works
     return a + (b - a) * (1. + cos(-M_PI + dtheta * j)) / 2;
   }
 
   /// All Chebyshev points
   static Vector Points(size_t N) {
     Vector points(N);
-    for (size_t j = 0; j < N; j++) points(j) = Point(N, j);
+    for (size_t j = 0; j < N; j++) {
+      points(j) = Point(N, j);
+    }
     return points;
   }
 

From 7d903264a9f055efe62d7f7bf6f7d92f3faef351 Mon Sep 17 00:00:00 2001
From: ShuangLiu1992 <ShuangLiu1992@users.noreply.github.com>
Date: Wed, 20 Sep 2023 10:22:07 +0100
Subject: [PATCH 171/206] Fix precompiled_header.h on MSVC when boost is
 disabled

---
 gtsam/precompiled_header.h | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/gtsam/precompiled_header.h b/gtsam/precompiled_header.h
index 5ff2a55c5..e7188fc05 100644
--- a/gtsam/precompiled_header.h
+++ b/gtsam/precompiled_header.h
@@ -42,8 +42,10 @@
 #include <gtsam/base/Matrix.h>
 #include <gtsam/base/OptionalJacobian.h>
 #include <gtsam/base/ProductLieGroup.h>
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <gtsam/base/serialization.h>
 #include <gtsam/base/serializationTestHelpers.h>
+#endif
 #include <gtsam/base/SymmetricBlockMatrix.h>
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/TestableAssertions.h>

From c25f8a60b7d4de1cae2fd193a23b71ea7a79631f Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 21 Sep 2023 13:56:20 -0400
Subject: [PATCH 172/206] fix warnings

---
 gtsam_unstable/partition/FindSeparator-inl.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/gtsam_unstable/partition/FindSeparator-inl.h b/gtsam_unstable/partition/FindSeparator-inl.h
index e991c5af2..f4718f7a9 100644
--- a/gtsam_unstable/partition/FindSeparator-inl.h
+++ b/gtsam_unstable/partition/FindSeparator-inl.h
@@ -39,7 +39,7 @@ namespace gtsam { namespace partition {
    * whether node j is in the left part of the graph, the right part, or the
    * separator, respectively
    */
-  std::pair<int, sharedInts> separatorMetis(idx_t n, const sharedInts& xadj,
+  std::pair<idx_t, sharedInts> separatorMetis(idx_t n, const sharedInts& xadj,
     const sharedInts& adjncy, const sharedInts& adjwgt, bool verbose) {
 
     // control parameters
@@ -277,7 +277,7 @@ namespace gtsam { namespace partition {
       //throw runtime_error("separatorPartitionByMetis:stop for debug");
     }
 
-    if(result.C.size() != sepsize) {
+    if(result.C.size() != size_t(sepsize)) {
       std::cout << "total key: " << keys.size()
           << " result(A,B,C) = " << result.A.size() << ", " << result.B.size() << ", " << result.C.size()
           << "; sepsize from Metis = " << sepsize << std::endl;

From 331ae137af844fee6b7604dbddc0a71764fb2880 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 21 Sep 2023 15:55:58 -0400
Subject: [PATCH 173/206] re-enable debug CI for linux

---
 .github/workflows/build-linux.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build-linux.yml b/.github/workflows/build-linux.yml
index 5de09c63f..4502dbe0e 100644
--- a/.github/workflows/build-linux.yml
+++ b/.github/workflows/build-linux.yml
@@ -31,7 +31,7 @@ jobs:
           ubuntu-22.04-clang-14,
         ]
 
-        build_type: [Release]
+        build_type: [Debug, Release]
         build_unstable: [ON]
         include:
           - name: ubuntu-20.04-gcc-9

From 2c4cdbb8c186be0ed02af1b7a0434eae29455f79 Mon Sep 17 00:00:00 2001
From: Tal Regev <tal.regev@gmail.com>
Date: Thu, 7 Sep 2023 10:09:57 +0300
Subject: [PATCH 174/206] Fix windows tests

---
 .github/workflows/build-windows.yml                    |  7 +++++--
 gtsam/discrete/AlgebraicDecisionTree.h                 |  2 +-
 gtsam/linear/SubgraphBuilder.h                         |  2 +-
 gtsam/sfm/TranslationRecovery.h                        |  2 +-
 gtsam_unstable/geometry/Event.h                        |  6 +++---
 gtsam_unstable/partition/GenericGraph.h                |  7 ++++---
 gtsam_unstable/partition/tests/CMakeLists.txt          |  2 +-
 gtsam_unstable/slam/ProjectionFactorPPPC.h             |  2 +-
 .../slam/SmartProjectionPoseFactorRollingShutter.h     |  2 +-
 .../slam/tests/testSmartStereoProjectionPoseFactor.cpp | 10 +++++-----
 10 files changed, 23 insertions(+), 19 deletions(-)

diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index a1d232b2a..f0568394f 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -150,7 +150,10 @@ jobs:
           # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.dynamics_unstable
           # Compile. Fail with exception
           # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear_unstable
-          # Compilation error
+          # Compile. Fail with exception
           # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam_unstable
-          # Compilation error
+          # Compile. Fail with exception
           # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.partition
+
+          # Run all tests
+          # cmake --build build -j1 --config ${{ matrix.build_type }} --target check
diff --git a/gtsam/discrete/AlgebraicDecisionTree.h b/gtsam/discrete/AlgebraicDecisionTree.h
index 20ab4bd68..9f55f3b63 100644
--- a/gtsam/discrete/AlgebraicDecisionTree.h
+++ b/gtsam/discrete/AlgebraicDecisionTree.h
@@ -36,7 +36,7 @@ namespace gtsam {
    * @ingroup discrete
    */
   template <typename L>
-  class GTSAM_EXPORT AlgebraicDecisionTree : public DecisionTree<L, double> {
+  class AlgebraicDecisionTree : public DecisionTree<L, double> {
     /**
      * @brief Default method used by `labelFormatter` or `valueFormatter` when
      * printing.
diff --git a/gtsam/linear/SubgraphBuilder.h b/gtsam/linear/SubgraphBuilder.h
index aafba9306..f9ddd4c9a 100644
--- a/gtsam/linear/SubgraphBuilder.h
+++ b/gtsam/linear/SubgraphBuilder.h
@@ -182,7 +182,7 @@ GaussianFactorGraph buildFactorSubgraph(const GaussianFactorGraph &gfg,
 
 /** Split the graph into a subgraph and the remaining edges. 
  * Note that the remaining factorgraph has null factors. */
-std::pair<GaussianFactorGraph, GaussianFactorGraph> splitFactorGraph(
+std::pair<GaussianFactorGraph, GaussianFactorGraph> GTSAM_EXPORT splitFactorGraph(
     const GaussianFactorGraph &factorGraph, const Subgraph &subgraph);
 
 }  // namespace gtsam
diff --git a/gtsam/sfm/TranslationRecovery.h b/gtsam/sfm/TranslationRecovery.h
index 44a5ef43e..4848d7cfa 100644
--- a/gtsam/sfm/TranslationRecovery.h
+++ b/gtsam/sfm/TranslationRecovery.h
@@ -48,7 +48,7 @@ namespace gtsam {
 // where s is an arbitrary scale that can be supplied, default 1.0. Hence, two
 // versions are supplied below corresponding to whether we have initial values
 // or not.
-class TranslationRecovery {
+class GTSAM_EXPORT TranslationRecovery {
  public:
   using KeyPair = std::pair<Key, Key>;
   using TranslationEdges = std::vector<BinaryMeasurement<Unit3>>;
diff --git a/gtsam_unstable/geometry/Event.h b/gtsam_unstable/geometry/Event.h
index a4055d038..a3c907646 100644
--- a/gtsam_unstable/geometry/Event.h
+++ b/gtsam_unstable/geometry/Event.h
@@ -34,7 +34,7 @@ namespace gtsam {
  * SLAM, where we have "time of arrival" measurements at a set of sensors. The
  * TOA functor below provides a measurement function for those applications.
  */
-class Event {
+class GTSAM_UNSTABLE_EXPORT Event {
   double time_;      ///< Time event was generated
   Point3 location_;  ///< Location at time event was generated
 
@@ -62,10 +62,10 @@ class Event {
   }
 
   /** print with optional string */
-  GTSAM_UNSTABLE_EXPORT void print(const std::string& s = "") const;
+  void print(const std::string& s = "") const;
 
   /** equals with an tolerance */
-  GTSAM_UNSTABLE_EXPORT bool equals(const Event& other,
+  bool equals(const Event& other,
                                     double tol = 1e-9) const;
 
   /// Updates a with tangent space delta
diff --git a/gtsam_unstable/partition/GenericGraph.h b/gtsam_unstable/partition/GenericGraph.h
index bcfd77336..a7f2c1ea3 100644
--- a/gtsam_unstable/partition/GenericGraph.h
+++ b/gtsam_unstable/partition/GenericGraph.h
@@ -14,6 +14,7 @@
 #include <stdexcept>
 #include <string>
 #include <memory>
+#include <gtsam_unstable/dllexport.h>
 
 #include "PartitionWorkSpace.h"
 
@@ -49,7 +50,7 @@ namespace gtsam { namespace partition {
   typedef std::vector<sharedGenericFactor2D> GenericGraph2D;
 
   /** merge nodes in DSF using constraints captured by the given graph */
-  std::list<std::vector<size_t> > findIslands(const GenericGraph2D& graph, const std::vector<size_t>& keys, WorkSpace& workspace,
+  std::list<std::vector<size_t> > GTSAM_UNSTABLE_EXPORT findIslands(const GenericGraph2D& graph, const std::vector<size_t>& keys, WorkSpace& workspace,
       const int minNrConstraintsPerCamera, const int minNrConstraintsPerLandmark);
 
   /** eliminate the sensors from generic graph */
@@ -97,11 +98,11 @@ namespace gtsam { namespace partition {
   typedef std::vector<sharedGenericFactor3D> GenericGraph3D;
 
   /** merge nodes in DSF using constraints captured by the given graph */
-  std::list<std::vector<size_t> > findIslands(const GenericGraph3D& graph, const std::vector<size_t>& keys, WorkSpace& workspace,
+  std::list<std::vector<size_t> > GTSAM_UNSTABLE_EXPORT findIslands(const GenericGraph3D& graph, const std::vector<size_t>& keys, WorkSpace& workspace,
       const size_t minNrConstraintsPerCamera, const size_t minNrConstraintsPerLandmark);
 
   /** eliminate the sensors from generic graph */
-  void reduceGenericGraph(const GenericGraph3D& graph, const std::vector<size_t>& cameraKeys,  const std::vector<size_t>& landmarkKeys,
+  void GTSAM_UNSTABLE_EXPORT reduceGenericGraph(const GenericGraph3D& graph, const std::vector<size_t>& cameraKeys,  const std::vector<size_t>& landmarkKeys,
       const std::vector<int>& dictionary,  GenericGraph3D& reducedGraph);
 
   /** check whether the 3D graph is singular (under constrained) */
diff --git a/gtsam_unstable/partition/tests/CMakeLists.txt b/gtsam_unstable/partition/tests/CMakeLists.txt
index 0b918e497..4ca6b9186 100644
--- a/gtsam_unstable/partition/tests/CMakeLists.txt
+++ b/gtsam_unstable/partition/tests/CMakeLists.txt
@@ -1,6 +1,6 @@
 set(ignore_test "testNestedDissection.cpp")
 
-if (NOT GTSAM_USE_BOOST_FEATURES)
+if (NOT GTSAM_USE_BOOST_FEATURES OR MSVC)
 	list(APPEND ignore_test "testFindSeparator.cpp")
 endif()
 
diff --git a/gtsam_unstable/slam/ProjectionFactorPPPC.h b/gtsam_unstable/slam/ProjectionFactorPPPC.h
index 5b6a83a33..df63330df 100644
--- a/gtsam_unstable/slam/ProjectionFactorPPPC.h
+++ b/gtsam_unstable/slam/ProjectionFactorPPPC.h
@@ -32,7 +32,7 @@ namespace gtsam {
    * @ingroup slam
    */
 template <class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>
-class GTSAM_UNSTABLE_EXPORT ProjectionFactorPPPC
+class ProjectionFactorPPPC
     : public NoiseModelFactorN<POSE, POSE, LANDMARK, CALIBRATION> {
  protected:
   Point2 measured_;  ///< 2D measurement
diff --git a/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h b/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h
index 4af0be751..4a2047ee1 100644
--- a/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h
+++ b/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h
@@ -42,7 +42,7 @@ namespace gtsam {
  * @ingroup slam
  */
 template <class CAMERA>
-class GTSAM_UNSTABLE_EXPORT SmartProjectionPoseFactorRollingShutter
+class SmartProjectionPoseFactorRollingShutter
     : public SmartProjectionFactor<CAMERA> {
  private:
   typedef SmartProjectionFactor<CAMERA> Base;
diff --git a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp
index 1eceb8061..872cd2dea 100644
--- a/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp
+++ b/gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp
@@ -1441,14 +1441,14 @@ TEST( SmartStereoProjectionPoseFactor, HessianWithRotationNonDegenerate ) {
   std::shared_ptr<GaussianFactor> hessianFactorRotTran =
       smartFactor->linearize(tranValues);
 
-  // Hessian is invariant to rotations and translations in the degenerate case
-  EXPECT(
-      assert_equal(hessianFactor->information(),
+  double error;
 #ifdef GTSAM_USE_EIGEN_MKL
-          hessianFactorRotTran->information(), 1e-5));
+  error = 1e-5;
 #else
-          hessianFactorRotTran->information(), 1e-6));
+  error = 1e-6;
 #endif
+  // Hessian is invariant to rotations and translations in the degenerate case
+  EXPECT(assert_equal(hessianFactor->information(), hessianFactorRotTran->information(), error));
 }
 
 /* ************************************************************************* */

From aebff10f05dcad3e9b03d1a828fc1c86ac7c95f3 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 26 Sep 2023 17:24:40 -0400
Subject: [PATCH 175/206] wrap print for Sim2 and Sim3

---
 gtsam/geometry/geometry.i | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/gtsam/geometry/geometry.i b/gtsam/geometry/geometry.i
index 35c470eca..615e0eced 100644
--- a/gtsam/geometry/geometry.i
+++ b/gtsam/geometry/geometry.i
@@ -1082,6 +1082,7 @@ class Similarity2 {
 
   // Standard Interface
   bool equals(const gtsam::Similarity2& sim, double tol) const;
+  void print(const std::string& s) const;
   Matrix matrix() const;
   gtsam::Rot2& rotation();
   gtsam::Point2& translation();
@@ -1105,6 +1106,7 @@ class Similarity3 {
 
   // Standard Interface
   bool equals(const gtsam::Similarity3& sim, double tol) const;
+  void print(const std::string& s) const;
   Matrix matrix() const;
   gtsam::Rot3& rotation();
   gtsam::Point3& translation();

From e096af463d18f9ca7516a26fa9d9fd5171d268a5 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 26 Sep 2023 17:51:52 -0400
Subject: [PATCH 176/206] default value for string arg in print

---
 gtsam/geometry/Similarity2.h | 2 +-
 gtsam/geometry/Similarity3.h | 2 +-
 gtsam/geometry/geometry.i    | 4 ++--
 3 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/gtsam/geometry/Similarity2.h b/gtsam/geometry/Similarity2.h
index 3e04aa3a1..6bec716ea 100644
--- a/gtsam/geometry/Similarity2.h
+++ b/gtsam/geometry/Similarity2.h
@@ -74,7 +74,7 @@ class GTSAM_EXPORT Similarity2 : public LieGroup<Similarity2, 4> {
   bool operator==(const Similarity2& other) const;
 
   /// Print with optional string
-  void print(const std::string& s) const;
+  void print(const std::string& s = "") const;
 
   GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os,
                                                const Similarity2& p);
diff --git a/gtsam/geometry/Similarity3.h b/gtsam/geometry/Similarity3.h
index 69b401620..89b2e3e34 100644
--- a/gtsam/geometry/Similarity3.h
+++ b/gtsam/geometry/Similarity3.h
@@ -75,7 +75,7 @@ class GTSAM_EXPORT Similarity3 : public LieGroup<Similarity3, 7> {
   bool operator==(const Similarity3& other) const;
 
   /// Print with optional string
-  void print(const std::string& s) const;
+  void print(const std::string& s = "") const;
 
   GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os,
                                                const Similarity3& p);
diff --git a/gtsam/geometry/geometry.i b/gtsam/geometry/geometry.i
index 615e0eced..01161817b 100644
--- a/gtsam/geometry/geometry.i
+++ b/gtsam/geometry/geometry.i
@@ -1082,7 +1082,7 @@ class Similarity2 {
 
   // Standard Interface
   bool equals(const gtsam::Similarity2& sim, double tol) const;
-  void print(const std::string& s) const;
+  void print(const std::string& s = "") const;
   Matrix matrix() const;
   gtsam::Rot2& rotation();
   gtsam::Point2& translation();
@@ -1106,7 +1106,7 @@ class Similarity3 {
 
   // Standard Interface
   bool equals(const gtsam::Similarity3& sim, double tol) const;
-  void print(const std::string& s) const;
+  void print(const std::string& s = "") const;
   Matrix matrix() const;
   gtsam::Rot3& rotation();
   gtsam::Point3& translation();

From 4de8f149f82bb5a2b8d3ffa9b97cb11f0f94a076 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 28 Sep 2023 07:18:11 -0400
Subject: [PATCH 177/206] fix docstring

---
 python/gtsam/tests/test_backwards_compatibility.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/python/gtsam/tests/test_backwards_compatibility.py b/python/gtsam/tests/test_backwards_compatibility.py
index 414b65e8c..ca96cdf57 100644
--- a/python/gtsam/tests/test_backwards_compatibility.py
+++ b/python/gtsam/tests/test_backwards_compatibility.py
@@ -29,7 +29,7 @@ UPRIGHT = Rot3.Ypr(-np.pi / 2, 0.0, -np.pi / 2)
 
 
 class TestBackwardsCompatibility(GtsamTestCase):
-    """Tests for the backwards compatibility for the Python wrapper."""
+    """Tests for backwards compatibility of the Python wrapper."""
 
     def setUp(self):
         """Setup test fixtures"""

From fbdd602532842c48110cbfe3a612505d127737b3 Mon Sep 17 00:00:00 2001
From: Jose Luis Blanco-Claraco <joseluisblancoc@gmail.com>
Date: Thu, 28 Sep 2023 16:58:00 +0200
Subject: [PATCH 178/206] Fix usage of OptionalNone in a different namespace

---
 gtsam/nonlinear/NonlinearFactor.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/nonlinear/NonlinearFactor.h b/gtsam/nonlinear/NonlinearFactor.h
index 57c4a00eb..725117748 100644
--- a/gtsam/nonlinear/NonlinearFactor.h
+++ b/gtsam/nonlinear/NonlinearFactor.h
@@ -46,7 +46,7 @@ namespace gtsam {
  * Had to use the static_cast of a nullptr, because the compiler is not able to
  * deduce the type of the nullptr when expanding the evaluateError templates.
  */
-#define OptionalNone static_cast<Matrix*>(nullptr)
+#define OptionalNone static_cast<gtsam::Matrix*>(nullptr)
 
 /** This typedef will be used everywhere boost::optional<Matrix&> reference was used
  * previously. This is used to indicate that the Jacobian is optional. In the future

From 87158154ada5e094f8aa65773522723134348b0e Mon Sep 17 00:00:00 2001
From: Steve Oswald <82703776+stepeos@users.noreply.github.com>
Date: Sun, 1 Oct 2023 22:32:26 +0200
Subject: [PATCH 179/206] Update INSTALL.md

correct usage of march native compile option
---
 INSTALL.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/INSTALL.md b/INSTALL.md
index f148e3718..10bee196c 100644
--- a/INSTALL.md
+++ b/INSTALL.md
@@ -182,7 +182,7 @@ Here are some tips to get the best possible performance out of GTSAM.
     optimization by 30-50%. Please note that this may not be true for very small 
     problems where the overhead of dispatching work to multiple threads outweighs
     the benefit. We recommend that you benchmark your problem with/without TBB.
-3. Add `-march=native` to `GTSAM_CMAKE_CXX_FLAGS`. A performance gain of
+3. Use `GTSAM_BUILD_WITH_MARCH_NATIVE`. A performance gain of
     25-30% can be expected on modern processors. Note that this affects the portability
     of your executable. It may not run when copied to another system with older/different
     processor architecture.

From b1fab94680bbc059c2f1b575d42f937249405301 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 2 Oct 2023 14:27:20 -0400
Subject: [PATCH 180/206] handle Symbol vs symbol on case insensitive file
 systems

---
 matlab/CMakeLists.txt | 4 ++++
 matlab/README.md      | 8 ++++++++
 2 files changed, 12 insertions(+)

diff --git a/matlab/CMakeLists.txt b/matlab/CMakeLists.txt
index 45d56e41d..e38d7cb6f 100644
--- a/matlab/CMakeLists.txt
+++ b/matlab/CMakeLists.txt
@@ -64,6 +64,10 @@ set(ignore
     gtsam::Point3
     gtsam::CustomFactor)
 
+if (APPLE OR WIN32)
+  list(APPEND ignore gtsam::Symbol)
+endif()
+
 set(interface_files
     ${GTSAM_SOURCE_DIR}/gtsam/gtsam.i
     ${GTSAM_SOURCE_DIR}/gtsam/base/base.i
diff --git a/matlab/README.md b/matlab/README.md
index 25628b633..ac0956cb7 100644
--- a/matlab/README.md
+++ b/matlab/README.md
@@ -10,6 +10,14 @@ The interface generated by the wrap tool also redirects the standard output stre
 
 For instructions on updating the version of the [wrap library](https://github.com/borglab/wrap) included in GTSAM to the latest version, please refer to the [wrap README](https://github.com/borglab/wrap/blob/master/README.md#git-subtree-and-contributing)
 
+### Filename Case Sensitivity
+
+Due to the file name syntax requirements of Matlab, having the files `Symbol.m` (for the class) and `symbol.m` (for the function) together on an OS with a case-insensitive filesystem is impossible.
+
+To put it simply, for an OS like Windows or MacOS where the filesystem is case-insensitive, we cannot have two files `symbol.m` and `Symbol.m` in the same folder. When trying to write one file after another, they will end up overwriting each other. We cannot specify 2 different filenames, since Matlab's syntax prevents that.
+
+For this reason, on Windows and MacOS, we ignore the `Symbol` class and request users to use the `symbol` function exclusively for key creation.
+
 ## Ubuntu
 
 If you have a newer Ubuntu system (later than 10.04), you must make a small modification to your MATLAB installation, due to MATLAB being distributed with an old version of the C++ standard library. Delete or rename all files starting with `libstdc++` in your MATLAB installation directory, in paths:

From 79983285835c6b2f21ee5f7bd62026aba76825e7 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 5 Oct 2023 09:59:04 -0400
Subject: [PATCH 181/206] use Pose3Pairs for Similarity3::Align

---
 gtsam/geometry/Similarity3.cpp | 2 +-
 gtsam/geometry/Similarity3.h   | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/gtsam/geometry/Similarity3.cpp b/gtsam/geometry/Similarity3.cpp
index a9a369e44..cf2360b08 100644
--- a/gtsam/geometry/Similarity3.cpp
+++ b/gtsam/geometry/Similarity3.cpp
@@ -171,7 +171,7 @@ Similarity3 Similarity3::Align(const Point3Pairs &abPointPairs) {
   return internal::align(d_abPointPairs, aRb, centroids);
 }
 
-Similarity3 Similarity3::Align(const vector<Pose3Pair> &abPosePairs) {
+Similarity3 Similarity3::Align(const Pose3Pairs &abPosePairs) {
   const size_t n = abPosePairs.size();
   if (n < 2)
     throw std::runtime_error("input should have at least 2 pairs of poses");
diff --git a/gtsam/geometry/Similarity3.h b/gtsam/geometry/Similarity3.h
index 89b2e3e34..cd4af89bc 100644
--- a/gtsam/geometry/Similarity3.h
+++ b/gtsam/geometry/Similarity3.h
@@ -133,7 +133,7 @@ class GTSAM_EXPORT Similarity3 : public LieGroup<Similarity3, 7> {
    * computed using the algorithm described here:
    * http://www5.informatik.uni-erlangen.de/Forschung/Publikationen/2005/Zinsser05-PSR.pdf
    */
-  static Similarity3 Align(const std::vector<Pose3Pair>& abPosePairs);
+  static Similarity3 Align(const Pose3Pairs& abPosePairs);
 
   /// @}
   /// @name Lie Group

From c7abbad0bc2a43538edfe8c3e23447662cfc49df Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 6 Oct 2023 12:21:06 -0400
Subject: [PATCH 182/206] Squashed 'wrap/' changes from 2f136936d..bd57210d9

bd57210d9 Merge pull request #162 from borglab/matlab-updates
1467cf23a small improvements to Matlab wrapper
ce4d872c3 support for Apple Silicon
246c723e2 Merge pull request #161 from borglab/fix-matlab-enum
4a4ddb912 allow optional std:: for pair
390cb8092 Merge pull request #160 from borglab/upgrade-pybind11
c48bfa418 upgrade pybind11 to v2.11.1
c941bdd48 update gitignore

git-subtree-dir: wrap
git-subtree-split: bd57210d9aa620babbffe7eeb43abd77fea641e3
---
 .gitignore                                    |   2 +
 cmake/MatlabWrap.cmake                        |  21 +-
 gtwrap/interface_parser/function.py           |   7 +-
 gtwrap/matlab_wrapper/wrapper.py              |   9 +-
 pybind11/.clang-tidy                          |   2 +
 pybind11/.codespell-ignore-lines              |  24 +
 pybind11/.github/CONTRIBUTING.md              |   4 +-
 .../.github/ISSUE_TEMPLATE/bug-report.yml     |  22 +-
 pybind11/.github/workflows/ci.yml             | 291 ++++++-
 pybind11/.github/workflows/configure.yml      |  26 +-
 pybind11/.github/workflows/format.yml         |   9 +-
 pybind11/.github/workflows/labeler.yml        |  11 +-
 pybind11/.github/workflows/pip.yml            |  12 +-
 pybind11/.github/workflows/upstream.yml       |  78 +-
 pybind11/.gitignore                           |   1 +
 pybind11/.pre-commit-config.yaml              | 157 ++--
 pybind11/CMakeLists.txt                       |  33 +-
 pybind11/MANIFEST.in                          |   3 +-
 pybind11/README.rst                           |   2 +-
 pybind11/SECURITY.md                          |  13 +
 pybind11/docs/advanced/cast/custom.rst        |   4 +-
 pybind11/docs/advanced/cast/stl.rst           |   6 +-
 pybind11/docs/advanced/cast/strings.rst       |  10 +-
 pybind11/docs/advanced/classes.rst            |   4 +-
 pybind11/docs/advanced/embedding.rst          |   2 +-
 pybind11/docs/advanced/exceptions.rst         |   9 +-
 pybind11/docs/advanced/misc.rst               |  77 +-
 pybind11/docs/advanced/pycpp/numpy.rst        |   4 +-
 pybind11/docs/advanced/smart_ptrs.rst         |   2 +-
 pybind11/docs/changelog.rst                   | 358 ++++++++
 pybind11/docs/classes.rst                     |  14 +
 pybind11/docs/compiling.rst                   |   9 +-
 pybind11/docs/conf.py                         |   3 +-
 pybind11/docs/faq.rst                         |   3 +-
 pybind11/docs/release.rst                     |  10 +-
 pybind11/docs/upgrade.rst                     |  14 +
 pybind11/include/pybind11/attr.h              |  18 +-
 pybind11/include/pybind11/buffer_info.h       |  17 +-
 pybind11/include/pybind11/cast.h              |  99 ++-
 pybind11/include/pybind11/detail/class.h      |  59 +-
 pybind11/include/pybind11/detail/common.h     | 178 +++-
 pybind11/include/pybind11/detail/descr.h      |  13 +
 pybind11/include/pybind11/detail/init.h       |  40 +-
 pybind11/include/pybind11/detail/internals.h  | 124 ++-
 .../pybind11/detail/type_caster_base.h        | 219 ++++-
 pybind11/include/pybind11/eigen.h             | 698 +--------------
 pybind11/include/pybind11/eigen/common.h      |   9 +
 pybind11/include/pybind11/eigen/matrix.h      | 714 ++++++++++++++++
 pybind11/include/pybind11/eigen/tensor.h      | 516 +++++++++++
 pybind11/include/pybind11/embed.h             | 131 ++-
 pybind11/include/pybind11/functional.h        |  13 +-
 pybind11/include/pybind11/gil.h               |  63 +-
 pybind11/include/pybind11/numpy.h             |  48 +-
 pybind11/include/pybind11/operators.h         |   1 +
 pybind11/include/pybind11/options.h           |  16 +
 pybind11/include/pybind11/pybind11.h          | 188 ++--
 pybind11/include/pybind11/pytypes.h           | 337 ++++++--
 pybind11/include/pybind11/stl.h               |  50 +-
 pybind11/include/pybind11/stl_bind.h          | 176 ++--
 .../pybind11/type_caster_pyobject_ptr.h       |  61 ++
 pybind11/noxfile.py                           |  18 +-
 pybind11/pybind11/__init__.py                 |   5 +-
 pybind11/pybind11/__main__.py                 |  17 +-
 pybind11/pybind11/_version.py                 |   2 +-
 pybind11/pybind11/commands.py                 |  14 +-
 pybind11/pybind11/setup_helpers.py            |  22 +-
 pybind11/pyproject.toml                       |  49 +-
 pybind11/setup.cfg                            |   9 +-
 pybind11/setup.py                             |   3 +-
 pybind11/tests/CMakeLists.txt                 |  48 +-
 pybind11/tests/conftest.py                    |  76 +-
 pybind11/tests/constructor_stats.h            |   2 +-
 pybind11/tests/cross_module_gil_utils.cpp     |  67 +-
 .../tests/eigen_tensor_avoid_stl_array.cpp    |  14 +
 pybind11/tests/env.py                         |   3 +-
 .../tests/extra_python_package/test_files.py  | 137 +--
 pybind11/tests/pybind11_tests.cpp             |   6 +
 pybind11/tests/requirements.txt               |   2 +-
 pybind11/tests/test_async.py                  |   4 +-
 pybind11/tests/test_buffers.cpp               |  35 +
 pybind11/tests/test_buffers.py                |  60 +-
 pybind11/tests/test_builtin_casters.cpp       |  18 +-
 pybind11/tests/test_builtin_casters.py        |  10 +-
 pybind11/tests/test_callbacks.cpp             |  37 +
 pybind11/tests/test_callbacks.py              |  27 +-
 pybind11/tests/test_chrono.py                 |   4 -
 pybind11/tests/test_class.cpp                 |  48 +-
 pybind11/tests/test_class.py                  |  24 +-
 .../tests/test_cmake_build/CMakeLists.txt     |   3 -
 .../installed_embed/CMakeLists.txt            |   8 +-
 .../installed_function/CMakeLists.txt         |   8 +-
 .../installed_target/CMakeLists.txt           |   8 +-
 .../subdirectory_embed/CMakeLists.txt         |   8 +-
 .../subdirectory_function/CMakeLists.txt      |   8 +-
 .../subdirectory_target/CMakeLists.txt        |   8 +-
 pybind11/tests/test_const_name.py             |   4 +-
 .../tests/test_constants_and_functions.cpp    |  37 +-
 .../tests/test_constants_and_functions.py     |   4 +
 pybind11/tests/test_copy_move.cpp             | 238 ++++++
 pybind11/tests/test_custom_type_casters.cpp   |  14 +-
 pybind11/tests/test_custom_type_casters.py    |   6 +-
 pybind11/tests/test_custom_type_setup.py      |   2 +-
 pybind11/tests/test_docstring_options.cpp     |  53 ++
 pybind11/tests/test_docstring_options.py      |  23 +
 pybind11/tests/test_eigen_matrix.cpp          | 428 ++++++++++
 pybind11/tests/test_eigen_matrix.py           | 807 ++++++++++++++++++
 pybind11/tests/test_eigen_tensor.cpp          |  18 +
 pybind11/tests/test_eigen_tensor.inl          | 333 ++++++++
 pybind11/tests/test_eigen_tensor.py           | 288 +++++++
 pybind11/tests/test_embed/catch.cpp           |  22 +-
 .../tests/test_embed/test_interpreter.cpp     | 123 ++-
 pybind11/tests/test_enum.py                   |   2 +
 pybind11/tests/test_exceptions.cpp            |  20 +-
 pybind11/tests/test_exceptions.py             |  87 +-
 pybind11/tests/test_factory_constructors.py   |   2 +-
 pybind11/tests/test_gil_scoped.cpp            | 107 ++-
 pybind11/tests/test_gil_scoped.py             | 225 ++++-
 pybind11/tests/test_iostream.py               |  78 +-
 pybind11/tests/test_kwargs_and_defaults.cpp   |  10 +-
 pybind11/tests/test_kwargs_and_defaults.py    |  31 +-
 pybind11/tests/test_local_bindings.py         |   3 +-
 .../tests/test_methods_and_attributes.cpp     |  34 +
 pybind11/tests/test_methods_and_attributes.py |  18 +-
 pybind11/tests/test_modules.py                |  19 +-
 pybind11/tests/test_numpy_array.cpp           |  28 +
 pybind11/tests/test_numpy_array.py            |  95 ++-
 pybind11/tests/test_numpy_dtypes.py           |  28 +-
 pybind11/tests/test_numpy_vectorize.py        |   2 +-
 pybind11/tests/test_operator_overloading.cpp  |  23 +-
 pybind11/tests/test_operator_overloading.py   |   1 -
 pybind11/tests/test_pytypes.cpp               |  66 +-
 pybind11/tests/test_pytypes.py                | 187 +++-
 .../tests/test_sequences_and_iterators.cpp    |  19 +
 .../tests/test_sequences_and_iterators.py     |  13 +-
 pybind11/tests/test_smart_ptr.cpp             |   4 +-
 pybind11/tests/test_stl.cpp                   |  22 +-
 pybind11/tests/test_stl.py                    |  16 +-
 pybind11/tests/test_stl_binders.cpp           |  44 +
 pybind11/tests/test_stl_binders.py            |  56 +-
 pybind11/tests/test_tagbased_polymorphic.cpp  |   4 +-
 .../tests/test_type_caster_pyobject_ptr.cpp   | 130 +++
 .../tests/test_type_caster_pyobject_ptr.py    | 104 +++
 pybind11/tests/test_unnamed_namespace_a.cpp   |  38 +
 pybind11/tests/test_unnamed_namespace_a.py    |  34 +
 pybind11/tests/test_unnamed_namespace_b.cpp   |  13 +
 pybind11/tests/test_unnamed_namespace_b.py    |   5 +
 .../tests/test_vector_unique_ptr_member.cpp   |  54 ++
 .../tests/test_vector_unique_ptr_member.py    |  14 +
 pybind11/tests/test_virtual_functions.cpp     |   3 +-
 pybind11/tests/test_virtual_functions.py      |   7 +-
 pybind11/tools/FindCatch.cmake                |   8 +-
 pybind11/tools/FindPythonLibsNew.cmake        |  12 +-
 pybind11/tools/JoinPaths.cmake                |  23 +
 .../codespell_ignore_lines_from_errors.py     |  39 +
 pybind11/tools/make_changelog.py              |   9 +-
 pybind11/tools/pybind11.pc.in                 |   7 +
 pybind11/tools/pybind11Common.cmake           |  36 +-
 pybind11/tools/pybind11Config.cmake.in        |   4 +-
 pybind11/tools/pybind11NewTools.cmake         |   6 +-
 pybind11/tools/pybind11Tools.cmake            |  16 +-
 pybind11/tools/setup_global.py.in             |   6 +-
 pybind11/tools/setup_main.py.in               |   4 +
 tests/expected/matlab/TemplatedFunctionRot3.m |   2 +-
 tests/expected/matlab/functions_wrapper.cpp   |  16 +-
 tests/expected/python/functions_pybind.cpp    |   1 +
 tests/fixtures/functions.i                    |   4 +
 166 files changed, 8168 insertions(+), 1927 deletions(-)
 create mode 100644 pybind11/.codespell-ignore-lines
 create mode 100644 pybind11/SECURITY.md
 create mode 100644 pybind11/include/pybind11/eigen/common.h
 create mode 100644 pybind11/include/pybind11/eigen/matrix.h
 create mode 100644 pybind11/include/pybind11/eigen/tensor.h
 create mode 100644 pybind11/include/pybind11/type_caster_pyobject_ptr.h
 create mode 100644 pybind11/tests/eigen_tensor_avoid_stl_array.cpp
 create mode 100644 pybind11/tests/test_eigen_matrix.cpp
 create mode 100644 pybind11/tests/test_eigen_matrix.py
 create mode 100644 pybind11/tests/test_eigen_tensor.cpp
 create mode 100644 pybind11/tests/test_eigen_tensor.inl
 create mode 100644 pybind11/tests/test_eigen_tensor.py
 create mode 100644 pybind11/tests/test_type_caster_pyobject_ptr.cpp
 create mode 100644 pybind11/tests/test_type_caster_pyobject_ptr.py
 create mode 100644 pybind11/tests/test_unnamed_namespace_a.cpp
 create mode 100644 pybind11/tests/test_unnamed_namespace_a.py
 create mode 100644 pybind11/tests/test_unnamed_namespace_b.cpp
 create mode 100644 pybind11/tests/test_unnamed_namespace_b.py
 create mode 100644 pybind11/tests/test_vector_unique_ptr_member.cpp
 create mode 100644 pybind11/tests/test_vector_unique_ptr_member.py
 create mode 100644 pybind11/tools/JoinPaths.cmake
 create mode 100644 pybind11/tools/codespell_ignore_lines_from_errors.py
 create mode 100644 pybind11/tools/pybind11.pc.in

diff --git a/.gitignore b/.gitignore
index 9f79deafa..de16b118d 100644
--- a/.gitignore
+++ b/.gitignore
@@ -5,6 +5,8 @@ __pycache__/
 *dist*
 *.egg-info
 
+**/.DS_Store
+
 # Files related to code coverage stats
 **/.coverage
 
diff --git a/cmake/MatlabWrap.cmake b/cmake/MatlabWrap.cmake
index c45d8c050..55b7cdb99 100644
--- a/cmake/MatlabWrap.cmake
+++ b/cmake/MatlabWrap.cmake
@@ -105,7 +105,12 @@ function(wrap_library_internal interfaceHeader moduleName linkLibraries extraInc
       set(mexModuleExt mexglx)
     endif()
   elseif(APPLE)
-    set(mexModuleExt mexmaci64)
+    check_cxx_compiler_flag("-arch arm64" arm64Supported)
+    if (arm64Supported)
+      set(mexModuleExt mexmaca64)
+    else()
+      set(mexModuleExt mexmaci64)
+    endif()
   elseif(MSVC)
     if(CMAKE_CL_64)
       set(mexModuleExt mexw64)
@@ -299,7 +304,12 @@ function(wrap_library_internal interfaceHeader moduleName linkLibraries extraInc
       APPEND
       PROPERTY COMPILE_FLAGS "/bigobj")
   elseif(APPLE)
-    set(mxLibPath "${MATLAB_ROOT}/bin/maci64")
+    check_cxx_compiler_flag("-arch arm64" arm64Supported)
+    if (arm64Supported)
+      set(mxLibPath "${MATLAB_ROOT}/bin/maca64")
+    else()
+      set(mxLibPath "${MATLAB_ROOT}/bin/maci64")
+    endif()
     target_link_libraries(
       ${moduleName}_matlab_wrapper "${mxLibPath}/libmex.dylib"
       "${mxLibPath}/libmx.dylib" "${mxLibPath}/libmat.dylib")
@@ -367,7 +377,12 @@ function(check_conflicting_libraries_internal libraries)
   if(UNIX)
     # Set path for matlab's built-in libraries
     if(APPLE)
-      set(mxLibPath "${MATLAB_ROOT}/bin/maci64")
+      check_cxx_compiler_flag("-arch arm64" arm64Supported)
+      if (arm64Supported)
+        set(mxLibPath "${MATLAB_ROOT}/bin/maca64")
+      else()
+        set(mxLibPath "${MATLAB_ROOT}/bin/maci64")
+      endif()
     else()
       if(CMAKE_CL_64)
         set(mxLibPath "${MATLAB_ROOT}/bin/glnxa64")
diff --git a/gtwrap/interface_parser/function.py b/gtwrap/interface_parser/function.py
index b3f5d3227..b40884488 100644
--- a/gtwrap/interface_parser/function.py
+++ b/gtwrap/interface_parser/function.py
@@ -12,7 +12,8 @@ Author: Duy Nguyen Ta, Fan Jiang, Matthew Sklar, Varun Agrawal, and Frank Dellae
 
 from typing import Any, Iterable, List, Union
 
-from pyparsing import Optional, ParseResults, delimitedList  # type: ignore
+from pyparsing import (Literal, Optional, ParseResults,  # type: ignore
+                       delimitedList)
 
 from .template import Template
 from .tokens import (COMMA, DEFAULT_ARG, EQUAL, IDENT, LOPBRACK, LPAREN, PAIR,
@@ -105,8 +106,10 @@ class ReturnType:
 
     The return type can either be a single type or a pair such as <type1, type2>.
     """
+    # rule to parse optional std:: in front of `pair`
+    optional_std = Optional(Literal('std::')).suppress()
     _pair = (
-        PAIR.suppress()  #
+        optional_std + PAIR.suppress()  #
         + LOPBRACK  #
         + Type.rule("type1")  #
         + COMMA  #
diff --git a/gtwrap/matlab_wrapper/wrapper.py b/gtwrap/matlab_wrapper/wrapper.py
index 146209c44..9cd367cf3 100755
--- a/gtwrap/matlab_wrapper/wrapper.py
+++ b/gtwrap/matlab_wrapper/wrapper.py
@@ -1284,7 +1284,8 @@ class MatlabWrapper(CheckMixin, FormatMixin):
                                       [instantiated_class.name])
             else:
                 # Get the full namespace
-                class_name = ".".join(instantiated_class.parent.full_namespaces()[1:])
+                class_name = ".".join(
+                    instantiated_class.parent.full_namespaces()[1:])
 
             if class_name != "":
                 class_name += '.'
@@ -1860,6 +1861,7 @@ class MatlabWrapper(CheckMixin, FormatMixin):
         """
         for c in cc_content:
             if isinstance(c, list):
+                # c is a namespace
                 if len(c) == 0:
                     continue
 
@@ -1875,6 +1877,7 @@ class MatlabWrapper(CheckMixin, FormatMixin):
                     self.generate_content(sub_content[1], path_to_folder)
 
             elif isinstance(c[1], list):
+                # c is a wrapped function
                 path_to_folder = osp.join(path, c[0])
 
                 if not osp.isdir(path_to_folder):
@@ -1882,11 +1885,13 @@ class MatlabWrapper(CheckMixin, FormatMixin):
                         os.makedirs(path_to_folder, exist_ok=True)
                     except OSError:
                         pass
+
                 for sub_content in c[1]:
                     path_to_file = osp.join(path_to_folder, sub_content[0])
                     with open(path_to_file, 'w') as f:
                         f.write(sub_content[1])
             else:
+                # c is a wrapped class
                 path_to_file = osp.join(path, c[0])
 
                 if not osp.isdir(path_to_file):
@@ -1921,6 +1926,8 @@ class MatlabWrapper(CheckMixin, FormatMixin):
         for module in modules.values():
             # Wrap the full namespace
             self.wrap_namespace(module)
+
+            # Generate the wrapping code (both C++ and .m files)
             self.generate_wrapper(module)
 
             # Generate the corresponding .m and .cpp files
diff --git a/pybind11/.clang-tidy b/pybind11/.clang-tidy
index d945a4a27..23018386c 100644
--- a/pybind11/.clang-tidy
+++ b/pybind11/.clang-tidy
@@ -63,6 +63,8 @@ Checks: |
   -bugprone-unused-raii,
 
 CheckOptions:
+- key:             modernize-use-equals-default.IgnoreMacros
+  value:           false
 - key:             performance-for-range-copy.WarnOnAllAutoCopies
   value:           true
 - key:             performance-inefficient-string-concatenation.StrictMode
diff --git a/pybind11/.codespell-ignore-lines b/pybind11/.codespell-ignore-lines
new file mode 100644
index 000000000..2a01d63eb
--- /dev/null
+++ b/pybind11/.codespell-ignore-lines
@@ -0,0 +1,24 @@
+template <op_id id, op_type ot, typename L = undefined_t, typename R = undefined_t>
+    template <typename ThisT>
+        auto &this_ = static_cast<ThisT &>(*this);
+                if (load_impl<ThisT>(temp, false)) {
+        ssize_t nd = 0;
+        auto trivial = broadcast(buffers, nd, shape);
+        auto ndim = (size_t) nd;
+    int nd;
+    ssize_t ndim() const { return detail::array_proxy(m_ptr)->nd; }
+        using op = op_impl<id, ot, Base, L_type, R_type>;
+template <op_id id, op_type ot, typename L, typename R>
+    template <detail::op_id id, detail::op_type ot, typename L, typename R, typename... Extra>
+    class_ &def(const detail::op_<id, ot, L, R> &op, const Extra &...extra) {
+    class_ &def_cast(const detail::op_<id, ot, L, R> &op, const Extra &...extra) {
+@pytest.mark.parametrize("access", ["ro", "rw", "static_ro", "static_rw"])
+struct IntStruct {
+    explicit IntStruct(int v) : value(v){};
+    ~IntStruct() { value = -value; }
+    IntStruct(const IntStruct &) = default;
+    IntStruct &operator=(const IntStruct &) = default;
+    py::class_<IntStruct>(m, "IntStruct").def(py::init([](const int i) { return IntStruct(i); }));
+    py::implicitly_convertible<int, IntStruct>();
+    m.def("test", [](int expected, const IntStruct &in) {
+        [](int expected, const IntStruct &in) {
diff --git a/pybind11/.github/CONTRIBUTING.md b/pybind11/.github/CONTRIBUTING.md
index 00b1fea4c..ad7974395 100644
--- a/pybind11/.github/CONTRIBUTING.md
+++ b/pybind11/.github/CONTRIBUTING.md
@@ -235,8 +235,8 @@ directory inside your pybind11 git clone. Files will be modified in place,
 so you can use git to monitor the changes.
 
 ```bash
-docker run --rm -v $PWD:/mounted_pybind11 -it silkeh/clang:13
-apt-get update && apt-get install -y python3-dev python3-pytest
+docker run --rm -v $PWD:/mounted_pybind11 -it silkeh/clang:15-bullseye
+apt-get update && apt-get install -y git python3-dev python3-pytest
 cmake -S /mounted_pybind11/ -B build -DCMAKE_CXX_CLANG_TIDY="$(which clang-tidy);--use-color" -DDOWNLOAD_EIGEN=ON -DDOWNLOAD_CATCH=ON -DCMAKE_CXX_STANDARD=17
 cmake --build build -j 2
 ```
diff --git a/pybind11/.github/ISSUE_TEMPLATE/bug-report.yml b/pybind11/.github/ISSUE_TEMPLATE/bug-report.yml
index bd6a9a8e2..4f1e78f33 100644
--- a/pybind11/.github/ISSUE_TEMPLATE/bug-report.yml
+++ b/pybind11/.github/ISSUE_TEMPLATE/bug-report.yml
@@ -6,7 +6,8 @@ body:
   - type: markdown
     attributes:
       value: |
-        Maintainers will only make a best effort to triage PRs. Please do your best to make the issue as easy to act on as possible, and only open if clearly a problem with pybind11 (ask first if unsure).
+        Please do your best to make the issue as easy to act on as possible, and only submit here if there is clearly a problem with pybind11 (ask first if unsure). **Note that a reproducer in a PR is much more likely to get immediate attention.**
+
   - type: checkboxes
     id: steps
     attributes:
@@ -20,6 +21,13 @@ body:
         - label: Consider asking first in the [Gitter chat room](https://gitter.im/pybind/Lobby) or in a [Discussion](https:/pybind/pybind11/discussions/new).
           required: false
 
+  - type: input
+    id: version
+    attributes:
+      label: What version (or hash if on master) of pybind11 are you using?
+    validations:
+      required: true
+
   - type: textarea
     id: description
     attributes:
@@ -40,6 +48,14 @@ body:
         The code should be minimal, have no external dependencies, isolate the
         function(s) that cause breakage. Submit matched and complete C++ and
         Python snippets that can be easily compiled and run to diagnose the
-        issue. If possible, make a PR with a new, failing test to give us a
-        starting point to work on!
+        issue. — Note that a reproducer in a PR is much more likely to get
+        immediate attention: failing tests in the pybind11 CI are the best
+        starting point for working out fixes.
       render: text
+
+  - type: input
+    id: regression
+    attributes:
+      label: Is this a regression? Put the last known working version here if it is.
+      description: Put the last known working version here if this is a regression.
+      value: Not a regression
diff --git a/pybind11/.github/workflows/ci.yml b/pybind11/.github/workflows/ci.yml
index 412282a4f..48f7c5e93 100644
--- a/pybind11/.github/workflows/ci.yml
+++ b/pybind11/.github/workflows/ci.yml
@@ -9,14 +9,19 @@ on:
       - stable
       - v*
 
+permissions: read-all
+
 concurrency:
   group: test-${{ github.ref }}
   cancel-in-progress: true
 
 env:
+  PIP_BREAK_SYSTEM_PACKAGES: 1
   PIP_ONLY_BINARY: numpy
   FORCE_COLOR: 3
   PYTEST_TIMEOUT: 300
+  # For cmake:
+  VERBOSE: 1
 
 jobs:
   # This is the "main" test suite, which tests a large number of different
@@ -25,15 +30,16 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        runs-on: [ubuntu-latest, windows-2022, macos-latest]
+        runs-on: [ubuntu-20.04, windows-2022, macos-latest]
         python:
         - '3.6'
         - '3.9'
         - '3.10'
-        - '3.11-dev'
-        - 'pypy-3.7'
+        - '3.11'
+        - '3.12'
         - 'pypy-3.8'
         - 'pypy-3.9'
+        - 'pypy-3.10'
 
         # Items in here will either be added to the build matrix (if not
         # present), or add new keys to an existing matrix element if all the
@@ -42,12 +48,12 @@ jobs:
         # We support an optional key: args, for cmake args
         include:
           # Just add a key
-          - runs-on: ubuntu-latest
+          - runs-on: ubuntu-20.04
             python: '3.6'
             args: >
               -DPYBIND11_FINDPYTHON=ON
               -DCMAKE_CXX_FLAGS="-D_=1"
-          - runs-on: ubuntu-latest
+          - runs-on: ubuntu-20.04
             python: 'pypy-3.8'
             args: >
               -DPYBIND11_FINDPYTHON=ON
@@ -69,6 +75,7 @@ jobs:
       uses: actions/setup-python@v4
       with:
         python-version: ${{ matrix.python }}
+        allow-prereleases: true
 
     - name: Setup Boost (Linux)
       # Can't use boost + define _
@@ -80,7 +87,7 @@ jobs:
       run: brew install boost
 
     - name: Update CMake
-      uses: jwlawson/actions-setup-cmake@v1.12
+      uses: jwlawson/actions-setup-cmake@v1.14
 
     - name: Cache wheels
       if: runner.os == 'macOS'
@@ -102,10 +109,12 @@ jobs:
       run: python -m pip install pytest-github-actions-annotate-failures
 
     # First build - C++11 mode and inplace
+    # More-or-less randomly adding -DPYBIND11_SIMPLE_GIL_MANAGEMENT=ON here.
     - name: Configure C++11 ${{ matrix.args }}
       run: >
         cmake -S . -B .
         -DPYBIND11_WERROR=ON
+        -DPYBIND11_SIMPLE_GIL_MANAGEMENT=ON
         -DDOWNLOAD_CATCH=ON
         -DDOWNLOAD_EIGEN=ON
         -DCMAKE_CXX_STANDARD=11
@@ -119,7 +128,7 @@ jobs:
 
     - name: C++11 tests
       # TODO: Figure out how to load the DLL on Python 3.8+
-      if: "!(runner.os == 'Windows' && (matrix.python == 3.8 || matrix.python == 3.9 || matrix.python == '3.10' || matrix.python == '3.11-dev' || matrix.python == 'pypy-3.8'))"
+      if: "!(runner.os == 'Windows' && (matrix.python == 3.8 || matrix.python == 3.9 || matrix.python == '3.10' || matrix.python == '3.11' || matrix.python == 'pypy-3.8'))"
       run: cmake --build .  --target cpptest -j 2
 
     - name: Interface test C++11
@@ -129,10 +138,12 @@ jobs:
       run: git clean -fdx
 
     # Second build - C++17 mode and in a build directory
+    # More-or-less randomly adding -DPYBIND11_SIMPLE_GIL_MANAGEMENT=OFF here.
     - name: Configure C++17
       run: >
         cmake -S . -B build2
         -DPYBIND11_WERROR=ON
+        -DPYBIND11_SIMPLE_GIL_MANAGEMENT=OFF
         -DDOWNLOAD_CATCH=ON
         -DDOWNLOAD_EIGEN=ON
         -DCMAKE_CXX_STANDARD=17
@@ -146,7 +157,7 @@ jobs:
 
     - name: C++ tests
       # TODO: Figure out how to load the DLL on Python 3.8+
-      if: "!(runner.os == 'Windows' && (matrix.python == 3.8 || matrix.python == 3.9 || matrix.python == '3.10' || matrix.python == '3.11-dev' || matrix.python == 'pypy-3.8'))"
+      if: "!(runner.os == 'Windows' && (matrix.python == 3.8 || matrix.python == 3.9 || matrix.python == '3.10' || matrix.python == '3.11' || matrix.python == 'pypy-3.8'))"
       run: cmake --build build2 --target cpptest
 
     # Third build - C++17 mode with unstable ABI
@@ -158,7 +169,6 @@ jobs:
         -DDOWNLOAD_EIGEN=ON
         -DCMAKE_CXX_STANDARD=17
         -DPYBIND11_INTERNALS_VERSION=10000000
-        "-DPYBIND11_TEST_OVERRIDE=test_call_policies.cpp;test_gil_scoped.cpp;test_thread.cpp"
         ${{ matrix.args }}
 
     - name: Build (unstable ABI)
@@ -173,7 +183,9 @@ jobs:
     # This makes sure the setup_helpers module can build packages using
     # setuptools
     - name: Setuptools helpers test
-      run: pytest tests/extra_setuptools
+      run: |
+        pip install setuptools
+        pytest tests/extra_setuptools
       if: "!(matrix.runs-on == 'windows-2022')"
 
 
@@ -186,23 +198,23 @@ jobs:
         - python-version: "3.9"
           python-debug: true
           valgrind: true
-        - python-version: "3.11-dev"
+        - python-version: "3.11"
           python-debug: false
 
     name: "🐍 ${{ matrix.python-version }}${{ matrix.python-debug && '-dbg' || '' }} (deadsnakes)${{ matrix.valgrind && ' • Valgrind' || '' }} • x64"
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-20.04
 
     steps:
     - uses: actions/checkout@v3
 
     - name: Setup Python ${{ matrix.python-version }} (deadsnakes)
-      uses: deadsnakes/action@v2.1.1
+      uses: deadsnakes/action@v3.0.1
       with:
         python-version: ${{ matrix.python-version }}
         debug: ${{ matrix.python-debug }}
 
     - name: Update CMake
-      uses: jwlawson/actions-setup-cmake@v1.12
+      uses: jwlawson/actions-setup-cmake@v1.14
 
     - name: Valgrind cache
       if: matrix.valgrind
@@ -235,8 +247,6 @@ jobs:
         python -m pip install -r tests/requirements.txt
 
     - name: Configure
-      env:
-        SETUPTOOLS_USE_DISTUTILS: stdlib
       run: >
         cmake -S . -B build
         -DCMAKE_BUILD_TYPE=Debug
@@ -274,18 +284,27 @@ jobs:
           - dev
         std:
           - 11
+        container_suffix:
+          - ""
         include:
           - clang: 5
             std: 14
-          - clang: 10
-            std: 20
           - clang: 10
             std: 17
+          - clang: 11
+            std: 20
+          - clang: 12
+            std: 20
+          - clang: 13
+            std: 20
           - clang: 14
             std: 20
+          - clang: 15
+            std: 20
+            container_suffix: "-bullseye"
 
     name: "🐍 3 • Clang ${{ matrix.clang }} • C++${{ matrix.std }} • x64"
-    container: "silkeh/clang:${{ matrix.clang }}"
+    container: "silkeh/clang:${{ matrix.clang }}${{ matrix.container_suffix }}"
 
     steps:
     - uses: actions/checkout@v3
@@ -318,8 +337,8 @@ jobs:
   # Testing NVCC; forces sources to behave like .cu files
   cuda:
     runs-on: ubuntu-latest
-    name: "🐍 3.8 • CUDA 11.2 • Ubuntu 20.04"
-    container: nvidia/cuda:11.2.2-devel-ubuntu20.04
+    name: "🐍 3.10 • CUDA 12.2 • Ubuntu 22.04"
+    container: nvidia/cuda:12.2.0-devel-ubuntu22.04
 
     steps:
     - uses: actions/checkout@v3
@@ -384,8 +403,9 @@ jobs:
 
   # Testing on CentOS 7 + PGI compilers, which seems to require more workarounds
   centos-nvhpc7:
+    if: ${{ false }}  # JOB DISABLED (NEEDS WORK): https://github.com/pybind/pybind11/issues/4690
     runs-on: ubuntu-latest
-    name: "🐍 3 • CentOS7 / PGI 22.3 • x64"
+    name: "🐍 3 • CentOS7 / PGI 22.9 • x64"
     container: centos:7
 
     steps:
@@ -395,7 +415,7 @@ jobs:
       run: yum update -y && yum install -y epel-release && yum install -y git python3-devel make environment-modules cmake3 yum-utils
 
     - name: Install NVidia HPC SDK
-      run: yum-config-manager --add-repo https://developer.download.nvidia.com/hpc-sdk/rhel/nvhpc.repo && yum -y install nvhpc-22.3
+      run: yum-config-manager --add-repo https://developer.download.nvidia.com/hpc-sdk/rhel/nvhpc.repo && yum -y install nvhpc-22.9
 
     # On CentOS 7, we have to filter a few tests (compiler internal error)
     # and allow deeper template recursion (not needed on CentOS 8 with a newer
@@ -405,12 +425,12 @@ jobs:
       shell: bash
       run: |
         source /etc/profile.d/modules.sh
-        module load /opt/nvidia/hpc_sdk/modulefiles/nvhpc/22.3
+        module load /opt/nvidia/hpc_sdk/modulefiles/nvhpc/22.9
         cmake3 -S . -B build -DDOWNLOAD_CATCH=ON \
                             -DCMAKE_CXX_STANDARD=11 \
                             -DPYTHON_EXECUTABLE=$(python3 -c "import sys; print(sys.executable)") \
                             -DCMAKE_CXX_FLAGS="-Wc,--pending_instantiations=0" \
-                            -DPYBIND11_TEST_FILTER="test_smart_ptr.cpp;test_virtual_functions.cpp"
+                            -DPYBIND11_TEST_FILTER="test_smart_ptr.cpp"
 
     # Building before installing Pip should produce a warning but not an error
     - name: Build
@@ -437,14 +457,14 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        gcc:
-          - 7
-          - latest
-        std:
-          - 11
         include:
-          - gcc: 10
-            std: 20
+          - { gcc: 7, std: 11 }
+          - { gcc: 7, std: 17 }
+          - { gcc: 8, std: 14 }
+          - { gcc: 8, std: 17 }
+          - { gcc: 10, std: 17 }
+          - { gcc: 11, std: 20 }
+          - { gcc: 12, std: 20 }
 
     name: "🐍 3 • GCC ${{ matrix.gcc }} • C++${{ matrix.std }}• x64"
     container: "gcc:${{ matrix.gcc }}"
@@ -459,7 +479,7 @@ jobs:
       run: python3 -m pip install --upgrade pip
 
     - name: Update CMake
-      uses: jwlawson/actions-setup-cmake@v1.12
+      uses: jwlawson/actions-setup-cmake@v1.14
 
     - name: Configure
       shell: bash
@@ -482,6 +502,24 @@ jobs:
     - name: Interface test
       run: cmake --build build --target test_cmake_build
 
+    - name: Configure - Exercise cmake -DPYBIND11_TEST_OVERRIDE
+      if: matrix.gcc == '12'
+      shell: bash
+      run: >
+        cmake -S . -B build_partial
+        -DPYBIND11_WERROR=ON
+        -DDOWNLOAD_CATCH=ON
+        -DCMAKE_CXX_STANDARD=${{ matrix.std }}
+        -DPYTHON_EXECUTABLE=$(python3 -c "import sys; print(sys.executable)")
+        "-DPYBIND11_TEST_OVERRIDE=test_call_policies.cpp;test_gil_scoped.cpp;test_thread.cpp"
+
+    - name: Build - Exercise cmake -DPYBIND11_TEST_OVERRIDE
+      if: matrix.gcc == '12'
+      run: cmake --build build_partial -j 2
+
+    - name: Python tests - Exercise cmake -DPYBIND11_TEST_OVERRIDE
+      if: matrix.gcc == '12'
+      run: cmake --build build_partial --target pytest
 
   # Testing on ICC using the oneAPI apt repo
   icc:
@@ -731,6 +769,9 @@ jobs:
             args: -DCMAKE_CXX_STANDARD=20
           - python: 3.8
             args: -DCMAKE_CXX_STANDARD=17
+          - python: 3.7
+            args: -DCMAKE_CXX_STANDARD=14
+
 
     name: "🐍 ${{ matrix.python }} • MSVC 2019 • x86 ${{ matrix.args }}"
     runs-on: windows-2019
@@ -745,10 +786,10 @@ jobs:
         architecture: x86
 
     - name: Update CMake
-      uses: jwlawson/actions-setup-cmake@v1.12
+      uses: jwlawson/actions-setup-cmake@v1.14
 
     - name: Prepare MSVC
-      uses: ilammy/msvc-dev-cmd@v1.10.0
+      uses: ilammy/msvc-dev-cmd@v1.12.1
       with:
         arch: x86
 
@@ -798,10 +839,10 @@ jobs:
         architecture: x86
 
     - name: Update CMake
-      uses: jwlawson/actions-setup-cmake@v1.12
+      uses: jwlawson/actions-setup-cmake@v1.14
 
     - name: Prepare MSVC
-      uses: ilammy/msvc-dev-cmd@v1.10.0
+      uses: ilammy/msvc-dev-cmd@v1.12.1
       with:
         arch: x86
 
@@ -849,7 +890,7 @@ jobs:
         python3 -m pip install -r tests/requirements.txt
 
     - name: Update CMake
-      uses: jwlawson/actions-setup-cmake@v1.12
+      uses: jwlawson/actions-setup-cmake@v1.14
 
     - name: Configure C++20
       run: >
@@ -871,6 +912,21 @@ jobs:
     - name: Interface test C++20
       run: cmake --build build --target test_cmake_build
 
+    - name: Configure C++20 - Exercise cmake -DPYBIND11_TEST_OVERRIDE
+      run: >
+        cmake -S . -B build_partial
+        -DPYBIND11_WERROR=ON
+        -DDOWNLOAD_CATCH=ON
+        -DDOWNLOAD_EIGEN=ON
+        -DCMAKE_CXX_STANDARD=20
+        "-DPYBIND11_TEST_OVERRIDE=test_call_policies.cpp;test_gil_scoped.cpp;test_thread.cpp"
+
+    - name: Build C++20 - Exercise cmake -DPYBIND11_TEST_OVERRIDE
+      run: cmake --build build_partial -j 2
+
+    - name: Python tests - Exercise cmake -DPYBIND11_TEST_OVERRIDE
+      run: cmake --build build_partial --target pytest
+
   mingw:
     name: "🐍 3 • windows-latest • ${{ matrix.sys }}"
     runs-on: windows-latest
@@ -905,7 +961,7 @@ jobs:
     - name: Configure C++11
       # LTO leads to many undefined reference like
       # `pybind11::detail::function_call::function_call(pybind11::detail::function_call&&)
-      run: cmake -G "MinGW Makefiles" -DCMAKE_CXX_STANDARD=11 -DDOWNLOAD_CATCH=ON -S . -B build
+      run: cmake -G "MinGW Makefiles" -DCMAKE_CXX_STANDARD=11 -DPYBIND11_WERROR=ON -DDOWNLOAD_CATCH=ON -S . -B build
 
     - name: Build C++11
       run: cmake --build build -j 2
@@ -923,7 +979,7 @@ jobs:
       run: git clean -fdx
 
     - name: Configure C++14
-      run: cmake -G "MinGW Makefiles" -DCMAKE_CXX_STANDARD=14 -DDOWNLOAD_CATCH=ON -S . -B build2
+      run: cmake -G "MinGW Makefiles" -DCMAKE_CXX_STANDARD=14 -DPYBIND11_WERROR=ON -DDOWNLOAD_CATCH=ON -S . -B build2
 
     - name: Build C++14
       run: cmake --build build2 -j 2
@@ -941,7 +997,7 @@ jobs:
       run: git clean -fdx
 
     - name: Configure C++17
-      run: cmake -G "MinGW Makefiles" -DCMAKE_CXX_STANDARD=17 -DDOWNLOAD_CATCH=ON -S . -B build3
+      run: cmake -G "MinGW Makefiles" -DCMAKE_CXX_STANDARD=17 -DPYBIND11_WERROR=ON -DDOWNLOAD_CATCH=ON -S . -B build3
 
     - name: Build C++17
       run: cmake --build build3 -j 2
@@ -954,3 +1010,156 @@ jobs:
 
     - name: Interface test C++17
       run: PYTHONHOME=/${{matrix.sys}} PYTHONPATH=/${{matrix.sys}} cmake --build build3 --target test_cmake_build
+
+  windows_clang:
+
+    strategy:
+      matrix:
+        os: [windows-latest]
+        python: ['3.10']
+
+    runs-on: "${{ matrix.os }}"
+
+    name: "🐍 ${{ matrix.python }} • ${{ matrix.os }} • clang-latest"
+
+    steps:
+      - name: Show env
+        run: env
+
+      - name: Checkout
+        uses: actions/checkout@v3
+
+      - name: Set up Clang
+        uses: egor-tensin/setup-clang@v1
+
+      - name: Setup Python ${{ matrix.python }}
+        uses: actions/setup-python@v4
+        with:
+          python-version: ${{ matrix.python }}
+
+      - name: Update CMake
+        uses: jwlawson/actions-setup-cmake@v1.14
+
+      - name: Install ninja-build tool
+        uses: seanmiddleditch/gha-setup-ninja@v3
+
+      - name: Run pip installs
+        run: |
+          python -m pip install --upgrade pip
+          python -m pip install -r tests/requirements.txt
+
+      - name: Show Clang++ version
+        run: clang++ --version
+
+      - name: Show CMake version
+        run: cmake --version
+
+      # TODO: WERROR=ON
+      - name: Configure Clang
+        run: >
+          cmake -G Ninja -S . -B .
+          -DPYBIND11_WERROR=OFF
+          -DPYBIND11_SIMPLE_GIL_MANAGEMENT=OFF
+          -DDOWNLOAD_CATCH=ON
+          -DDOWNLOAD_EIGEN=ON
+          -DCMAKE_CXX_COMPILER=clang++
+          -DCMAKE_CXX_STANDARD=17
+
+      - name: Build
+        run: cmake --build . -j 2
+
+      - name: Python tests
+        run: cmake --build . --target pytest -j 2
+
+      - name: C++ tests
+        run: cmake --build . --target cpptest -j 2
+
+      - name: Interface test
+        run: cmake --build . --target test_cmake_build -j 2
+
+      - name: Clean directory
+        run: git clean -fdx
+
+  macos_brew_install_llvm:
+    name: "macos-latest • brew install llvm"
+    runs-on: macos-latest
+
+    env:
+      # https://apple.stackexchange.com/questions/227026/how-to-install-recent-clang-with-homebrew
+      LDFLAGS: '-L/usr/local/opt/llvm/lib -Wl,-rpath,/usr/local/opt/llvm/lib'
+
+    steps:
+      - name: Update PATH
+        run: echo "/usr/local/opt/llvm/bin" >> $GITHUB_PATH
+
+      - name: Show env
+        run: env
+
+      - name: Checkout
+        uses: actions/checkout@v3
+
+      - name: Show Clang++ version before brew install llvm
+        run: clang++ --version
+
+      - name: brew install llvm
+        run: brew install llvm
+
+      - name: Show Clang++ version after brew install llvm
+        run: clang++ --version
+
+      - name: Update CMake
+        uses: jwlawson/actions-setup-cmake@v1.14
+
+      - name: Run pip installs
+        run: |
+          python3 -m pip install --upgrade pip
+          python3 -m pip install -r tests/requirements.txt
+          python3 -m pip install numpy
+          python3 -m pip install scipy
+
+      - name: Show CMake version
+        run: cmake --version
+
+      - name: CMake Configure
+        run: >
+          cmake -S . -B .
+          -DPYBIND11_WERROR=ON
+          -DPYBIND11_SIMPLE_GIL_MANAGEMENT=OFF
+          -DDOWNLOAD_CATCH=ON
+          -DDOWNLOAD_EIGEN=ON
+          -DCMAKE_CXX_COMPILER=clang++
+          -DCMAKE_CXX_STANDARD=17
+          -DPYTHON_EXECUTABLE=$(python3 -c "import sys; print(sys.executable)")
+
+      - name: Build
+        run: cmake --build . -j 2
+
+      - name: Python tests
+        run: cmake --build . --target pytest -j 2
+
+      - name: C++ tests
+        run: cmake --build . --target cpptest -j 2
+
+      - name: Interface test
+        run: cmake --build . --target test_cmake_build -j 2
+
+      - name: CMake Configure - Exercise cmake -DPYBIND11_TEST_OVERRIDE
+        run: >
+          cmake -S . -B build_partial
+          -DPYBIND11_WERROR=ON
+          -DPYBIND11_SIMPLE_GIL_MANAGEMENT=OFF
+          -DDOWNLOAD_CATCH=ON
+          -DDOWNLOAD_EIGEN=ON
+          -DCMAKE_CXX_COMPILER=clang++
+          -DCMAKE_CXX_STANDARD=17
+          -DPYTHON_EXECUTABLE=$(python3 -c "import sys; print(sys.executable)")
+          "-DPYBIND11_TEST_OVERRIDE=test_call_policies.cpp;test_gil_scoped.cpp;test_thread.cpp"
+
+      - name: Build - Exercise cmake -DPYBIND11_TEST_OVERRIDE
+        run: cmake --build build_partial -j 2
+
+      - name: Python tests - Exercise cmake -DPYBIND11_TEST_OVERRIDE
+        run: cmake --build build_partial --target pytest -j 2
+
+      - name: Clean directory
+        run: git clean -fdx
diff --git a/pybind11/.github/workflows/configure.yml b/pybind11/.github/workflows/configure.yml
index edcad4198..ec7cd612d 100644
--- a/pybind11/.github/workflows/configure.yml
+++ b/pybind11/.github/workflows/configure.yml
@@ -9,6 +9,14 @@ on:
       - stable
       - v*
 
+permissions:
+  contents: read
+
+env:
+  PIP_BREAK_SYSTEM_PACKAGES: 1
+  # For cmake:
+  VERBOSE: 1
+
 jobs:
   # This tests various versions of CMake in various combinations, to make sure
   # the configure step passes.
@@ -16,22 +24,26 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        runs-on: [ubuntu-latest, macos-latest, windows-latest]
+        runs-on: [ubuntu-20.04, macos-latest, windows-latest]
         arch: [x64]
-        cmake: ["3.23"]
+        cmake: ["3.26"]
 
         include:
-        - runs-on: ubuntu-latest
+        - runs-on: ubuntu-20.04
           arch: x64
-          cmake: 3.4
+          cmake: "3.5"
+
+        - runs-on: ubuntu-20.04
+          arch: x64
+          cmake: "3.27"
 
         - runs-on: macos-latest
           arch: x64
-          cmake: 3.7
+          cmake: "3.7"
 
         - runs-on: windows-2019
           arch: x64 # x86 compilers seem to be missing on 2019 image
-          cmake: 3.18
+          cmake: "3.18"
 
     name: 🐍 3.7 • CMake ${{ matrix.cmake }} • ${{ matrix.runs-on }}
     runs-on: ${{ matrix.runs-on }}
@@ -51,7 +63,7 @@ jobs:
     # An action for adding a specific version of CMake:
     #   https://github.com/jwlawson/actions-setup-cmake
     - name: Setup CMake ${{ matrix.cmake }}
-      uses: jwlawson/actions-setup-cmake@v1.12
+      uses: jwlawson/actions-setup-cmake@v1.14
       with:
         cmake-version: ${{ matrix.cmake }}
 
diff --git a/pybind11/.github/workflows/format.yml b/pybind11/.github/workflows/format.yml
index 31d893c47..b8242ee52 100644
--- a/pybind11/.github/workflows/format.yml
+++ b/pybind11/.github/workflows/format.yml
@@ -12,8 +12,13 @@ on:
     - stable
     - "v*"
 
+permissions:
+  contents: read
+
 env:
   FORCE_COLOR: 3
+  # For cmake:
+  VERBOSE: 1
 
 jobs:
   pre-commit:
@@ -36,12 +41,12 @@ jobs:
     # in .github/CONTRIBUTING.md and update as needed.
     name: Clang-Tidy
     runs-on: ubuntu-latest
-    container: silkeh/clang:13
+    container: silkeh/clang:15-bullseye
     steps:
     - uses: actions/checkout@v3
 
     - name: Install requirements
-      run: apt-get update && apt-get install -y python3-dev python3-pytest
+      run: apt-get update && apt-get install -y git python3-dev python3-pytest
 
     - name: Configure
       run: >
diff --git a/pybind11/.github/workflows/labeler.yml b/pybind11/.github/workflows/labeler.yml
index d2b597968..858a4a0e2 100644
--- a/pybind11/.github/workflows/labeler.yml
+++ b/pybind11/.github/workflows/labeler.yml
@@ -3,14 +3,23 @@ on:
   pull_request_target:
     types: [closed]
 
+permissions: {}
+
 jobs:
   label:
     name: Labeler
     runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      pull-requests: write
     steps:
 
     - uses: actions/labeler@main
-      if: github.event.pull_request.merged == true
+      if: >
+        github.event.pull_request.merged == true &&
+        !startsWith(github.event.pull_request.title, 'chore(deps):') &&
+        !startsWith(github.event.pull_request.title, 'ci(fix):') &&
+        !startsWith(github.event.pull_request.title, 'docs(changelog):')
       with:
         repo-token: ${{ secrets.GITHUB_TOKEN }}
         configuration-path: .github/labeler_merged.yml
diff --git a/pybind11/.github/workflows/pip.yml b/pybind11/.github/workflows/pip.yml
index 2c16735e1..d6687b441 100644
--- a/pybind11/.github/workflows/pip.yml
+++ b/pybind11/.github/workflows/pip.yml
@@ -12,7 +12,11 @@ on:
     types:
     - published
 
+permissions:
+  contents: read
+
 env:
+  PIP_BREAK_SYSTEM_PACKAGES: 1
   PIP_ONLY_BINARY: numpy
 
 jobs:
@@ -98,13 +102,13 @@ jobs:
     - uses: actions/download-artifact@v3
 
     - name: Publish standard package
-      uses: pypa/gh-action-pypi-publish@v1.5.0
+      uses: pypa/gh-action-pypi-publish@release/v1
       with:
         password: ${{ secrets.pypi_password }}
-        packages_dir: standard/
+        packages-dir: standard/
 
     - name: Publish global package
-      uses: pypa/gh-action-pypi-publish@v1.5.0
+      uses: pypa/gh-action-pypi-publish@release/v1
       with:
         password: ${{ secrets.pypi_password_global }}
-        packages_dir: global/
+        packages-dir: global/
diff --git a/pybind11/.github/workflows/upstream.yml b/pybind11/.github/workflows/upstream.yml
index a40a6c7d7..dd8a1c960 100644
--- a/pybind11/.github/workflows/upstream.yml
+++ b/pybind11/.github/workflows/upstream.yml
@@ -1,112 +1,116 @@
-
 name: Upstream
 
 on:
   workflow_dispatch:
   pull_request:
 
+permissions:
+  contents: read
+
 concurrency:
   group: upstream-${{ github.ref }}
   cancel-in-progress: true
 
 env:
-  PIP_ONLY_BINARY: numpy
+  PIP_BREAK_SYSTEM_PACKAGES: 1
+  PIP_ONLY_BINARY: ":all:"
+  # For cmake:
+  VERBOSE: 1
 
 jobs:
   standard:
-    name: "🐍 3.11 latest internals • ubuntu-latest • x64"
+    name: "🐍 3.12 latest • ubuntu-latest • x64"
     runs-on: ubuntu-latest
+    # Only runs when the  'python dev' label is selected
     if: "contains(github.event.pull_request.labels.*.name, 'python dev')"
 
     steps:
     - uses: actions/checkout@v3
 
-    - name: Setup Python 3.11
+    - name: Setup Python 3.12
       uses: actions/setup-python@v4
       with:
-        python-version: "3.11-dev"
+        python-version: "3.12-dev"
 
-    - name: Setup Boost (Linux)
-      if: runner.os == 'Linux'
+    - name: Setup Boost
       run: sudo apt-get install libboost-dev
 
     - name: Update CMake
-      uses: jwlawson/actions-setup-cmake@v1.12
+      uses: jwlawson/actions-setup-cmake@v1.14
 
-    - name: Prepare env
+    - name: Run pip installs
       run: |
+        python -m pip install --upgrade pip
         python -m pip install -r tests/requirements.txt
 
-    - name: Setup annotations on Linux
-      if: runner.os == 'Linux'
-      run: python -m pip install pytest-github-actions-annotate-failures
+    - name: Show platform info
+      run: |
+        python -m platform
+        cmake --version
+        pip list
 
     # First build - C++11 mode and inplace
     - name: Configure C++11
       run: >
-        cmake -S . -B .
+        cmake -S . -B build11
         -DPYBIND11_WERROR=ON
         -DDOWNLOAD_CATCH=ON
         -DDOWNLOAD_EIGEN=ON
         -DCMAKE_CXX_STANDARD=11
+        -DCMAKE_BUILD_TYPE=Debug
 
     - name: Build C++11
-      run: cmake --build . -j 2
+      run: cmake --build build11 -j 2
 
     - name: Python tests C++11
-      run: cmake --build . --target pytest -j 2
+      run: cmake --build build11 --target pytest -j 2
 
     - name: C++11 tests
-      run: cmake --build .  --target cpptest -j 2
+      run: cmake --build build11  --target cpptest -j 2
 
     - name: Interface test C++11
-      run: cmake --build . --target test_cmake_build
-
-    - name: Clean directory
-      run: git clean -fdx
+      run: cmake --build build11 --target test_cmake_build
 
     # Second build - C++17 mode and in a build directory
     - name: Configure C++17
       run: >
-        cmake -S . -B build2
+        cmake -S . -B build17
         -DPYBIND11_WERROR=ON
         -DDOWNLOAD_CATCH=ON
         -DDOWNLOAD_EIGEN=ON
         -DCMAKE_CXX_STANDARD=17
-        ${{ matrix.args }}
-        ${{ matrix.args2 }}
 
-    - name: Build
-      run: cmake --build build2 -j 2
+    - name: Build C++17
+      run: cmake --build build17 -j 2
 
-    - name: Python tests
-      run: cmake --build build2 --target pytest
+    - name: Python tests C++17
+      run: cmake --build build17 --target pytest
 
-    - name: C++ tests
-      run: cmake --build build2 --target cpptest
+    - name: C++17 tests
+      run: cmake --build build17 --target cpptest
 
     # Third build - C++17 mode with unstable ABI
     - name: Configure (unstable ABI)
       run: >
-        cmake -S . -B build3
+        cmake -S . -B build17max
         -DPYBIND11_WERROR=ON
         -DDOWNLOAD_CATCH=ON
         -DDOWNLOAD_EIGEN=ON
         -DCMAKE_CXX_STANDARD=17
         -DPYBIND11_INTERNALS_VERSION=10000000
-        "-DPYBIND11_TEST_OVERRIDE=test_call_policies.cpp;test_gil_scoped.cpp;test_thread.cpp"
-        ${{ matrix.args }}
 
     - name: Build (unstable ABI)
-      run: cmake --build build3 -j 2
+      run: cmake --build build17max -j 2
 
     - name: Python tests (unstable ABI)
-      run: cmake --build build3 --target pytest
+      run: cmake --build build17max --target pytest
 
-    - name: Interface test
-      run: cmake --build build2 --target test_cmake_build
+    - name: Interface test (unstable ABI)
+      run: cmake --build build17max --target test_cmake_build
 
     # This makes sure the setup_helpers module can build packages using
     # setuptools
     - name: Setuptools helpers test
-      run: pytest tests/extra_setuptools
+      run: |
+        pip install setuptools
+        pytest tests/extra_setuptools
diff --git a/pybind11/.gitignore b/pybind11/.gitignore
index 3cf4fbbda..43d5094c9 100644
--- a/pybind11/.gitignore
+++ b/pybind11/.gitignore
@@ -43,3 +43,4 @@ pybind11Targets.cmake
 /pybind11/share/*
 /docs/_build/*
 .ipynb_checkpoints/
+tests/main.cpp
diff --git a/pybind11/.pre-commit-config.yaml b/pybind11/.pre-commit-config.yaml
index ba9955a31..86ac965d9 100644
--- a/pybind11/.pre-commit-config.yaml
+++ b/pybind11/.pre-commit-config.yaml
@@ -12,10 +12,62 @@
 #
 # See https://github.com/pre-commit/pre-commit
 
+
+ci:
+  autoupdate_commit_msg: "chore(deps): update pre-commit hooks"
+  autofix_commit_msg: "style: pre-commit fixes"
+  autoupdate_schedule: monthly
+
+# third-party content
+exclude: ^tools/JoinPaths.cmake$
+
 repos:
+
+# Clang format the codebase automatically
+- repo: https://github.com/pre-commit/mirrors-clang-format
+  rev: "v16.0.6"
+  hooks:
+  - id: clang-format
+    types_or: [c++, c, cuda]
+
+# Black, the code formatter, natively supports pre-commit
+- repo: https://github.com/psf/black
+  rev: "23.3.0" # Keep in sync with blacken-docs
+  hooks:
+  - id: black
+
+# Ruff, the Python auto-correcting linter written in Rust
+- repo: https://github.com/astral-sh/ruff-pre-commit
+  rev: v0.0.276
+  hooks:
+  - id: ruff
+    args: ["--fix", "--show-fixes"]
+
+# Check static types with mypy
+- repo: https://github.com/pre-commit/mirrors-mypy
+  rev: "v1.4.1"
+  hooks:
+  - id: mypy
+    args: []
+    exclude: ^(tests|docs)/
+    additional_dependencies:
+    - markdown-it-py<3 # Drop this together with dropping Python 3.7 support.
+    - nox
+    - rich
+    - types-setuptools
+
+# CMake formatting
+- repo: https://github.com/cheshirekow/cmake-format-precommit
+  rev: "v0.6.13"
+  hooks:
+  - id: cmake-format
+    additional_dependencies: [pyyaml]
+    types: [file]
+    files: (\.cmake|CMakeLists.txt)(.in)?$
+
 # Standard hooks
 - repo: https://github.com/pre-commit/pre-commit-hooks
-  rev: "v4.3.0"
+  rev: "v4.4.0"
   hooks:
   - id: check-added-large-files
   - id: check-case-conflict
@@ -30,109 +82,38 @@ repos:
   - id: requirements-txt-fixer
   - id: trailing-whitespace
 
-# Upgrade old Python syntax
-- repo: https://github.com/asottile/pyupgrade
-  rev: "v2.37.1"
-  hooks:
-  - id: pyupgrade
-    args: [--py36-plus]
-
-# Nicely sort includes
-- repo: https://github.com/PyCQA/isort
-  rev: "5.10.1"
-  hooks:
-  - id: isort
-
-# Black, the code formatter, natively supports pre-commit
-- repo: https://github.com/psf/black
-  rev: "22.6.0" # Keep in sync with blacken-docs
-  hooks:
-  - id: black
-
 # Also code format the docs
 - repo: https://github.com/asottile/blacken-docs
-  rev: "v1.12.1"
+  rev: "1.14.0"
   hooks:
   - id: blacken-docs
     additional_dependencies:
-    - black==22.6.0 # keep in sync with black hook
+    - black==23.3.0 # keep in sync with black hook
 
 # Changes tabs to spaces
 - repo: https://github.com/Lucas-C/pre-commit-hooks
-  rev: "v1.3.0"
+  rev: "v1.5.1"
   hooks:
   - id: remove-tabs
 
+# Avoid directional quotes
 - repo: https://github.com/sirosen/texthooks
-  rev: "0.3.1"
+  rev: "0.5.0"
   hooks:
   - id: fix-ligatures
   - id: fix-smartquotes
 
-# Autoremoves unused imports
-- repo: https://github.com/hadialqattan/pycln
-  rev: "v2.0.1"
-  hooks:
-  - id: pycln
-    stages: [manual]
-
 # Checking for common mistakes
 - repo: https://github.com/pre-commit/pygrep-hooks
-  rev: "v1.9.0"
+  rev: "v1.10.0"
   hooks:
-  - id: python-check-blanket-noqa
-  - id: python-check-blanket-type-ignore
-  - id: python-no-log-warn
-  - id: python-use-type-annotations
   - id: rst-backticks
   - id: rst-directive-colons
   - id: rst-inline-touching-normal
 
-# Automatically remove noqa that are not used
-- repo: https://github.com/asottile/yesqa
-  rev: "v1.3.0"
-  hooks:
-  - id: yesqa
-    additional_dependencies: &flake8_dependencies
-      - flake8-bugbear
-      - pep8-naming
-
-# Flake8 also supports pre-commit natively (same author)
-- repo: https://github.com/PyCQA/flake8
-  rev: "4.0.1"
-  hooks:
-  - id: flake8
-    exclude: ^(docs/.*|tools/.*)$
-    additional_dependencies: *flake8_dependencies
-
-# PyLint has native support - not always usable, but works for us
-- repo: https://github.com/PyCQA/pylint
-  rev: "v2.14.4"
-  hooks:
-  - id: pylint
-    files: ^pybind11
-
-# CMake formatting
-- repo: https://github.com/cheshirekow/cmake-format-precommit
-  rev: "v0.6.13"
-  hooks:
-  - id: cmake-format
-    additional_dependencies: [pyyaml]
-    types: [file]
-    files: (\.cmake|CMakeLists.txt)(.in)?$
-
-# Check static types with mypy
-- repo: https://github.com/pre-commit/mirrors-mypy
-  rev: "v0.961"
-  hooks:
-  - id: mypy
-    args: []
-    exclude: ^(tests|docs)/
-    additional_dependencies: [nox, rich]
-
 # Checks the manifest for missing files (native support)
 - repo: https://github.com/mgedmin/check-manifest
-  rev: "0.48"
+  rev: "0.49"
   hooks:
   - id: check-manifest
     # This is a slow hook, so only run this if --hook-stage manual is passed
@@ -140,16 +121,18 @@ repos:
     additional_dependencies: [cmake, ninja]
 
 # Check for spelling
+# Use tools/codespell_ignore_lines_from_errors.py
+# to rebuild .codespell-ignore-lines
 - repo: https://github.com/codespell-project/codespell
-  rev: "v2.1.0"
+  rev: "v2.2.5"
   hooks:
   - id: codespell
     exclude: ".supp$"
-    args: ["-L", "nd,ot,thist"]
+    args: ["-x.codespell-ignore-lines", "-Lccompiler"]
 
 # Check for common shell mistakes
 - repo: https://github.com/shellcheck-py/shellcheck-py
-  rev: "v0.8.0.4"
+  rev: "v0.9.0.5"
   hooks:
   - id: shellcheck
 
@@ -162,9 +145,9 @@ repos:
     entry: PyBind|Numpy|Cmake|CCache|PyTest
     exclude: ^\.pre-commit-config.yaml$
 
-# Clang format the codebase automatically
-- repo: https://github.com/pre-commit/mirrors-clang-format
-  rev: "v14.0.6"
+# PyLint has native support - not always usable, but works for us
+- repo: https://github.com/PyCQA/pylint
+  rev: "v3.0.0a6"
   hooks:
-  - id: clang-format
-    types_or: [c++, c, cuda]
+  - id: pylint
+    files: ^pybind11
diff --git a/pybind11/CMakeLists.txt b/pybind11/CMakeLists.txt
index 3787982cb..87ec10346 100644
--- a/pybind11/CMakeLists.txt
+++ b/pybind11/CMakeLists.txt
@@ -5,15 +5,15 @@
 # All rights reserved. Use of this source code is governed by a
 # BSD-style license that can be found in the LICENSE file.
 
-cmake_minimum_required(VERSION 3.4)
+cmake_minimum_required(VERSION 3.5)
 
-# The `cmake_minimum_required(VERSION 3.4...3.22)` syntax does not work with
+# The `cmake_minimum_required(VERSION 3.5...3.26)` syntax does not work with
 # some versions of VS that have a patched CMake 3.11. This forces us to emulate
 # the behavior using the following workaround:
-if(${CMAKE_VERSION} VERSION_LESS 3.22)
+if(${CMAKE_VERSION} VERSION_LESS 3.26)
   cmake_policy(VERSION ${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION})
 else()
-  cmake_policy(VERSION 3.22)
+  cmake_policy(VERSION 3.26)
 endif()
 
 # Avoid infinite recursion if tests include this as a subdirectory
@@ -91,10 +91,16 @@ endif()
 option(PYBIND11_INSTALL "Install pybind11 header files?" ${PYBIND11_MASTER_PROJECT})
 option(PYBIND11_TEST "Build pybind11 test suite?" ${PYBIND11_MASTER_PROJECT})
 option(PYBIND11_NOPYTHON "Disable search for Python" OFF)
+option(PYBIND11_SIMPLE_GIL_MANAGEMENT
+       "Use simpler GIL management logic that does not support disassociation" OFF)
 set(PYBIND11_INTERNALS_VERSION
     ""
     CACHE STRING "Override the ABI version, may be used to enable the unstable ABI.")
 
+if(PYBIND11_SIMPLE_GIL_MANAGEMENT)
+  add_compile_definitions(PYBIND11_SIMPLE_GIL_MANAGEMENT)
+endif()
+
 cmake_dependent_option(
   USE_PYTHON_INCLUDE_DIR
   "Install pybind11 headers in Python include directory instead of default installation prefix"
@@ -120,6 +126,9 @@ set(PYBIND11_HEADERS
     include/pybind11/complex.h
     include/pybind11/options.h
     include/pybind11/eigen.h
+    include/pybind11/eigen/common.h
+    include/pybind11/eigen/matrix.h
+    include/pybind11/eigen/tensor.h
     include/pybind11/embed.h
     include/pybind11/eval.h
     include/pybind11/gil.h
@@ -131,7 +140,8 @@ set(PYBIND11_HEADERS
     include/pybind11/pytypes.h
     include/pybind11/stl.h
     include/pybind11/stl_bind.h
-    include/pybind11/stl/filesystem.h)
+    include/pybind11/stl/filesystem.h
+    include/pybind11/type_caster_pyobject_ptr.h)
 
 # Compare with grep and warn if mismatched
 if(PYBIND11_MASTER_PROJECT AND NOT CMAKE_VERSION VERSION_LESS 3.12)
@@ -198,6 +208,9 @@ else()
 endif()
 
 include("${CMAKE_CURRENT_SOURCE_DIR}/tools/pybind11Common.cmake")
+# https://github.com/jtojnar/cmake-snips/#concatenating-paths-when-building-pkg-config-files
+# TODO: cmake 3.20 adds the cmake_path() function, which obsoletes this snippet
+include("${CMAKE_CURRENT_SOURCE_DIR}/tools/JoinPaths.cmake")
 
 # Relative directory setting
 if(USE_PYTHON_INCLUDE_DIR AND DEFINED Python_INCLUDE_DIRS)
@@ -262,6 +275,16 @@ if(PYBIND11_INSTALL)
     NAMESPACE "pybind11::"
     DESTINATION ${PYBIND11_CMAKECONFIG_INSTALL_DIR})
 
+  # pkg-config support
+  if(NOT prefix_for_pc_file)
+    set(prefix_for_pc_file "${CMAKE_INSTALL_PREFIX}")
+  endif()
+  join_paths(includedir_for_pc_file "\${prefix}" "${CMAKE_INSTALL_INCLUDEDIR}")
+  configure_file("${CMAKE_CURRENT_SOURCE_DIR}/tools/pybind11.pc.in"
+                 "${CMAKE_CURRENT_BINARY_DIR}/pybind11.pc" @ONLY)
+  install(FILES "${CMAKE_CURRENT_BINARY_DIR}/pybind11.pc"
+          DESTINATION "${CMAKE_INSTALL_DATAROOTDIR}/pkgconfig/")
+
   # Uninstall target
   if(PYBIND11_MASTER_PROJECT)
     configure_file("${CMAKE_CURRENT_SOURCE_DIR}/tools/cmake_uninstall.cmake.in"
diff --git a/pybind11/MANIFEST.in b/pybind11/MANIFEST.in
index 033303a74..7ce83c552 100644
--- a/pybind11/MANIFEST.in
+++ b/pybind11/MANIFEST.in
@@ -1,5 +1,6 @@
+prune tests
 recursive-include pybind11/include/pybind11 *.h
 recursive-include pybind11 *.py
 recursive-include pybind11 py.typed
 include pybind11/share/cmake/pybind11/*.cmake
-include LICENSE README.rst pyproject.toml setup.py setup.cfg
+include LICENSE README.rst SECURITY.md pyproject.toml setup.py setup.cfg
diff --git a/pybind11/README.rst b/pybind11/README.rst
index 3c75edb57..80213a406 100644
--- a/pybind11/README.rst
+++ b/pybind11/README.rst
@@ -135,7 +135,7 @@ This project was created by `Wenzel
 Jakob <http://rgl.epfl.ch/people/wjakob>`_. Significant features and/or
 improvements to the code were contributed by Jonas Adler, Lori A. Burns,
 Sylvain Corlay, Eric Cousineau, Aaron Gokaslan, Ralf Grosse-Kunstleve, Trent Houliston, Axel
-Huebl, @hulucc, Yannick Jadoul, Sergey Lyskov Johan Mabille, Tomasz Miąsko,
+Huebl, @hulucc, Yannick Jadoul, Sergey Lyskov, Johan Mabille, Tomasz Miąsko,
 Dean Moldovan, Ben Pritchard, Jason Rhinelander, Boris Schäling, Pim
 Schellart, Henry Schreiner, Ivan Smirnov, Boris Staletic, and Patrick Stewart.
 
diff --git a/pybind11/SECURITY.md b/pybind11/SECURITY.md
new file mode 100644
index 000000000..3d74611f2
--- /dev/null
+++ b/pybind11/SECURITY.md
@@ -0,0 +1,13 @@
+# Security Policy
+
+## Supported Versions
+
+Security updates are applied only to the latest release.
+
+## Reporting a Vulnerability
+
+If you have discovered a security vulnerability in this project, please report it privately. **Do not disclose it as a public issue.** This gives us time to work with you to fix the issue before public exposure, reducing the chance that the exploit will be used before a patch is released.
+
+Please disclose it at [security advisory](https://github.com/pybind/pybind11/security/advisories/new).
+
+This project is maintained by a team of volunteers on a reasonable-effort basis. As such, please give us at least 90 days to work on a fix before public exposure.
diff --git a/pybind11/docs/advanced/cast/custom.rst b/pybind11/docs/advanced/cast/custom.rst
index 1df4d3e14..8138cac61 100644
--- a/pybind11/docs/advanced/cast/custom.rst
+++ b/pybind11/docs/advanced/cast/custom.rst
@@ -38,7 +38,7 @@ type is explicitly allowed.
 
 .. code-block:: cpp
 
-    namespace pybind11 { namespace detail {
+    namespace PYBIND11_NAMESPACE { namespace detail {
         template <> struct type_caster<inty> {
         public:
             /**
@@ -78,7 +78,7 @@ type is explicitly allowed.
                 return PyLong_FromLong(src.long_value);
             }
         };
-    }} // namespace pybind11::detail
+    }} // namespace PYBIND11_NAMESPACE::detail
 
 .. note::
 
diff --git a/pybind11/docs/advanced/cast/stl.rst b/pybind11/docs/advanced/cast/stl.rst
index 109763f7a..03d49b295 100644
--- a/pybind11/docs/advanced/cast/stl.rst
+++ b/pybind11/docs/advanced/cast/stl.rst
@@ -42,7 +42,7 @@ types:
 .. code-block:: cpp
 
     // `boost::optional` as an example -- can be any `std::optional`-like container
-    namespace pybind11 { namespace detail {
+    namespace PYBIND11_NAMESPACE { namespace detail {
         template <typename T>
         struct type_caster<boost::optional<T>> : optional_caster<boost::optional<T>> {};
     }}
@@ -54,7 +54,7 @@ for custom variant types:
 .. code-block:: cpp
 
     // `boost::variant` as an example -- can be any `std::variant`-like container
-    namespace pybind11 { namespace detail {
+    namespace PYBIND11_NAMESPACE { namespace detail {
         template <typename... Ts>
         struct type_caster<boost::variant<Ts...>> : variant_caster<boost::variant<Ts...>> {};
 
@@ -66,7 +66,7 @@ for custom variant types:
                 return boost::apply_visitor(args...);
             }
         };
-    }} // namespace pybind11::detail
+    }} // namespace PYBIND11_NAMESPACE::detail
 
 The ``visit_helper`` specialization is not required if your ``name::variant`` provides
 a ``name::visit()`` function. For any other function name, the specialization must be
diff --git a/pybind11/docs/advanced/cast/strings.rst b/pybind11/docs/advanced/cast/strings.rst
index e246c5219..271716b4b 100644
--- a/pybind11/docs/advanced/cast/strings.rst
+++ b/pybind11/docs/advanced/cast/strings.rst
@@ -101,8 +101,11 @@ conversion has the same overhead as implicit conversion.
     m.def("str_output",
         []() {
             std::string s = "Send your r\xe9sum\xe9 to Alice in HR"; // Latin-1
-            py::str py_s = PyUnicode_DecodeLatin1(s.data(), s.length());
-            return py_s;
+            py::handle py_s = PyUnicode_DecodeLatin1(s.data(), s.length(), nullptr);
+            if (!py_s) {
+                throw py::error_already_set();
+            }
+            return py::reinterpret_steal<py::str>(py_s);
         }
     );
 
@@ -113,7 +116,8 @@ conversion has the same overhead as implicit conversion.
 
 The `Python C API
 <https://docs.python.org/3/c-api/unicode.html#built-in-codecs>`_ provides
-several built-in codecs.
+several built-in codecs. Note that these all return *new* references, so
+use :cpp:func:`reinterpret_steal` when converting them to a :cpp:class:`str`.
 
 
 One could also use a third party encoding library such as libiconv to transcode
diff --git a/pybind11/docs/advanced/classes.rst b/pybind11/docs/advanced/classes.rst
index 49ddf5c0b..01a490b72 100644
--- a/pybind11/docs/advanced/classes.rst
+++ b/pybind11/docs/advanced/classes.rst
@@ -1228,7 +1228,7 @@ whether a downcast is safe, you can proceed by specializing the
         std::string bark() const { return sound; }
     };
 
-    namespace pybind11 {
+    namespace PYBIND11_NAMESPACE {
         template<> struct polymorphic_type_hook<Pet> {
             static const void *get(const Pet *src, const std::type_info*& type) {
                 // note that src may be nullptr
@@ -1239,7 +1239,7 @@ whether a downcast is safe, you can proceed by specializing the
                 return src;
             }
         };
-    } // namespace pybind11
+    } // namespace PYBIND11_NAMESPACE
 
 When pybind11 wants to convert a C++ pointer of type ``Base*`` to a
 Python object, it calls ``polymorphic_type_hook<Base>::get()`` to
diff --git a/pybind11/docs/advanced/embedding.rst b/pybind11/docs/advanced/embedding.rst
index dd980d483..e6a1686f8 100644
--- a/pybind11/docs/advanced/embedding.rst
+++ b/pybind11/docs/advanced/embedding.rst
@@ -18,7 +18,7 @@ information, see :doc:`/compiling`.
 
 .. code-block:: cmake
 
-    cmake_minimum_required(VERSION 3.4)
+    cmake_minimum_required(VERSION 3.5...3.26)
     project(example)
 
     find_package(pybind11 REQUIRED)  # or `add_subdirectory(pybind11)`
diff --git a/pybind11/docs/advanced/exceptions.rst b/pybind11/docs/advanced/exceptions.rst
index 2211caf5d..53981dc08 100644
--- a/pybind11/docs/advanced/exceptions.rst
+++ b/pybind11/docs/advanced/exceptions.rst
@@ -177,9 +177,12 @@ section.
     may be explicitly (re-)thrown to delegate it to the other,
     previously-declared existing exception translators.
 
-    Note that ``libc++`` and ``libstdc++`` `behave differently <https://stackoverflow.com/questions/19496643/using-clang-fvisibility-hidden-and-typeinfo-and-type-erasure/28827430>`_
-    with ``-fvisibility=hidden``. Therefore exceptions that are used across ABI boundaries need to be explicitly exported, as exercised in ``tests/test_exceptions.h``.
-    See also: "Problems with C++ exceptions" under `GCC Wiki <https://gcc.gnu.org/wiki/Visibility>`_.
+    Note that ``libc++`` and ``libstdc++`` `behave differently under macOS
+    <https://stackoverflow.com/questions/19496643/using-clang-fvisibility-hidden-and-typeinfo-and-type-erasure/28827430>`_
+    with ``-fvisibility=hidden``. Therefore exceptions that are used across ABI
+    boundaries need to be explicitly exported, as exercised in
+    ``tests/test_exceptions.h``. See also:
+    "Problems with C++ exceptions" under `GCC Wiki <https://gcc.gnu.org/wiki/Visibility>`_.
 
 
 Local vs Global Exception Translators
diff --git a/pybind11/docs/advanced/misc.rst b/pybind11/docs/advanced/misc.rst
index edab15fcb..805ec838f 100644
--- a/pybind11/docs/advanced/misc.rst
+++ b/pybind11/docs/advanced/misc.rst
@@ -39,15 +39,42 @@ The ``PYBIND11_MAKE_OPAQUE`` macro does *not* require the above workarounds.
 Global Interpreter Lock (GIL)
 =============================
 
-When calling a C++ function from Python, the GIL is always held.
+The Python C API dictates that the Global Interpreter Lock (GIL) must always
+be held by the current thread to safely access Python objects. As a result,
+when Python calls into C++ via pybind11 the GIL must be held, and pybind11
+will never implicitly release the GIL.
+
+.. code-block:: cpp
+
+    void my_function() {
+        /* GIL is held when this function is called from Python */
+    }
+
+    PYBIND11_MODULE(example, m) {
+        m.def("my_function", &my_function);
+    }
+
+pybind11 will ensure that the GIL is held when it knows that it is calling
+Python code. For example, if a Python callback is passed to C++ code via
+``std::function``, when C++ code calls the function the built-in wrapper
+will acquire the GIL before calling the Python callback. Similarly, the
+``PYBIND11_OVERRIDE`` family of macros will acquire the GIL before calling
+back into Python.
+
+When writing C++ code that is called from other C++ code, if that code accesses
+Python state, it must explicitly acquire and release the GIL.
+
 The classes :class:`gil_scoped_release` and :class:`gil_scoped_acquire` can be
 used to acquire and release the global interpreter lock in the body of a C++
 function call. In this way, long-running C++ code can be parallelized using
-multiple Python threads. Taking :ref:`overriding_virtuals` as an example, this
+multiple Python threads, **but great care must be taken** when any
+:class:`gil_scoped_release` appear: if there is any way that the C++ code
+can access Python objects, :class:`gil_scoped_acquire` should be used to
+reacquire the GIL. Taking :ref:`overriding_virtuals` as an example, this
 could be realized as follows (important changes highlighted):
 
 .. code-block:: cpp
-    :emphasize-lines: 8,9,31,32
+    :emphasize-lines: 8,30,31
 
     class PyAnimal : public Animal {
     public:
@@ -56,9 +83,7 @@ could be realized as follows (important changes highlighted):
 
         /* Trampoline (need one for each virtual function) */
         std::string go(int n_times) {
-            /* Acquire GIL before calling Python code */
-            py::gil_scoped_acquire acquire;
-
+            /* PYBIND11_OVERRIDE_PURE will acquire the GIL before accessing Python state */
             PYBIND11_OVERRIDE_PURE(
                 std::string, /* Return type */
                 Animal,      /* Parent class */
@@ -78,7 +103,8 @@ could be realized as follows (important changes highlighted):
             .def(py::init<>());
 
         m.def("call_go", [](Animal *animal) -> std::string {
-            /* Release GIL before calling into (potentially long-running) C++ code */
+            // GIL is held when called from Python code. Release GIL before
+            // calling into (potentially long-running) C++ code
             py::gil_scoped_release release;
             return call_go(animal);
         });
@@ -92,6 +118,34 @@ The ``call_go`` wrapper can also be simplified using the ``call_guard`` policy
     m.def("call_go", &call_go, py::call_guard<py::gil_scoped_release>());
 
 
+Common Sources Of Global Interpreter Lock Errors
+==================================================================
+
+Failing to properly hold the Global Interpreter Lock (GIL) is one of the
+more common sources of bugs within code that uses pybind11. If you are
+running into GIL related errors, we highly recommend you consult the
+following checklist.
+
+- Do you have any global variables that are pybind11 objects or invoke
+  pybind11 functions in either their constructor or destructor? You are generally
+  not allowed to invoke any Python function in a global static context. We recommend
+  using lazy initialization and then intentionally leaking at the end of the program.
+
+- Do you have any pybind11 objects that are members of other C++ structures? One
+  commonly overlooked requirement is that pybind11 objects have to increase their reference count
+  whenever their copy constructor is called. Thus, you need to be holding the GIL to invoke
+  the copy constructor of any C++ class that has a pybind11 member. This can sometimes be very
+  tricky to track for complicated programs Think carefully when you make a pybind11 object
+  a member in another struct.
+
+- C++ destructors that invoke Python functions can be particularly troublesome as
+  destructors can sometimes get invoked in weird and unexpected circumstances as a result
+  of exceptions.
+
+- You should try running your code in a debug build. That will enable additional assertions
+  within pybind11 that will throw exceptions on certain GIL handling errors
+  (reference counting operations).
+
 Binding sequence data types, iterators, the slicing protocol, etc.
 ==================================================================
 
@@ -298,6 +352,15 @@ The class ``options`` allows you to selectively suppress auto-generated signatur
         m.def("add", [](int a, int b) { return a + b; }, "A function which adds two numbers");
     }
 
+pybind11 also appends all members of an enum to the resulting enum docstring.
+This default behavior can be disabled by using the ``disable_enum_members_docstring()``
+function of the ``options`` class.
+
+With ``disable_user_defined_docstrings()`` all user defined docstrings of
+``module_::def()``, ``class_::def()`` and ``enum_()`` are disabled, but the
+function signatures and enum members are included in the docstring, unless they
+are disabled separately.
+
 Note that changes to the settings affect only function bindings created during the
 lifetime of the ``options`` instance. When it goes out of scope at the end of the module's init function,
 the default settings are restored to prevent unwanted side effects.
diff --git a/pybind11/docs/advanced/pycpp/numpy.rst b/pybind11/docs/advanced/pycpp/numpy.rst
index b6ef019ed..07c969305 100644
--- a/pybind11/docs/advanced/pycpp/numpy.rst
+++ b/pybind11/docs/advanced/pycpp/numpy.rst
@@ -433,7 +433,7 @@ following:
             { 2, 4 },                                  // shape (rows, cols)
             { sizeof(uint8_t) * 4, sizeof(uint8_t) }   // strides in bytes
         );
-    })
+    });
 
 This approach is meant for providing a ``memoryview`` for a C/C++ buffer not
 managed by Python. The user is responsible for managing the lifetime of the
@@ -449,7 +449,7 @@ We can also use ``memoryview::from_memory`` for a simple 1D contiguous buffer:
             buffer,               // buffer pointer
             sizeof(uint8_t) * 8   // buffer size
         );
-    })
+    });
 
 .. versionchanged:: 2.6
     ``memoryview::from_memory`` added.
diff --git a/pybind11/docs/advanced/smart_ptrs.rst b/pybind11/docs/advanced/smart_ptrs.rst
index 5a2220109..3c40ce123 100644
--- a/pybind11/docs/advanced/smart_ptrs.rst
+++ b/pybind11/docs/advanced/smart_ptrs.rst
@@ -157,7 +157,7 @@ specialized:
     PYBIND11_DECLARE_HOLDER_TYPE(T, SmartPtr<T>);
 
     // Only needed if the type's `.get()` goes by another name
-    namespace pybind11 { namespace detail {
+    namespace PYBIND11_NAMESPACE { namespace detail {
         template <typename T>
         struct holder_helper<SmartPtr<T>> { // <-- specialization
             static const T *get(const SmartPtr<T> &p) { return p.getPointer(); }
diff --git a/pybind11/docs/changelog.rst b/pybind11/docs/changelog.rst
index b926b27af..add3fd66b 100644
--- a/pybind11/docs/changelog.rst
+++ b/pybind11/docs/changelog.rst
@@ -9,6 +9,364 @@ Starting with version 1.8.0, pybind11 releases use a `semantic versioning
 Changes will be added here periodically from the "Suggested changelog entry"
 block in pull request descriptions.
 
+
+Version 2.11.1 (July 17, 2023)
+-----------------------------
+
+Changes:
+
+* ``PYBIND11_NO_ASSERT_GIL_HELD_INCREF_DECREF`` is now provided as an option
+  for disabling the default-on ``PyGILState_Check()``'s in
+  ``pybind11::handle``'s ``inc_ref()`` & ``dec_ref()``.
+  `#4753 <https://github.com/pybind/pybind11/pull/4753>`_
+
+* ``PYBIND11_ASSERT_GIL_HELD_INCREF_DECREF`` was disabled for PyPy in general
+  (not just PyPy Windows).
+  `#4751 <https://github.com/pybind/pybind11/pull/4751>`_
+
+
+Version 2.11.0 (July 14, 2023)
+-----------------------------
+
+New features:
+
+* The newly added ``pybind11::detail::is_move_constructible`` trait can be
+  specialized for cases in which ``std::is_move_constructible`` does not work
+  as needed. This is very similar to the long-established
+  ``pybind11::detail::is_copy_constructible``.
+  `#4631 <https://github.com/pybind/pybind11/pull/4631>`_
+
+* Introduce ``recursive_container_traits``.
+  `#4623 <https://github.com/pybind/pybind11/pull/4623>`_
+
+* ``pybind11/type_caster_pyobject_ptr.h`` was added to support automatic
+  wrapping of APIs that make use of ``PyObject *``. This header needs to
+  included explicitly (i.e. it is not included implicitly
+  with ``pybind/pybind11.h``).
+  `#4601 <https://github.com/pybind/pybind11/pull/4601>`_
+
+* ``format_descriptor<>`` & ``npy_format_descriptor<>`` ``PyObject *``
+  specializations were added. The latter enables ``py::array_t<PyObject *>``
+  to/from-python conversions.
+  `#4674 <https://github.com/pybind/pybind11/pull/4674>`_
+
+* ``buffer_info`` gained an ``item_type_is_equivalent_to<T>()`` member
+  function.
+  `#4674 <https://github.com/pybind/pybind11/pull/4674>`_
+
+* The ``capsule`` API gained a user-friendly constructor
+  (``py::capsule(ptr, "name", dtor)``).
+  `#4720 <https://github.com/pybind/pybind11/pull/4720>`_
+
+Changes:
+
+* ``PyGILState_Check()``'s in ``pybind11::handle``'s ``inc_ref()`` &
+  ``dec_ref()`` are now enabled by default again.
+  `#4246 <https://github.com/pybind/pybind11/pull/4246>`_
+
+* ``py::initialize_interpreter()`` using ``PyConfig_InitPythonConfig()``
+  instead of ``PyConfig_InitIsolatedConfig()``, to obtain complete
+  ``sys.path``.
+  `#4473 <https://github.com/pybind/pybind11/pull/4473>`_
+
+* Cast errors now always include Python type information, even if
+  ``PYBIND11_DETAILED_ERROR_MESSAGES`` is not defined. This increases binary
+  sizes slightly (~1.5%) but the error messages are much more informative.
+  `#4463 <https://github.com/pybind/pybind11/pull/4463>`_
+
+* The docstring generation for the ``std::array``-list caster was fixed.
+  Previously, signatures included the size of the list in a non-standard,
+  non-spec compliant way. The new format conforms to PEP 593.
+  **Tooling for processing the docstrings may need to be updated accordingly.**
+  `#4679 <https://github.com/pybind/pybind11/pull/4679>`_
+
+* Setter return values (which are inaccessible for all practical purposes) are
+  no longer converted to Python (only to be discarded).
+  `#4621 <https://github.com/pybind/pybind11/pull/4621>`_
+
+* Allow lambda specified to function definition to be ``noexcept(true)``
+  in C++17.
+  `#4593 <https://github.com/pybind/pybind11/pull/4593>`_
+
+* Get rid of recursive template instantiations for concatenating type
+  signatures on C++17 and higher.
+  `#4587 <https://github.com/pybind/pybind11/pull/4587>`_
+
+* Compatibility with Python 3.12 (beta). Note that the minimum pybind11
+  ABI version for Python 3.12 is version 5. (The default ABI version
+  for Python versions up to and including 3.11 is still version 4.).
+  `#4570 <https://github.com/pybind/pybind11/pull/4570>`_
+
+* With ``PYBIND11_INTERNALS_VERSION 5`` (default for Python 3.12+), MSVC builds
+  use ``std::hash<std::type_index>`` and ``std::equal_to<std::type_index>``
+  instead of string-based type comparisons. This resolves issues when binding
+  types defined in the unnamed namespace.
+  `#4319 <https://github.com/pybind/pybind11/pull/4319>`_
+
+* Python exception ``__notes__`` (introduced with Python 3.11) are now added to
+  the ``error_already_set::what()`` output.
+  `#4678 <https://github.com/pybind/pybind11/pull/4678>`_
+
+Build system improvements:
+
+* CMake 3.27 support was added, CMake 3.4 support was dropped.
+  FindPython will be used if ``FindPythonInterp`` is not present.
+  `#4719 <https://github.com/pybind/pybind11/pull/4719>`_
+
+* Update clang-tidy to 15 in CI.
+  `#4387 <https://github.com/pybind/pybind11/pull/4387>`_
+
+* Moved the linting framework over to Ruff.
+  `#4483 <https://github.com/pybind/pybind11/pull/4483>`_
+
+* Skip ``lto`` checks and target generation when
+  ``CMAKE_INTERPROCEDURAL_OPTIMIZATION`` is defined.
+  `#4643 <https://github.com/pybind/pybind11/pull/4643>`_
+
+* No longer inject ``-stdlib=libc++``, not needed for modern Pythons
+  (macOS 10.9+).
+  `#4639 <https://github.com/pybind/pybind11/pull/4639>`_
+
+* PyPy 3.10 support was added, PyPy 3.7 support was dropped.
+  `#4728 <https://github.com/pybind/pybind11/pull/4728>`_
+
+* Testing with Python 3.12 beta releases was added.
+  `#4713 <https://github.com/pybind/pybind11/pull/4713>`_
+
+
+Version 2.10.4 (Mar 16, 2023)
+-----------------------------
+
+Changes:
+
+* ``python3 -m pybind11`` gained a ``--version`` option (prints the version and
+  exits).
+  `#4526 <https://github.com/pybind/pybind11/pull/4526>`_
+
+Bug Fixes:
+
+* Fix a warning when pydebug is enabled on Python 3.11.
+  `#4461 <https://github.com/pybind/pybind11/pull/4461>`_
+
+* Ensure ``gil_scoped_release`` RAII is non-copyable.
+  `#4490 <https://github.com/pybind/pybind11/pull/4490>`_
+
+* Ensure the tests dir does not show up with new versions of setuptools.
+  `#4510 <https://github.com/pybind/pybind11/pull/4510>`_
+
+* Better stacklevel for a warning in setuptools helpers.
+  `#4516 <https://github.com/pybind/pybind11/pull/4516>`_
+
+Version 2.10.3 (Jan 3, 2023)
+----------------------------
+
+Changes:
+
+* Temporarily made our GIL status assertions (added in 2.10.2) disabled by
+  default (re-enable manually by defining
+  ``PYBIND11_ASSERT_GIL_HELD_INCREF_DECREF``, will be enabled in 2.11).
+  `#4432 <https://github.com/pybind/pybind11/pull/4432>`_
+
+* Improved error messages when ``inc_ref``/``dec_ref`` are called with an
+  invalid GIL state.
+  `#4427 <https://github.com/pybind/pybind11/pull/4427>`_
+  `#4436 <https://github.com/pybind/pybind11/pull/4436>`_
+
+Bug Fixes:
+
+* Some minor touchups found by static analyzers.
+  `#4440 <https://github.com/pybind/pybind11/pull/4440>`_
+
+
+Version 2.10.2 (Dec 20, 2022)
+-----------------------------
+
+Changes:
+
+* ``scoped_interpreter`` constructor taking ``PyConfig``.
+  `#4330 <https://github.com/pybind/pybind11/pull/4330>`_
+
+* ``pybind11/eigen/tensor.h`` adds converters to and from ``Eigen::Tensor`` and
+  ``Eigen::TensorMap``.
+  `#4201 <https://github.com/pybind/pybind11/pull/4201>`_
+
+* ``PyGILState_Check()``'s  were integrated to ``pybind11::handle``
+  ``inc_ref()`` & ``dec_ref()``. The added GIL checks are guarded by
+  ``PYBIND11_ASSERT_GIL_HELD_INCREF_DECREF``, which is the default only if
+  ``NDEBUG`` is not defined. (Made non-default in 2.10.3, will be active in 2.11)
+  `#4246 <https://github.com/pybind/pybind11/pull/4246>`_
+
+* Add option for enable/disable enum members in docstring.
+  `#2768 <https://github.com/pybind/pybind11/pull/2768>`_
+
+* Fixed typing of ``KeysView``, ``ValuesView`` and ``ItemsView`` in ``bind_map``.
+  `#4353 <https://github.com/pybind/pybind11/pull/4353>`_
+
+Bug fixes:
+
+* Bug fix affecting only Python 3.6 under very specific, uncommon conditions:
+  move ``PyEval_InitThreads()`` call to the correct location.
+  `#4350 <https://github.com/pybind/pybind11/pull/4350>`_
+
+* Fix segfault bug when passing foreign native functions to functional.h.
+  `#4254 <https://github.com/pybind/pybind11/pull/4254>`_
+
+Build system improvements:
+
+* Support setting PYTHON_LIBRARIES manually for Windows ARM cross-compilation
+  (classic mode).
+  `#4406 <https://github.com/pybind/pybind11/pull/4406>`_
+
+* Extend IPO/LTO detection for ICX (a.k.a IntelLLVM) compiler.
+  `#4402 <https://github.com/pybind/pybind11/pull/4402>`_
+
+* Allow calling ``find_package(pybind11 CONFIG)`` multiple times from separate
+  directories in the same CMake project and properly link Python (new mode).
+  `#4401 <https://github.com/pybind/pybind11/pull/4401>`_
+
+* ``multiprocessing_set_spawn`` in pytest fixture for added safety.
+  `#4377 <https://github.com/pybind/pybind11/pull/4377>`_
+
+* Fixed a bug in two pybind11/tools cmake scripts causing "Unknown arguments specified" errors.
+  `#4327 <https://github.com/pybind/pybind11/pull/4327>`_
+
+
+
+Version 2.10.1 (Oct 31, 2022)
+-----------------------------
+
+This is the first version to fully support embedding the newly released Python 3.11.
+
+Changes:
+
+* Allow ``pybind11::capsule`` constructor to take null destructor pointers.
+  `#4221 <https://github.com/pybind/pybind11/pull/4221>`_
+
+* ``embed.h`` was changed so that ``PYTHONPATH`` is used also with Python 3.11
+  (established behavior).
+  `#4119 <https://github.com/pybind/pybind11/pull/4119>`_
+
+* A ``PYBIND11_SIMPLE_GIL_MANAGEMENT`` option was added (cmake, C++ define),
+  along with many additional tests in ``test_gil_scoped.py``. The option may be
+  useful to try when debugging GIL-related issues, to determine if the more
+  complex default implementation is or is not to blame. See #4216 for
+  background. WARNING: Please be careful to not create ODR violations when
+  using the option: everything that is linked together with mutual symbol
+  visibility needs to be rebuilt.
+  `#4216 <https://github.com/pybind/pybind11/pull/4216>`_
+
+* ``PYBIND11_EXPORT_EXCEPTION`` was made non-empty only under macOS. This makes
+  Linux builds safer, and enables the removal of warning suppression pragmas for
+  Windows.
+  `#4298 <https://github.com/pybind/pybind11/pull/4298>`_
+
+Bug fixes:
+
+* Fixed a bug where ``UnicodeDecodeError`` was not propagated from various
+  ``py::str`` ctors when decoding surrogate utf characters.
+  `#4294 <https://github.com/pybind/pybind11/pull/4294>`_
+
+* Revert perfect forwarding for ``make_iterator``. This broke at least one
+  valid use case. May revisit later.
+  `#4234 <https://github.com/pybind/pybind11/pull/4234>`_
+
+* Fix support for safe casts to ``void*`` (regression in 2.10.0).
+  `#4275 <https://github.com/pybind/pybind11/pull/4275>`_
+
+* Fix ``char8_t`` support (regression in 2.9).
+  `#4278 <https://github.com/pybind/pybind11/pull/4278>`_
+
+* Unicode surrogate character in Python exception message leads to process
+  termination in ``error_already_set::what()``.
+  `#4297 <https://github.com/pybind/pybind11/pull/4297>`_
+
+* Fix MSVC 2019 v.1924 & C++14 mode error for ``overload_cast``.
+  `#4188 <https://github.com/pybind/pybind11/pull/4188>`_
+
+* Make augmented assignment operators non-const for the object-api. Behavior
+  was previously broken for augmented assignment operators.
+  `#4065 <https://github.com/pybind/pybind11/pull/4065>`_
+
+* Add proper error checking to C++ bindings for Python list append and insert.
+  `#4208 <https://github.com/pybind/pybind11/pull/4208>`_
+
+* Work-around for Nvidia's CUDA nvcc compiler in versions 11.4.0 - 11.8.0.
+  `#4220 <https://github.com/pybind/pybind11/pull/4220>`_
+
+* A workaround for PyPy was added in the ``py::error_already_set``
+  implementation, related to PR `#1895 <https://github.com/pybind/pybind11/pull/1895>`_
+  released with v2.10.0.
+  `#4079 <https://github.com/pybind/pybind11/pull/4079>`_
+
+* Fixed compiler errors when C++23 ``std::forward_like`` is available.
+  `#4136 <https://github.com/pybind/pybind11/pull/4136>`_
+
+* Properly raise exceptions in contains methods (like when an object in unhashable).
+  `#4209 <https://github.com/pybind/pybind11/pull/4209>`_
+
+* Further improve another error in exception handling.
+  `#4232 <https://github.com/pybind/pybind11/pull/4232>`_
+
+* ``get_local_internals()`` was made compatible with
+  ``finalize_interpreter()``, fixing potential freezes during interpreter
+  finalization.
+  `#4192 <https://github.com/pybind/pybind11/pull/4192>`_
+
+Performance and style:
+
+* Reserve space in set and STL map casters if possible. This will prevent
+  unnecessary rehashing / resizing by knowing the number of keys ahead of time
+  for Python to C++ casting. This improvement will greatly speed up the casting
+  of large unordered maps and sets.
+  `#4194 <https://github.com/pybind/pybind11/pull/4194>`_
+
+* GIL RAII scopes are non-copyable to avoid potential bugs.
+  `#4183 <https://github.com/pybind/pybind11/pull/4183>`_
+
+* Explicitly default all relevant ctors for pytypes in the ``PYBIND11_OBJECT``
+  macros and enforce the clang-tidy checks ``modernize-use-equals-default`` in
+  macros as well.
+  `#4017 <https://github.com/pybind/pybind11/pull/4017>`_
+
+* Optimize iterator advancement in C++ bindings.
+  `#4237 <https://github.com/pybind/pybind11/pull/4237>`_
+
+* Use the modern ``PyObject_GenericGetDict`` and ``PyObject_GenericSetDict``
+  for handling dynamic attribute dictionaries.
+  `#4106 <https://github.com/pybind/pybind11/pull/4106>`_
+
+* Document that users should use ``PYBIND11_NAMESPACE`` instead of using ``pybind11`` when
+  opening namespaces. Using namespace declarations and namespace qualification
+  remain the same as ``pybind11``. This is done to ensure consistent symbol
+  visibility.
+  `#4098 <https://github.com/pybind/pybind11/pull/4098>`_
+
+* Mark ``detail::forward_like`` as constexpr.
+  `#4147 <https://github.com/pybind/pybind11/pull/4147>`_
+
+* Optimize unpacking_collector when processing ``arg_v`` arguments.
+  `#4219 <https://github.com/pybind/pybind11/pull/4219>`_
+
+* Optimize casting C++ object to ``None``.
+  `#4269 <https://github.com/pybind/pybind11/pull/4269>`_
+
+
+Build system improvements:
+
+* CMake: revert overwrite behavior, now opt-in with ``PYBIND11_PYTHONLIBS_OVERRWRITE OFF``.
+  `#4195 <https://github.com/pybind/pybind11/pull/4195>`_
+
+* Include a pkg-config file when installing pybind11, such as in the Python
+  package.
+  `#4077 <https://github.com/pybind/pybind11/pull/4077>`_
+
+* Avoid stripping debug symbols when ``CMAKE_BUILD_TYPE`` is set to ``DEBUG``
+  instead of ``Debug``.
+  `#4078 <https://github.com/pybind/pybind11/pull/4078>`_
+
+* Followup to `#3948 <https://github.com/pybind/pybind11/pull/3948>`_, fixing vcpkg again.
+  `#4123 <https://github.com/pybind/pybind11/pull/4123>`_
+
 Version 2.10.0 (Jul 15, 2022)
 -----------------------------
 
diff --git a/pybind11/docs/classes.rst b/pybind11/docs/classes.rst
index c0c53135b..4f2167dac 100644
--- a/pybind11/docs/classes.rst
+++ b/pybind11/docs/classes.rst
@@ -58,6 +58,16 @@ interactive Python session demonstrating this example is shown below:
     Static member functions can be bound in the same way using
     :func:`class_::def_static`.
 
+.. note::
+
+    Binding C++ types in unnamed namespaces (also known as anonymous namespaces)
+    works reliably on many platforms, but not all. The `XFAIL_CONDITION` in
+    tests/test_unnamed_namespace_a.py encodes the currently known conditions.
+    For background see `#4319 <https://github.com/pybind/pybind11/pull/4319>`_.
+    If portability is a concern, it is therefore not recommended to bind C++
+    types in unnamed namespaces. It will be safest to manually pick unique
+    namespace names.
+
 Keyword and default arguments
 =============================
 It is possible to specify keyword and default arguments using the syntax
@@ -539,3 +549,7 @@ The ``name`` property returns the name of the enum value as a unicode string.
            ...
 
     By default, these are omitted to conserve space.
+
+.. warning::
+
+    Contrary to Python customs, enum values from the wrappers should not be compared using ``is``, but with ``==`` (see `#1177 <https://github.com/pybind/pybind11/issues/1177>`_ for background).
diff --git a/pybind11/docs/compiling.rst b/pybind11/docs/compiling.rst
index 2b543be0b..1fd098bec 100644
--- a/pybind11/docs/compiling.rst
+++ b/pybind11/docs/compiling.rst
@@ -241,7 +241,7 @@ extension module can be created with just a few lines of code:
 
 .. code-block:: cmake
 
-    cmake_minimum_required(VERSION 3.4...3.18)
+    cmake_minimum_required(VERSION 3.5...3.26)
     project(example LANGUAGES CXX)
 
     add_subdirectory(pybind11)
@@ -261,6 +261,9 @@ PyPI integration, can be found in the [cmake_example]_  repository.
 .. versionchanged:: 2.6
    CMake 3.4+ is required.
 
+.. versionchanged:: 2.11
+   CMake 3.5+ is required.
+
 Further information can be found at :doc:`cmake/index`.
 
 pybind11_add_module
@@ -495,7 +498,7 @@ You can use these targets to build complex applications. For example, the
 
 .. code-block:: cmake
 
-    cmake_minimum_required(VERSION 3.4)
+    cmake_minimum_required(VERSION 3.5...3.26)
     project(example LANGUAGES CXX)
 
     find_package(pybind11 REQUIRED)  # or add_subdirectory(pybind11)
@@ -553,7 +556,7 @@ information about usage in C++, see :doc:`/advanced/embedding`.
 
 .. code-block:: cmake
 
-    cmake_minimum_required(VERSION 3.4...3.18)
+    cmake_minimum_required(VERSION 3.5...3.26)
     project(example LANGUAGES CXX)
 
     find_package(pybind11 REQUIRED)  # or add_subdirectory(pybind11)
diff --git a/pybind11/docs/conf.py b/pybind11/docs/conf.py
index 2da6773f4..6e24751e9 100644
--- a/pybind11/docs/conf.py
+++ b/pybind11/docs/conf.py
@@ -353,12 +353,11 @@ def prepare(app):
         f.write(contents)
 
 
-def clean_up(app, exception):
+def clean_up(app, exception):  # noqa: ARG001
     (DIR / "readme.rst").unlink()
 
 
 def setup(app):
-
     # Add hook for building doxygen xml when needed
     app.connect("builder-inited", generate_doxygen_xml)
 
diff --git a/pybind11/docs/faq.rst b/pybind11/docs/faq.rst
index 28498e7df..1eb00efad 100644
--- a/pybind11/docs/faq.rst
+++ b/pybind11/docs/faq.rst
@@ -284,7 +284,8 @@ There are three possible solutions:
    COMPONENTS Interpreter Development)`` on modern CMake (3.12+, 3.15+ better,
    3.18.2+ best). Pybind11 in these cases uses the new CMake FindPython instead
    of the old, deprecated search tools, and these modules are much better at
-   finding the correct Python.
+   finding the correct Python. If FindPythonLibs/Interp are not available
+   (CMake 3.27+), then this will be ignored and FindPython will be used.
 3. Set ``PYBIND11_NOPYTHON`` to ``TRUE``. Pybind11 will not search for Python.
    However, you will have to use the target-based system, and do more setup
    yourself, because it does not know about or include things that depend on
diff --git a/pybind11/docs/release.rst b/pybind11/docs/release.rst
index e761cdf7a..4950c3b88 100644
--- a/pybind11/docs/release.rst
+++ b/pybind11/docs/release.rst
@@ -33,10 +33,12 @@ If you don't have nox, you should either use ``pipx run nox`` instead, or use
     - Run ``nox -s tests_packaging`` to ensure this was done correctly.
     - Ensure that all the information in ``setup.cfg`` is up-to-date, like
       supported Python versions.
-    - Add release date in ``docs/changelog.rst``.
-          - Check to make sure
-            `needs-changelog <https://github.com/pybind/pybind11/pulls?q=is%3Apr+is%3Aclosed+label%3A%22needs+changelog%22>`_
-            issues are entered in the changelog (clear the label when done).
+    - Add release date in ``docs/changelog.rst`` and integrate the output of
+      ``nox -s make_changelog``.
+          - Note that the ``make_changelog`` command inspects
+            `needs changelog <https://github.com/pybind/pybind11/pulls?q=is%3Apr+is%3Aclosed+label%3A%22needs+changelog%22>`_.
+          - Manually clear the ``needs changelog`` labels using the GitHub web
+            interface (very easy: start by clicking the link above).
     - ``git add`` and ``git commit``, ``git push``. **Ensure CI passes**. (If it
       fails due to a known flake issue, either ignore or restart CI.)
 - Add a release branch if this is a new minor version, or update the existing release branch if it is a patch version
diff --git a/pybind11/docs/upgrade.rst b/pybind11/docs/upgrade.rst
index 6a9db2d08..b13d21f5e 100644
--- a/pybind11/docs/upgrade.rst
+++ b/pybind11/docs/upgrade.rst
@@ -8,6 +8,20 @@ to a new version. But it goes into more detail. This includes things like
 deprecated APIs and their replacements, build system changes, general code
 modernization and other useful information.
 
+.. _upgrade-guide-2.11:
+
+v2.11
+=====
+
+* The minimum version of CMake is now 3.5. A future version will likely move to
+  requiring something like CMake 3.15. Note that CMake 3.27 is removing the
+  long-deprecated support for ``FindPythonInterp`` if you set 3.27 as the
+  minimum or maximum supported version. To prepare for that future, CMake 3.15+
+  using ``FindPython`` or setting ``PYBIND11_FINDPYTHON`` is highly recommended,
+  otherwise pybind11 will automatically switch to using ``FindPython`` if
+  ``FindPythonInterp`` is not available.
+
+
 .. _upgrade-guide-2.9:
 
 v2.9
diff --git a/pybind11/include/pybind11/attr.h b/pybind11/include/pybind11/attr.h
index db7cd8eff..1044db94d 100644
--- a/pybind11/include/pybind11/attr.h
+++ b/pybind11/include/pybind11/attr.h
@@ -26,6 +26,9 @@ struct is_method {
     explicit is_method(const handle &c) : class_(c) {}
 };
 
+/// Annotation for setters
+struct is_setter {};
+
 /// Annotation for operators
 struct is_operator {};
 
@@ -188,8 +191,8 @@ struct argument_record {
 struct function_record {
     function_record()
         : is_constructor(false), is_new_style_constructor(false), is_stateless(false),
-          is_operator(false), is_method(false), has_args(false), has_kwargs(false),
-          prepend(false) {}
+          is_operator(false), is_method(false), is_setter(false), has_args(false),
+          has_kwargs(false), prepend(false) {}
 
     /// Function name
     char *name = nullptr; /* why no C++ strings? They generate heavier code.. */
@@ -230,6 +233,9 @@ struct function_record {
     /// True if this is a method
     bool is_method : 1;
 
+    /// True if this is a setter
+    bool is_setter : 1;
+
     /// True if the function has a '*args' argument
     bool has_args : 1;
 
@@ -399,7 +405,7 @@ struct process_attribute<doc> : process_attribute_default<doc> {
 template <>
 struct process_attribute<const char *> : process_attribute_default<const char *> {
     static void init(const char *d, function_record *r) { r->doc = const_cast<char *>(d); }
-    static void init(const char *d, type_record *r) { r->doc = const_cast<char *>(d); }
+    static void init(const char *d, type_record *r) { r->doc = d; }
 };
 template <>
 struct process_attribute<char *> : process_attribute<const char *> {};
@@ -426,6 +432,12 @@ struct process_attribute<is_method> : process_attribute_default<is_method> {
     }
 };
 
+/// Process an attribute which indicates that this function is a setter
+template <>
+struct process_attribute<is_setter> : process_attribute_default<is_setter> {
+    static void init(const is_setter &, function_record *r) { r->is_setter = true; }
+};
+
 /// Process an attribute which indicates the parent scope of a method
 template <>
 struct process_attribute<scope> : process_attribute_default<scope> {
diff --git a/pybind11/include/pybind11/buffer_info.h b/pybind11/include/pybind11/buffer_info.h
index 06120d556..b99ee8bef 100644
--- a/pybind11/include/pybind11/buffer_info.h
+++ b/pybind11/include/pybind11/buffer_info.h
@@ -37,6 +37,9 @@ inline std::vector<ssize_t> f_strides(const std::vector<ssize_t> &shape, ssize_t
     return strides;
 }
 
+template <typename T, typename SFINAE = void>
+struct compare_buffer_info;
+
 PYBIND11_NAMESPACE_END(detail)
 
 /// Information record describing a Python buffer object
@@ -150,6 +153,17 @@ struct buffer_info {
     Py_buffer *view() const { return m_view; }
     Py_buffer *&view() { return m_view; }
 
+    /* True if the buffer item type is equivalent to `T`. */
+    // To define "equivalent" by example:
+    // `buffer_info::item_type_is_equivalent_to<int>(b)` and
+    // `buffer_info::item_type_is_equivalent_to<long>(b)` may both be true
+    // on some platforms, but `int` and `unsigned` will never be equivalent.
+    // For the ground truth, please inspect `detail::compare_buffer_info<>`.
+    template <typename T>
+    bool item_type_is_equivalent_to() const {
+        return detail::compare_buffer_info<T>::compare(*this);
+    }
+
 private:
     struct private_ctr_tag {};
 
@@ -170,9 +184,10 @@ private:
 
 PYBIND11_NAMESPACE_BEGIN(detail)
 
-template <typename T, typename SFINAE = void>
+template <typename T, typename SFINAE>
 struct compare_buffer_info {
     static bool compare(const buffer_info &b) {
+        // NOLINTNEXTLINE(bugprone-sizeof-expression) Needed for `PyObject *`
         return b.format == format_descriptor<T>::format() && b.itemsize == (ssize_t) sizeof(T);
     }
 };
diff --git a/pybind11/include/pybind11/cast.h b/pybind11/include/pybind11/cast.h
index a0e32281b..db3934118 100644
--- a/pybind11/include/pybind11/cast.h
+++ b/pybind11/include/pybind11/cast.h
@@ -29,6 +29,9 @@
 #include <vector>
 
 PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
+
+PYBIND11_WARNING_DISABLE_MSVC(4127)
+
 PYBIND11_NAMESPACE_BEGIN(detail)
 
 template <typename type, typename SFINAE = void>
@@ -88,7 +91,8 @@ public:
     template <typename T_,                                                                        \
               ::pybind11::detail::enable_if_t<                                                    \
                   std::is_same<type, ::pybind11::detail::remove_cv_t<T_>>::value,                 \
-                  int> = 0>                                                                       \
+                  int>                                                                            \
+              = 0>                                                                                \
     static ::pybind11::handle cast(                                                               \
         T_ *src, ::pybind11::return_value_policy policy, ::pybind11::handle parent) {             \
         if (!src)                                                                                 \
@@ -248,7 +252,7 @@ public:
         return false;
     }
     static handle cast(T, return_value_policy /* policy */, handle /* parent */) {
-        return none().inc_ref();
+        return none().release();
     }
     PYBIND11_TYPE_CASTER(T, const_name("None"));
 };
@@ -291,7 +295,7 @@ public:
         if (ptr) {
             return capsule(ptr).release();
         }
-        return none().inc_ref();
+        return none().release();
     }
 
     template <typename T>
@@ -389,7 +393,7 @@ struct string_caster {
 
         // For UTF-8 we avoid the need for a temporary `bytes` object by using
         // `PyUnicode_AsUTF8AndSize`.
-        if (PYBIND11_SILENCE_MSVC_C4127(UTF_N == 8)) {
+        if (UTF_N == 8) {
             Py_ssize_t size = -1;
             const auto *buffer
                 = reinterpret_cast<const CharT *>(PyUnicode_AsUTF8AndSize(load_src.ptr(), &size));
@@ -416,7 +420,7 @@ struct string_caster {
             = reinterpret_cast<const CharT *>(PYBIND11_BYTES_AS_STRING(utfNbytes.ptr()));
         size_t length = (size_t) PYBIND11_BYTES_SIZE(utfNbytes.ptr()) / sizeof(CharT);
         // Skip BOM for UTF-16/32
-        if (PYBIND11_SILENCE_MSVC_C4127(UTF_N > 8)) {
+        if (UTF_N > 8) {
             buffer++;
             length--;
         }
@@ -537,7 +541,7 @@ public:
 
     static handle cast(const CharT *src, return_value_policy policy, handle parent) {
         if (src == nullptr) {
-            return pybind11::none().inc_ref();
+            return pybind11::none().release();
         }
         return StringCaster::cast(StringType(src), policy, parent);
     }
@@ -572,7 +576,7 @@ public:
         // figure out how long the first encoded character is in bytes to distinguish between these
         // two errors.  We also allow want to allow unicode characters U+0080 through U+00FF, as
         // those can fit into a single char value.
-        if (PYBIND11_SILENCE_MSVC_C4127(StringCaster::UTF_N == 8) && str_len > 1 && str_len <= 4) {
+        if (StringCaster::UTF_N == 8 && str_len > 1 && str_len <= 4) {
             auto v0 = static_cast<unsigned char>(value[0]);
             // low bits only: 0-127
             // 0b110xxxxx - start of 2-byte sequence
@@ -598,7 +602,7 @@ public:
         // UTF-16 is much easier: we can only have a surrogate pair for values above U+FFFF, thus a
         // surrogate pair with total length 2 instantly indicates a range error (but not a "your
         // string was too long" error).
-        else if (PYBIND11_SILENCE_MSVC_C4127(StringCaster::UTF_N == 16) && str_len == 2) {
+        else if (StringCaster::UTF_N == 16 && str_len == 2) {
             one_char = static_cast<CharT>(value[0]);
             if (one_char >= 0xD800 && one_char < 0xE000) {
                 throw value_error("Character code point not in range(0x10000)");
@@ -960,7 +964,7 @@ struct move_always<
     enable_if_t<
         all_of<move_is_plain_type<T>,
                negation<is_copy_constructible<T>>,
-               std::is_move_constructible<T>,
+               is_move_constructible<T>,
                std::is_same<decltype(std::declval<make_caster<T>>().operator T &()), T &>>::value>>
     : std::true_type {};
 template <typename T, typename SFINAE = void>
@@ -971,7 +975,7 @@ struct move_if_unreferenced<
     enable_if_t<
         all_of<move_is_plain_type<T>,
                negation<move_always<T>>,
-               std::is_move_constructible<T>,
+               is_move_constructible<T>,
                std::is_same<decltype(std::declval<make_caster<T>>().operator T &()), T &>>::value>>
     : std::true_type {};
 template <typename T>
@@ -1013,11 +1017,14 @@ type_caster<T, SFINAE> &load_type(type_caster<T, SFINAE> &conv, const handle &ha
                   "Internal error: type_caster should only be used for C++ types");
     if (!conv.load(handle, true)) {
 #if !defined(PYBIND11_DETAILED_ERROR_MESSAGES)
-        throw cast_error("Unable to cast Python instance to C++ type (#define "
-                         "PYBIND11_DETAILED_ERROR_MESSAGES or compile in debug mode for details)");
+        throw cast_error(
+            "Unable to cast Python instance of type "
+            + str(type::handle_of(handle)).cast<std::string>()
+            + " to C++ type '?' (#define "
+              "PYBIND11_DETAILED_ERROR_MESSAGES or compile in debug mode for details)");
 #else
         throw cast_error("Unable to cast Python instance of type "
-                         + (std::string) str(type::handle_of(handle)) + " to C++ type '"
+                         + str(type::handle_of(handle)).cast<std::string>() + " to C++ type '"
                          + type_id<T>() + "'");
 #endif
     }
@@ -1034,7 +1041,11 @@ make_caster<T> load_type(const handle &handle) {
 PYBIND11_NAMESPACE_END(detail)
 
 // pytype -> C++ type
-template <typename T, detail::enable_if_t<!detail::is_pyobject<T>::value, int> = 0>
+template <typename T,
+          detail::enable_if_t<!detail::is_pyobject<T>::value
+                                  && !detail::is_same_ignoring_cvref<T, PyObject *>::value,
+                              int>
+          = 0>
 T cast(const handle &handle) {
     using namespace detail;
     static_assert(!cast_is_temporary_value_reference<T>::value,
@@ -1048,6 +1059,34 @@ T cast(const handle &handle) {
     return T(reinterpret_borrow<object>(handle));
 }
 
+// Note that `cast<PyObject *>(obj)` increments the reference count of `obj`.
+// This is necessary for the case that `obj` is a temporary, and could
+// not possibly be different, given
+// 1. the established convention that the passed `handle` is borrowed, and
+// 2. we don't want to force all generic code using `cast<T>()` to special-case
+//    handling of `T` = `PyObject *` (to increment the reference count there).
+// It is the responsibility of the caller to ensure that the reference count
+// is decremented.
+template <typename T,
+          typename Handle,
+          detail::enable_if_t<detail::is_same_ignoring_cvref<T, PyObject *>::value
+                                  && detail::is_same_ignoring_cvref<Handle, handle>::value,
+                              int>
+          = 0>
+T cast(Handle &&handle) {
+    return handle.inc_ref().ptr();
+}
+// To optimize way an inc_ref/dec_ref cycle:
+template <typename T,
+          typename Object,
+          detail::enable_if_t<detail::is_same_ignoring_cvref<T, PyObject *>::value
+                                  && detail::is_same_ignoring_cvref<Object, object>::value,
+                              int>
+          = 0>
+T cast(Object &&obj) {
+    return obj.release().ptr();
+}
+
 // C++ type -> py::object
 template <typename T, detail::enable_if_t<!detail::is_pyobject<T>::value, int> = 0>
 object cast(T &&value,
@@ -1081,12 +1120,13 @@ detail::enable_if_t<!detail::move_never<T>::value, T> move(object &&obj) {
     if (obj.ref_count() > 1) {
 #if !defined(PYBIND11_DETAILED_ERROR_MESSAGES)
         throw cast_error(
-            "Unable to cast Python instance to C++ rvalue: instance has multiple references"
-            " (#define PYBIND11_DETAILED_ERROR_MESSAGES or compile in debug mode for details)");
+            "Unable to cast Python " + str(type::handle_of(obj)).cast<std::string>()
+            + " instance to C++ rvalue: instance has multiple references"
+              " (#define PYBIND11_DETAILED_ERROR_MESSAGES or compile in debug mode for details)");
 #else
-        throw cast_error("Unable to move from Python " + (std::string) str(type::handle_of(obj))
-                         + " instance to C++ " + type_id<T>()
-                         + " instance: instance has multiple references");
+        throw cast_error("Unable to move from Python "
+                         + str(type::handle_of(obj)).cast<std::string>() + " instance to C++ "
+                         + type_id<T>() + " instance: instance has multiple references");
 #endif
     }
 
@@ -1179,11 +1219,9 @@ enable_if_t<cast_is_temporary_value_reference<T>::value, T> cast_safe(object &&)
     pybind11_fail("Internal error: cast_safe fallback invoked");
 }
 template <typename T>
-enable_if_t<std::is_same<void, intrinsic_t<T>>::value, void> cast_safe(object &&) {}
+enable_if_t<std::is_void<T>::value, void> cast_safe(object &&) {}
 template <typename T>
-enable_if_t<detail::none_of<cast_is_temporary_value_reference<T>,
-                            std::is_same<void, intrinsic_t<T>>>::value,
-            T>
+enable_if_t<detail::none_of<cast_is_temporary_value_reference<T>, std::is_void<T>>::value, T>
 cast_safe(object &&o) {
     return pybind11::cast<T>(std::move(o));
 }
@@ -1193,9 +1231,10 @@ PYBIND11_NAMESPACE_END(detail)
 // The overloads could coexist, i.e. the #if is not strictly speaking needed,
 // but it is an easy minor optimization.
 #if !defined(PYBIND11_DETAILED_ERROR_MESSAGES)
-inline cast_error cast_error_unable_to_convert_call_arg() {
-    return cast_error("Unable to convert call argument to Python object (#define "
-                      "PYBIND11_DETAILED_ERROR_MESSAGES or compile in debug mode for details)");
+inline cast_error cast_error_unable_to_convert_call_arg(const std::string &name) {
+    return cast_error("Unable to convert call argument '" + name
+                      + "' to Python object (#define "
+                        "PYBIND11_DETAILED_ERROR_MESSAGES or compile in debug mode for details)");
 }
 #else
 inline cast_error cast_error_unable_to_convert_call_arg(const std::string &name,
@@ -1218,7 +1257,7 @@ tuple make_tuple(Args &&...args_) {
     for (size_t i = 0; i < args.size(); i++) {
         if (!args[i]) {
 #if !defined(PYBIND11_DETAILED_ERROR_MESSAGES)
-            throw cast_error_unable_to_convert_call_arg();
+            throw cast_error_unable_to_convert_call_arg(std::to_string(i));
 #else
             std::array<std::string, size> argtypes{{type_id<Args>()...}};
             throw cast_error_unable_to_convert_call_arg(std::to_string(i), argtypes[i]);
@@ -1508,7 +1547,7 @@ private:
             detail::make_caster<T>::cast(std::forward<T>(x), policy, {}));
         if (!o) {
 #if !defined(PYBIND11_DETAILED_ERROR_MESSAGES)
-            throw cast_error_unable_to_convert_call_arg();
+            throw cast_error_unable_to_convert_call_arg(std::to_string(args_list.size()));
 #else
             throw cast_error_unable_to_convert_call_arg(std::to_string(args_list.size()),
                                                         type_id<T>());
@@ -1540,12 +1579,12 @@ private:
         }
         if (!a.value) {
 #if !defined(PYBIND11_DETAILED_ERROR_MESSAGES)
-            throw cast_error_unable_to_convert_call_arg();
+            throw cast_error_unable_to_convert_call_arg(a.name);
 #else
             throw cast_error_unable_to_convert_call_arg(a.name, a.type);
 #endif
         }
-        m_kwargs[a.name] = a.value;
+        m_kwargs[a.name] = std::move(a.value);
     }
 
     void process(list & /*args_list*/, detail::kwargs_proxy kp) {
diff --git a/pybind11/include/pybind11/detail/class.h b/pybind11/include/pybind11/detail/class.h
index 42720f844..bc2b40c50 100644
--- a/pybind11/include/pybind11/detail/class.h
+++ b/pybind11/include/pybind11/detail/class.h
@@ -55,6 +55,9 @@ extern "C" inline int pybind11_static_set(PyObject *self, PyObject *obj, PyObjec
     return PyProperty_Type.tp_descr_set(self, cls, value);
 }
 
+// Forward declaration to use in `make_static_property_type()`
+inline void enable_dynamic_attributes(PyHeapTypeObject *heap_type);
+
 /** A `static_property` is the same as a `property` but the `__get__()` and `__set__()`
     methods are modified to always use the object type instead of a concrete instance.
     Return value: New reference. */
@@ -87,6 +90,13 @@ inline PyTypeObject *make_static_property_type() {
         pybind11_fail("make_static_property_type(): failure in PyType_Ready()!");
     }
 
+#    if PY_VERSION_HEX >= 0x030C0000
+    // PRE 3.12 FEATURE FREEZE. PLEASE REVIEW AFTER FREEZE.
+    // Since Python-3.12 property-derived types are required to
+    // have dynamic attributes (to set `__doc__`)
+    enable_dynamic_attributes(heap_type);
+#    endif
+
     setattr((PyObject *) type, "__module__", str("pybind11_builtins"));
     PYBIND11_SET_OLDPY_QUALNAME(type, name_obj);
 
@@ -435,9 +445,17 @@ inline void clear_instance(PyObject *self) {
 /// Instance destructor function for all pybind11 types. It calls `type_info.dealloc`
 /// to destroy the C++ object itself, while the rest is Python bookkeeping.
 extern "C" inline void pybind11_object_dealloc(PyObject *self) {
+    auto *type = Py_TYPE(self);
+
+    // If this is a GC tracked object, untrack it first
+    // Note that the track call is implicitly done by the
+    // default tp_alloc, which we never override.
+    if (PyType_HasFeature(type, Py_TPFLAGS_HAVE_GC) != 0) {
+        PyObject_GC_UnTrack(self);
+    }
+
     clear_instance(self);
 
-    auto *type = Py_TYPE(self);
     type->tp_free(self);
 
 #if PY_VERSION_HEX < 0x03080000
@@ -502,31 +520,6 @@ inline PyObject *make_object_base_type(PyTypeObject *metaclass) {
     return (PyObject *) heap_type;
 }
 
-/// dynamic_attr: Support for `d = instance.__dict__`.
-extern "C" inline PyObject *pybind11_get_dict(PyObject *self, void *) {
-    PyObject *&dict = *_PyObject_GetDictPtr(self);
-    if (!dict) {
-        dict = PyDict_New();
-    }
-    Py_XINCREF(dict);
-    return dict;
-}
-
-/// dynamic_attr: Support for `instance.__dict__ = dict()`.
-extern "C" inline int pybind11_set_dict(PyObject *self, PyObject *new_dict, void *) {
-    if (!PyDict_Check(new_dict)) {
-        PyErr_Format(PyExc_TypeError,
-                     "__dict__ must be set to a dictionary, not a '%.200s'",
-                     get_fully_qualified_tp_name(Py_TYPE(new_dict)).c_str());
-        return -1;
-    }
-    PyObject *&dict = *_PyObject_GetDictPtr(self);
-    Py_INCREF(new_dict);
-    Py_CLEAR(dict);
-    dict = new_dict;
-    return 0;
-}
-
 /// dynamic_attr: Allow the garbage collector to traverse the internal instance `__dict__`.
 extern "C" inline int pybind11_traverse(PyObject *self, visitproc visit, void *arg) {
     PyObject *&dict = *_PyObject_GetDictPtr(self);
@@ -558,9 +551,17 @@ inline void enable_dynamic_attributes(PyHeapTypeObject *heap_type) {
     type->tp_traverse = pybind11_traverse;
     type->tp_clear = pybind11_clear;
 
-    static PyGetSetDef getset[] = {
-        {const_cast<char *>("__dict__"), pybind11_get_dict, pybind11_set_dict, nullptr, nullptr},
-        {nullptr, nullptr, nullptr, nullptr, nullptr}};
+    static PyGetSetDef getset[] = {{
+#if PY_VERSION_HEX < 0x03070000
+                                       const_cast<char *>("__dict__"),
+#else
+                                       "__dict__",
+#endif
+                                       PyObject_GenericGetDict,
+                                       PyObject_GenericSetDict,
+                                       nullptr,
+                                       nullptr},
+                                   {nullptr, nullptr, nullptr, nullptr, nullptr}};
     type->tp_getset = getset;
 }
 
diff --git a/pybind11/include/pybind11/detail/common.h b/pybind11/include/pybind11/detail/common.h
index 1da323f31..31a54c773 100644
--- a/pybind11/include/pybind11/detail/common.h
+++ b/pybind11/include/pybind11/detail/common.h
@@ -10,15 +10,76 @@
 #pragma once
 
 #define PYBIND11_VERSION_MAJOR 2
-#define PYBIND11_VERSION_MINOR 10
-#define PYBIND11_VERSION_PATCH 0
+#define PYBIND11_VERSION_MINOR 11
+#define PYBIND11_VERSION_PATCH 1
 
 // Similar to Python's convention: https://docs.python.org/3/c-api/apiabiversion.html
 // Additional convention: 0xD = dev
-#define PYBIND11_VERSION_HEX 0x020A0000
+#define PYBIND11_VERSION_HEX 0x020B0100
 
-#define PYBIND11_NAMESPACE_BEGIN(name) namespace name {
-#define PYBIND11_NAMESPACE_END(name) }
+// Define some generic pybind11 helper macros for warning management.
+//
+// Note that compiler-specific push/pop pairs are baked into the
+// PYBIND11_NAMESPACE_BEGIN/PYBIND11_NAMESPACE_END pair of macros. Therefore manual
+// PYBIND11_WARNING_PUSH/PYBIND11_WARNING_POP are usually only needed in `#include` sections.
+//
+// If you find you need to suppress a warning, please try to make the suppression as local as
+// possible using these macros. Please also be sure to push/pop with the pybind11 macros. Please
+// only use compiler specifics if you need to check specific versions, e.g. Apple Clang vs. vanilla
+// Clang.
+#if defined(_MSC_VER)
+#    define PYBIND11_COMPILER_MSVC
+#    define PYBIND11_PRAGMA(...) __pragma(__VA_ARGS__)
+#    define PYBIND11_WARNING_PUSH PYBIND11_PRAGMA(warning(push))
+#    define PYBIND11_WARNING_POP PYBIND11_PRAGMA(warning(pop))
+#elif defined(__INTEL_COMPILER)
+#    define PYBIND11_COMPILER_INTEL
+#    define PYBIND11_PRAGMA(...) _Pragma(#__VA_ARGS__)
+#    define PYBIND11_WARNING_PUSH PYBIND11_PRAGMA(warning push)
+#    define PYBIND11_WARNING_POP PYBIND11_PRAGMA(warning pop)
+#elif defined(__clang__)
+#    define PYBIND11_COMPILER_CLANG
+#    define PYBIND11_PRAGMA(...) _Pragma(#__VA_ARGS__)
+#    define PYBIND11_WARNING_PUSH PYBIND11_PRAGMA(clang diagnostic push)
+#    define PYBIND11_WARNING_POP PYBIND11_PRAGMA(clang diagnostic push)
+#elif defined(__GNUC__)
+#    define PYBIND11_COMPILER_GCC
+#    define PYBIND11_PRAGMA(...) _Pragma(#__VA_ARGS__)
+#    define PYBIND11_WARNING_PUSH PYBIND11_PRAGMA(GCC diagnostic push)
+#    define PYBIND11_WARNING_POP PYBIND11_PRAGMA(GCC diagnostic pop)
+#endif
+
+#ifdef PYBIND11_COMPILER_MSVC
+#    define PYBIND11_WARNING_DISABLE_MSVC(name) PYBIND11_PRAGMA(warning(disable : name))
+#else
+#    define PYBIND11_WARNING_DISABLE_MSVC(name)
+#endif
+
+#ifdef PYBIND11_COMPILER_CLANG
+#    define PYBIND11_WARNING_DISABLE_CLANG(name) PYBIND11_PRAGMA(clang diagnostic ignored name)
+#else
+#    define PYBIND11_WARNING_DISABLE_CLANG(name)
+#endif
+
+#ifdef PYBIND11_COMPILER_GCC
+#    define PYBIND11_WARNING_DISABLE_GCC(name) PYBIND11_PRAGMA(GCC diagnostic ignored name)
+#else
+#    define PYBIND11_WARNING_DISABLE_GCC(name)
+#endif
+
+#ifdef PYBIND11_COMPILER_INTEL
+#    define PYBIND11_WARNING_DISABLE_INTEL(name) PYBIND11_PRAGMA(warning disable name)
+#else
+#    define PYBIND11_WARNING_DISABLE_INTEL(name)
+#endif
+
+#define PYBIND11_NAMESPACE_BEGIN(name)                                                            \
+    namespace name {                                                                              \
+    PYBIND11_WARNING_PUSH
+
+#define PYBIND11_NAMESPACE_END(name)                                                              \
+    PYBIND11_WARNING_POP                                                                          \
+    }
 
 // Robust support for some features and loading modules compiled against different pybind versions
 // requires forcing hidden visibility on pybind code, so we enforce this by setting the attribute
@@ -96,13 +157,10 @@
 #endif
 
 #if !defined(PYBIND11_EXPORT_EXCEPTION)
-#    ifdef __MINGW32__
-// workaround for:
-// error: 'dllexport' implies default visibility, but xxx has already been declared with a
-// different visibility
-#        define PYBIND11_EXPORT_EXCEPTION
-#    else
+#    if defined(__apple_build_version__)
 #        define PYBIND11_EXPORT_EXCEPTION PYBIND11_EXPORT
+#    else
+#        define PYBIND11_EXPORT_EXCEPTION
 #    endif
 #endif
 
@@ -154,9 +212,9 @@
 
 /// Include Python header, disable linking to pythonX_d.lib on Windows in debug mode
 #if defined(_MSC_VER)
-#    pragma warning(push)
+PYBIND11_WARNING_PUSH
+PYBIND11_WARNING_DISABLE_MSVC(4505)
 // C4505: 'PySlice_GetIndicesEx': unreferenced local function has been removed (PyPy only)
-#    pragma warning(disable : 4505)
 #    if defined(_DEBUG) && !defined(Py_DEBUG)
 // Workaround for a VS 2022 issue.
 // NOTE: This workaround knowingly violates the Python.h include order requirement:
@@ -205,11 +263,8 @@
 #    endif
 #endif
 
-#if defined(__cpp_lib_char8_t) && __cpp_lib_char8_t >= 201811L
-#    define PYBIND11_HAS_U8STRING
-#endif
-
 #include <Python.h>
+// Reminder: WITH_THREAD is always defined if PY_VERSION_HEX >= 0x03070000
 #if PY_VERSION_HEX < 0x03060000
 #    error "PYTHON < 3.6 IS UNSUPPORTED. pybind11 v2.9 was the last to support Python 2 and 3.5."
 #endif
@@ -233,12 +288,16 @@
 #    undef copysign
 #endif
 
+#if defined(PYPY_VERSION) && !defined(PYBIND11_SIMPLE_GIL_MANAGEMENT)
+#    define PYBIND11_SIMPLE_GIL_MANAGEMENT
+#endif
+
 #if defined(_MSC_VER)
 #    if defined(PYBIND11_DEBUG_MARKER)
 #        define _DEBUG
 #        undef PYBIND11_DEBUG_MARKER
 #    endif
-#    pragma warning(pop)
+PYBIND11_WARNING_POP
 #endif
 
 #include <cstddef>
@@ -259,6 +318,17 @@
 #    endif
 #endif
 
+// Must be after including <version> or one of the other headers specified by the standard
+#if defined(__cpp_lib_char8_t) && __cpp_lib_char8_t >= 201811L
+#    define PYBIND11_HAS_U8STRING
+#endif
+
+// See description of PR #4246:
+#if !defined(PYBIND11_NO_ASSERT_GIL_HELD_INCREF_DECREF) && !defined(NDEBUG)                       \
+    && !defined(PYPY_VERSION) && !defined(PYBIND11_ASSERT_GIL_HELD_INCREF_DECREF)
+#    define PYBIND11_ASSERT_GIL_HELD_INCREF_DECREF
+#endif
+
 // #define PYBIND11_STR_LEGACY_PERMISSIVE
 // If DEFINED, pybind11::str can hold PyUnicodeObject or PyBytesObject
 //             (probably surprising and never documented, but this was the
@@ -363,7 +433,7 @@
 
 /** \rst
     This macro creates the entry point that will be invoked when the Python interpreter
-    imports an extension module. The module name is given as the fist argument and it
+    imports an extension module. The module name is given as the first argument and it
     should not be in quotes. The second macro argument defines a variable of type
     `py::module_` which can be used to initialize the module.
 
@@ -588,6 +658,10 @@ template <class T>
 using remove_cvref_t = typename remove_cvref<T>::type;
 #endif
 
+/// Example usage: is_same_ignoring_cvref<T, PyObject *>::value
+template <typename T, typename U>
+using is_same_ignoring_cvref = std::is_same<detail::remove_cvref_t<T>, U>;
+
 /// Index sequences
 #if defined(PYBIND11_CPP14)
 using std::index_sequence;
@@ -681,7 +755,16 @@ template <typename C, typename R, typename... A>
 struct remove_class<R (C::*)(A...) const> {
     using type = R(A...);
 };
-
+#ifdef __cpp_noexcept_function_type
+template <typename C, typename R, typename... A>
+struct remove_class<R (C::*)(A...) noexcept> {
+    using type = R(A...);
+};
+template <typename C, typename R, typename... A>
+struct remove_class<R (C::*)(A...) const noexcept> {
+    using type = R(A...);
+};
+#endif
 /// Helper template to strip away type modifiers
 template <typename T>
 struct intrinsic_type {
@@ -898,12 +981,6 @@ using expand_side_effects = bool[];
 
 PYBIND11_NAMESPACE_END(detail)
 
-#if defined(_MSC_VER)
-#    pragma warning(push)
-#    pragma warning(disable : 4275)
-//     warning C4275: An exported class was derived from a class that wasn't exported.
-//     Can be ignored when derived from a STL class.
-#endif
 /// C++ bindings of builtin Python exceptions
 class PYBIND11_EXPORT_EXCEPTION builtin_exception : public std::runtime_error {
 public:
@@ -911,9 +988,6 @@ public:
     /// Set the error using the Python C API
     virtual void set_error() const = 0;
 };
-#if defined(_MSC_VER)
-#    pragma warning(pop)
-#endif
 
 #define PYBIND11_RUNTIME_EXCEPTION(name, type)                                                    \
     class PYBIND11_EXPORT_EXCEPTION name : public builtin_exception {                             \
@@ -948,6 +1022,15 @@ PYBIND11_RUNTIME_EXCEPTION(reference_cast_error, PyExc_RuntimeError) /// Used in
 template <typename T, typename SFINAE = void>
 struct format_descriptor {};
 
+template <typename T>
+struct format_descriptor<
+    T,
+    detail::enable_if_t<detail::is_same_ignoring_cvref<T, PyObject *>::value>> {
+    static constexpr const char c = 'O';
+    static constexpr const char value[2] = {c, '\0'};
+    static std::string format() { return std::string(1, c); }
+};
+
 PYBIND11_NAMESPACE_BEGIN(detail)
 // Returns the index of the given type in the type char array below, and in the list in numpy.h
 // The order here is: bool; 8 ints ((signed,unsigned)x(8,16,32,64)bits); float,double,long double;
@@ -1033,12 +1116,7 @@ PYBIND11_NAMESPACE_END(detail)
 ///  - regular: static_cast<Return (Class::*)(Arg0, Arg1, Arg2)>(&Class::func)
 ///  - sweet:   overload_cast<Arg0, Arg1, Arg2>(&Class::func)
 template <typename... Args>
-#    if (defined(_MSC_VER) && _MSC_VER < 1920) /* MSVC 2017 */                                    \
-        || (defined(__clang__) && __clang_major__ == 5)
-static constexpr detail::overload_cast_impl<Args...> overload_cast = {};
-#    else
-static constexpr detail::overload_cast_impl<Args...> overload_cast;
-#    endif
+static constexpr detail::overload_cast_impl<Args...> overload_cast{};
 #endif
 
 /// Const member function selector for overload_cast
@@ -1147,20 +1225,28 @@ constexpr
 #    define PYBIND11_WORKAROUND_INCORRECT_GCC_UNUSED_BUT_SET_PARAMETER(...)
 #endif
 
-#if defined(_MSC_VER) // All versions (as of July 2021).
-
-// warning C4127: Conditional expression is constant
-constexpr inline bool silence_msvc_c4127(bool cond) { return cond; }
-
-#    define PYBIND11_SILENCE_MSVC_C4127(...) ::pybind11::detail::silence_msvc_c4127(__VA_ARGS__)
-
-#else
-#    define PYBIND11_SILENCE_MSVC_C4127(...) __VA_ARGS__
+#if defined(__clang__)                                                                            \
+    && (defined(__apple_build_version__) /* AppleClang 13.0.0.13000029 was the only data point    \
+                                            available. */                                         \
+        || (__clang_major__ >= 7                                                                  \
+            && __clang_major__ <= 12) /* Clang 3, 5, 13, 14, 15 do not generate the warning. */   \
+    )
+#    define PYBIND11_DETECTED_CLANG_WITH_MISLEADING_CALL_STD_MOVE_EXPLICITLY_WARNING
+// Example:
+// tests/test_kwargs_and_defaults.cpp:46:68: error: local variable 'args' will be copied despite
+// being returned by name [-Werror,-Wreturn-std-move]
+//     m.def("args_function", [](py::args args) -> py::tuple { return args; });
+//                                                                    ^~~~
+// test_kwargs_and_defaults.cpp:46:68: note: call 'std::move' explicitly to avoid copying
+//     m.def("args_function", [](py::args args) -> py::tuple { return args; });
+//                                                                    ^~~~
+//                                                                    std::move(args)
 #endif
 
 // Pybind offers detailed error messages by default for all builts that are debug (through the
-// negation of ndebug). This can also be manually enabled by users, for any builds, through
-// defining PYBIND11_DETAILED_ERROR_MESSAGES.
+// negation of NDEBUG). This can also be manually enabled by users, for any builds, through
+// defining PYBIND11_DETAILED_ERROR_MESSAGES. This information is primarily useful for those
+// who are writing (as opposed to merely using) libraries that use pybind11.
 #if !defined(PYBIND11_DETAILED_ERROR_MESSAGES) && !defined(NDEBUG)
 #    define PYBIND11_DETAILED_ERROR_MESSAGES
 #endif
diff --git a/pybind11/include/pybind11/detail/descr.h b/pybind11/include/pybind11/detail/descr.h
index e7a5e2c14..635614b0d 100644
--- a/pybind11/include/pybind11/detail/descr.h
+++ b/pybind11/include/pybind11/detail/descr.h
@@ -143,11 +143,24 @@ constexpr descr<N, Ts...> concat(const descr<N, Ts...> &descr) {
     return descr;
 }
 
+#ifdef __cpp_fold_expressions
+template <size_t N1, size_t N2, typename... Ts1, typename... Ts2>
+constexpr descr<N1 + N2 + 2, Ts1..., Ts2...> operator,(const descr<N1, Ts1...> &a,
+                                                       const descr<N2, Ts2...> &b) {
+    return a + const_name(", ") + b;
+}
+
+template <size_t N, typename... Ts, typename... Args>
+constexpr auto concat(const descr<N, Ts...> &d, const Args &...args) {
+    return (d, ..., args);
+}
+#else
 template <size_t N, typename... Ts, typename... Args>
 constexpr auto concat(const descr<N, Ts...> &d, const Args &...args)
     -> decltype(std::declval<descr<N + 2, Ts...>>() + concat(args...)) {
     return d + const_name(", ") + concat(args...);
 }
+#endif
 
 template <size_t N, typename... Ts>
 constexpr descr<N + 2, Ts...> type_descr(const descr<N, Ts...> &descr) {
diff --git a/pybind11/include/pybind11/detail/init.h b/pybind11/include/pybind11/detail/init.h
index 05f4fe54a..e21171688 100644
--- a/pybind11/include/pybind11/detail/init.h
+++ b/pybind11/include/pybind11/detail/init.h
@@ -12,6 +12,9 @@
 #include "class.h"
 
 PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
+
+PYBIND11_WARNING_DISABLE_MSVC(4127)
+
 PYBIND11_NAMESPACE_BEGIN(detail)
 
 template <>
@@ -115,7 +118,7 @@ template <typename Class>
 void construct(value_and_holder &v_h, Cpp<Class> *ptr, bool need_alias) {
     PYBIND11_WORKAROUND_INCORRECT_MSVC_C4100(need_alias);
     no_nullptr(ptr);
-    if (PYBIND11_SILENCE_MSVC_C4127(Class::has_alias) && need_alias && !is_alias<Class>(ptr)) {
+    if (Class::has_alias && need_alias && !is_alias<Class>(ptr)) {
         // We're going to try to construct an alias by moving the cpp type.  Whether or not
         // that succeeds, we still need to destroy the original cpp pointer (either the
         // moved away leftover, if the alias construction works, or the value itself if we
@@ -156,7 +159,7 @@ void construct(value_and_holder &v_h, Holder<Class> holder, bool need_alias) {
     auto *ptr = holder_helper<Holder<Class>>::get(holder);
     no_nullptr(ptr);
     // If we need an alias, check that the held pointer is actually an alias instance
-    if (PYBIND11_SILENCE_MSVC_C4127(Class::has_alias) && need_alias && !is_alias<Class>(ptr)) {
+    if (Class::has_alias && need_alias && !is_alias<Class>(ptr)) {
         throw type_error("pybind11::init(): construction failed: returned holder-wrapped instance "
                          "is not an alias instance");
     }
@@ -172,9 +175,9 @@ void construct(value_and_holder &v_h, Holder<Class> holder, bool need_alias) {
 template <typename Class>
 void construct(value_and_holder &v_h, Cpp<Class> &&result, bool need_alias) {
     PYBIND11_WORKAROUND_INCORRECT_MSVC_C4100(need_alias);
-    static_assert(std::is_move_constructible<Cpp<Class>>::value,
+    static_assert(is_move_constructible<Cpp<Class>>::value,
                   "pybind11::init() return-by-value factory function requires a movable class");
-    if (PYBIND11_SILENCE_MSVC_C4127(Class::has_alias) && need_alias) {
+    if (Class::has_alias && need_alias) {
         construct_alias_from_cpp<Class>(is_alias_constructible<Class>{}, v_h, std::move(result));
     } else {
         v_h.value_ptr() = new Cpp<Class>(std::move(result));
@@ -187,7 +190,7 @@ void construct(value_and_holder &v_h, Cpp<Class> &&result, bool need_alias) {
 template <typename Class>
 void construct(value_and_holder &v_h, Alias<Class> &&result, bool) {
     static_assert(
-        std::is_move_constructible<Alias<Class>>::value,
+        is_move_constructible<Alias<Class>>::value,
         "pybind11::init() return-by-alias-value factory function requires a movable alias class");
     v_h.value_ptr() = new Alias<Class>(std::move(result));
 }
@@ -206,10 +209,11 @@ struct constructor {
             extra...);
     }
 
-    template <typename Class,
-              typename... Extra,
-              enable_if_t<Class::has_alias && std::is_constructible<Cpp<Class>, Args...>::value,
-                          int> = 0>
+    template <
+        typename Class,
+        typename... Extra,
+        enable_if_t<Class::has_alias && std::is_constructible<Cpp<Class>, Args...>::value, int>
+        = 0>
     static void execute(Class &cl, const Extra &...extra) {
         cl.def(
             "__init__",
@@ -226,10 +230,11 @@ struct constructor {
             extra...);
     }
 
-    template <typename Class,
-              typename... Extra,
-              enable_if_t<Class::has_alias && !std::is_constructible<Cpp<Class>, Args...>::value,
-                          int> = 0>
+    template <
+        typename Class,
+        typename... Extra,
+        enable_if_t<Class::has_alias && !std::is_constructible<Cpp<Class>, Args...>::value, int>
+        = 0>
     static void execute(Class &cl, const Extra &...extra) {
         cl.def(
             "__init__",
@@ -245,10 +250,11 @@ struct constructor {
 // Implementing class for py::init_alias<...>()
 template <typename... Args>
 struct alias_constructor {
-    template <typename Class,
-              typename... Extra,
-              enable_if_t<Class::has_alias && std::is_constructible<Alias<Class>, Args...>::value,
-                          int> = 0>
+    template <
+        typename Class,
+        typename... Extra,
+        enable_if_t<Class::has_alias && std::is_constructible<Alias<Class>, Args...>::value, int>
+        = 0>
     static void execute(Class &cl, const Extra &...extra) {
         cl.def(
             "__init__",
diff --git a/pybind11/include/pybind11/detail/internals.h b/pybind11/include/pybind11/detail/internals.h
index 6ca5e1482..aaa7f8686 100644
--- a/pybind11/include/pybind11/detail/internals.h
+++ b/pybind11/include/pybind11/detail/internals.h
@@ -9,6 +9,12 @@
 
 #pragma once
 
+#include "common.h"
+
+#if defined(WITH_THREAD) && defined(PYBIND11_SIMPLE_GIL_MANAGEMENT)
+#    include "../gil.h"
+#endif
+
 #include "../pytypes.h"
 
 #include <exception>
@@ -28,15 +34,26 @@
 /// further ABI-incompatible changes may be made before the ABI is officially
 /// changed to the new version.
 #ifndef PYBIND11_INTERNALS_VERSION
-#    define PYBIND11_INTERNALS_VERSION 4
+#    if PY_VERSION_HEX >= 0x030C0000
+// Version bump for Python 3.12+, before first 3.12 beta release.
+#        define PYBIND11_INTERNALS_VERSION 5
+#    else
+#        define PYBIND11_INTERNALS_VERSION 4
+#    endif
 #endif
 
+// This requirement is mainly to reduce the support burden (see PR #4570).
+static_assert(PY_VERSION_HEX < 0x030C0000 || PYBIND11_INTERNALS_VERSION >= 5,
+              "pybind11 ABI version 5 is the minimum for Python 3.12+");
+
 PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
 
 using ExceptionTranslator = void (*)(std::exception_ptr);
 
 PYBIND11_NAMESPACE_BEGIN(detail)
 
+constexpr const char *internals_function_record_capsule_name = "pybind11_function_record_capsule";
+
 // Forward declarations
 inline PyTypeObject *make_static_property_type();
 inline PyTypeObject *make_default_metaclass();
@@ -49,7 +66,7 @@ inline PyObject *make_object_base_type(PyTypeObject *metaclass);
 // `Py_LIMITED_API` anyway.
 #    if PYBIND11_INTERNALS_VERSION > 4
 #        define PYBIND11_TLS_KEY_REF Py_tss_t &
-#        ifdef __GNUC__
+#        if defined(__GNUC__) && !defined(__INTEL_COMPILER)
 // Clang on macOS warns due to `Py_tss_NEEDS_INIT` not specifying an initializer
 // for every field.
 #            define PYBIND11_TLS_KEY_INIT(var)                                                    \
@@ -106,7 +123,8 @@ inline void tls_replace_value(PYBIND11_TLS_KEY_REF key, void *value) {
 // libstdc++, this doesn't happen: equality and the type_index hash are based on the type name,
 // which works.  If not under a known-good stl, provide our own name-based hash and equality
 // functions that use the type name.
-#if defined(__GLIBCXX__)
+#if (PYBIND11_INTERNALS_VERSION <= 4 && defined(__GLIBCXX__))                                     \
+    || (PYBIND11_INTERNALS_VERSION >= 5 && !defined(_LIBCPP_VERSION))
 inline bool same_type(const std::type_info &lhs, const std::type_info &rhs) { return lhs == rhs; }
 using type_hash = std::hash<std::type_index>;
 using type_equal_to = std::equal_to<std::type_index>;
@@ -169,11 +187,23 @@ struct internals {
     PyTypeObject *default_metaclass;
     PyObject *instance_base;
 #if defined(WITH_THREAD)
+    // Unused if PYBIND11_SIMPLE_GIL_MANAGEMENT is defined:
     PYBIND11_TLS_KEY_INIT(tstate)
 #    if PYBIND11_INTERNALS_VERSION > 4
     PYBIND11_TLS_KEY_INIT(loader_life_support_tls_key)
 #    endif // PYBIND11_INTERNALS_VERSION > 4
+    // Unused if PYBIND11_SIMPLE_GIL_MANAGEMENT is defined:
     PyInterpreterState *istate = nullptr;
+
+#    if PYBIND11_INTERNALS_VERSION > 4
+    // Note that we have to use a std::string to allocate memory to ensure a unique address
+    // We want unique addresses since we use pointer equality to compare function records
+    std::string function_record_capsule_name = internals_function_record_capsule_name;
+#    endif
+
+    internals() = default;
+    internals(const internals &other) = delete;
+    internals &operator=(const internals &other) = delete;
     ~internals() {
 #    if PYBIND11_INTERNALS_VERSION > 4
         PYBIND11_TLS_FREE(loader_life_support_tls_key);
@@ -401,6 +431,38 @@ inline void translate_local_exception(std::exception_ptr p) {
 }
 #endif
 
+inline object get_python_state_dict() {
+    object state_dict;
+#if PYBIND11_INTERNALS_VERSION <= 4 || PY_VERSION_HEX < 0x03080000 || defined(PYPY_VERSION)
+    state_dict = reinterpret_borrow<object>(PyEval_GetBuiltins());
+#else
+#    if PY_VERSION_HEX < 0x03090000
+    PyInterpreterState *istate = _PyInterpreterState_Get();
+#    else
+    PyInterpreterState *istate = PyInterpreterState_Get();
+#    endif
+    if (istate) {
+        state_dict = reinterpret_borrow<object>(PyInterpreterState_GetDict(istate));
+    }
+#endif
+    if (!state_dict) {
+        raise_from(PyExc_SystemError, "pybind11::detail::get_python_state_dict() FAILED");
+    }
+    return state_dict;
+}
+
+inline object get_internals_obj_from_state_dict(handle state_dict) {
+    return reinterpret_borrow<object>(dict_getitemstring(state_dict.ptr(), PYBIND11_INTERNALS_ID));
+}
+
+inline internals **get_internals_pp_from_capsule(handle obj) {
+    void *raw_ptr = PyCapsule_GetPointer(obj.ptr(), /*name=*/nullptr);
+    if (raw_ptr == nullptr) {
+        raise_from(PyExc_SystemError, "pybind11::detail::get_internals_pp_from_capsule() FAILED");
+    }
+    return static_cast<internals **>(raw_ptr);
+}
+
 /// Return a reference to the current `internals` data
 PYBIND11_NOINLINE internals &get_internals() {
     auto **&internals_pp = get_internals_pp();
@@ -408,21 +470,29 @@ PYBIND11_NOINLINE internals &get_internals() {
         return **internals_pp;
     }
 
+#if defined(WITH_THREAD)
+#    if defined(PYBIND11_SIMPLE_GIL_MANAGEMENT)
+    gil_scoped_acquire gil;
+#    else
     // Ensure that the GIL is held since we will need to make Python calls.
     // Cannot use py::gil_scoped_acquire here since that constructor calls get_internals.
     struct gil_scoped_acquire_local {
         gil_scoped_acquire_local() : state(PyGILState_Ensure()) {}
+        gil_scoped_acquire_local(const gil_scoped_acquire_local &) = delete;
+        gil_scoped_acquire_local &operator=(const gil_scoped_acquire_local &) = delete;
         ~gil_scoped_acquire_local() { PyGILState_Release(state); }
         const PyGILState_STATE state;
     } gil;
+#    endif
+#endif
     error_scope err_scope;
 
-    PYBIND11_STR_TYPE id(PYBIND11_INTERNALS_ID);
-    auto builtins = handle(PyEval_GetBuiltins());
-    if (builtins.contains(id) && isinstance<capsule>(builtins[id])) {
-        internals_pp = static_cast<internals **>(capsule(builtins[id]));
-
-        // We loaded builtins through python's builtins, which means that our `error_already_set`
+    dict state_dict = get_python_state_dict();
+    if (object internals_obj = get_internals_obj_from_state_dict(state_dict)) {
+        internals_pp = get_internals_pp_from_capsule(internals_obj);
+    }
+    if (internals_pp && *internals_pp) {
+        // We loaded the internals through `state_dict`, which means that our `error_already_set`
         // and `builtin_exception` may be different local classes than the ones set up in the
         // initial exception translator, below, so add another for our local exception classes.
         //
@@ -440,16 +510,15 @@ PYBIND11_NOINLINE internals &get_internals() {
         internals_ptr = new internals();
 #if defined(WITH_THREAD)
 
-#    if PY_VERSION_HEX < 0x03090000
-        PyEval_InitThreads();
-#    endif
         PyThreadState *tstate = PyThreadState_Get();
+        // NOLINTNEXTLINE(bugprone-assignment-in-if-condition)
         if (!PYBIND11_TLS_KEY_CREATE(internals_ptr->tstate)) {
             pybind11_fail("get_internals: could not successfully initialize the tstate TSS key!");
         }
         PYBIND11_TLS_REPLACE_VALUE(internals_ptr->tstate, tstate);
 
 #    if PYBIND11_INTERNALS_VERSION > 4
+        // NOLINTNEXTLINE(bugprone-assignment-in-if-condition)
         if (!PYBIND11_TLS_KEY_CREATE(internals_ptr->loader_life_support_tls_key)) {
             pybind11_fail("get_internals: could not successfully initialize the "
                           "loader_life_support TSS key!");
@@ -457,7 +526,7 @@ PYBIND11_NOINLINE internals &get_internals() {
 #    endif
         internals_ptr->istate = tstate->interp;
 #endif
-        builtins[id] = capsule(internals_pp);
+        state_dict[PYBIND11_INTERNALS_ID] = capsule(internals_pp);
         internals_ptr->registered_exception_translators.push_front(&translate_exception);
         internals_ptr->static_property_type = make_static_property_type();
         internals_ptr->default_metaclass = make_default_metaclass();
@@ -489,6 +558,7 @@ struct local_internals {
     struct shared_loader_life_support_data {
         PYBIND11_TLS_KEY_INIT(loader_life_support_tls_key)
         shared_loader_life_support_data() {
+            // NOLINTNEXTLINE(bugprone-assignment-in-if-condition)
             if (!PYBIND11_TLS_KEY_CREATE(loader_life_support_tls_key)) {
                 pybind11_fail("local_internals: could not successfully initialize the "
                               "loader_life_support TLS key!");
@@ -512,8 +582,13 @@ struct local_internals {
 
 /// Works like `get_internals`, but for things which are locally registered.
 inline local_internals &get_local_internals() {
-    static local_internals locals;
-    return locals;
+    // Current static can be created in the interpreter finalization routine. If the later will be
+    // destroyed in another static variable destructor, creation of this static there will cause
+    // static deinitialization fiasco. In order to avoid it we avoid destruction of the
+    // local_internals static. One can read more about the problem and current solution here:
+    // https://google.github.io/styleguide/cppguide.html#Static_and_Global_Variables
+    static auto *locals = new local_internals();
+    return *locals;
 }
 
 /// Constructs a std::string with the given arguments, stores it in `internals`, and returns its
@@ -527,6 +602,25 @@ const char *c_str(Args &&...args) {
     return strings.front().c_str();
 }
 
+inline const char *get_function_record_capsule_name() {
+#if PYBIND11_INTERNALS_VERSION > 4
+    return get_internals().function_record_capsule_name.c_str();
+#else
+    return nullptr;
+#endif
+}
+
+// Determine whether or not the following capsule contains a pybind11 function record.
+// Note that we use `internals` to make sure that only ABI compatible records are touched.
+//
+// This check is currently used in two places:
+// - An important optimization in functional.h to avoid overhead in C++ -> Python -> C++
+// - The sibling feature of cpp_function to allow overloads
+inline bool is_function_record_capsule(const capsule &cap) {
+    // Pointer equality as we rely on internals() to ensure unique pointers
+    return cap.name() == get_function_record_capsule_name();
+}
+
 PYBIND11_NAMESPACE_END(detail)
 
 /// Returns a named pointer that is shared among all extension modules (using the same
diff --git a/pybind11/include/pybind11/detail/type_caster_base.h b/pybind11/include/pybind11/detail/type_caster_base.h
index 21f69c289..16387506c 100644
--- a/pybind11/include/pybind11/detail/type_caster_base.h
+++ b/pybind11/include/pybind11/detail/type_caster_base.h
@@ -258,9 +258,9 @@ struct value_and_holder {
 
     // Main constructor for a found value/holder:
     value_and_holder(instance *i, const detail::type_info *type, size_t vpos, size_t index)
-        : inst{i}, index{index}, type{type}, vh{inst->simple_layout
-                                                    ? inst->simple_value_holder
-                                                    : &inst->nonsimple.values_and_holders[vpos]} {}
+        : inst{i}, index{index}, type{type},
+          vh{inst->simple_layout ? inst->simple_value_holder
+                                 : &inst->nonsimple.values_and_holders[vpos]} {}
 
     // Default constructor (used to signal a value-and-holder not found by get_value_and_holder())
     value_and_holder() = default;
@@ -822,23 +822,179 @@ using movable_cast_op_type
                                   typename std::add_rvalue_reference<intrinsic_t<T>>::type,
                                   typename std::add_lvalue_reference<intrinsic_t<T>>::type>>;
 
+// Does the container have a mapped type and is it recursive?
+// Implemented by specializations below.
+template <typename Container, typename SFINAE = void>
+struct container_mapped_type_traits {
+    static constexpr bool has_mapped_type = false;
+    static constexpr bool has_recursive_mapped_type = false;
+};
+
+template <typename Container>
+struct container_mapped_type_traits<
+    Container,
+    typename std::enable_if<
+        std::is_same<typename Container::mapped_type, Container>::value>::type> {
+    static constexpr bool has_mapped_type = true;
+    static constexpr bool has_recursive_mapped_type = true;
+};
+
+template <typename Container>
+struct container_mapped_type_traits<
+    Container,
+    typename std::enable_if<
+        negation<std::is_same<typename Container::mapped_type, Container>>::value>::type> {
+    static constexpr bool has_mapped_type = true;
+    static constexpr bool has_recursive_mapped_type = false;
+};
+
+// Does the container have a value type and is it recursive?
+// Implemented by specializations below.
+template <typename Container, typename SFINAE = void>
+struct container_value_type_traits : std::false_type {
+    static constexpr bool has_value_type = false;
+    static constexpr bool has_recursive_value_type = false;
+};
+
+template <typename Container>
+struct container_value_type_traits<
+    Container,
+    typename std::enable_if<
+        std::is_same<typename Container::value_type, Container>::value>::type> {
+    static constexpr bool has_value_type = true;
+    static constexpr bool has_recursive_value_type = true;
+};
+
+template <typename Container>
+struct container_value_type_traits<
+    Container,
+    typename std::enable_if<
+        negation<std::is_same<typename Container::value_type, Container>>::value>::type> {
+    static constexpr bool has_value_type = true;
+    static constexpr bool has_recursive_value_type = false;
+};
+
+/*
+ * Tag to be used for representing the bottom of recursively defined types.
+ * Define this tag so we don't have to use void.
+ */
+struct recursive_bottom {};
+
+/*
+ * Implementation detail of `recursive_container_traits` below.
+ * `T` is the `value_type` of the container, which might need to be modified to
+ * avoid recursive types and const types.
+ */
+template <typename T, bool is_this_a_map>
+struct impl_type_to_check_recursively {
+    /*
+     * If the container is recursive, then no further recursion should be done.
+     */
+    using if_recursive = recursive_bottom;
+    /*
+     * Otherwise yield `T` unchanged.
+     */
+    using if_not_recursive = T;
+};
+
+/*
+ * For pairs - only as value type of a map -, the first type should remove the `const`.
+ * Also, if the map is recursive, then the recursive checking should consider
+ * the first type only.
+ */
+template <typename A, typename B>
+struct impl_type_to_check_recursively<std::pair<A, B>, /* is_this_a_map = */ true> {
+    using if_recursive = typename std::remove_const<A>::type;
+    using if_not_recursive = std::pair<typename std::remove_const<A>::type, B>;
+};
+
+/*
+ * Implementation of `recursive_container_traits` below.
+ */
+template <typename Container, typename SFINAE = void>
+struct impl_recursive_container_traits {
+    using type_to_check_recursively = recursive_bottom;
+};
+
+template <typename Container>
+struct impl_recursive_container_traits<
+    Container,
+    typename std::enable_if<container_value_type_traits<Container>::has_value_type>::type> {
+    static constexpr bool is_recursive
+        = container_mapped_type_traits<Container>::has_recursive_mapped_type
+          || container_value_type_traits<Container>::has_recursive_value_type;
+    /*
+     * This member dictates which type Pybind11 should check recursively in traits
+     * such as `is_move_constructible`, `is_copy_constructible`, `is_move_assignable`, ...
+     * Direct access to `value_type` should be avoided:
+     * 1. `value_type` might recursively contain the type again
+     * 2. `value_type` of STL map types is `std::pair<A const, B>`, the `const`
+     *    should be removed.
+     *
+     */
+    using type_to_check_recursively = typename std::conditional<
+        is_recursive,
+        typename impl_type_to_check_recursively<
+            typename Container::value_type,
+            container_mapped_type_traits<Container>::has_mapped_type>::if_recursive,
+        typename impl_type_to_check_recursively<
+            typename Container::value_type,
+            container_mapped_type_traits<Container>::has_mapped_type>::if_not_recursive>::type;
+};
+
+/*
+ * This trait defines the `type_to_check_recursively` which is needed to properly
+ * handle recursively defined traits such as `is_move_constructible` without going
+ * into an infinite recursion.
+ * Should be used instead of directly accessing the `value_type`.
+ * It cancels the recursion by returning the `recursive_bottom` tag.
+ *
+ * The default definition of `type_to_check_recursively` is as follows:
+ *
+ * 1. By default, it is `recursive_bottom`, so that the recursion is canceled.
+ * 2. If the type is non-recursive and defines a `value_type`, then the `value_type` is used.
+ *    If the `value_type` is a pair and a `mapped_type` is defined,
+ *    then the `const` is removed from the first type.
+ * 3. If the type is recursive and `value_type` is not a pair, then `recursive_bottom` is returned.
+ * 4. If the type is recursive and `value_type` is a pair and a `mapped_type` is defined,
+ *    then `const` is removed from the first type and the first type is returned.
+ *
+ * This behavior can be extended by the user as seen in test_stl_binders.cpp.
+ *
+ * This struct is exactly the same as impl_recursive_container_traits.
+ * The duplication achieves that user-defined specializations don't compete
+ * with internal specializations, but take precedence.
+ */
+template <typename Container, typename SFINAE = void>
+struct recursive_container_traits : impl_recursive_container_traits<Container> {};
+
+template <typename T>
+struct is_move_constructible
+    : all_of<std::is_move_constructible<T>,
+             is_move_constructible<
+                 typename recursive_container_traits<T>::type_to_check_recursively>> {};
+
+template <>
+struct is_move_constructible<recursive_bottom> : std::true_type {};
+
+// Likewise for std::pair
+// (after C++17 it is mandatory that the move constructor not exist when the two types aren't
+// themselves move constructible, but this can not be relied upon when T1 or T2 are themselves
+// containers).
+template <typename T1, typename T2>
+struct is_move_constructible<std::pair<T1, T2>>
+    : all_of<is_move_constructible<T1>, is_move_constructible<T2>> {};
+
 // std::is_copy_constructible isn't quite enough: it lets std::vector<T> (and similar) through when
 // T is non-copyable, but code containing such a copy constructor fails to actually compile.
-template <typename T, typename SFINAE = void>
-struct is_copy_constructible : std::is_copy_constructible<T> {};
+template <typename T>
+struct is_copy_constructible
+    : all_of<std::is_copy_constructible<T>,
+             is_copy_constructible<
+                 typename recursive_container_traits<T>::type_to_check_recursively>> {};
 
-// Specialization for types that appear to be copy constructible but also look like stl containers
-// (we specifically check for: has `value_type` and `reference` with `reference = value_type&`): if
-// so, copy constructability depends on whether the value_type is copy constructible.
-template <typename Container>
-struct is_copy_constructible<
-    Container,
-    enable_if_t<
-        all_of<std::is_copy_constructible<Container>,
-               std::is_same<typename Container::value_type &, typename Container::reference>,
-               // Avoid infinite recursion
-               negation<std::is_same<Container, typename Container::value_type>>>::value>>
-    : is_copy_constructible<typename Container::value_type> {};
+template <>
+struct is_copy_constructible<recursive_bottom> : std::true_type {};
 
 // Likewise for std::pair
 // (after C++17 it is mandatory that the copy constructor not exist when the two types aren't
@@ -849,14 +1005,16 @@ struct is_copy_constructible<std::pair<T1, T2>>
     : all_of<is_copy_constructible<T1>, is_copy_constructible<T2>> {};
 
 // The same problems arise with std::is_copy_assignable, so we use the same workaround.
-template <typename T, typename SFINAE = void>
-struct is_copy_assignable : std::is_copy_assignable<T> {};
-template <typename Container>
-struct is_copy_assignable<Container,
-                          enable_if_t<all_of<std::is_copy_assignable<Container>,
-                                             std::is_same<typename Container::value_type &,
-                                                          typename Container::reference>>::value>>
-    : is_copy_assignable<typename Container::value_type> {};
+template <typename T>
+struct is_copy_assignable
+    : all_of<
+          std::is_copy_assignable<T>,
+          is_copy_assignable<typename recursive_container_traits<T>::type_to_check_recursively>> {
+};
+
+template <>
+struct is_copy_assignable<recursive_bottom> : std::true_type {};
+
 template <typename T1, typename T2>
 struct is_copy_assignable<std::pair<T1, T2>>
     : all_of<is_copy_assignable<T1>, is_copy_assignable<T2>> {};
@@ -994,7 +1152,7 @@ protected:
         return [](const void *arg) -> void * { return new T(*reinterpret_cast<const T *>(arg)); };
     }
 
-    template <typename T, typename = enable_if_t<std::is_move_constructible<T>::value>>
+    template <typename T, typename = enable_if_t<is_move_constructible<T>::value>>
     static auto make_move_constructor(const T *)
         -> decltype(new T(std::declval<T &&>()), Constructor{}) {
         return [](const void *arg) -> void * {
@@ -1006,5 +1164,14 @@ protected:
     static Constructor make_move_constructor(...) { return nullptr; }
 };
 
+PYBIND11_NOINLINE std::string type_info_description(const std::type_info &ti) {
+    if (auto *type_data = get_type_info(ti)) {
+        handle th((PyObject *) type_data->type);
+        return th.attr("__module__").cast<std::string>() + '.'
+               + th.attr("__qualname__").cast<std::string>();
+    }
+    return clean_type_id(ti.name());
+}
+
 PYBIND11_NAMESPACE_END(detail)
 PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
diff --git a/pybind11/include/pybind11/eigen.h b/pybind11/include/pybind11/eigen.h
index 4d221b3d7..273b9c930 100644
--- a/pybind11/include/pybind11/eigen.h
+++ b/pybind11/include/pybind11/eigen.h
@@ -9,700 +9,4 @@
 
 #pragma once
 
-/* HINT: To suppress warnings originating from the Eigen headers, use -isystem.
-   See also:
-       https://stackoverflow.com/questions/2579576/i-dir-vs-isystem-dir
-       https://stackoverflow.com/questions/1741816/isystem-for-ms-visual-studio-c-compiler
-*/
-
-#include "numpy.h"
-
-// The C4127 suppression was introduced for Eigen 3.4.0. In theory we could
-// make it version specific, or even remove it later, but considering that
-// 1. C4127 is generally far more distracting than useful for modern template code, and
-// 2. we definitely want to ignore any MSVC warnings originating from Eigen code,
-//    it is probably best to keep this around indefinitely.
-#if defined(_MSC_VER)
-#    pragma warning(push)
-#    pragma warning(disable : 4127) // C4127: conditional expression is constant
-#    pragma warning(disable : 5054) // https://github.com/pybind/pybind11/pull/3741
-//       C5054: operator '&': deprecated between enumerations of different types
-#endif
-
-#include <Eigen/Core>
-#include <Eigen/SparseCore>
-
-#if defined(_MSC_VER)
-#    pragma warning(pop)
-#endif
-
-// Eigen prior to 3.2.7 doesn't have proper move constructors--but worse, some classes get implicit
-// move constructors that break things.  We could detect this an explicitly copy, but an extra copy
-// of matrices seems highly undesirable.
-static_assert(EIGEN_VERSION_AT_LEAST(3, 2, 7),
-              "Eigen support in pybind11 requires Eigen >= 3.2.7");
-
-PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
-
-// Provide a convenience alias for easier pass-by-ref usage with fully dynamic strides:
-using EigenDStride = Eigen::Stride<Eigen::Dynamic, Eigen::Dynamic>;
-template <typename MatrixType>
-using EigenDRef = Eigen::Ref<MatrixType, 0, EigenDStride>;
-template <typename MatrixType>
-using EigenDMap = Eigen::Map<MatrixType, 0, EigenDStride>;
-
-PYBIND11_NAMESPACE_BEGIN(detail)
-
-#if EIGEN_VERSION_AT_LEAST(3, 3, 0)
-using EigenIndex = Eigen::Index;
-template <typename Scalar, int Flags, typename StorageIndex>
-using EigenMapSparseMatrix = Eigen::Map<Eigen::SparseMatrix<Scalar, Flags, StorageIndex>>;
-#else
-using EigenIndex = EIGEN_DEFAULT_DENSE_INDEX_TYPE;
-template <typename Scalar, int Flags, typename StorageIndex>
-using EigenMapSparseMatrix = Eigen::MappedSparseMatrix<Scalar, Flags, StorageIndex>;
-#endif
-
-// Matches Eigen::Map, Eigen::Ref, blocks, etc:
-template <typename T>
-using is_eigen_dense_map = all_of<is_template_base_of<Eigen::DenseBase, T>,
-                                  std::is_base_of<Eigen::MapBase<T, Eigen::ReadOnlyAccessors>, T>>;
-template <typename T>
-using is_eigen_mutable_map = std::is_base_of<Eigen::MapBase<T, Eigen::WriteAccessors>, T>;
-template <typename T>
-using is_eigen_dense_plain
-    = all_of<negation<is_eigen_dense_map<T>>, is_template_base_of<Eigen::PlainObjectBase, T>>;
-template <typename T>
-using is_eigen_sparse = is_template_base_of<Eigen::SparseMatrixBase, T>;
-// Test for objects inheriting from EigenBase<Derived> that aren't captured by the above.  This
-// basically covers anything that can be assigned to a dense matrix but that don't have a typical
-// matrix data layout that can be copied from their .data().  For example, DiagonalMatrix and
-// SelfAdjointView fall into this category.
-template <typename T>
-using is_eigen_other
-    = all_of<is_template_base_of<Eigen::EigenBase, T>,
-             negation<any_of<is_eigen_dense_map<T>, is_eigen_dense_plain<T>, is_eigen_sparse<T>>>>;
-
-// Captures numpy/eigen conformability status (returned by EigenProps::conformable()):
-template <bool EigenRowMajor>
-struct EigenConformable {
-    bool conformable = false;
-    EigenIndex rows = 0, cols = 0;
-    EigenDStride stride{0, 0};    // Only valid if negativestrides is false!
-    bool negativestrides = false; // If true, do not use stride!
-
-    // NOLINTNEXTLINE(google-explicit-constructor)
-    EigenConformable(bool fits = false) : conformable{fits} {}
-    // Matrix type:
-    EigenConformable(EigenIndex r, EigenIndex c, EigenIndex rstride, EigenIndex cstride)
-        : conformable{true}, rows{r}, cols{c},
-          // TODO: when Eigen bug #747 is fixed, remove the tests for non-negativity.
-          // http://eigen.tuxfamily.org/bz/show_bug.cgi?id=747
-          stride{EigenRowMajor ? (rstride > 0 ? rstride : 0)
-                               : (cstride > 0 ? cstride : 0) /* outer stride */,
-                 EigenRowMajor ? (cstride > 0 ? cstride : 0)
-                               : (rstride > 0 ? rstride : 0) /* inner stride */},
-          negativestrides{rstride < 0 || cstride < 0} {}
-    // Vector type:
-    EigenConformable(EigenIndex r, EigenIndex c, EigenIndex stride)
-        : EigenConformable(r, c, r == 1 ? c * stride : stride, c == 1 ? r : r * stride) {}
-
-    template <typename props>
-    bool stride_compatible() const {
-        // To have compatible strides, we need (on both dimensions) one of fully dynamic strides,
-        // matching strides, or a dimension size of 1 (in which case the stride value is
-        // irrelevant). Alternatively, if any dimension size is 0, the strides are not relevant
-        // (and numpy ≥ 1.23 sets the strides to 0 in that case, so we need to check explicitly).
-        if (negativestrides) {
-            return false;
-        }
-        if (rows == 0 || cols == 0) {
-            return true;
-        }
-        return (props::inner_stride == Eigen::Dynamic || props::inner_stride == stride.inner()
-                || (EigenRowMajor ? cols : rows) == 1)
-               && (props::outer_stride == Eigen::Dynamic || props::outer_stride == stride.outer()
-                   || (EigenRowMajor ? rows : cols) == 1);
-    }
-    // NOLINTNEXTLINE(google-explicit-constructor)
-    operator bool() const { return conformable; }
-};
-
-template <typename Type>
-struct eigen_extract_stride {
-    using type = Type;
-};
-template <typename PlainObjectType, int MapOptions, typename StrideType>
-struct eigen_extract_stride<Eigen::Map<PlainObjectType, MapOptions, StrideType>> {
-    using type = StrideType;
-};
-template <typename PlainObjectType, int Options, typename StrideType>
-struct eigen_extract_stride<Eigen::Ref<PlainObjectType, Options, StrideType>> {
-    using type = StrideType;
-};
-
-// Helper struct for extracting information from an Eigen type
-template <typename Type_>
-struct EigenProps {
-    using Type = Type_;
-    using Scalar = typename Type::Scalar;
-    using StrideType = typename eigen_extract_stride<Type>::type;
-    static constexpr EigenIndex rows = Type::RowsAtCompileTime, cols = Type::ColsAtCompileTime,
-                                size = Type::SizeAtCompileTime;
-    static constexpr bool row_major = Type::IsRowMajor,
-                          vector
-                          = Type::IsVectorAtCompileTime, // At least one dimension has fixed size 1
-        fixed_rows = rows != Eigen::Dynamic, fixed_cols = cols != Eigen::Dynamic,
-                          fixed = size != Eigen::Dynamic, // Fully-fixed size
-        dynamic = !fixed_rows && !fixed_cols;             // Fully-dynamic size
-
-    template <EigenIndex i, EigenIndex ifzero>
-    using if_zero = std::integral_constant<EigenIndex, i == 0 ? ifzero : i>;
-    static constexpr EigenIndex inner_stride
-        = if_zero<StrideType::InnerStrideAtCompileTime, 1>::value,
-        outer_stride = if_zero < StrideType::OuterStrideAtCompileTime,
-        vector      ? size
-        : row_major ? cols
-                    : rows > ::value;
-    static constexpr bool dynamic_stride
-        = inner_stride == Eigen::Dynamic && outer_stride == Eigen::Dynamic;
-    static constexpr bool requires_row_major
-        = !dynamic_stride && !vector && (row_major ? inner_stride : outer_stride) == 1;
-    static constexpr bool requires_col_major
-        = !dynamic_stride && !vector && (row_major ? outer_stride : inner_stride) == 1;
-
-    // Takes an input array and determines whether we can make it fit into the Eigen type.  If
-    // the array is a vector, we attempt to fit it into either an Eigen 1xN or Nx1 vector
-    // (preferring the latter if it will fit in either, i.e. for a fully dynamic matrix type).
-    static EigenConformable<row_major> conformable(const array &a) {
-        const auto dims = a.ndim();
-        if (dims < 1 || dims > 2) {
-            return false;
-        }
-
-        if (dims == 2) { // Matrix type: require exact match (or dynamic)
-
-            EigenIndex np_rows = a.shape(0), np_cols = a.shape(1),
-                       np_rstride = a.strides(0) / static_cast<ssize_t>(sizeof(Scalar)),
-                       np_cstride = a.strides(1) / static_cast<ssize_t>(sizeof(Scalar));
-            if ((PYBIND11_SILENCE_MSVC_C4127(fixed_rows) && np_rows != rows)
-                || (PYBIND11_SILENCE_MSVC_C4127(fixed_cols) && np_cols != cols)) {
-                return false;
-            }
-
-            return {np_rows, np_cols, np_rstride, np_cstride};
-        }
-
-        // Otherwise we're storing an n-vector.  Only one of the strides will be used, but
-        // whichever is used, we want the (single) numpy stride value.
-        const EigenIndex n = a.shape(0),
-                         stride = a.strides(0) / static_cast<ssize_t>(sizeof(Scalar));
-
-        if (vector) { // Eigen type is a compile-time vector
-            if (PYBIND11_SILENCE_MSVC_C4127(fixed) && size != n) {
-                return false; // Vector size mismatch
-            }
-            return {rows == 1 ? 1 : n, cols == 1 ? 1 : n, stride};
-        }
-        if (fixed) {
-            // The type has a fixed size, but is not a vector: abort
-            return false;
-        }
-        if (fixed_cols) {
-            // Since this isn't a vector, cols must be != 1.  We allow this only if it exactly
-            // equals the number of elements (rows is Dynamic, and so 1 row is allowed).
-            if (cols != n) {
-                return false;
-            }
-            return {1, n, stride};
-        } // Otherwise it's either fully dynamic, or column dynamic; both become a column vector
-        if (PYBIND11_SILENCE_MSVC_C4127(fixed_rows) && rows != n) {
-            return false;
-        }
-        return {n, 1, stride};
-    }
-
-    static constexpr bool show_writeable
-        = is_eigen_dense_map<Type>::value && is_eigen_mutable_map<Type>::value;
-    static constexpr bool show_order = is_eigen_dense_map<Type>::value;
-    static constexpr bool show_c_contiguous = show_order && requires_row_major;
-    static constexpr bool show_f_contiguous
-        = !show_c_contiguous && show_order && requires_col_major;
-
-    static constexpr auto descriptor
-        = const_name("numpy.ndarray[") + npy_format_descriptor<Scalar>::name + const_name("[")
-          + const_name<fixed_rows>(const_name<(size_t) rows>(), const_name("m")) + const_name(", ")
-          + const_name<fixed_cols>(const_name<(size_t) cols>(), const_name("n")) + const_name("]")
-          +
-          // For a reference type (e.g. Ref<MatrixXd>) we have other constraints that might need to
-          // be satisfied: writeable=True (for a mutable reference), and, depending on the map's
-          // stride options, possibly f_contiguous or c_contiguous.  We include them in the
-          // descriptor output to provide some hint as to why a TypeError is occurring (otherwise
-          // it can be confusing to see that a function accepts a 'numpy.ndarray[float64[3,2]]' and
-          // an error message that you *gave* a numpy.ndarray of the right type and dimensions.
-          const_name<show_writeable>(", flags.writeable", "")
-          + const_name<show_c_contiguous>(", flags.c_contiguous", "")
-          + const_name<show_f_contiguous>(", flags.f_contiguous", "") + const_name("]");
-};
-
-// Casts an Eigen type to numpy array.  If given a base, the numpy array references the src data,
-// otherwise it'll make a copy.  writeable lets you turn off the writeable flag for the array.
-template <typename props>
-handle
-eigen_array_cast(typename props::Type const &src, handle base = handle(), bool writeable = true) {
-    constexpr ssize_t elem_size = sizeof(typename props::Scalar);
-    array a;
-    if (props::vector) {
-        a = array({src.size()}, {elem_size * src.innerStride()}, src.data(), base);
-    } else {
-        a = array({src.rows(), src.cols()},
-                  {elem_size * src.rowStride(), elem_size * src.colStride()},
-                  src.data(),
-                  base);
-    }
-
-    if (!writeable) {
-        array_proxy(a.ptr())->flags &= ~detail::npy_api::NPY_ARRAY_WRITEABLE_;
-    }
-
-    return a.release();
-}
-
-// Takes an lvalue ref to some Eigen type and a (python) base object, creating a numpy array that
-// reference the Eigen object's data with `base` as the python-registered base class (if omitted,
-// the base will be set to None, and lifetime management is up to the caller).  The numpy array is
-// non-writeable if the given type is const.
-template <typename props, typename Type>
-handle eigen_ref_array(Type &src, handle parent = none()) {
-    // none here is to get past array's should-we-copy detection, which currently always
-    // copies when there is no base.  Setting the base to None should be harmless.
-    return eigen_array_cast<props>(src, parent, !std::is_const<Type>::value);
-}
-
-// Takes a pointer to some dense, plain Eigen type, builds a capsule around it, then returns a
-// numpy array that references the encapsulated data with a python-side reference to the capsule to
-// tie its destruction to that of any dependent python objects.  Const-ness is determined by
-// whether or not the Type of the pointer given is const.
-template <typename props, typename Type, typename = enable_if_t<is_eigen_dense_plain<Type>::value>>
-handle eigen_encapsulate(Type *src) {
-    capsule base(src, [](void *o) { delete static_cast<Type *>(o); });
-    return eigen_ref_array<props>(*src, base);
-}
-
-// Type caster for regular, dense matrix types (e.g. MatrixXd), but not maps/refs/etc. of dense
-// types.
-template <typename Type>
-struct type_caster<Type, enable_if_t<is_eigen_dense_plain<Type>::value>> {
-    using Scalar = typename Type::Scalar;
-    using props = EigenProps<Type>;
-
-    bool load(handle src, bool convert) {
-        // If we're in no-convert mode, only load if given an array of the correct type
-        if (!convert && !isinstance<array_t<Scalar>>(src)) {
-            return false;
-        }
-
-        // Coerce into an array, but don't do type conversion yet; the copy below handles it.
-        auto buf = array::ensure(src);
-
-        if (!buf) {
-            return false;
-        }
-
-        auto dims = buf.ndim();
-        if (dims < 1 || dims > 2) {
-            return false;
-        }
-
-        auto fits = props::conformable(buf);
-        if (!fits) {
-            return false;
-        }
-
-        // Allocate the new type, then build a numpy reference into it
-        value = Type(fits.rows, fits.cols);
-        auto ref = reinterpret_steal<array>(eigen_ref_array<props>(value));
-        if (dims == 1) {
-            ref = ref.squeeze();
-        } else if (ref.ndim() == 1) {
-            buf = buf.squeeze();
-        }
-
-        int result = detail::npy_api::get().PyArray_CopyInto_(ref.ptr(), buf.ptr());
-
-        if (result < 0) { // Copy failed!
-            PyErr_Clear();
-            return false;
-        }
-
-        return true;
-    }
-
-private:
-    // Cast implementation
-    template <typename CType>
-    static handle cast_impl(CType *src, return_value_policy policy, handle parent) {
-        switch (policy) {
-            case return_value_policy::take_ownership:
-            case return_value_policy::automatic:
-                return eigen_encapsulate<props>(src);
-            case return_value_policy::move:
-                return eigen_encapsulate<props>(new CType(std::move(*src)));
-            case return_value_policy::copy:
-                return eigen_array_cast<props>(*src);
-            case return_value_policy::reference:
-            case return_value_policy::automatic_reference:
-                return eigen_ref_array<props>(*src);
-            case return_value_policy::reference_internal:
-                return eigen_ref_array<props>(*src, parent);
-            default:
-                throw cast_error("unhandled return_value_policy: should not happen!");
-        };
-    }
-
-public:
-    // Normal returned non-reference, non-const value:
-    static handle cast(Type &&src, return_value_policy /* policy */, handle parent) {
-        return cast_impl(&src, return_value_policy::move, parent);
-    }
-    // If you return a non-reference const, we mark the numpy array readonly:
-    static handle cast(const Type &&src, return_value_policy /* policy */, handle parent) {
-        return cast_impl(&src, return_value_policy::move, parent);
-    }
-    // lvalue reference return; default (automatic) becomes copy
-    static handle cast(Type &src, return_value_policy policy, handle parent) {
-        if (policy == return_value_policy::automatic
-            || policy == return_value_policy::automatic_reference) {
-            policy = return_value_policy::copy;
-        }
-        return cast_impl(&src, policy, parent);
-    }
-    // const lvalue reference return; default (automatic) becomes copy
-    static handle cast(const Type &src, return_value_policy policy, handle parent) {
-        if (policy == return_value_policy::automatic
-            || policy == return_value_policy::automatic_reference) {
-            policy = return_value_policy::copy;
-        }
-        return cast(&src, policy, parent);
-    }
-    // non-const pointer return
-    static handle cast(Type *src, return_value_policy policy, handle parent) {
-        return cast_impl(src, policy, parent);
-    }
-    // const pointer return
-    static handle cast(const Type *src, return_value_policy policy, handle parent) {
-        return cast_impl(src, policy, parent);
-    }
-
-    static constexpr auto name = props::descriptor;
-
-    // NOLINTNEXTLINE(google-explicit-constructor)
-    operator Type *() { return &value; }
-    // NOLINTNEXTLINE(google-explicit-constructor)
-    operator Type &() { return value; }
-    // NOLINTNEXTLINE(google-explicit-constructor)
-    operator Type &&() && { return std::move(value); }
-    template <typename T>
-    using cast_op_type = movable_cast_op_type<T>;
-
-private:
-    Type value;
-};
-
-// Base class for casting reference/map/block/etc. objects back to python.
-template <typename MapType>
-struct eigen_map_caster {
-private:
-    using props = EigenProps<MapType>;
-
-public:
-    // Directly referencing a ref/map's data is a bit dangerous (whatever the map/ref points to has
-    // to stay around), but we'll allow it under the assumption that you know what you're doing
-    // (and have an appropriate keep_alive in place).  We return a numpy array pointing directly at
-    // the ref's data (The numpy array ends up read-only if the ref was to a const matrix type.)
-    // Note that this means you need to ensure you don't destroy the object in some other way (e.g.
-    // with an appropriate keep_alive, or with a reference to a statically allocated matrix).
-    static handle cast(const MapType &src, return_value_policy policy, handle parent) {
-        switch (policy) {
-            case return_value_policy::copy:
-                return eigen_array_cast<props>(src);
-            case return_value_policy::reference_internal:
-                return eigen_array_cast<props>(src, parent, is_eigen_mutable_map<MapType>::value);
-            case return_value_policy::reference:
-            case return_value_policy::automatic:
-            case return_value_policy::automatic_reference:
-                return eigen_array_cast<props>(src, none(), is_eigen_mutable_map<MapType>::value);
-            default:
-                // move, take_ownership don't make any sense for a ref/map:
-                pybind11_fail("Invalid return_value_policy for Eigen Map/Ref/Block type");
-        }
-    }
-
-    static constexpr auto name = props::descriptor;
-
-    // Explicitly delete these: support python -> C++ conversion on these (i.e. these can be return
-    // types but not bound arguments).  We still provide them (with an explicitly delete) so that
-    // you end up here if you try anyway.
-    bool load(handle, bool) = delete;
-    operator MapType() = delete;
-    template <typename>
-    using cast_op_type = MapType;
-};
-
-// We can return any map-like object (but can only load Refs, specialized next):
-template <typename Type>
-struct type_caster<Type, enable_if_t<is_eigen_dense_map<Type>::value>> : eigen_map_caster<Type> {};
-
-// Loader for Ref<...> arguments.  See the documentation for info on how to make this work without
-// copying (it requires some extra effort in many cases).
-template <typename PlainObjectType, typename StrideType>
-struct type_caster<
-    Eigen::Ref<PlainObjectType, 0, StrideType>,
-    enable_if_t<is_eigen_dense_map<Eigen::Ref<PlainObjectType, 0, StrideType>>::value>>
-    : public eigen_map_caster<Eigen::Ref<PlainObjectType, 0, StrideType>> {
-private:
-    using Type = Eigen::Ref<PlainObjectType, 0, StrideType>;
-    using props = EigenProps<Type>;
-    using Scalar = typename props::Scalar;
-    using MapType = Eigen::Map<PlainObjectType, 0, StrideType>;
-    using Array
-        = array_t<Scalar,
-                  array::forcecast
-                      | ((props::row_major ? props::inner_stride : props::outer_stride) == 1
-                             ? array::c_style
-                         : (props::row_major ? props::outer_stride : props::inner_stride) == 1
-                             ? array::f_style
-                             : 0)>;
-    static constexpr bool need_writeable = is_eigen_mutable_map<Type>::value;
-    // Delay construction (these have no default constructor)
-    std::unique_ptr<MapType> map;
-    std::unique_ptr<Type> ref;
-    // Our array.  When possible, this is just a numpy array pointing to the source data, but
-    // sometimes we can't avoid copying (e.g. input is not a numpy array at all, has an
-    // incompatible layout, or is an array of a type that needs to be converted).  Using a numpy
-    // temporary (rather than an Eigen temporary) saves an extra copy when we need both type
-    // conversion and storage order conversion.  (Note that we refuse to use this temporary copy
-    // when loading an argument for a Ref<M> with M non-const, i.e. a read-write reference).
-    Array copy_or_ref;
-
-public:
-    bool load(handle src, bool convert) {
-        // First check whether what we have is already an array of the right type.  If not, we
-        // can't avoid a copy (because the copy is also going to do type conversion).
-        bool need_copy = !isinstance<Array>(src);
-
-        EigenConformable<props::row_major> fits;
-        if (!need_copy) {
-            // We don't need a converting copy, but we also need to check whether the strides are
-            // compatible with the Ref's stride requirements
-            auto aref = reinterpret_borrow<Array>(src);
-
-            if (aref && (!need_writeable || aref.writeable())) {
-                fits = props::conformable(aref);
-                if (!fits) {
-                    return false; // Incompatible dimensions
-                }
-                if (!fits.template stride_compatible<props>()) {
-                    need_copy = true;
-                } else {
-                    copy_or_ref = std::move(aref);
-                }
-            } else {
-                need_copy = true;
-            }
-        }
-
-        if (need_copy) {
-            // We need to copy: If we need a mutable reference, or we're not supposed to convert
-            // (either because we're in the no-convert overload pass, or because we're explicitly
-            // instructed not to copy (via `py::arg().noconvert()`) we have to fail loading.
-            if (!convert || need_writeable) {
-                return false;
-            }
-
-            Array copy = Array::ensure(src);
-            if (!copy) {
-                return false;
-            }
-            fits = props::conformable(copy);
-            if (!fits || !fits.template stride_compatible<props>()) {
-                return false;
-            }
-            copy_or_ref = std::move(copy);
-            loader_life_support::add_patient(copy_or_ref);
-        }
-
-        ref.reset();
-        map.reset(new MapType(data(copy_or_ref),
-                              fits.rows,
-                              fits.cols,
-                              make_stride(fits.stride.outer(), fits.stride.inner())));
-        ref.reset(new Type(*map));
-
-        return true;
-    }
-
-    // NOLINTNEXTLINE(google-explicit-constructor)
-    operator Type *() { return ref.get(); }
-    // NOLINTNEXTLINE(google-explicit-constructor)
-    operator Type &() { return *ref; }
-    template <typename _T>
-    using cast_op_type = pybind11::detail::cast_op_type<_T>;
-
-private:
-    template <typename T = Type, enable_if_t<is_eigen_mutable_map<T>::value, int> = 0>
-    Scalar *data(Array &a) {
-        return a.mutable_data();
-    }
-
-    template <typename T = Type, enable_if_t<!is_eigen_mutable_map<T>::value, int> = 0>
-    const Scalar *data(Array &a) {
-        return a.data();
-    }
-
-    // Attempt to figure out a constructor of `Stride` that will work.
-    // If both strides are fixed, use a default constructor:
-    template <typename S>
-    using stride_ctor_default = bool_constant<S::InnerStrideAtCompileTime != Eigen::Dynamic
-                                              && S::OuterStrideAtCompileTime != Eigen::Dynamic
-                                              && std::is_default_constructible<S>::value>;
-    // Otherwise, if there is a two-index constructor, assume it is (outer,inner) like
-    // Eigen::Stride, and use it:
-    template <typename S>
-    using stride_ctor_dual
-        = bool_constant<!stride_ctor_default<S>::value
-                        && std::is_constructible<S, EigenIndex, EigenIndex>::value>;
-    // Otherwise, if there is a one-index constructor, and just one of the strides is dynamic, use
-    // it (passing whichever stride is dynamic).
-    template <typename S>
-    using stride_ctor_outer
-        = bool_constant<!any_of<stride_ctor_default<S>, stride_ctor_dual<S>>::value
-                        && S::OuterStrideAtCompileTime == Eigen::Dynamic
-                        && S::InnerStrideAtCompileTime != Eigen::Dynamic
-                        && std::is_constructible<S, EigenIndex>::value>;
-    template <typename S>
-    using stride_ctor_inner
-        = bool_constant<!any_of<stride_ctor_default<S>, stride_ctor_dual<S>>::value
-                        && S::InnerStrideAtCompileTime == Eigen::Dynamic
-                        && S::OuterStrideAtCompileTime != Eigen::Dynamic
-                        && std::is_constructible<S, EigenIndex>::value>;
-
-    template <typename S = StrideType, enable_if_t<stride_ctor_default<S>::value, int> = 0>
-    static S make_stride(EigenIndex, EigenIndex) {
-        return S();
-    }
-    template <typename S = StrideType, enable_if_t<stride_ctor_dual<S>::value, int> = 0>
-    static S make_stride(EigenIndex outer, EigenIndex inner) {
-        return S(outer, inner);
-    }
-    template <typename S = StrideType, enable_if_t<stride_ctor_outer<S>::value, int> = 0>
-    static S make_stride(EigenIndex outer, EigenIndex) {
-        return S(outer);
-    }
-    template <typename S = StrideType, enable_if_t<stride_ctor_inner<S>::value, int> = 0>
-    static S make_stride(EigenIndex, EigenIndex inner) {
-        return S(inner);
-    }
-};
-
-// type_caster for special matrix types (e.g. DiagonalMatrix), which are EigenBase, but not
-// EigenDense (i.e. they don't have a data(), at least not with the usual matrix layout).
-// load() is not supported, but we can cast them into the python domain by first copying to a
-// regular Eigen::Matrix, then casting that.
-template <typename Type>
-struct type_caster<Type, enable_if_t<is_eigen_other<Type>::value>> {
-protected:
-    using Matrix
-        = Eigen::Matrix<typename Type::Scalar, Type::RowsAtCompileTime, Type::ColsAtCompileTime>;
-    using props = EigenProps<Matrix>;
-
-public:
-    static handle cast(const Type &src, return_value_policy /* policy */, handle /* parent */) {
-        handle h = eigen_encapsulate<props>(new Matrix(src));
-        return h;
-    }
-    static handle cast(const Type *src, return_value_policy policy, handle parent) {
-        return cast(*src, policy, parent);
-    }
-
-    static constexpr auto name = props::descriptor;
-
-    // Explicitly delete these: support python -> C++ conversion on these (i.e. these can be return
-    // types but not bound arguments).  We still provide them (with an explicitly delete) so that
-    // you end up here if you try anyway.
-    bool load(handle, bool) = delete;
-    operator Type() = delete;
-    template <typename>
-    using cast_op_type = Type;
-};
-
-template <typename Type>
-struct type_caster<Type, enable_if_t<is_eigen_sparse<Type>::value>> {
-    using Scalar = typename Type::Scalar;
-    using StorageIndex = remove_reference_t<decltype(*std::declval<Type>().outerIndexPtr())>;
-    using Index = typename Type::Index;
-    static constexpr bool rowMajor = Type::IsRowMajor;
-
-    bool load(handle src, bool) {
-        if (!src) {
-            return false;
-        }
-
-        auto obj = reinterpret_borrow<object>(src);
-        object sparse_module = module_::import("scipy.sparse");
-        object matrix_type = sparse_module.attr(rowMajor ? "csr_matrix" : "csc_matrix");
-
-        if (!type::handle_of(obj).is(matrix_type)) {
-            try {
-                obj = matrix_type(obj);
-            } catch (const error_already_set &) {
-                return false;
-            }
-        }
-
-        auto values = array_t<Scalar>((object) obj.attr("data"));
-        auto innerIndices = array_t<StorageIndex>((object) obj.attr("indices"));
-        auto outerIndices = array_t<StorageIndex>((object) obj.attr("indptr"));
-        auto shape = pybind11::tuple((pybind11::object) obj.attr("shape"));
-        auto nnz = obj.attr("nnz").cast<Index>();
-
-        if (!values || !innerIndices || !outerIndices) {
-            return false;
-        }
-
-        value = EigenMapSparseMatrix<Scalar,
-                                     Type::Flags &(Eigen::RowMajor | Eigen::ColMajor),
-                                     StorageIndex>(shape[0].cast<Index>(),
-                                                   shape[1].cast<Index>(),
-                                                   std::move(nnz),
-                                                   outerIndices.mutable_data(),
-                                                   innerIndices.mutable_data(),
-                                                   values.mutable_data());
-
-        return true;
-    }
-
-    static handle cast(const Type &src, return_value_policy /* policy */, handle /* parent */) {
-        const_cast<Type &>(src).makeCompressed();
-
-        object matrix_type
-            = module_::import("scipy.sparse").attr(rowMajor ? "csr_matrix" : "csc_matrix");
-
-        array data(src.nonZeros(), src.valuePtr());
-        array outerIndices((rowMajor ? src.rows() : src.cols()) + 1, src.outerIndexPtr());
-        array innerIndices(src.nonZeros(), src.innerIndexPtr());
-
-        return matrix_type(pybind11::make_tuple(
-                               std::move(data), std::move(innerIndices), std::move(outerIndices)),
-                           pybind11::make_tuple(src.rows(), src.cols()))
-            .release();
-    }
-
-    PYBIND11_TYPE_CASTER(Type,
-                         const_name<(Type::IsRowMajor) != 0>("scipy.sparse.csr_matrix[",
-                                                             "scipy.sparse.csc_matrix[")
-                             + npy_format_descriptor<Scalar>::name + const_name("]"));
-};
-
-PYBIND11_NAMESPACE_END(detail)
-PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
+#include "eigen/matrix.h"
diff --git a/pybind11/include/pybind11/eigen/common.h b/pybind11/include/pybind11/eigen/common.h
new file mode 100644
index 000000000..24f56d158
--- /dev/null
+++ b/pybind11/include/pybind11/eigen/common.h
@@ -0,0 +1,9 @@
+// Copyright (c) 2023 The pybind Community.
+
+#pragma once
+
+// Common message for `static_assert()`s, which are useful to easily
+// preempt much less obvious errors.
+#define PYBIND11_EIGEN_MESSAGE_POINTER_TYPES_ARE_NOT_SUPPORTED                                    \
+    "Pointer types (in particular `PyObject *`) are not supported as scalar types for Eigen "     \
+    "types."
diff --git a/pybind11/include/pybind11/eigen/matrix.h b/pybind11/include/pybind11/eigen/matrix.h
new file mode 100644
index 000000000..8d4342f81
--- /dev/null
+++ b/pybind11/include/pybind11/eigen/matrix.h
@@ -0,0 +1,714 @@
+/*
+    pybind11/eigen/matrix.h: Transparent conversion for dense and sparse Eigen matrices
+
+    Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#pragma once
+
+#include "../numpy.h"
+#include "common.h"
+
+/* HINT: To suppress warnings originating from the Eigen headers, use -isystem.
+   See also:
+       https://stackoverflow.com/questions/2579576/i-dir-vs-isystem-dir
+       https://stackoverflow.com/questions/1741816/isystem-for-ms-visual-studio-c-compiler
+*/
+PYBIND11_WARNING_PUSH
+PYBIND11_WARNING_DISABLE_MSVC(5054) // https://github.com/pybind/pybind11/pull/3741
+//       C5054: operator '&': deprecated between enumerations of different types
+#if defined(__MINGW32__)
+PYBIND11_WARNING_DISABLE_GCC("-Wmaybe-uninitialized")
+#endif
+
+#include <Eigen/Core>
+#include <Eigen/SparseCore>
+
+PYBIND11_WARNING_POP
+
+// Eigen prior to 3.2.7 doesn't have proper move constructors--but worse, some classes get implicit
+// move constructors that break things.  We could detect this an explicitly copy, but an extra copy
+// of matrices seems highly undesirable.
+static_assert(EIGEN_VERSION_AT_LEAST(3, 2, 7),
+              "Eigen matrix support in pybind11 requires Eigen >= 3.2.7");
+
+PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
+
+PYBIND11_WARNING_DISABLE_MSVC(4127)
+
+// Provide a convenience alias for easier pass-by-ref usage with fully dynamic strides:
+using EigenDStride = Eigen::Stride<Eigen::Dynamic, Eigen::Dynamic>;
+template <typename MatrixType>
+using EigenDRef = Eigen::Ref<MatrixType, 0, EigenDStride>;
+template <typename MatrixType>
+using EigenDMap = Eigen::Map<MatrixType, 0, EigenDStride>;
+
+PYBIND11_NAMESPACE_BEGIN(detail)
+
+#if EIGEN_VERSION_AT_LEAST(3, 3, 0)
+using EigenIndex = Eigen::Index;
+template <typename Scalar, int Flags, typename StorageIndex>
+using EigenMapSparseMatrix = Eigen::Map<Eigen::SparseMatrix<Scalar, Flags, StorageIndex>>;
+#else
+using EigenIndex = EIGEN_DEFAULT_DENSE_INDEX_TYPE;
+template <typename Scalar, int Flags, typename StorageIndex>
+using EigenMapSparseMatrix = Eigen::MappedSparseMatrix<Scalar, Flags, StorageIndex>;
+#endif
+
+// Matches Eigen::Map, Eigen::Ref, blocks, etc:
+template <typename T>
+using is_eigen_dense_map = all_of<is_template_base_of<Eigen::DenseBase, T>,
+                                  std::is_base_of<Eigen::MapBase<T, Eigen::ReadOnlyAccessors>, T>>;
+template <typename T>
+using is_eigen_mutable_map = std::is_base_of<Eigen::MapBase<T, Eigen::WriteAccessors>, T>;
+template <typename T>
+using is_eigen_dense_plain
+    = all_of<negation<is_eigen_dense_map<T>>, is_template_base_of<Eigen::PlainObjectBase, T>>;
+template <typename T>
+using is_eigen_sparse = is_template_base_of<Eigen::SparseMatrixBase, T>;
+// Test for objects inheriting from EigenBase<Derived> that aren't captured by the above.  This
+// basically covers anything that can be assigned to a dense matrix but that don't have a typical
+// matrix data layout that can be copied from their .data().  For example, DiagonalMatrix and
+// SelfAdjointView fall into this category.
+template <typename T>
+using is_eigen_other
+    = all_of<is_template_base_of<Eigen::EigenBase, T>,
+             negation<any_of<is_eigen_dense_map<T>, is_eigen_dense_plain<T>, is_eigen_sparse<T>>>>;
+
+// Captures numpy/eigen conformability status (returned by EigenProps::conformable()):
+template <bool EigenRowMajor>
+struct EigenConformable {
+    bool conformable = false;
+    EigenIndex rows = 0, cols = 0;
+    EigenDStride stride{0, 0};    // Only valid if negativestrides is false!
+    bool negativestrides = false; // If true, do not use stride!
+
+    // NOLINTNEXTLINE(google-explicit-constructor)
+    EigenConformable(bool fits = false) : conformable{fits} {}
+    // Matrix type:
+    EigenConformable(EigenIndex r, EigenIndex c, EigenIndex rstride, EigenIndex cstride)
+        : conformable{true}, rows{r}, cols{c},
+          // TODO: when Eigen bug #747 is fixed, remove the tests for non-negativity.
+          // http://eigen.tuxfamily.org/bz/show_bug.cgi?id=747
+          stride{EigenRowMajor ? (rstride > 0 ? rstride : 0)
+                               : (cstride > 0 ? cstride : 0) /* outer stride */,
+                 EigenRowMajor ? (cstride > 0 ? cstride : 0)
+                               : (rstride > 0 ? rstride : 0) /* inner stride */},
+          negativestrides{rstride < 0 || cstride < 0} {}
+    // Vector type:
+    EigenConformable(EigenIndex r, EigenIndex c, EigenIndex stride)
+        : EigenConformable(r, c, r == 1 ? c * stride : stride, c == 1 ? r : r * stride) {}
+
+    template <typename props>
+    bool stride_compatible() const {
+        // To have compatible strides, we need (on both dimensions) one of fully dynamic strides,
+        // matching strides, or a dimension size of 1 (in which case the stride value is
+        // irrelevant). Alternatively, if any dimension size is 0, the strides are not relevant
+        // (and numpy ≥ 1.23 sets the strides to 0 in that case, so we need to check explicitly).
+        if (negativestrides) {
+            return false;
+        }
+        if (rows == 0 || cols == 0) {
+            return true;
+        }
+        return (props::inner_stride == Eigen::Dynamic || props::inner_stride == stride.inner()
+                || (EigenRowMajor ? cols : rows) == 1)
+               && (props::outer_stride == Eigen::Dynamic || props::outer_stride == stride.outer()
+                   || (EigenRowMajor ? rows : cols) == 1);
+    }
+    // NOLINTNEXTLINE(google-explicit-constructor)
+    operator bool() const { return conformable; }
+};
+
+template <typename Type>
+struct eigen_extract_stride {
+    using type = Type;
+};
+template <typename PlainObjectType, int MapOptions, typename StrideType>
+struct eigen_extract_stride<Eigen::Map<PlainObjectType, MapOptions, StrideType>> {
+    using type = StrideType;
+};
+template <typename PlainObjectType, int Options, typename StrideType>
+struct eigen_extract_stride<Eigen::Ref<PlainObjectType, Options, StrideType>> {
+    using type = StrideType;
+};
+
+// Helper struct for extracting information from an Eigen type
+template <typename Type_>
+struct EigenProps {
+    using Type = Type_;
+    using Scalar = typename Type::Scalar;
+    using StrideType = typename eigen_extract_stride<Type>::type;
+    static constexpr EigenIndex rows = Type::RowsAtCompileTime, cols = Type::ColsAtCompileTime,
+                                size = Type::SizeAtCompileTime;
+    static constexpr bool row_major = Type::IsRowMajor,
+                          vector
+                          = Type::IsVectorAtCompileTime, // At least one dimension has fixed size 1
+        fixed_rows = rows != Eigen::Dynamic, fixed_cols = cols != Eigen::Dynamic,
+                          fixed = size != Eigen::Dynamic, // Fully-fixed size
+        dynamic = !fixed_rows && !fixed_cols;             // Fully-dynamic size
+
+    template <EigenIndex i, EigenIndex ifzero>
+    using if_zero = std::integral_constant<EigenIndex, i == 0 ? ifzero : i>;
+    static constexpr EigenIndex inner_stride
+        = if_zero<StrideType::InnerStrideAtCompileTime, 1>::value,
+        outer_stride = if_zero < StrideType::OuterStrideAtCompileTime,
+        vector      ? size
+        : row_major ? cols
+                    : rows > ::value;
+    static constexpr bool dynamic_stride
+        = inner_stride == Eigen::Dynamic && outer_stride == Eigen::Dynamic;
+    static constexpr bool requires_row_major
+        = !dynamic_stride && !vector && (row_major ? inner_stride : outer_stride) == 1;
+    static constexpr bool requires_col_major
+        = !dynamic_stride && !vector && (row_major ? outer_stride : inner_stride) == 1;
+
+    // Takes an input array and determines whether we can make it fit into the Eigen type.  If
+    // the array is a vector, we attempt to fit it into either an Eigen 1xN or Nx1 vector
+    // (preferring the latter if it will fit in either, i.e. for a fully dynamic matrix type).
+    static EigenConformable<row_major> conformable(const array &a) {
+        const auto dims = a.ndim();
+        if (dims < 1 || dims > 2) {
+            return false;
+        }
+
+        if (dims == 2) { // Matrix type: require exact match (or dynamic)
+
+            EigenIndex np_rows = a.shape(0), np_cols = a.shape(1),
+                       np_rstride = a.strides(0) / static_cast<ssize_t>(sizeof(Scalar)),
+                       np_cstride = a.strides(1) / static_cast<ssize_t>(sizeof(Scalar));
+            if ((fixed_rows && np_rows != rows) || (fixed_cols && np_cols != cols)) {
+                return false;
+            }
+
+            return {np_rows, np_cols, np_rstride, np_cstride};
+        }
+
+        // Otherwise we're storing an n-vector.  Only one of the strides will be used, but
+        // whichever is used, we want the (single) numpy stride value.
+        const EigenIndex n = a.shape(0),
+                         stride = a.strides(0) / static_cast<ssize_t>(sizeof(Scalar));
+
+        if (vector) { // Eigen type is a compile-time vector
+            if (fixed && size != n) {
+                return false; // Vector size mismatch
+            }
+            return {rows == 1 ? 1 : n, cols == 1 ? 1 : n, stride};
+        }
+        if (fixed) {
+            // The type has a fixed size, but is not a vector: abort
+            return false;
+        }
+        if (fixed_cols) {
+            // Since this isn't a vector, cols must be != 1.  We allow this only if it exactly
+            // equals the number of elements (rows is Dynamic, and so 1 row is allowed).
+            if (cols != n) {
+                return false;
+            }
+            return {1, n, stride};
+        } // Otherwise it's either fully dynamic, or column dynamic; both become a column vector
+        if (fixed_rows && rows != n) {
+            return false;
+        }
+        return {n, 1, stride};
+    }
+
+    static constexpr bool show_writeable
+        = is_eigen_dense_map<Type>::value && is_eigen_mutable_map<Type>::value;
+    static constexpr bool show_order = is_eigen_dense_map<Type>::value;
+    static constexpr bool show_c_contiguous = show_order && requires_row_major;
+    static constexpr bool show_f_contiguous
+        = !show_c_contiguous && show_order && requires_col_major;
+
+    static constexpr auto descriptor
+        = const_name("numpy.ndarray[") + npy_format_descriptor<Scalar>::name + const_name("[")
+          + const_name<fixed_rows>(const_name<(size_t) rows>(), const_name("m")) + const_name(", ")
+          + const_name<fixed_cols>(const_name<(size_t) cols>(), const_name("n")) + const_name("]")
+          +
+          // For a reference type (e.g. Ref<MatrixXd>) we have other constraints that might need to
+          // be satisfied: writeable=True (for a mutable reference), and, depending on the map's
+          // stride options, possibly f_contiguous or c_contiguous.  We include them in the
+          // descriptor output to provide some hint as to why a TypeError is occurring (otherwise
+          // it can be confusing to see that a function accepts a 'numpy.ndarray[float64[3,2]]' and
+          // an error message that you *gave* a numpy.ndarray of the right type and dimensions.
+          const_name<show_writeable>(", flags.writeable", "")
+          + const_name<show_c_contiguous>(", flags.c_contiguous", "")
+          + const_name<show_f_contiguous>(", flags.f_contiguous", "") + const_name("]");
+};
+
+// Casts an Eigen type to numpy array.  If given a base, the numpy array references the src data,
+// otherwise it'll make a copy.  writeable lets you turn off the writeable flag for the array.
+template <typename props>
+handle
+eigen_array_cast(typename props::Type const &src, handle base = handle(), bool writeable = true) {
+    constexpr ssize_t elem_size = sizeof(typename props::Scalar);
+    array a;
+    if (props::vector) {
+        a = array({src.size()}, {elem_size * src.innerStride()}, src.data(), base);
+    } else {
+        a = array({src.rows(), src.cols()},
+                  {elem_size * src.rowStride(), elem_size * src.colStride()},
+                  src.data(),
+                  base);
+    }
+
+    if (!writeable) {
+        array_proxy(a.ptr())->flags &= ~detail::npy_api::NPY_ARRAY_WRITEABLE_;
+    }
+
+    return a.release();
+}
+
+// Takes an lvalue ref to some Eigen type and a (python) base object, creating a numpy array that
+// reference the Eigen object's data with `base` as the python-registered base class (if omitted,
+// the base will be set to None, and lifetime management is up to the caller).  The numpy array is
+// non-writeable if the given type is const.
+template <typename props, typename Type>
+handle eigen_ref_array(Type &src, handle parent = none()) {
+    // none here is to get past array's should-we-copy detection, which currently always
+    // copies when there is no base.  Setting the base to None should be harmless.
+    return eigen_array_cast<props>(src, parent, !std::is_const<Type>::value);
+}
+
+// Takes a pointer to some dense, plain Eigen type, builds a capsule around it, then returns a
+// numpy array that references the encapsulated data with a python-side reference to the capsule to
+// tie its destruction to that of any dependent python objects.  Const-ness is determined by
+// whether or not the Type of the pointer given is const.
+template <typename props, typename Type, typename = enable_if_t<is_eigen_dense_plain<Type>::value>>
+handle eigen_encapsulate(Type *src) {
+    capsule base(src, [](void *o) { delete static_cast<Type *>(o); });
+    return eigen_ref_array<props>(*src, base);
+}
+
+// Type caster for regular, dense matrix types (e.g. MatrixXd), but not maps/refs/etc. of dense
+// types.
+template <typename Type>
+struct type_caster<Type, enable_if_t<is_eigen_dense_plain<Type>::value>> {
+    using Scalar = typename Type::Scalar;
+    static_assert(!std::is_pointer<Scalar>::value,
+                  PYBIND11_EIGEN_MESSAGE_POINTER_TYPES_ARE_NOT_SUPPORTED);
+    using props = EigenProps<Type>;
+
+    bool load(handle src, bool convert) {
+        // If we're in no-convert mode, only load if given an array of the correct type
+        if (!convert && !isinstance<array_t<Scalar>>(src)) {
+            return false;
+        }
+
+        // Coerce into an array, but don't do type conversion yet; the copy below handles it.
+        auto buf = array::ensure(src);
+
+        if (!buf) {
+            return false;
+        }
+
+        auto dims = buf.ndim();
+        if (dims < 1 || dims > 2) {
+            return false;
+        }
+
+        auto fits = props::conformable(buf);
+        if (!fits) {
+            return false;
+        }
+
+        // Allocate the new type, then build a numpy reference into it
+        value = Type(fits.rows, fits.cols);
+        auto ref = reinterpret_steal<array>(eigen_ref_array<props>(value));
+        if (dims == 1) {
+            ref = ref.squeeze();
+        } else if (ref.ndim() == 1) {
+            buf = buf.squeeze();
+        }
+
+        int result = detail::npy_api::get().PyArray_CopyInto_(ref.ptr(), buf.ptr());
+
+        if (result < 0) { // Copy failed!
+            PyErr_Clear();
+            return false;
+        }
+
+        return true;
+    }
+
+private:
+    // Cast implementation
+    template <typename CType>
+    static handle cast_impl(CType *src, return_value_policy policy, handle parent) {
+        switch (policy) {
+            case return_value_policy::take_ownership:
+            case return_value_policy::automatic:
+                return eigen_encapsulate<props>(src);
+            case return_value_policy::move:
+                return eigen_encapsulate<props>(new CType(std::move(*src)));
+            case return_value_policy::copy:
+                return eigen_array_cast<props>(*src);
+            case return_value_policy::reference:
+            case return_value_policy::automatic_reference:
+                return eigen_ref_array<props>(*src);
+            case return_value_policy::reference_internal:
+                return eigen_ref_array<props>(*src, parent);
+            default:
+                throw cast_error("unhandled return_value_policy: should not happen!");
+        };
+    }
+
+public:
+    // Normal returned non-reference, non-const value:
+    static handle cast(Type &&src, return_value_policy /* policy */, handle parent) {
+        return cast_impl(&src, return_value_policy::move, parent);
+    }
+    // If you return a non-reference const, we mark the numpy array readonly:
+    static handle cast(const Type &&src, return_value_policy /* policy */, handle parent) {
+        return cast_impl(&src, return_value_policy::move, parent);
+    }
+    // lvalue reference return; default (automatic) becomes copy
+    static handle cast(Type &src, return_value_policy policy, handle parent) {
+        if (policy == return_value_policy::automatic
+            || policy == return_value_policy::automatic_reference) {
+            policy = return_value_policy::copy;
+        }
+        return cast_impl(&src, policy, parent);
+    }
+    // const lvalue reference return; default (automatic) becomes copy
+    static handle cast(const Type &src, return_value_policy policy, handle parent) {
+        if (policy == return_value_policy::automatic
+            || policy == return_value_policy::automatic_reference) {
+            policy = return_value_policy::copy;
+        }
+        return cast(&src, policy, parent);
+    }
+    // non-const pointer return
+    static handle cast(Type *src, return_value_policy policy, handle parent) {
+        return cast_impl(src, policy, parent);
+    }
+    // const pointer return
+    static handle cast(const Type *src, return_value_policy policy, handle parent) {
+        return cast_impl(src, policy, parent);
+    }
+
+    static constexpr auto name = props::descriptor;
+
+    // NOLINTNEXTLINE(google-explicit-constructor)
+    operator Type *() { return &value; }
+    // NOLINTNEXTLINE(google-explicit-constructor)
+    operator Type &() { return value; }
+    // NOLINTNEXTLINE(google-explicit-constructor)
+    operator Type &&() && { return std::move(value); }
+    template <typename T>
+    using cast_op_type = movable_cast_op_type<T>;
+
+private:
+    Type value;
+};
+
+// Base class for casting reference/map/block/etc. objects back to python.
+template <typename MapType>
+struct eigen_map_caster {
+    static_assert(!std::is_pointer<typename MapType::Scalar>::value,
+                  PYBIND11_EIGEN_MESSAGE_POINTER_TYPES_ARE_NOT_SUPPORTED);
+
+private:
+    using props = EigenProps<MapType>;
+
+public:
+    // Directly referencing a ref/map's data is a bit dangerous (whatever the map/ref points to has
+    // to stay around), but we'll allow it under the assumption that you know what you're doing
+    // (and have an appropriate keep_alive in place).  We return a numpy array pointing directly at
+    // the ref's data (The numpy array ends up read-only if the ref was to a const matrix type.)
+    // Note that this means you need to ensure you don't destroy the object in some other way (e.g.
+    // with an appropriate keep_alive, or with a reference to a statically allocated matrix).
+    static handle cast(const MapType &src, return_value_policy policy, handle parent) {
+        switch (policy) {
+            case return_value_policy::copy:
+                return eigen_array_cast<props>(src);
+            case return_value_policy::reference_internal:
+                return eigen_array_cast<props>(src, parent, is_eigen_mutable_map<MapType>::value);
+            case return_value_policy::reference:
+            case return_value_policy::automatic:
+            case return_value_policy::automatic_reference:
+                return eigen_array_cast<props>(src, none(), is_eigen_mutable_map<MapType>::value);
+            default:
+                // move, take_ownership don't make any sense for a ref/map:
+                pybind11_fail("Invalid return_value_policy for Eigen Map/Ref/Block type");
+        }
+    }
+
+    static constexpr auto name = props::descriptor;
+
+    // Explicitly delete these: support python -> C++ conversion on these (i.e. these can be return
+    // types but not bound arguments).  We still provide them (with an explicitly delete) so that
+    // you end up here if you try anyway.
+    bool load(handle, bool) = delete;
+    operator MapType() = delete;
+    template <typename>
+    using cast_op_type = MapType;
+};
+
+// We can return any map-like object (but can only load Refs, specialized next):
+template <typename Type>
+struct type_caster<Type, enable_if_t<is_eigen_dense_map<Type>::value>> : eigen_map_caster<Type> {};
+
+// Loader for Ref<...> arguments.  See the documentation for info on how to make this work without
+// copying (it requires some extra effort in many cases).
+template <typename PlainObjectType, typename StrideType>
+struct type_caster<
+    Eigen::Ref<PlainObjectType, 0, StrideType>,
+    enable_if_t<is_eigen_dense_map<Eigen::Ref<PlainObjectType, 0, StrideType>>::value>>
+    : public eigen_map_caster<Eigen::Ref<PlainObjectType, 0, StrideType>> {
+private:
+    using Type = Eigen::Ref<PlainObjectType, 0, StrideType>;
+    using props = EigenProps<Type>;
+    using Scalar = typename props::Scalar;
+    static_assert(!std::is_pointer<Scalar>::value,
+                  PYBIND11_EIGEN_MESSAGE_POINTER_TYPES_ARE_NOT_SUPPORTED);
+    using MapType = Eigen::Map<PlainObjectType, 0, StrideType>;
+    using Array
+        = array_t<Scalar,
+                  array::forcecast
+                      | ((props::row_major ? props::inner_stride : props::outer_stride) == 1
+                             ? array::c_style
+                         : (props::row_major ? props::outer_stride : props::inner_stride) == 1
+                             ? array::f_style
+                             : 0)>;
+    static constexpr bool need_writeable = is_eigen_mutable_map<Type>::value;
+    // Delay construction (these have no default constructor)
+    std::unique_ptr<MapType> map;
+    std::unique_ptr<Type> ref;
+    // Our array.  When possible, this is just a numpy array pointing to the source data, but
+    // sometimes we can't avoid copying (e.g. input is not a numpy array at all, has an
+    // incompatible layout, or is an array of a type that needs to be converted).  Using a numpy
+    // temporary (rather than an Eigen temporary) saves an extra copy when we need both type
+    // conversion and storage order conversion.  (Note that we refuse to use this temporary copy
+    // when loading an argument for a Ref<M> with M non-const, i.e. a read-write reference).
+    Array copy_or_ref;
+
+public:
+    bool load(handle src, bool convert) {
+        // First check whether what we have is already an array of the right type.  If not, we
+        // can't avoid a copy (because the copy is also going to do type conversion).
+        bool need_copy = !isinstance<Array>(src);
+
+        EigenConformable<props::row_major> fits;
+        if (!need_copy) {
+            // We don't need a converting copy, but we also need to check whether the strides are
+            // compatible with the Ref's stride requirements
+            auto aref = reinterpret_borrow<Array>(src);
+
+            if (aref && (!need_writeable || aref.writeable())) {
+                fits = props::conformable(aref);
+                if (!fits) {
+                    return false; // Incompatible dimensions
+                }
+                if (!fits.template stride_compatible<props>()) {
+                    need_copy = true;
+                } else {
+                    copy_or_ref = std::move(aref);
+                }
+            } else {
+                need_copy = true;
+            }
+        }
+
+        if (need_copy) {
+            // We need to copy: If we need a mutable reference, or we're not supposed to convert
+            // (either because we're in the no-convert overload pass, or because we're explicitly
+            // instructed not to copy (via `py::arg().noconvert()`) we have to fail loading.
+            if (!convert || need_writeable) {
+                return false;
+            }
+
+            Array copy = Array::ensure(src);
+            if (!copy) {
+                return false;
+            }
+            fits = props::conformable(copy);
+            if (!fits || !fits.template stride_compatible<props>()) {
+                return false;
+            }
+            copy_or_ref = std::move(copy);
+            loader_life_support::add_patient(copy_or_ref);
+        }
+
+        ref.reset();
+        map.reset(new MapType(data(copy_or_ref),
+                              fits.rows,
+                              fits.cols,
+                              make_stride(fits.stride.outer(), fits.stride.inner())));
+        ref.reset(new Type(*map));
+
+        return true;
+    }
+
+    // NOLINTNEXTLINE(google-explicit-constructor)
+    operator Type *() { return ref.get(); }
+    // NOLINTNEXTLINE(google-explicit-constructor)
+    operator Type &() { return *ref; }
+    template <typename _T>
+    using cast_op_type = pybind11::detail::cast_op_type<_T>;
+
+private:
+    template <typename T = Type, enable_if_t<is_eigen_mutable_map<T>::value, int> = 0>
+    Scalar *data(Array &a) {
+        return a.mutable_data();
+    }
+
+    template <typename T = Type, enable_if_t<!is_eigen_mutable_map<T>::value, int> = 0>
+    const Scalar *data(Array &a) {
+        return a.data();
+    }
+
+    // Attempt to figure out a constructor of `Stride` that will work.
+    // If both strides are fixed, use a default constructor:
+    template <typename S>
+    using stride_ctor_default = bool_constant<S::InnerStrideAtCompileTime != Eigen::Dynamic
+                                              && S::OuterStrideAtCompileTime != Eigen::Dynamic
+                                              && std::is_default_constructible<S>::value>;
+    // Otherwise, if there is a two-index constructor, assume it is (outer,inner) like
+    // Eigen::Stride, and use it:
+    template <typename S>
+    using stride_ctor_dual
+        = bool_constant<!stride_ctor_default<S>::value
+                        && std::is_constructible<S, EigenIndex, EigenIndex>::value>;
+    // Otherwise, if there is a one-index constructor, and just one of the strides is dynamic, use
+    // it (passing whichever stride is dynamic).
+    template <typename S>
+    using stride_ctor_outer
+        = bool_constant<!any_of<stride_ctor_default<S>, stride_ctor_dual<S>>::value
+                        && S::OuterStrideAtCompileTime == Eigen::Dynamic
+                        && S::InnerStrideAtCompileTime != Eigen::Dynamic
+                        && std::is_constructible<S, EigenIndex>::value>;
+    template <typename S>
+    using stride_ctor_inner
+        = bool_constant<!any_of<stride_ctor_default<S>, stride_ctor_dual<S>>::value
+                        && S::InnerStrideAtCompileTime == Eigen::Dynamic
+                        && S::OuterStrideAtCompileTime != Eigen::Dynamic
+                        && std::is_constructible<S, EigenIndex>::value>;
+
+    template <typename S = StrideType, enable_if_t<stride_ctor_default<S>::value, int> = 0>
+    static S make_stride(EigenIndex, EigenIndex) {
+        return S();
+    }
+    template <typename S = StrideType, enable_if_t<stride_ctor_dual<S>::value, int> = 0>
+    static S make_stride(EigenIndex outer, EigenIndex inner) {
+        return S(outer, inner);
+    }
+    template <typename S = StrideType, enable_if_t<stride_ctor_outer<S>::value, int> = 0>
+    static S make_stride(EigenIndex outer, EigenIndex) {
+        return S(outer);
+    }
+    template <typename S = StrideType, enable_if_t<stride_ctor_inner<S>::value, int> = 0>
+    static S make_stride(EigenIndex, EigenIndex inner) {
+        return S(inner);
+    }
+};
+
+// type_caster for special matrix types (e.g. DiagonalMatrix), which are EigenBase, but not
+// EigenDense (i.e. they don't have a data(), at least not with the usual matrix layout).
+// load() is not supported, but we can cast them into the python domain by first copying to a
+// regular Eigen::Matrix, then casting that.
+template <typename Type>
+struct type_caster<Type, enable_if_t<is_eigen_other<Type>::value>> {
+    static_assert(!std::is_pointer<typename Type::Scalar>::value,
+                  PYBIND11_EIGEN_MESSAGE_POINTER_TYPES_ARE_NOT_SUPPORTED);
+
+protected:
+    using Matrix
+        = Eigen::Matrix<typename Type::Scalar, Type::RowsAtCompileTime, Type::ColsAtCompileTime>;
+    using props = EigenProps<Matrix>;
+
+public:
+    static handle cast(const Type &src, return_value_policy /* policy */, handle /* parent */) {
+        handle h = eigen_encapsulate<props>(new Matrix(src));
+        return h;
+    }
+    static handle cast(const Type *src, return_value_policy policy, handle parent) {
+        return cast(*src, policy, parent);
+    }
+
+    static constexpr auto name = props::descriptor;
+
+    // Explicitly delete these: support python -> C++ conversion on these (i.e. these can be return
+    // types but not bound arguments).  We still provide them (with an explicitly delete) so that
+    // you end up here if you try anyway.
+    bool load(handle, bool) = delete;
+    operator Type() = delete;
+    template <typename>
+    using cast_op_type = Type;
+};
+
+template <typename Type>
+struct type_caster<Type, enable_if_t<is_eigen_sparse<Type>::value>> {
+    using Scalar = typename Type::Scalar;
+    static_assert(!std::is_pointer<Scalar>::value,
+                  PYBIND11_EIGEN_MESSAGE_POINTER_TYPES_ARE_NOT_SUPPORTED);
+    using StorageIndex = remove_reference_t<decltype(*std::declval<Type>().outerIndexPtr())>;
+    using Index = typename Type::Index;
+    static constexpr bool rowMajor = Type::IsRowMajor;
+
+    bool load(handle src, bool) {
+        if (!src) {
+            return false;
+        }
+
+        auto obj = reinterpret_borrow<object>(src);
+        object sparse_module = module_::import("scipy.sparse");
+        object matrix_type = sparse_module.attr(rowMajor ? "csr_matrix" : "csc_matrix");
+
+        if (!type::handle_of(obj).is(matrix_type)) {
+            try {
+                obj = matrix_type(obj);
+            } catch (const error_already_set &) {
+                return false;
+            }
+        }
+
+        auto values = array_t<Scalar>((object) obj.attr("data"));
+        auto innerIndices = array_t<StorageIndex>((object) obj.attr("indices"));
+        auto outerIndices = array_t<StorageIndex>((object) obj.attr("indptr"));
+        auto shape = pybind11::tuple((pybind11::object) obj.attr("shape"));
+        auto nnz = obj.attr("nnz").cast<Index>();
+
+        if (!values || !innerIndices || !outerIndices) {
+            return false;
+        }
+
+        value = EigenMapSparseMatrix<Scalar,
+                                     Type::Flags &(Eigen::RowMajor | Eigen::ColMajor),
+                                     StorageIndex>(shape[0].cast<Index>(),
+                                                   shape[1].cast<Index>(),
+                                                   std::move(nnz),
+                                                   outerIndices.mutable_data(),
+                                                   innerIndices.mutable_data(),
+                                                   values.mutable_data());
+
+        return true;
+    }
+
+    static handle cast(const Type &src, return_value_policy /* policy */, handle /* parent */) {
+        const_cast<Type &>(src).makeCompressed();
+
+        object matrix_type
+            = module_::import("scipy.sparse").attr(rowMajor ? "csr_matrix" : "csc_matrix");
+
+        array data(src.nonZeros(), src.valuePtr());
+        array outerIndices((rowMajor ? src.rows() : src.cols()) + 1, src.outerIndexPtr());
+        array innerIndices(src.nonZeros(), src.innerIndexPtr());
+
+        return matrix_type(pybind11::make_tuple(
+                               std::move(data), std::move(innerIndices), std::move(outerIndices)),
+                           pybind11::make_tuple(src.rows(), src.cols()))
+            .release();
+    }
+
+    PYBIND11_TYPE_CASTER(Type,
+                         const_name<(Type::IsRowMajor) != 0>("scipy.sparse.csr_matrix[",
+                                                             "scipy.sparse.csc_matrix[")
+                             + npy_format_descriptor<Scalar>::name + const_name("]"));
+};
+
+PYBIND11_NAMESPACE_END(detail)
+PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
diff --git a/pybind11/include/pybind11/eigen/tensor.h b/pybind11/include/pybind11/eigen/tensor.h
new file mode 100644
index 000000000..25d12baca
--- /dev/null
+++ b/pybind11/include/pybind11/eigen/tensor.h
@@ -0,0 +1,516 @@
+/*
+    pybind11/eigen/tensor.h: Transparent conversion for Eigen tensors
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#pragma once
+
+#include "../numpy.h"
+#include "common.h"
+
+#if defined(__GNUC__) && !defined(__clang__) && !defined(__INTEL_COMPILER)
+static_assert(__GNUC__ > 5, "Eigen Tensor support in pybind11 requires GCC > 5.0");
+#endif
+
+// Disable warnings for Eigen
+PYBIND11_WARNING_PUSH
+PYBIND11_WARNING_DISABLE_MSVC(4554)
+PYBIND11_WARNING_DISABLE_MSVC(4127)
+#if defined(__MINGW32__)
+PYBIND11_WARNING_DISABLE_GCC("-Wmaybe-uninitialized")
+#endif
+
+#include <unsupported/Eigen/CXX11/Tensor>
+
+PYBIND11_WARNING_POP
+
+static_assert(EIGEN_VERSION_AT_LEAST(3, 3, 0),
+              "Eigen Tensor support in pybind11 requires Eigen >= 3.3.0");
+
+PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
+
+PYBIND11_WARNING_DISABLE_MSVC(4127)
+
+PYBIND11_NAMESPACE_BEGIN(detail)
+
+inline bool is_tensor_aligned(const void *data) {
+    return (reinterpret_cast<std::size_t>(data) % EIGEN_DEFAULT_ALIGN_BYTES) == 0;
+}
+
+template <typename T>
+constexpr int compute_array_flag_from_tensor() {
+    static_assert((static_cast<int>(T::Layout) == static_cast<int>(Eigen::RowMajor))
+                      || (static_cast<int>(T::Layout) == static_cast<int>(Eigen::ColMajor)),
+                  "Layout must be row or column major");
+    return (static_cast<int>(T::Layout) == static_cast<int>(Eigen::RowMajor)) ? array::c_style
+                                                                              : array::f_style;
+}
+
+template <typename T>
+struct eigen_tensor_helper {};
+
+template <typename Scalar_, int NumIndices_, int Options_, typename IndexType>
+struct eigen_tensor_helper<Eigen::Tensor<Scalar_, NumIndices_, Options_, IndexType>> {
+    using Type = Eigen::Tensor<Scalar_, NumIndices_, Options_, IndexType>;
+    using ValidType = void;
+
+    static Eigen::DSizes<typename Type::Index, Type::NumIndices> get_shape(const Type &f) {
+        return f.dimensions();
+    }
+
+    static constexpr bool
+    is_correct_shape(const Eigen::DSizes<typename Type::Index, Type::NumIndices> & /*shape*/) {
+        return true;
+    }
+
+    template <typename T>
+    struct helper {};
+
+    template <size_t... Is>
+    struct helper<index_sequence<Is...>> {
+        static constexpr auto value = concat(const_name(((void) Is, "?"))...);
+    };
+
+    static constexpr auto dimensions_descriptor
+        = helper<decltype(make_index_sequence<Type::NumIndices>())>::value;
+
+    template <typename... Args>
+    static Type *alloc(Args &&...args) {
+        return new Type(std::forward<Args>(args)...);
+    }
+
+    static void free(Type *tensor) { delete tensor; }
+};
+
+template <typename Scalar_, typename std::ptrdiff_t... Indices, int Options_, typename IndexType>
+struct eigen_tensor_helper<
+    Eigen::TensorFixedSize<Scalar_, Eigen::Sizes<Indices...>, Options_, IndexType>> {
+    using Type = Eigen::TensorFixedSize<Scalar_, Eigen::Sizes<Indices...>, Options_, IndexType>;
+    using ValidType = void;
+
+    static constexpr Eigen::DSizes<typename Type::Index, Type::NumIndices>
+    get_shape(const Type & /*f*/) {
+        return get_shape();
+    }
+
+    static constexpr Eigen::DSizes<typename Type::Index, Type::NumIndices> get_shape() {
+        return Eigen::DSizes<typename Type::Index, Type::NumIndices>(Indices...);
+    }
+
+    static bool
+    is_correct_shape(const Eigen::DSizes<typename Type::Index, Type::NumIndices> &shape) {
+        return get_shape() == shape;
+    }
+
+    static constexpr auto dimensions_descriptor = concat(const_name<Indices>()...);
+
+    template <typename... Args>
+    static Type *alloc(Args &&...args) {
+        Eigen::aligned_allocator<Type> allocator;
+        return ::new (allocator.allocate(1)) Type(std::forward<Args>(args)...);
+    }
+
+    static void free(Type *tensor) {
+        Eigen::aligned_allocator<Type> allocator;
+        tensor->~Type();
+        allocator.deallocate(tensor, 1);
+    }
+};
+
+template <typename Type, bool ShowDetails, bool NeedsWriteable = false>
+struct get_tensor_descriptor {
+    static constexpr auto details
+        = const_name<NeedsWriteable>(", flags.writeable", "")
+          + const_name<static_cast<int>(Type::Layout) == static_cast<int>(Eigen::RowMajor)>(
+              ", flags.c_contiguous", ", flags.f_contiguous");
+    static constexpr auto value
+        = const_name("numpy.ndarray[") + npy_format_descriptor<typename Type::Scalar>::name
+          + const_name("[") + eigen_tensor_helper<remove_cv_t<Type>>::dimensions_descriptor
+          + const_name("]") + const_name<ShowDetails>(details, const_name("")) + const_name("]");
+};
+
+// When EIGEN_AVOID_STL_ARRAY is defined, Eigen::DSizes<T, 0> does not have the begin() member
+// function. Falling back to a simple loop works around this issue.
+//
+// We need to disable the type-limits warning for the inner loop when size = 0.
+
+PYBIND11_WARNING_PUSH
+PYBIND11_WARNING_DISABLE_GCC("-Wtype-limits")
+
+template <typename T, int size>
+std::vector<T> convert_dsizes_to_vector(const Eigen::DSizes<T, size> &arr) {
+    std::vector<T> result(size);
+
+    for (size_t i = 0; i < size; i++) {
+        result[i] = arr[i];
+    }
+
+    return result;
+}
+
+template <typename T, int size>
+Eigen::DSizes<T, size> get_shape_for_array(const array &arr) {
+    Eigen::DSizes<T, size> result;
+    const T *shape = arr.shape();
+    for (size_t i = 0; i < size; i++) {
+        result[i] = shape[i];
+    }
+
+    return result;
+}
+
+PYBIND11_WARNING_POP
+
+template <typename Type>
+struct type_caster<Type, typename eigen_tensor_helper<Type>::ValidType> {
+    static_assert(!std::is_pointer<typename Type::Scalar>::value,
+                  PYBIND11_EIGEN_MESSAGE_POINTER_TYPES_ARE_NOT_SUPPORTED);
+    using Helper = eigen_tensor_helper<Type>;
+    static constexpr auto temp_name = get_tensor_descriptor<Type, false>::value;
+    PYBIND11_TYPE_CASTER(Type, temp_name);
+
+    bool load(handle src, bool convert) {
+        if (!convert) {
+            if (!isinstance<array>(src)) {
+                return false;
+            }
+            array temp = array::ensure(src);
+            if (!temp) {
+                return false;
+            }
+
+            if (!temp.dtype().is(dtype::of<typename Type::Scalar>())) {
+                return false;
+            }
+        }
+
+        array_t<typename Type::Scalar, compute_array_flag_from_tensor<Type>()> arr(
+            reinterpret_borrow<object>(src));
+
+        if (arr.ndim() != Type::NumIndices) {
+            return false;
+        }
+        auto shape = get_shape_for_array<typename Type::Index, Type::NumIndices>(arr);
+
+        if (!Helper::is_correct_shape(shape)) {
+            return false;
+        }
+
+#if EIGEN_VERSION_AT_LEAST(3, 4, 0)
+        auto data_pointer = arr.data();
+#else
+        // Handle Eigen bug
+        auto data_pointer = const_cast<typename Type::Scalar *>(arr.data());
+#endif
+
+        if (is_tensor_aligned(arr.data())) {
+            value = Eigen::TensorMap<const Type, Eigen::Aligned>(data_pointer, shape);
+        } else {
+            value = Eigen::TensorMap<const Type>(data_pointer, shape);
+        }
+
+        return true;
+    }
+
+    static handle cast(Type &&src, return_value_policy policy, handle parent) {
+        if (policy == return_value_policy::reference
+            || policy == return_value_policy::reference_internal) {
+            pybind11_fail("Cannot use a reference return value policy for an rvalue");
+        }
+        return cast_impl(&src, return_value_policy::move, parent);
+    }
+
+    static handle cast(const Type &&src, return_value_policy policy, handle parent) {
+        if (policy == return_value_policy::reference
+            || policy == return_value_policy::reference_internal) {
+            pybind11_fail("Cannot use a reference return value policy for an rvalue");
+        }
+        return cast_impl(&src, return_value_policy::move, parent);
+    }
+
+    static handle cast(Type &src, return_value_policy policy, handle parent) {
+        if (policy == return_value_policy::automatic
+            || policy == return_value_policy::automatic_reference) {
+            policy = return_value_policy::copy;
+        }
+        return cast_impl(&src, policy, parent);
+    }
+
+    static handle cast(const Type &src, return_value_policy policy, handle parent) {
+        if (policy == return_value_policy::automatic
+            || policy == return_value_policy::automatic_reference) {
+            policy = return_value_policy::copy;
+        }
+        return cast(&src, policy, parent);
+    }
+
+    static handle cast(Type *src, return_value_policy policy, handle parent) {
+        if (policy == return_value_policy::automatic) {
+            policy = return_value_policy::take_ownership;
+        } else if (policy == return_value_policy::automatic_reference) {
+            policy = return_value_policy::reference;
+        }
+        return cast_impl(src, policy, parent);
+    }
+
+    static handle cast(const Type *src, return_value_policy policy, handle parent) {
+        if (policy == return_value_policy::automatic) {
+            policy = return_value_policy::take_ownership;
+        } else if (policy == return_value_policy::automatic_reference) {
+            policy = return_value_policy::reference;
+        }
+        return cast_impl(src, policy, parent);
+    }
+
+    template <typename C>
+    static handle cast_impl(C *src, return_value_policy policy, handle parent) {
+        object parent_object;
+        bool writeable = false;
+        switch (policy) {
+            case return_value_policy::move:
+                if (std::is_const<C>::value) {
+                    pybind11_fail("Cannot move from a constant reference");
+                }
+
+                src = Helper::alloc(std::move(*src));
+
+                parent_object
+                    = capsule(src, [](void *ptr) { Helper::free(reinterpret_cast<Type *>(ptr)); });
+                writeable = true;
+                break;
+
+            case return_value_policy::take_ownership:
+                if (std::is_const<C>::value) {
+                    // This cast is ugly, and might be UB in some cases, but we don't have an
+                    // alternative here as we must free that memory
+                    Helper::free(const_cast<Type *>(src));
+                    pybind11_fail("Cannot take ownership of a const reference");
+                }
+
+                parent_object
+                    = capsule(src, [](void *ptr) { Helper::free(reinterpret_cast<Type *>(ptr)); });
+                writeable = true;
+                break;
+
+            case return_value_policy::copy:
+                writeable = true;
+                break;
+
+            case return_value_policy::reference:
+                parent_object = none();
+                writeable = !std::is_const<C>::value;
+                break;
+
+            case return_value_policy::reference_internal:
+                // Default should do the right thing
+                if (!parent) {
+                    pybind11_fail("Cannot use reference internal when there is no parent");
+                }
+                parent_object = reinterpret_borrow<object>(parent);
+                writeable = !std::is_const<C>::value;
+                break;
+
+            default:
+                pybind11_fail("pybind11 bug in eigen.h, please file a bug report");
+        }
+
+        auto result = array_t<typename Type::Scalar, compute_array_flag_from_tensor<Type>()>(
+            convert_dsizes_to_vector(Helper::get_shape(*src)), src->data(), parent_object);
+
+        if (!writeable) {
+            array_proxy(result.ptr())->flags &= ~detail::npy_api::NPY_ARRAY_WRITEABLE_;
+        }
+
+        return result.release();
+    }
+};
+
+template <typename StoragePointerType,
+          bool needs_writeable,
+          enable_if_t<!needs_writeable, bool> = true>
+StoragePointerType get_array_data_for_type(array &arr) {
+#if EIGEN_VERSION_AT_LEAST(3, 4, 0)
+    return reinterpret_cast<StoragePointerType>(arr.data());
+#else
+    // Handle Eigen bug
+    return reinterpret_cast<StoragePointerType>(const_cast<void *>(arr.data()));
+#endif
+}
+
+template <typename StoragePointerType,
+          bool needs_writeable,
+          enable_if_t<needs_writeable, bool> = true>
+StoragePointerType get_array_data_for_type(array &arr) {
+    return reinterpret_cast<StoragePointerType>(arr.mutable_data());
+}
+
+template <typename T, typename = void>
+struct get_storage_pointer_type;
+
+template <typename MapType>
+struct get_storage_pointer_type<MapType, void_t<typename MapType::StoragePointerType>> {
+    using SPT = typename MapType::StoragePointerType;
+};
+
+template <typename MapType>
+struct get_storage_pointer_type<MapType, void_t<typename MapType::PointerArgType>> {
+    using SPT = typename MapType::PointerArgType;
+};
+
+template <typename Type, int Options>
+struct type_caster<Eigen::TensorMap<Type, Options>,
+                   typename eigen_tensor_helper<remove_cv_t<Type>>::ValidType> {
+    static_assert(!std::is_pointer<typename Type::Scalar>::value,
+                  PYBIND11_EIGEN_MESSAGE_POINTER_TYPES_ARE_NOT_SUPPORTED);
+    using MapType = Eigen::TensorMap<Type, Options>;
+    using Helper = eigen_tensor_helper<remove_cv_t<Type>>;
+
+    bool load(handle src, bool /*convert*/) {
+        // Note that we have a lot more checks here as we want to make sure to avoid copies
+        if (!isinstance<array>(src)) {
+            return false;
+        }
+        auto arr = reinterpret_borrow<array>(src);
+        if ((arr.flags() & compute_array_flag_from_tensor<Type>()) == 0) {
+            return false;
+        }
+
+        if (!arr.dtype().is(dtype::of<typename Type::Scalar>())) {
+            return false;
+        }
+
+        if (arr.ndim() != Type::NumIndices) {
+            return false;
+        }
+
+        constexpr bool is_aligned = (Options & Eigen::Aligned) != 0;
+
+        if (is_aligned && !is_tensor_aligned(arr.data())) {
+            return false;
+        }
+
+        auto shape = get_shape_for_array<typename Type::Index, Type::NumIndices>(arr);
+
+        if (!Helper::is_correct_shape(shape)) {
+            return false;
+        }
+
+        if (needs_writeable && !arr.writeable()) {
+            return false;
+        }
+
+        auto result = get_array_data_for_type<typename get_storage_pointer_type<MapType>::SPT,
+                                              needs_writeable>(arr);
+
+        value.reset(new MapType(std::move(result), std::move(shape)));
+
+        return true;
+    }
+
+    static handle cast(MapType &&src, return_value_policy policy, handle parent) {
+        return cast_impl(&src, policy, parent);
+    }
+
+    static handle cast(const MapType &&src, return_value_policy policy, handle parent) {
+        return cast_impl(&src, policy, parent);
+    }
+
+    static handle cast(MapType &src, return_value_policy policy, handle parent) {
+        if (policy == return_value_policy::automatic
+            || policy == return_value_policy::automatic_reference) {
+            policy = return_value_policy::copy;
+        }
+        return cast_impl(&src, policy, parent);
+    }
+
+    static handle cast(const MapType &src, return_value_policy policy, handle parent) {
+        if (policy == return_value_policy::automatic
+            || policy == return_value_policy::automatic_reference) {
+            policy = return_value_policy::copy;
+        }
+        return cast(&src, policy, parent);
+    }
+
+    static handle cast(MapType *src, return_value_policy policy, handle parent) {
+        if (policy == return_value_policy::automatic) {
+            policy = return_value_policy::take_ownership;
+        } else if (policy == return_value_policy::automatic_reference) {
+            policy = return_value_policy::reference;
+        }
+        return cast_impl(src, policy, parent);
+    }
+
+    static handle cast(const MapType *src, return_value_policy policy, handle parent) {
+        if (policy == return_value_policy::automatic) {
+            policy = return_value_policy::take_ownership;
+        } else if (policy == return_value_policy::automatic_reference) {
+            policy = return_value_policy::reference;
+        }
+        return cast_impl(src, policy, parent);
+    }
+
+    template <typename C>
+    static handle cast_impl(C *src, return_value_policy policy, handle parent) {
+        object parent_object;
+        constexpr bool writeable = !std::is_const<C>::value;
+        switch (policy) {
+            case return_value_policy::reference:
+                parent_object = none();
+                break;
+
+            case return_value_policy::reference_internal:
+                // Default should do the right thing
+                if (!parent) {
+                    pybind11_fail("Cannot use reference internal when there is no parent");
+                }
+                parent_object = reinterpret_borrow<object>(parent);
+                break;
+
+            case return_value_policy::take_ownership:
+                delete src;
+                // fallthrough
+            default:
+                // move, take_ownership don't make any sense for a ref/map:
+                pybind11_fail("Invalid return_value_policy for Eigen Map type, must be either "
+                              "reference or reference_internal");
+        }
+
+        auto result = array_t<typename Type::Scalar, compute_array_flag_from_tensor<Type>()>(
+            convert_dsizes_to_vector(Helper::get_shape(*src)),
+            src->data(),
+            std::move(parent_object));
+
+        if (!writeable) {
+            array_proxy(result.ptr())->flags &= ~detail::npy_api::NPY_ARRAY_WRITEABLE_;
+        }
+
+        return result.release();
+    }
+
+#if EIGEN_VERSION_AT_LEAST(3, 4, 0)
+
+    static constexpr bool needs_writeable = !std::is_const<typename std::remove_pointer<
+        typename get_storage_pointer_type<MapType>::SPT>::type>::value;
+#else
+    // Handle Eigen bug
+    static constexpr bool needs_writeable = !std::is_const<Type>::value;
+#endif
+
+protected:
+    // TODO: Move to std::optional once std::optional has more support
+    std::unique_ptr<MapType> value;
+
+public:
+    static constexpr auto name = get_tensor_descriptor<Type, true, needs_writeable>::value;
+    explicit operator MapType *() { return value.get(); }
+    explicit operator MapType &() { return *value; }
+    explicit operator MapType &&() && { return std::move(*value); }
+
+    template <typename T_>
+    using cast_op_type = ::pybind11::detail::movable_cast_op_type<T_>;
+};
+
+PYBIND11_NAMESPACE_END(detail)
+PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
diff --git a/pybind11/include/pybind11/embed.h b/pybind11/include/pybind11/embed.h
index d6999cd77..caa14f4a0 100644
--- a/pybind11/include/pybind11/embed.h
+++ b/pybind11/include/pybind11/embed.h
@@ -86,38 +86,26 @@ inline wchar_t *widen_chars(const char *safe_arg) {
     return widened_arg;
 }
 
-PYBIND11_NAMESPACE_END(detail)
-
-/** \rst
-    Initialize the Python interpreter. No other pybind11 or CPython API functions can be
-    called before this is done; with the exception of `PYBIND11_EMBEDDED_MODULE`. The
-    optional `init_signal_handlers` parameter can be used to skip the registration of
-    signal handlers (see the `Python documentation`_ for details). Calling this function
-    again after the interpreter has already been initialized is a fatal error.
-
-    If initializing the Python interpreter fails, then the program is terminated.  (This
-    is controlled by the CPython runtime and is an exception to pybind11's normal behavior
-    of throwing exceptions on errors.)
-
-    The remaining optional parameters, `argc`, `argv`, and `add_program_dir_to_path` are
-    used to populate ``sys.argv`` and ``sys.path``.
-    See the |PySys_SetArgvEx documentation|_ for details.
-
-    .. _Python documentation: https://docs.python.org/3/c-api/init.html#c.Py_InitializeEx
-    .. |PySys_SetArgvEx documentation| replace:: ``PySys_SetArgvEx`` documentation
-    .. _PySys_SetArgvEx documentation: https://docs.python.org/3/c-api/init.html#c.PySys_SetArgvEx
- \endrst */
-inline void initialize_interpreter(bool init_signal_handlers = true,
-                                   int argc = 0,
-                                   const char *const *argv = nullptr,
-                                   bool add_program_dir_to_path = true) {
+inline void precheck_interpreter() {
     if (Py_IsInitialized() != 0) {
         pybind11_fail("The interpreter is already running");
     }
+}
 
-#if PY_VERSION_HEX < 0x030B0000
+#if !defined(PYBIND11_PYCONFIG_SUPPORT_PY_VERSION_HEX)
+#    define PYBIND11_PYCONFIG_SUPPORT_PY_VERSION_HEX (0x03080000)
+#endif
 
+#if PY_VERSION_HEX < PYBIND11_PYCONFIG_SUPPORT_PY_VERSION_HEX
+inline void initialize_interpreter_pre_pyconfig(bool init_signal_handlers,
+                                                int argc,
+                                                const char *const *argv,
+                                                bool add_program_dir_to_path) {
+    detail::precheck_interpreter();
     Py_InitializeEx(init_signal_handlers ? 1 : 0);
+#    if defined(WITH_THREAD) && PY_VERSION_HEX < 0x03070000
+    PyEval_InitThreads();
+#    endif
 
     // Before it was special-cased in python 3.8, passing an empty or null argv
     // caused a segfault, so we have to reimplement the special case ourselves.
@@ -147,24 +135,30 @@ inline void initialize_interpreter(bool init_signal_handlers = true,
     auto *pysys_argv = widened_argv.get();
 
     PySys_SetArgvEx(argc, pysys_argv, static_cast<int>(add_program_dir_to_path));
-#else
-    PyConfig config;
-    PyConfig_InitIsolatedConfig(&config);
-    config.install_signal_handlers = init_signal_handlers ? 1 : 0;
+}
+#endif
 
-    PyStatus status = PyConfig_SetBytesArgv(&config, argc, const_cast<char *const *>(argv));
-    if (PyStatus_Exception(status)) {
+PYBIND11_NAMESPACE_END(detail)
+
+#if PY_VERSION_HEX >= PYBIND11_PYCONFIG_SUPPORT_PY_VERSION_HEX
+inline void initialize_interpreter(PyConfig *config,
+                                   int argc = 0,
+                                   const char *const *argv = nullptr,
+                                   bool add_program_dir_to_path = true) {
+    detail::precheck_interpreter();
+    PyStatus status = PyConfig_SetBytesArgv(config, argc, const_cast<char *const *>(argv));
+    if (PyStatus_Exception(status) != 0) {
         // A failure here indicates a character-encoding failure or the python
         // interpreter out of memory. Give up.
-        PyConfig_Clear(&config);
-        throw std::runtime_error(PyStatus_IsError(status) ? status.err_msg
-                                                          : "Failed to prepare CPython");
+        PyConfig_Clear(config);
+        throw std::runtime_error(PyStatus_IsError(status) != 0 ? status.err_msg
+                                                               : "Failed to prepare CPython");
     }
-    status = Py_InitializeFromConfig(&config);
-    PyConfig_Clear(&config);
-    if (PyStatus_Exception(status)) {
-        throw std::runtime_error(PyStatus_IsError(status) ? status.err_msg
-                                                          : "Failed to init CPython");
+    status = Py_InitializeFromConfig(config);
+    if (PyStatus_Exception(status) != 0) {
+        PyConfig_Clear(config);
+        throw std::runtime_error(PyStatus_IsError(status) != 0 ? status.err_msg
+                                                               : "Failed to init CPython");
     }
     if (add_program_dir_to_path) {
         PyRun_SimpleString("import sys, os.path; "
@@ -172,6 +166,44 @@ inline void initialize_interpreter(bool init_signal_handlers = true,
                            "os.path.abspath(os.path.dirname(sys.argv[0])) "
                            "if sys.argv and os.path.exists(sys.argv[0]) else '')");
     }
+    PyConfig_Clear(config);
+}
+#endif
+
+/** \rst
+    Initialize the Python interpreter. No other pybind11 or CPython API functions can be
+    called before this is done; with the exception of `PYBIND11_EMBEDDED_MODULE`. The
+    optional `init_signal_handlers` parameter can be used to skip the registration of
+    signal handlers (see the `Python documentation`_ for details). Calling this function
+    again after the interpreter has already been initialized is a fatal error.
+
+    If initializing the Python interpreter fails, then the program is terminated.  (This
+    is controlled by the CPython runtime and is an exception to pybind11's normal behavior
+    of throwing exceptions on errors.)
+
+    The remaining optional parameters, `argc`, `argv`, and `add_program_dir_to_path` are
+    used to populate ``sys.argv`` and ``sys.path``.
+    See the |PySys_SetArgvEx documentation|_ for details.
+
+    .. _Python documentation: https://docs.python.org/3/c-api/init.html#c.Py_InitializeEx
+    .. |PySys_SetArgvEx documentation| replace:: ``PySys_SetArgvEx`` documentation
+    .. _PySys_SetArgvEx documentation: https://docs.python.org/3/c-api/init.html#c.PySys_SetArgvEx
+ \endrst */
+inline void initialize_interpreter(bool init_signal_handlers = true,
+                                   int argc = 0,
+                                   const char *const *argv = nullptr,
+                                   bool add_program_dir_to_path = true) {
+#if PY_VERSION_HEX < PYBIND11_PYCONFIG_SUPPORT_PY_VERSION_HEX
+    detail::initialize_interpreter_pre_pyconfig(
+        init_signal_handlers, argc, argv, add_program_dir_to_path);
+#else
+    PyConfig config;
+    PyConfig_InitPythonConfig(&config);
+    // See PR #4473 for background
+    config.parse_argv = 0;
+
+    config.install_signal_handlers = init_signal_handlers ? 1 : 0;
+    initialize_interpreter(&config, argc, argv, add_program_dir_to_path);
 #endif
 }
 
@@ -211,16 +243,14 @@ inline void initialize_interpreter(bool init_signal_handlers = true,
 
  \endrst */
 inline void finalize_interpreter() {
-    handle builtins(PyEval_GetBuiltins());
-    const char *id = PYBIND11_INTERNALS_ID;
-
     // Get the internals pointer (without creating it if it doesn't exist).  It's possible for the
     // internals to be created during Py_Finalize() (e.g. if a py::capsule calls `get_internals()`
     // during destruction), so we get the pointer-pointer here and check it after Py_Finalize().
     detail::internals **internals_ptr_ptr = detail::get_internals_pp();
-    // It could also be stashed in builtins, so look there too:
-    if (builtins.contains(id) && isinstance<capsule>(builtins[id])) {
-        internals_ptr_ptr = capsule(builtins[id]);
+    // It could also be stashed in state_dict, so look there too:
+    if (object internals_obj
+        = get_internals_obj_from_state_dict(detail::get_python_state_dict())) {
+        internals_ptr_ptr = detail::get_internals_pp_from_capsule(internals_obj);
     }
     // Local internals contains data managed by the current interpreter, so we must clear them to
     // avoid undefined behaviors when initializing another interpreter
@@ -259,6 +289,15 @@ public:
         initialize_interpreter(init_signal_handlers, argc, argv, add_program_dir_to_path);
     }
 
+#if PY_VERSION_HEX >= PYBIND11_PYCONFIG_SUPPORT_PY_VERSION_HEX
+    explicit scoped_interpreter(PyConfig *config,
+                                int argc = 0,
+                                const char *const *argv = nullptr,
+                                bool add_program_dir_to_path = true) {
+        initialize_interpreter(config, argc, argv, add_program_dir_to_path);
+    }
+#endif
+
     scoped_interpreter(const scoped_interpreter &) = delete;
     scoped_interpreter(scoped_interpreter &&other) noexcept { other.is_valid = false; }
     scoped_interpreter &operator=(const scoped_interpreter &) = delete;
diff --git a/pybind11/include/pybind11/functional.h b/pybind11/include/pybind11/functional.h
index 4034990d8..87ec4d10c 100644
--- a/pybind11/include/pybind11/functional.h
+++ b/pybind11/include/pybind11/functional.h
@@ -48,9 +48,16 @@ public:
          */
         if (auto cfunc = func.cpp_function()) {
             auto *cfunc_self = PyCFunction_GET_SELF(cfunc.ptr());
-            if (isinstance<capsule>(cfunc_self)) {
+            if (cfunc_self == nullptr) {
+                PyErr_Clear();
+            } else if (isinstance<capsule>(cfunc_self)) {
                 auto c = reinterpret_borrow<capsule>(cfunc_self);
-                auto *rec = (function_record *) c;
+
+                function_record *rec = nullptr;
+                // Check that we can safely reinterpret the capsule into a function_record
+                if (detail::is_function_record_capsule(c)) {
+                    rec = c.get_pointer<function_record>();
+                }
 
                 while (rec != nullptr) {
                     if (rec->is_stateless
@@ -110,7 +117,7 @@ public:
     template <typename Func>
     static handle cast(Func &&f_, return_value_policy policy, handle /* parent */) {
         if (!f_) {
-            return none().inc_ref();
+            return none().release();
         }
 
         auto result = f_.template target<function_type>();
diff --git a/pybind11/include/pybind11/gil.h b/pybind11/include/pybind11/gil.h
index a0b5de151..570a5581d 100644
--- a/pybind11/include/pybind11/gil.h
+++ b/pybind11/include/pybind11/gil.h
@@ -10,7 +10,10 @@
 #pragma once
 
 #include "detail/common.h"
-#include "detail/internals.h"
+
+#if defined(WITH_THREAD) && !defined(PYBIND11_SIMPLE_GIL_MANAGEMENT)
+#    include "detail/internals.h"
+#endif
 
 PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
 
@@ -21,7 +24,9 @@ PyThreadState *get_thread_state_unchecked();
 
 PYBIND11_NAMESPACE_END(detail)
 
-#if defined(WITH_THREAD) && !defined(PYPY_VERSION)
+#if defined(WITH_THREAD)
+
+#    if !defined(PYBIND11_SIMPLE_GIL_MANAGEMENT)
 
 /* The functions below essentially reproduce the PyGILState_* API using a RAII
  * pattern, but there are a few important differences:
@@ -62,11 +67,11 @@ public:
 
         if (!tstate) {
             tstate = PyThreadState_New(internals.istate);
-#    if defined(PYBIND11_DETAILED_ERROR_MESSAGES)
+#        if defined(PYBIND11_DETAILED_ERROR_MESSAGES)
             if (!tstate) {
                 pybind11_fail("scoped_acquire: could not create thread state!");
             }
-#    endif
+#        endif
             tstate->gilstate_counter = 0;
             PYBIND11_TLS_REPLACE_VALUE(internals.tstate, tstate);
         } else {
@@ -80,24 +85,27 @@ public:
         inc_ref();
     }
 
+    gil_scoped_acquire(const gil_scoped_acquire &) = delete;
+    gil_scoped_acquire &operator=(const gil_scoped_acquire &) = delete;
+
     void inc_ref() { ++tstate->gilstate_counter; }
 
     PYBIND11_NOINLINE void dec_ref() {
         --tstate->gilstate_counter;
-#    if defined(PYBIND11_DETAILED_ERROR_MESSAGES)
+#        if defined(PYBIND11_DETAILED_ERROR_MESSAGES)
         if (detail::get_thread_state_unchecked() != tstate) {
             pybind11_fail("scoped_acquire::dec_ref(): thread state must be current!");
         }
         if (tstate->gilstate_counter < 0) {
             pybind11_fail("scoped_acquire::dec_ref(): reference count underflow!");
         }
-#    endif
+#        endif
         if (tstate->gilstate_counter == 0) {
-#    if defined(PYBIND11_DETAILED_ERROR_MESSAGES)
+#        if defined(PYBIND11_DETAILED_ERROR_MESSAGES)
             if (!release) {
                 pybind11_fail("scoped_acquire::dec_ref(): internal error!");
             }
-#    endif
+#        endif
             PyThreadState_Clear(tstate);
             if (active) {
                 PyThreadState_DeleteCurrent();
@@ -144,6 +152,9 @@ public:
         }
     }
 
+    gil_scoped_release(const gil_scoped_release &) = delete;
+    gil_scoped_release &operator=(const gil_scoped_release &) = delete;
+
     /// This method will disable the PyThreadState_DeleteCurrent call and the
     /// GIL won't be acquired. This method should be used if the interpreter
     /// could be shutting down when this is called, as thread deletion is not
@@ -172,12 +183,16 @@ private:
     bool disassoc;
     bool active = true;
 };
-#elif defined(PYPY_VERSION)
+
+#    else // PYBIND11_SIMPLE_GIL_MANAGEMENT
+
 class gil_scoped_acquire {
     PyGILState_STATE state;
 
 public:
-    gil_scoped_acquire() { state = PyGILState_Ensure(); }
+    gil_scoped_acquire() : state{PyGILState_Ensure()} {}
+    gil_scoped_acquire(const gil_scoped_acquire &) = delete;
+    gil_scoped_acquire &operator=(const gil_scoped_acquire &) = delete;
     ~gil_scoped_acquire() { PyGILState_Release(state); }
     void disarm() {}
 };
@@ -186,17 +201,39 @@ class gil_scoped_release {
     PyThreadState *state;
 
 public:
-    gil_scoped_release() { state = PyEval_SaveThread(); }
+    gil_scoped_release() : state{PyEval_SaveThread()} {}
+    gil_scoped_release(const gil_scoped_release &) = delete;
+    gil_scoped_release &operator=(const gil_scoped_release &) = delete;
     ~gil_scoped_release() { PyEval_RestoreThread(state); }
     void disarm() {}
 };
-#else
+
+#    endif // PYBIND11_SIMPLE_GIL_MANAGEMENT
+
+#else // WITH_THREAD
+
 class gil_scoped_acquire {
+public:
+    gil_scoped_acquire() {
+        // Trick to suppress `unused variable` error messages (at call sites).
+        (void) (this != (this + 1));
+    }
+    gil_scoped_acquire(const gil_scoped_acquire &) = delete;
+    gil_scoped_acquire &operator=(const gil_scoped_acquire &) = delete;
     void disarm() {}
 };
+
 class gil_scoped_release {
+public:
+    gil_scoped_release() {
+        // Trick to suppress `unused variable` error messages (at call sites).
+        (void) (this != (this + 1));
+    }
+    gil_scoped_release(const gil_scoped_release &) = delete;
+    gil_scoped_release &operator=(const gil_scoped_release &) = delete;
     void disarm() {}
 };
-#endif
+
+#endif // WITH_THREAD
 
 PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
diff --git a/pybind11/include/pybind11/numpy.h b/pybind11/include/pybind11/numpy.h
index 0291b02d0..36077ec04 100644
--- a/pybind11/include/pybind11/numpy.h
+++ b/pybind11/include/pybind11/numpy.h
@@ -36,6 +36,8 @@ static_assert(std::is_signed<Py_intptr_t>::value, "Py_intptr_t must be signed");
 
 PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
 
+PYBIND11_WARNING_DISABLE_MSVC(4127)
+
 class array; // Forward declaration
 
 PYBIND11_NAMESPACE_BEGIN(detail)
@@ -537,7 +539,7 @@ PYBIND11_NAMESPACE_END(detail)
 
 class dtype : public object {
 public:
-    PYBIND11_OBJECT_DEFAULT(dtype, object, detail::npy_api::get().PyArrayDescr_Check_);
+    PYBIND11_OBJECT_DEFAULT(dtype, object, detail::npy_api::get().PyArrayDescr_Check_)
 
     explicit dtype(const buffer_info &info) {
         dtype descr(_dtype_from_pep3118()(pybind11::str(info.format)));
@@ -562,6 +564,8 @@ public:
         m_ptr = from_args(args).release().ptr();
     }
 
+    /// Return dtype for the given typenum (one of the NPY_TYPES).
+    /// https://numpy.org/devdocs/reference/c-api/array.html#c.PyArray_DescrFromType
     explicit dtype(int typenum)
         : object(detail::npy_api::get().PyArray_DescrFromType_(typenum), stolen_t{}) {
         if (m_ptr == nullptr) {
@@ -875,7 +879,7 @@ public:
      */
     template <typename T, ssize_t Dims = -1>
     detail::unchecked_mutable_reference<T, Dims> mutable_unchecked() & {
-        if (PYBIND11_SILENCE_MSVC_C4127(Dims >= 0) && ndim() != Dims) {
+        if (Dims >= 0 && ndim() != Dims) {
             throw std::domain_error("array has incorrect number of dimensions: "
                                     + std::to_string(ndim()) + "; expected "
                                     + std::to_string(Dims));
@@ -893,7 +897,7 @@ public:
      */
     template <typename T, ssize_t Dims = -1>
     detail::unchecked_reference<T, Dims> unchecked() const & {
-        if (PYBIND11_SILENCE_MSVC_C4127(Dims >= 0) && ndim() != Dims) {
+        if (Dims >= 0 && ndim() != Dims) {
             throw std::domain_error("array has incorrect number of dimensions: "
                                     + std::to_string(ndim()) + "; expected "
                                     + std::to_string(Dims));
@@ -1119,10 +1123,10 @@ public:
 
     /**
      * Returns a proxy object that provides const access to the array's data without bounds or
-     * dimensionality checking.  Unlike `unchecked()`, this does not require that the underlying
-     * array have the `writable` flag.  Use with care: the array must not be destroyed or reshaped
-     * for the duration of the returned object, and the caller must take care not to access invalid
-     * dimensions or dimension indices.
+     * dimensionality checking.  Unlike `mutable_unchecked()`, this does not require that the
+     * underlying array have the `writable` flag.  Use with care: the array must not be destroyed
+     * or reshaped for the duration of the returned object, and the caller must take care not to
+     * access invalid dimensions or dimension indices.
      */
     template <ssize_t Dims = -1>
     detail::unchecked_reference<T, Dims> unchecked() const & {
@@ -1281,12 +1285,16 @@ private:
 public:
     static constexpr int value = values[detail::is_fmt_numeric<T>::index];
 
-    static pybind11::dtype dtype() {
-        if (auto *ptr = npy_api::get().PyArray_DescrFromType_(value)) {
-            return reinterpret_steal<pybind11::dtype>(ptr);
-        }
-        pybind11_fail("Unsupported buffer format!");
-    }
+    static pybind11::dtype dtype() { return pybind11::dtype(/*typenum*/ value); }
+};
+
+template <typename T>
+struct npy_format_descriptor<T, enable_if_t<is_same_ignoring_cvref<T, PyObject *>::value>> {
+    static constexpr auto name = const_name("object");
+
+    static constexpr int value = npy_api::NPY_OBJECT_;
+
+    static pybind11::dtype dtype() { return pybind11::dtype(/*typenum*/ value); }
 };
 
 #define PYBIND11_DECL_CHAR_FMT                                                                    \
@@ -1401,7 +1409,7 @@ PYBIND11_NOINLINE void register_structured_dtype(any_container<field_descriptor>
     oss << '}';
     auto format_str = oss.str();
 
-    // Sanity check: verify that NumPy properly parses our buffer format string
+    // Smoke test: verify that NumPy properly parses our buffer format string
     auto &api = npy_api::get();
     auto arr = array(buffer_info(nullptr, itemsize, format_str, 1));
     if (!api.PyArray_EquivTypes_(dtype_ptr, arr.dtype().ptr())) {
@@ -1469,7 +1477,7 @@ private:
         }
 
 // Extract name, offset and format descriptor for a struct field
-#    define PYBIND11_FIELD_DESCRIPTOR(T, Field) PYBIND11_FIELD_DESCRIPTOR_EX(T, Field, #    Field)
+#    define PYBIND11_FIELD_DESCRIPTOR(T, Field) PYBIND11_FIELD_DESCRIPTOR_EX(T, Field, #Field)
 
 // The main idea of this macro is borrowed from https://github.com/swansontec/map-macro
 // (C) William Swanson, Paul Fultz
@@ -1866,8 +1874,13 @@ private:
 
         auto result = returned_array::create(trivial, shape);
 
+        PYBIND11_WARNING_PUSH
+#ifdef PYBIND11_DETECTED_CLANG_WITH_MISLEADING_CALL_STD_MOVE_EXPLICITLY_WARNING
+        PYBIND11_WARNING_DISABLE_CLANG("-Wreturn-std-move")
+#endif
+
         if (size == 0) {
-            return std::move(result);
+            return result;
         }
 
         /* Call the function */
@@ -1878,7 +1891,8 @@ private:
             apply_trivial(buffers, params, mutable_data, size, i_seq, vi_seq, bi_seq);
         }
 
-        return std::move(result);
+        return result;
+        PYBIND11_WARNING_POP
     }
 
     template <size_t... Index, size_t... VIndex, size_t... BIndex>
diff --git a/pybind11/include/pybind11/operators.h b/pybind11/include/pybind11/operators.h
index a0c3b78d6..16a88ae17 100644
--- a/pybind11/include/pybind11/operators.h
+++ b/pybind11/include/pybind11/operators.h
@@ -84,6 +84,7 @@ struct op_impl {};
 /// Operator implementation generator
 template <op_id id, op_type ot, typename L, typename R>
 struct op_ {
+    static constexpr bool op_enable_if_hook = true;
     template <typename Class, typename... Extra>
     void execute(Class &cl, const Extra &...extra) const {
         using Base = typename Class::type;
diff --git a/pybind11/include/pybind11/options.h b/pybind11/include/pybind11/options.h
index 1e493bdcc..1b2122522 100644
--- a/pybind11/include/pybind11/options.h
+++ b/pybind11/include/pybind11/options.h
@@ -47,6 +47,16 @@ public:
         return *this;
     }
 
+    options &disable_enum_members_docstring() & {
+        global_state().show_enum_members_docstring = false;
+        return *this;
+    }
+
+    options &enable_enum_members_docstring() & {
+        global_state().show_enum_members_docstring = true;
+        return *this;
+    }
+
     // Getter methods (return the global state):
 
     static bool show_user_defined_docstrings() {
@@ -55,6 +65,10 @@ public:
 
     static bool show_function_signatures() { return global_state().show_function_signatures; }
 
+    static bool show_enum_members_docstring() {
+        return global_state().show_enum_members_docstring;
+    }
+
     // This type is not meant to be allocated on the heap.
     void *operator new(size_t) = delete;
 
@@ -63,6 +77,8 @@ private:
         bool show_user_defined_docstrings = true; //< Include user-supplied texts in docstrings.
         bool show_function_signatures = true;     //< Include auto-generated function signatures
                                                   //  in docstrings.
+        bool show_enum_members_docstring = true;  //< Include auto-generated member list in enum
+                                                  //  docstrings.
     };
 
     static state &global_state() {
diff --git a/pybind11/include/pybind11/pybind11.h b/pybind11/include/pybind11/pybind11.h
index d61dcd5c7..3bce1a01b 100644
--- a/pybind11/include/pybind11/pybind11.h
+++ b/pybind11/include/pybind11/pybind11.h
@@ -35,6 +35,8 @@
 #    include <cxxabi.h>
 #endif
 
+PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
+
 /* https://stackoverflow.com/questions/46798456/handling-gccs-noexcept-type-warning
    This warning is about ABI compatibility, not code health.
    It is only actually needed in a couple places, but apparently GCC 7 "generates this warning if
@@ -43,11 +45,10 @@
    No other GCC version generates this warning.
  */
 #if defined(__GNUC__) && __GNUC__ == 7
-#    pragma GCC diagnostic push
-#    pragma GCC diagnostic ignored "-Wnoexcept-type"
+PYBIND11_WARNING_DISABLE_GCC("-Wnoexcept-type")
 #endif
 
-PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
+PYBIND11_WARNING_DISABLE_MSVC(4127)
 
 PYBIND11_NAMESPACE_BEGIN(detail)
 
@@ -83,6 +84,7 @@ public:
     cpp_function() = default;
     // NOLINTNEXTLINE(google-explicit-constructor)
     cpp_function(std::nullptr_t) {}
+    cpp_function(std::nullptr_t, const is_setter &) {}
 
     /// Construct a cpp_function from a vanilla function pointer
     template <typename Return, typename... Args, typename... Extra>
@@ -177,22 +179,22 @@ protected:
         auto *rec = unique_rec.get();
 
         /* Store the capture object directly in the function record if there is enough space */
-        if (PYBIND11_SILENCE_MSVC_C4127(sizeof(capture) <= sizeof(rec->data))) {
+        if (sizeof(capture) <= sizeof(rec->data)) {
             /* Without these pragmas, GCC warns that there might not be
                enough space to use the placement new operator. However, the
                'if' statement above ensures that this is the case. */
-#if defined(__GNUG__) && __GNUC__ >= 6 && !defined(__clang__) && !defined(__INTEL_COMPILER)
-#    pragma GCC diagnostic push
-#    pragma GCC diagnostic ignored "-Wplacement-new"
+            PYBIND11_WARNING_PUSH
+
+#if defined(__GNUG__) && __GNUC__ >= 6
+            PYBIND11_WARNING_DISABLE_GCC("-Wplacement-new")
 #endif
+
             new ((capture *) &rec->data) capture{std::forward<Func>(f)};
-#if defined(__GNUG__) && __GNUC__ >= 6 && !defined(__clang__) && !defined(__INTEL_COMPILER)
-#    pragma GCC diagnostic pop
-#endif
-#if defined(__GNUG__) && !PYBIND11_HAS_STD_LAUNDER && !defined(__INTEL_COMPILER)
-#    pragma GCC diagnostic push
-#    pragma GCC diagnostic ignored "-Wstrict-aliasing"
+
+#if !PYBIND11_HAS_STD_LAUNDER
+            PYBIND11_WARNING_DISABLE_GCC("-Wstrict-aliasing")
 #endif
+
             // UB without std::launder, but without breaking ABI and/or
             // a significant refactoring it's "impossible" to solve.
             if (!std::is_trivially_destructible<capture>::value) {
@@ -202,9 +204,7 @@ protected:
                     data->~capture();
                 };
             }
-#if defined(__GNUG__) && !PYBIND11_HAS_STD_LAUNDER && !defined(__INTEL_COMPILER)
-#    pragma GCC diagnostic pop
-#endif
+            PYBIND11_WARNING_POP
         } else {
             rec->data[0] = new capture{std::forward<Func>(f)};
             rec->free_data = [](function_record *r) { delete ((capture *) r->data[0]); };
@@ -245,10 +245,16 @@ protected:
             using Guard = extract_guard_t<Extra...>;
 
             /* Perform the function call */
-            handle result
-                = cast_out::cast(std::move(args_converter).template call<Return, Guard>(cap->f),
-                                 policy,
-                                 call.parent);
+            handle result;
+            if (call.func.is_setter) {
+                (void) std::move(args_converter).template call<Return, Guard>(cap->f);
+                result = none().release();
+            } else {
+                result = cast_out::cast(
+                    std::move(args_converter).template call<Return, Guard>(cap->f),
+                    policy,
+                    call.parent);
+            }
 
             /* Invoke call policy post-call hook */
             process_attributes<Extra...>::postcall(call, result);
@@ -468,13 +474,20 @@ protected:
         if (rec->sibling) {
             if (PyCFunction_Check(rec->sibling.ptr())) {
                 auto *self = PyCFunction_GET_SELF(rec->sibling.ptr());
-                capsule rec_capsule = isinstance<capsule>(self) ? reinterpret_borrow<capsule>(self)
-                                                                : capsule(self);
-                chain = (detail::function_record *) rec_capsule;
-                /* Never append a method to an overload chain of a parent class;
-                   instead, hide the parent's overloads in this case */
-                if (!chain->scope.is(rec->scope)) {
+                if (!isinstance<capsule>(self)) {
                     chain = nullptr;
+                } else {
+                    auto rec_capsule = reinterpret_borrow<capsule>(self);
+                    if (detail::is_function_record_capsule(rec_capsule)) {
+                        chain = rec_capsule.get_pointer<detail::function_record>();
+                        /* Never append a method to an overload chain of a parent class;
+                           instead, hide the parent's overloads in this case */
+                        if (!chain->scope.is(rec->scope)) {
+                            chain = nullptr;
+                        }
+                    } else {
+                        chain = nullptr;
+                    }
                 }
             }
             // Don't trigger for things like the default __init__, which are wrapper_descriptors
@@ -495,6 +508,7 @@ protected:
             rec->def->ml_flags = METH_VARARGS | METH_KEYWORDS;
 
             capsule rec_capsule(unique_rec.release(),
+                                detail::get_function_record_capsule_name(),
                                 [](void *ptr) { destruct((detail::function_record *) ptr); });
             guarded_strdup.release();
 
@@ -661,10 +675,13 @@ protected:
     /// Main dispatch logic for calls to functions bound using pybind11
     static PyObject *dispatcher(PyObject *self, PyObject *args_in, PyObject *kwargs_in) {
         using namespace detail;
+        assert(isinstance<capsule>(self));
 
         /* Iterator over the list of potentially admissible overloads */
-        const function_record *overloads = (function_record *) PyCapsule_GetPointer(self, nullptr),
+        const function_record *overloads = reinterpret_cast<function_record *>(
+                                  PyCapsule_GetPointer(self, get_function_record_capsule_name())),
                               *it = overloads;
+        assert(overloads != nullptr);
 
         /* Need to know how many arguments + keyword arguments there are to pick the right
            overload */
@@ -1416,9 +1433,9 @@ template <typename T, enable_if_t<has_operator_delete<T>::value, int> = 0>
 void call_operator_delete(T *p, size_t, size_t) {
     T::operator delete(p);
 }
-template <
-    typename T,
-    enable_if_t<!has_operator_delete<T>::value && has_operator_delete_size<T>::value, int> = 0>
+template <typename T,
+          enable_if_t<!has_operator_delete<T>::value && has_operator_delete_size<T>::value, int>
+          = 0>
 void call_operator_delete(T *p, size_t s, size_t) {
     T::operator delete(p, s);
 }
@@ -1578,14 +1595,14 @@ public:
         return *this;
     }
 
-    template <detail::op_id id, detail::op_type ot, typename L, typename R, typename... Extra>
-    class_ &def(const detail::op_<id, ot, L, R> &op, const Extra &...extra) {
+    template <typename T, typename... Extra, detail::enable_if_t<T::op_enable_if_hook, int> = 0>
+    class_ &def(const T &op, const Extra &...extra) {
         op.execute(*this, extra...);
         return *this;
     }
 
-    template <detail::op_id id, detail::op_type ot, typename L, typename R, typename... Extra>
-    class_ &def_cast(const detail::op_<id, ot, L, R> &op, const Extra &...extra) {
+    template <typename T, typename... Extra, detail::enable_if_t<T::op_enable_if_hook, int> = 0>
+    class_ &def_cast(const T &op, const Extra &...extra) {
         op.execute_cast(*this, extra...);
         return *this;
     }
@@ -1719,7 +1736,8 @@ public:
     template <typename Getter, typename Setter, typename... Extra>
     class_ &
     def_property(const char *name, const Getter &fget, const Setter &fset, const Extra &...extra) {
-        return def_property(name, fget, cpp_function(method_adaptor<type>(fset)), extra...);
+        return def_property(
+            name, fget, cpp_function(method_adaptor<type>(fset), is_setter()), extra...);
     }
     template <typename Getter, typename... Extra>
     class_ &def_property(const char *name,
@@ -1830,8 +1848,7 @@ private:
         if (holder_ptr) {
             init_holder_from_existing(v_h, holder_ptr, std::is_copy_constructible<holder_type>());
             v_h.set_holder_constructed();
-        } else if (PYBIND11_SILENCE_MSVC_C4127(detail::always_construct_holder<holder_type>::value)
-                   || inst->owned) {
+        } else if (detail::always_construct_holder<holder_type>::value || inst->owned) {
             new (std::addressof(v_h.holder<holder_type>())) holder_type(v_h.value_ptr<type>());
             v_h.set_holder_constructed();
         }
@@ -1871,9 +1888,22 @@ private:
 
     static detail::function_record *get_function_record(handle h) {
         h = detail::get_function(h);
-        return h ? (detail::function_record *) reinterpret_borrow<capsule>(
-                   PyCFunction_GET_SELF(h.ptr()))
-                 : nullptr;
+        if (!h) {
+            return nullptr;
+        }
+
+        handle func_self = PyCFunction_GET_SELF(h.ptr());
+        if (!func_self) {
+            throw error_already_set();
+        }
+        if (!isinstance<capsule>(func_self)) {
+            return nullptr;
+        }
+        auto cap = reinterpret_borrow<capsule>(func_self);
+        if (!detail::is_function_record_capsule(cap)) {
+            return nullptr;
+        }
+        return cap.get_pointer<detail::function_record>();
     }
 };
 
@@ -1950,29 +1980,35 @@ struct enum_base {
             name("name"),
             is_method(m_base));
 
-        m_base.attr("__doc__") = static_property(
-            cpp_function(
-                [](handle arg) -> std::string {
-                    std::string docstring;
-                    dict entries = arg.attr("__entries");
-                    if (((PyTypeObject *) arg.ptr())->tp_doc) {
-                        docstring += std::string(((PyTypeObject *) arg.ptr())->tp_doc) + "\n\n";
-                    }
-                    docstring += "Members:";
-                    for (auto kv : entries) {
-                        auto key = std::string(pybind11::str(kv.first));
-                        auto comment = kv.second[int_(1)];
-                        docstring += "\n\n  " + key;
-                        if (!comment.is_none()) {
-                            docstring += " : " + (std::string) pybind11::str(comment);
+        if (options::show_enum_members_docstring()) {
+            m_base.attr("__doc__") = static_property(
+                cpp_function(
+                    [](handle arg) -> std::string {
+                        std::string docstring;
+                        dict entries = arg.attr("__entries");
+                        if (((PyTypeObject *) arg.ptr())->tp_doc) {
+                            docstring += std::string(
+                                reinterpret_cast<PyTypeObject *>(arg.ptr())->tp_doc);
+                            docstring += "\n\n";
                         }
-                    }
-                    return docstring;
-                },
-                name("__doc__")),
-            none(),
-            none(),
-            "");
+                        docstring += "Members:";
+                        for (auto kv : entries) {
+                            auto key = std::string(pybind11::str(kv.first));
+                            auto comment = kv.second[int_(1)];
+                            docstring += "\n\n  ";
+                            docstring += key;
+                            if (!comment.is_none()) {
+                                docstring += " : ";
+                                docstring += pybind11::str(comment).cast<std::string>();
+                            }
+                        }
+                        return docstring;
+                    },
+                    name("__doc__")),
+                none(),
+                none(),
+                "");
+        }
 
         m_base.attr("__members__") = static_property(cpp_function(
                                                          [](handle arg) -> dict {
@@ -2073,7 +2109,7 @@ struct enum_base {
                               + "\" already exists!");
         }
 
-        entries[name] = std::make_pair(value, doc);
+        entries[name] = pybind11::make_tuple(value, doc);
         m_base.attr(std::move(name)) = std::move(value);
     }
 
@@ -2333,7 +2369,7 @@ template <typename Access,
           typename Sentinel,
           typename ValueType,
           typename... Extra>
-iterator make_iterator_impl(Iterator &&first, Sentinel &&last, Extra &&...extra) {
+iterator make_iterator_impl(Iterator first, Sentinel last, Extra &&...extra) {
     using state = detail::iterator_state<Access, Policy, Iterator, Sentinel, ValueType, Extra...>;
     // TODO: state captures only the types of Extra, not the values
 
@@ -2359,7 +2395,7 @@ iterator make_iterator_impl(Iterator &&first, Sentinel &&last, Extra &&...extra)
                 Policy);
     }
 
-    return cast(state{std::forward<Iterator>(first), std::forward<Sentinel>(last), true});
+    return cast(state{first, last, true});
 }
 
 PYBIND11_NAMESPACE_END(detail)
@@ -2370,15 +2406,13 @@ template <return_value_policy Policy = return_value_policy::reference_internal,
           typename Sentinel,
           typename ValueType = typename detail::iterator_access<Iterator>::result_type,
           typename... Extra>
-iterator make_iterator(Iterator &&first, Sentinel &&last, Extra &&...extra) {
+iterator make_iterator(Iterator first, Sentinel last, Extra &&...extra) {
     return detail::make_iterator_impl<detail::iterator_access<Iterator>,
                                       Policy,
                                       Iterator,
                                       Sentinel,
                                       ValueType,
-                                      Extra...>(std::forward<Iterator>(first),
-                                                std::forward<Sentinel>(last),
-                                                std::forward<Extra>(extra)...);
+                                      Extra...>(first, last, std::forward<Extra>(extra)...);
 }
 
 /// Makes a python iterator over the keys (`.first`) of a iterator over pairs from a
@@ -2388,15 +2422,13 @@ template <return_value_policy Policy = return_value_policy::reference_internal,
           typename Sentinel,
           typename KeyType = typename detail::iterator_key_access<Iterator>::result_type,
           typename... Extra>
-iterator make_key_iterator(Iterator &&first, Sentinel &&last, Extra &&...extra) {
+iterator make_key_iterator(Iterator first, Sentinel last, Extra &&...extra) {
     return detail::make_iterator_impl<detail::iterator_key_access<Iterator>,
                                       Policy,
                                       Iterator,
                                       Sentinel,
                                       KeyType,
-                                      Extra...>(std::forward<Iterator>(first),
-                                                std::forward<Sentinel>(last),
-                                                std::forward<Extra>(extra)...);
+                                      Extra...>(first, last, std::forward<Extra>(extra)...);
 }
 
 /// Makes a python iterator over the values (`.second`) of a iterator over pairs from a
@@ -2406,15 +2438,13 @@ template <return_value_policy Policy = return_value_policy::reference_internal,
           typename Sentinel,
           typename ValueType = typename detail::iterator_value_access<Iterator>::result_type,
           typename... Extra>
-iterator make_value_iterator(Iterator &&first, Sentinel &&last, Extra &&...extra) {
+iterator make_value_iterator(Iterator first, Sentinel last, Extra &&...extra) {
     return detail::make_iterator_impl<detail::iterator_value_access<Iterator>,
                                       Policy,
                                       Iterator,
                                       Sentinel,
                                       ValueType,
-                                      Extra...>(std::forward<Iterator>(first),
-                                                std::forward<Sentinel>(last),
-                                                std::forward<Extra>(extra)...);
+                                      Extra...>(first, last, std::forward<Extra>(extra)...);
 }
 
 /// Makes an iterator over values of an stl container or other container supporting
@@ -2858,7 +2888,3 @@ inline function get_overload(const T *this_ptr, const char *name) {
     PYBIND11_OVERRIDE_PURE(PYBIND11_TYPE(ret_type), PYBIND11_TYPE(cname), fn, __VA_ARGS__);
 
 PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
-
-#if defined(__GNUC__) && __GNUC__ == 7
-#    pragma GCC diagnostic pop // -Wnoexcept-type
-#endif
diff --git a/pybind11/include/pybind11/pytypes.h b/pybind11/include/pybind11/pytypes.h
index 339b0961e..64aad6347 100644
--- a/pybind11/include/pybind11/pytypes.h
+++ b/pybind11/include/pybind11/pytypes.h
@@ -33,6 +33,8 @@
 
 PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
 
+PYBIND11_WARNING_DISABLE_MSVC(4127)
+
 /* A few forward declarations */
 class handle;
 class object;
@@ -155,23 +157,23 @@ public:
     object operator-() const;
     object operator~() const;
     object operator+(object_api const &other) const;
-    object operator+=(object_api const &other) const;
+    object operator+=(object_api const &other);
     object operator-(object_api const &other) const;
-    object operator-=(object_api const &other) const;
+    object operator-=(object_api const &other);
     object operator*(object_api const &other) const;
-    object operator*=(object_api const &other) const;
+    object operator*=(object_api const &other);
     object operator/(object_api const &other) const;
-    object operator/=(object_api const &other) const;
+    object operator/=(object_api const &other);
     object operator|(object_api const &other) const;
-    object operator|=(object_api const &other) const;
+    object operator|=(object_api const &other);
     object operator&(object_api const &other) const;
-    object operator&=(object_api const &other) const;
+    object operator&=(object_api const &other);
     object operator^(object_api const &other) const;
-    object operator^=(object_api const &other) const;
+    object operator^=(object_api const &other);
     object operator<<(object_api const &other) const;
-    object operator<<=(object_api const &other) const;
+    object operator<<=(object_api const &other);
     object operator>>(object_api const &other) const;
-    object operator>>=(object_api const &other) const;
+    object operator>>=(object_api const &other);
 
     PYBIND11_DEPRECATED("Use py::str(obj) instead")
     pybind11::str str() const;
@@ -230,7 +232,8 @@ public:
         detail::enable_if_t<detail::all_of<detail::none_of<std::is_base_of<handle, T>,
                                                            detail::is_pyobj_ptr_or_nullptr_t<T>>,
                                            std::is_convertible<T, PyObject *>>::value,
-                            int> = 0>
+                            int>
+        = 0>
     // NOLINTNEXTLINE(google-explicit-constructor)
     handle(T &obj) : m_ptr(obj) {}
 
@@ -246,6 +249,11 @@ public:
     const handle &inc_ref() const & {
 #ifdef PYBIND11_HANDLE_REF_DEBUG
         inc_ref_counter(1);
+#endif
+#ifdef PYBIND11_ASSERT_GIL_HELD_INCREF_DECREF
+        if (m_ptr != nullptr && !PyGILState_Check()) {
+            throw_gilstate_error("pybind11::handle::inc_ref()");
+        }
 #endif
         Py_XINCREF(m_ptr);
         return *this;
@@ -257,6 +265,11 @@ public:
         this function automatically. Returns a reference to itself.
     \endrst */
     const handle &dec_ref() const & {
+#ifdef PYBIND11_ASSERT_GIL_HELD_INCREF_DECREF
+        if (m_ptr != nullptr && !PyGILState_Check()) {
+            throw_gilstate_error("pybind11::handle::dec_ref()");
+        }
+#endif
         Py_XDECREF(m_ptr);
         return *this;
     }
@@ -283,8 +296,33 @@ public:
 protected:
     PyObject *m_ptr = nullptr;
 
-#ifdef PYBIND11_HANDLE_REF_DEBUG
 private:
+#ifdef PYBIND11_ASSERT_GIL_HELD_INCREF_DECREF
+    void throw_gilstate_error(const std::string &function_name) const {
+        fprintf(
+            stderr,
+            "%s is being called while the GIL is either not held or invalid. Please see "
+            "https://pybind11.readthedocs.io/en/stable/advanced/"
+            "misc.html#common-sources-of-global-interpreter-lock-errors for debugging advice.\n"
+            "If you are convinced there is no bug in your code, you can #define "
+            "PYBIND11_NO_ASSERT_GIL_HELD_INCREF_DECREF"
+            "to disable this check. In that case you have to ensure this #define is consistently "
+            "used for all translation units linked into a given pybind11 extension, otherwise "
+            "there will be ODR violations.",
+            function_name.c_str());
+        fflush(stderr);
+        if (Py_TYPE(m_ptr)->tp_name != nullptr) {
+            fprintf(stderr,
+                    "The failing %s call was triggered on a %s object.\n",
+                    function_name.c_str(),
+                    Py_TYPE(m_ptr)->tp_name);
+            fflush(stderr);
+        }
+        throw std::runtime_error(function_name + " PyGILState_Check() failure.");
+    }
+#endif
+
+#ifdef PYBIND11_HANDLE_REF_DEBUG
     static std::size_t inc_ref_counter(std::size_t add) {
         thread_local std::size_t counter = 0;
         counter += add;
@@ -334,12 +372,15 @@ public:
     }
 
     object &operator=(const object &other) {
-        other.inc_ref();
-        // Use temporary variable to ensure `*this` remains valid while
-        // `Py_XDECREF` executes, in case `*this` is accessible from Python.
-        handle temp(m_ptr);
-        m_ptr = other.m_ptr;
-        temp.dec_ref();
+        // Skip inc_ref and dec_ref if both objects are the same
+        if (!this->is(other)) {
+            other.inc_ref();
+            // Use temporary variable to ensure `*this` remains valid while
+            // `Py_XDECREF` executes, in case `*this` is accessible from Python.
+            handle temp(m_ptr);
+            m_ptr = other.m_ptr;
+            temp.dec_ref();
+        }
         return *this;
     }
 
@@ -353,6 +394,20 @@ public:
         return *this;
     }
 
+#define PYBIND11_INPLACE_OP(iop)                                                                  \
+    object iop(object_api const &other) { return operator=(handle::iop(other)); }
+
+    PYBIND11_INPLACE_OP(operator+=)
+    PYBIND11_INPLACE_OP(operator-=)
+    PYBIND11_INPLACE_OP(operator*=)
+    PYBIND11_INPLACE_OP(operator/=)
+    PYBIND11_INPLACE_OP(operator|=)
+    PYBIND11_INPLACE_OP(operator&=)
+    PYBIND11_INPLACE_OP(operator^=)
+    PYBIND11_INPLACE_OP(operator<<=)
+    PYBIND11_INPLACE_OP(operator>>=)
+#undef PYBIND11_INPLACE_OP
+
     // Calling cast() on an object lvalue just copies (via handle::cast)
     template <typename T>
     T cast() const &;
@@ -413,7 +468,7 @@ PYBIND11_NAMESPACE_BEGIN(detail)
 
 // Equivalent to obj.__class__.__name__ (or obj.__name__ if obj is a class).
 inline const char *obj_class_name(PyObject *obj) {
-    if (Py_TYPE(obj) == &PyType_Type) {
+    if (PyType_Check(obj)) {
         return reinterpret_cast<PyTypeObject *>(obj)->tp_name;
     }
     return Py_TYPE(obj)->tp_name;
@@ -421,13 +476,24 @@ inline const char *obj_class_name(PyObject *obj) {
 
 std::string error_string();
 
+// The code in this struct is very unusual, to minimize the chances of
+// masking bugs (elsewhere) by errors during the error handling (here).
+// This is meant to be a lifeline for troubleshooting long-running processes
+// that crash under conditions that are virtually impossible to reproduce.
+// Low-level implementation alternatives are preferred to higher-level ones
+// that might raise cascading exceptions. Last-ditch-kind-of attempts are made
+// to report as much of the original error as possible, even if there are
+// secondary issues obtaining some of the details.
 struct error_fetch_and_normalize {
-    // Immediate normalization is long-established behavior (starting with
-    // https://github.com/pybind/pybind11/commit/135ba8deafb8bf64a15b24d1513899eb600e2011
-    // from Sep 2016) and safest. Normalization could be deferred, but this could mask
-    // errors elsewhere, the performance gain is very minor in typical situations
-    // (usually the dominant bottleneck is EH unwinding), and the implementation here
-    // would be more complex.
+    // This comment only applies to Python <= 3.11:
+    //     Immediate normalization is long-established behavior (starting with
+    //     https://github.com/pybind/pybind11/commit/135ba8deafb8bf64a15b24d1513899eb600e2011
+    //     from Sep 2016) and safest. Normalization could be deferred, but this could mask
+    //     errors elsewhere, the performance gain is very minor in typical situations
+    //     (usually the dominant bottleneck is EH unwinding), and the implementation here
+    //     would be more complex.
+    // Starting with Python 3.12, PyErr_Fetch() normalizes exceptions immediately.
+    // Any errors during normalization are tracked under __notes__.
     explicit error_fetch_and_normalize(const char *called) {
         PyErr_Fetch(&m_type.ptr(), &m_value.ptr(), &m_trace.ptr());
         if (!m_type) {
@@ -442,6 +508,14 @@ struct error_fetch_and_normalize {
                             "of the original active exception type.");
         }
         m_lazy_error_string = exc_type_name_orig;
+#if PY_VERSION_HEX >= 0x030C0000
+        // The presence of __notes__ is likely due to exception normalization
+        // errors, although that is not necessarily true, therefore insert a
+        // hint only:
+        if (PyObject_HasAttrString(m_value.ptr(), "__notes__")) {
+            m_lazy_error_string += "[WITH __notes__]";
+        }
+#else
         // PyErr_NormalizeException() may change the exception type if there are cascading
         // failures. This can potentially be extremely confusing.
         PyErr_NormalizeException(&m_type.ptr(), &m_value.ptr(), &m_trace.ptr());
@@ -451,11 +525,17 @@ struct error_fetch_and_normalize {
                             "active exception.");
         }
         const char *exc_type_name_norm = detail::obj_class_name(m_type.ptr());
-        if (exc_type_name_orig == nullptr) {
+        if (exc_type_name_norm == nullptr) {
             pybind11_fail("Internal error: " + std::string(called)
                           + " failed to obtain the name "
                             "of the normalized active exception type.");
         }
+#    if defined(PYPY_VERSION_NUM) && PYPY_VERSION_NUM < 0x07030a00
+        // This behavior runs the risk of masking errors in the error handling, but avoids a
+        // conflict with PyPy, which relies on the normalization here to change OSError to
+        // FileNotFoundError (https://github.com/pybind/pybind11/issues/4075).
+        m_lazy_error_string = exc_type_name_norm;
+#    else
         if (exc_type_name_norm != m_lazy_error_string) {
             std::string msg = std::string(called)
                               + ": MISMATCH of original and normalized "
@@ -467,6 +547,8 @@ struct error_fetch_and_normalize {
             msg += ": " + format_value_and_trace();
             pybind11_fail(msg);
         }
+#    endif
+#endif
     }
 
     error_fetch_and_normalize(const error_fetch_and_normalize &) = delete;
@@ -477,12 +559,64 @@ struct error_fetch_and_normalize {
         std::string message_error_string;
         if (m_value) {
             auto value_str = reinterpret_steal<object>(PyObject_Str(m_value.ptr()));
+            constexpr const char *message_unavailable_exc
+                = "<MESSAGE UNAVAILABLE DUE TO ANOTHER EXCEPTION>";
             if (!value_str) {
                 message_error_string = detail::error_string();
-                result = "<MESSAGE UNAVAILABLE DUE TO ANOTHER EXCEPTION>";
+                result = message_unavailable_exc;
             } else {
-                result = value_str.cast<std::string>();
+                // Not using `value_str.cast<std::string>()`, to not potentially throw a secondary
+                // error_already_set that will then result in process termination (#4288).
+                auto value_bytes = reinterpret_steal<object>(
+                    PyUnicode_AsEncodedString(value_str.ptr(), "utf-8", "backslashreplace"));
+                if (!value_bytes) {
+                    message_error_string = detail::error_string();
+                    result = message_unavailable_exc;
+                } else {
+                    char *buffer = nullptr;
+                    Py_ssize_t length = 0;
+                    if (PyBytes_AsStringAndSize(value_bytes.ptr(), &buffer, &length) == -1) {
+                        message_error_string = detail::error_string();
+                        result = message_unavailable_exc;
+                    } else {
+                        result = std::string(buffer, static_cast<std::size_t>(length));
+                    }
+                }
             }
+#if PY_VERSION_HEX >= 0x030B0000
+            auto notes
+                = reinterpret_steal<object>(PyObject_GetAttrString(m_value.ptr(), "__notes__"));
+            if (!notes) {
+                PyErr_Clear(); // No notes is good news.
+            } else {
+                auto len_notes = PyList_Size(notes.ptr());
+                if (len_notes < 0) {
+                    result += "\nFAILURE obtaining len(__notes__): " + detail::error_string();
+                } else {
+                    result += "\n__notes__ (len=" + std::to_string(len_notes) + "):";
+                    for (ssize_t i = 0; i < len_notes; i++) {
+                        PyObject *note = PyList_GET_ITEM(notes.ptr(), i);
+                        auto note_bytes = reinterpret_steal<object>(
+                            PyUnicode_AsEncodedString(note, "utf-8", "backslashreplace"));
+                        if (!note_bytes) {
+                            result += "\nFAILURE obtaining __notes__[" + std::to_string(i)
+                                      + "]: " + detail::error_string();
+                        } else {
+                            char *buffer = nullptr;
+                            Py_ssize_t length = 0;
+                            if (PyBytes_AsStringAndSize(note_bytes.ptr(), &buffer, &length)
+                                == -1) {
+                                result += "\nFAILURE formatting __notes__[" + std::to_string(i)
+                                          + "]: " + detail::error_string();
+                            } else {
+                                result += '\n';
+                                result += std::string(buffer, static_cast<std::size_t>(length));
+                            }
+                        }
+                    }
+                }
+            }
+#endif
         } else {
             result = "<MESSAGE UNAVAILABLE>";
         }
@@ -581,12 +715,6 @@ inline std::string error_string() {
 
 PYBIND11_NAMESPACE_END(detail)
 
-#if defined(_MSC_VER)
-#    pragma warning(push)
-#    pragma warning(disable : 4275 4251)
-//     warning C4275: An exported class was derived from a class that wasn't exported.
-//     Can be ignored when derived from a STL class.
-#endif
 /// Fetch and hold an error which was already set in Python.  An instance of this is typically
 /// thrown to propagate python-side errors back through C++ which can either be caught manually or
 /// else falls back to the function dispatcher (which then raises the captured error back to
@@ -646,9 +774,6 @@ private:
     ///          crashes (undefined behavior) if the Python interpreter is finalizing.
     static void m_fetched_error_deleter(detail::error_fetch_and_normalize *raw_ptr);
 };
-#if defined(_MSC_VER)
-#    pragma warning(pop)
-#endif
 
 /// Replaces the current Python error indicator with the chosen error, performing a
 /// 'raise from' to indicate that the chosen error was caused by the original error.
@@ -851,10 +976,8 @@ object object_or_cast(T &&o);
 // Match a PyObject*, which we want to convert directly to handle via its converting constructor
 inline handle object_or_cast(PyObject *ptr) { return ptr; }
 
-#if defined(_MSC_VER) && _MSC_VER < 1920
-#    pragma warning(push)
-#    pragma warning(disable : 4522) // warning C4522: multiple assignment operators specified
-#endif
+PYBIND11_WARNING_PUSH
+PYBIND11_WARNING_DISABLE_MSVC(4522) // warning C4522: multiple assignment operators specified
 template <typename Policy>
 class accessor : public object_api<accessor<Policy>> {
     using key_type = typename Policy::key_type;
@@ -918,9 +1041,7 @@ private:
     key_type key;
     mutable object cache;
 };
-#if defined(_MSC_VER) && _MSC_VER < 1920
-#    pragma warning(pop)
-#endif
+PYBIND11_WARNING_POP
 
 PYBIND11_NAMESPACE_BEGIN(accessor_policies)
 struct obj_attr {
@@ -1266,7 +1387,7 @@ public:
 
 #define PYBIND11_OBJECT_CVT_DEFAULT(Name, Parent, CheckFun, ConvertFun)                           \
     PYBIND11_OBJECT_CVT(Name, Parent, CheckFun, ConvertFun)                                       \
-    Name() : Parent() {}
+    Name() = default;
 
 #define PYBIND11_OBJECT_CHECK_FAILED(Name, o_ptr)                                                 \
     ::pybind11::type_error("Object of type '"                                                     \
@@ -1289,7 +1410,7 @@ public:
 
 #define PYBIND11_OBJECT_DEFAULT(Name, Parent, CheckFun)                                           \
     PYBIND11_OBJECT(Name, Parent, CheckFun)                                                       \
-    Name() : Parent() {}
+    Name() = default;
 
 /// \addtogroup pytypes
 /// @{
@@ -1358,7 +1479,7 @@ public:
 private:
     void advance() {
         value = reinterpret_steal<object>(PyIter_Next(m_ptr));
-        if (PyErr_Occurred()) {
+        if (value.ptr() == nullptr && PyErr_Occurred()) {
             throw error_already_set();
         }
     }
@@ -1408,6 +1529,9 @@ public:
     str(const char *c, const SzType &n)
         : object(PyUnicode_FromStringAndSize(c, ssize_t_cast(n)), stolen_t{}) {
         if (!m_ptr) {
+            if (PyErr_Occurred()) {
+                throw error_already_set();
+            }
             pybind11_fail("Could not allocate string object!");
         }
     }
@@ -1417,6 +1541,9 @@ public:
     // NOLINTNEXTLINE(google-explicit-constructor)
     str(const char *c = "") : object(PyUnicode_FromString(c), stolen_t{}) {
         if (!m_ptr) {
+            if (PyErr_Occurred()) {
+                throw error_already_set();
+            }
             pybind11_fail("Could not allocate string object!");
         }
     }
@@ -1574,6 +1701,9 @@ inline str::str(const bytes &b) {
     }
     auto obj = reinterpret_steal<object>(PyUnicode_FromStringAndSize(buffer, length));
     if (!obj) {
+        if (PyErr_Occurred()) {
+            throw error_already_set();
+        }
         pybind11_fail("Could not allocate string object!");
     }
     m_ptr = obj.release().ptr();
@@ -1651,7 +1781,7 @@ PYBIND11_NAMESPACE_BEGIN(detail)
 // unsigned type: (A)-1 != (B)-1 when A and B are unsigned types of different sizes).
 template <typename Unsigned>
 Unsigned as_unsigned(PyObject *o) {
-    if (PYBIND11_SILENCE_MSVC_C4127(sizeof(Unsigned) <= sizeof(unsigned long))) {
+    if (sizeof(Unsigned) <= sizeof(unsigned long)) {
         unsigned long v = PyLong_AsUnsignedLong(o);
         return v == (unsigned long) -1 && PyErr_Occurred() ? (Unsigned) -1 : (Unsigned) v;
     }
@@ -1668,7 +1798,7 @@ public:
     template <typename T, detail::enable_if_t<std::is_integral<T>::value, int> = 0>
     // NOLINTNEXTLINE(google-explicit-constructor)
     int_(T value) {
-        if (PYBIND11_SILENCE_MSVC_C4127(sizeof(T) <= sizeof(long))) {
+        if (sizeof(T) <= sizeof(long)) {
             if (std::is_signed<T>::value) {
                 m_ptr = PyLong_FromLong((long) value);
             } else {
@@ -1785,43 +1915,28 @@ public:
 
     explicit capsule(const void *value,
                      const char *name = nullptr,
-                     void (*destructor)(PyObject *) = nullptr)
+                     PyCapsule_Destructor destructor = nullptr)
         : object(PyCapsule_New(const_cast<void *>(value), name, destructor), stolen_t{}) {
         if (!m_ptr) {
             throw error_already_set();
         }
     }
 
-    PYBIND11_DEPRECATED("Please pass a destructor that takes a void pointer as input")
-    capsule(const void *value, void (*destruct)(PyObject *))
-        : object(PyCapsule_New(const_cast<void *>(value), nullptr, destruct), stolen_t{}) {
+    PYBIND11_DEPRECATED("Please use the ctor with value, name, destructor args")
+    capsule(const void *value, PyCapsule_Destructor destructor)
+        : object(PyCapsule_New(const_cast<void *>(value), nullptr, destructor), stolen_t{}) {
         if (!m_ptr) {
             throw error_already_set();
         }
     }
 
+    /// Capsule name is nullptr.
     capsule(const void *value, void (*destructor)(void *)) {
-        m_ptr = PyCapsule_New(const_cast<void *>(value), nullptr, [](PyObject *o) {
-            // guard if destructor called while err indicator is set
-            error_scope error_guard;
-            auto destructor = reinterpret_cast<void (*)(void *)>(PyCapsule_GetContext(o));
-            if (destructor == nullptr) {
-                if (PyErr_Occurred()) {
-                    throw error_already_set();
-                }
-                pybind11_fail("Unable to get capsule context");
-            }
-            const char *name = get_name_in_error_scope(o);
-            void *ptr = PyCapsule_GetPointer(o, name);
-            if (ptr == nullptr) {
-                throw error_already_set();
-            }
-            destructor(ptr);
-        });
+        initialize_with_void_ptr_destructor(value, nullptr, destructor);
+    }
 
-        if (!m_ptr || PyCapsule_SetContext(m_ptr, (void *) destructor) != 0) {
-            throw error_already_set();
-        }
+    capsule(const void *value, const char *name, void (*destructor)(void *)) {
+        initialize_with_void_ptr_destructor(value, name, destructor);
     }
 
     explicit capsule(void (*destructor)()) {
@@ -1889,6 +2004,32 @@ private:
 
         return name;
     }
+
+    void initialize_with_void_ptr_destructor(const void *value,
+                                             const char *name,
+                                             void (*destructor)(void *)) {
+        m_ptr = PyCapsule_New(const_cast<void *>(value), name, [](PyObject *o) {
+            // guard if destructor called while err indicator is set
+            error_scope error_guard;
+            auto destructor = reinterpret_cast<void (*)(void *)>(PyCapsule_GetContext(o));
+            if (destructor == nullptr && PyErr_Occurred()) {
+                throw error_already_set();
+            }
+            const char *name = get_name_in_error_scope(o);
+            void *ptr = PyCapsule_GetPointer(o, name);
+            if (ptr == nullptr) {
+                throw error_already_set();
+            }
+
+            if (destructor != nullptr) {
+                destructor(ptr);
+            }
+        });
+
+        if (!m_ptr || PyCapsule_SetContext(m_ptr, reinterpret_cast<void *>(destructor)) != 0) {
+            throw error_already_set();
+        }
+    }
 };
 
 class tuple : public object {
@@ -1943,7 +2084,11 @@ public:
     void clear() /* py-non-const */ { PyDict_Clear(ptr()); }
     template <typename T>
     bool contains(T &&key) const {
-        return PyDict_Contains(m_ptr, detail::object_or_cast(std::forward<T>(key)).ptr()) == 1;
+        auto result = PyDict_Contains(m_ptr, detail::object_or_cast(std::forward<T>(key)).ptr());
+        if (result == -1) {
+            throw error_already_set();
+        }
+        return result == 1;
     }
 
 private:
@@ -1998,14 +2143,20 @@ public:
     detail::list_iterator end() const { return {*this, PyList_GET_SIZE(m_ptr)}; }
     template <typename T>
     void append(T &&val) /* py-non-const */ {
-        PyList_Append(m_ptr, detail::object_or_cast(std::forward<T>(val)).ptr());
+        if (PyList_Append(m_ptr, detail::object_or_cast(std::forward<T>(val)).ptr()) != 0) {
+            throw error_already_set();
+        }
     }
     template <typename IdxType,
               typename ValType,
               detail::enable_if_t<std::is_integral<IdxType>::value, int> = 0>
     void insert(const IdxType &index, ValType &&val) /* py-non-const */ {
-        PyList_Insert(
-            m_ptr, ssize_t_cast(index), detail::object_or_cast(std::forward<ValType>(val)).ptr());
+        if (PyList_Insert(m_ptr,
+                          ssize_t_cast(index),
+                          detail::object_or_cast(std::forward<ValType>(val)).ptr())
+            != 0) {
+            throw error_already_set();
+        }
     }
 };
 
@@ -2023,7 +2174,11 @@ public:
     bool empty() const { return size() == 0; }
     template <typename T>
     bool contains(T &&val) const {
-        return PySet_Contains(m_ptr, detail::object_or_cast(std::forward<T>(val)).ptr()) == 1;
+        auto result = PySet_Contains(m_ptr, detail::object_or_cast(std::forward<T>(val)).ptr());
+        if (result == -1) {
+            throw error_already_set();
+        }
+        return result == 1;
     }
 };
 
@@ -2364,29 +2519,39 @@ bool object_api<D>::rich_compare(object_api const &other, int value) const {
         return result;                                                                            \
     }
 
+#define PYBIND11_MATH_OPERATOR_BINARY_INPLACE(iop, fn)                                            \
+    template <typename D>                                                                         \
+    object object_api<D>::iop(object_api const &other) {                                          \
+        object result = reinterpret_steal<object>(fn(derived().ptr(), other.derived().ptr()));    \
+        if (!result.ptr())                                                                        \
+            throw error_already_set();                                                            \
+        return result;                                                                            \
+    }
+
 PYBIND11_MATH_OPERATOR_UNARY(operator~, PyNumber_Invert)
 PYBIND11_MATH_OPERATOR_UNARY(operator-, PyNumber_Negative)
 PYBIND11_MATH_OPERATOR_BINARY(operator+, PyNumber_Add)
-PYBIND11_MATH_OPERATOR_BINARY(operator+=, PyNumber_InPlaceAdd)
+PYBIND11_MATH_OPERATOR_BINARY_INPLACE(operator+=, PyNumber_InPlaceAdd)
 PYBIND11_MATH_OPERATOR_BINARY(operator-, PyNumber_Subtract)
-PYBIND11_MATH_OPERATOR_BINARY(operator-=, PyNumber_InPlaceSubtract)
+PYBIND11_MATH_OPERATOR_BINARY_INPLACE(operator-=, PyNumber_InPlaceSubtract)
 PYBIND11_MATH_OPERATOR_BINARY(operator*, PyNumber_Multiply)
-PYBIND11_MATH_OPERATOR_BINARY(operator*=, PyNumber_InPlaceMultiply)
+PYBIND11_MATH_OPERATOR_BINARY_INPLACE(operator*=, PyNumber_InPlaceMultiply)
 PYBIND11_MATH_OPERATOR_BINARY(operator/, PyNumber_TrueDivide)
-PYBIND11_MATH_OPERATOR_BINARY(operator/=, PyNumber_InPlaceTrueDivide)
+PYBIND11_MATH_OPERATOR_BINARY_INPLACE(operator/=, PyNumber_InPlaceTrueDivide)
 PYBIND11_MATH_OPERATOR_BINARY(operator|, PyNumber_Or)
-PYBIND11_MATH_OPERATOR_BINARY(operator|=, PyNumber_InPlaceOr)
+PYBIND11_MATH_OPERATOR_BINARY_INPLACE(operator|=, PyNumber_InPlaceOr)
 PYBIND11_MATH_OPERATOR_BINARY(operator&, PyNumber_And)
-PYBIND11_MATH_OPERATOR_BINARY(operator&=, PyNumber_InPlaceAnd)
+PYBIND11_MATH_OPERATOR_BINARY_INPLACE(operator&=, PyNumber_InPlaceAnd)
 PYBIND11_MATH_OPERATOR_BINARY(operator^, PyNumber_Xor)
-PYBIND11_MATH_OPERATOR_BINARY(operator^=, PyNumber_InPlaceXor)
+PYBIND11_MATH_OPERATOR_BINARY_INPLACE(operator^=, PyNumber_InPlaceXor)
 PYBIND11_MATH_OPERATOR_BINARY(operator<<, PyNumber_Lshift)
-PYBIND11_MATH_OPERATOR_BINARY(operator<<=, PyNumber_InPlaceLshift)
+PYBIND11_MATH_OPERATOR_BINARY_INPLACE(operator<<=, PyNumber_InPlaceLshift)
 PYBIND11_MATH_OPERATOR_BINARY(operator>>, PyNumber_Rshift)
-PYBIND11_MATH_OPERATOR_BINARY(operator>>=, PyNumber_InPlaceRshift)
+PYBIND11_MATH_OPERATOR_BINARY_INPLACE(operator>>=, PyNumber_InPlaceRshift)
 
 #undef PYBIND11_MATH_OPERATOR_UNARY
 #undef PYBIND11_MATH_OPERATOR_BINARY
+#undef PYBIND11_MATH_OPERATOR_BINARY_INPLACE
 
 PYBIND11_NAMESPACE_END(detail)
 PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
diff --git a/pybind11/include/pybind11/stl.h b/pybind11/include/pybind11/stl.h
index ab30ecac0..f39f44f7c 100644
--- a/pybind11/include/pybind11/stl.h
+++ b/pybind11/include/pybind11/stl.h
@@ -45,21 +45,35 @@ using forwarded_type = conditional_t<std::is_lvalue_reference<T>::value,
 /// Forwards a value U as rvalue or lvalue according to whether T is rvalue or lvalue; typically
 /// used for forwarding a container's elements.
 template <typename T, typename U>
-forwarded_type<T, U> forward_like(U &&u) {
+constexpr forwarded_type<T, U> forward_like(U &&u) {
     return std::forward<detail::forwarded_type<T, U>>(std::forward<U>(u));
 }
 
+// Checks if a container has a STL style reserve method.
+// This will only return true for a `reserve()` with a `void` return.
+template <typename C>
+using has_reserve_method = std::is_same<decltype(std::declval<C>().reserve(0)), void>;
+
 template <typename Type, typename Key>
 struct set_caster {
     using type = Type;
     using key_conv = make_caster<Key>;
 
+private:
+    template <typename T = Type, enable_if_t<has_reserve_method<T>::value, int> = 0>
+    void reserve_maybe(const anyset &s, Type *) {
+        value.reserve(s.size());
+    }
+    void reserve_maybe(const anyset &, void *) {}
+
+public:
     bool load(handle src, bool convert) {
         if (!isinstance<anyset>(src)) {
             return false;
         }
         auto s = reinterpret_borrow<anyset>(src);
         value.clear();
+        reserve_maybe(s, &value);
         for (auto entry : s) {
             key_conv conv;
             if (!conv.load(entry, convert)) {
@@ -78,7 +92,7 @@ struct set_caster {
         pybind11::set s;
         for (auto &&value : src) {
             auto value_ = reinterpret_steal<object>(
-                key_conv::cast(forward_like<T>(value), policy, parent));
+                key_conv::cast(detail::forward_like<T>(value), policy, parent));
             if (!value_ || !s.add(std::move(value_))) {
                 return handle();
             }
@@ -94,12 +108,21 @@ struct map_caster {
     using key_conv = make_caster<Key>;
     using value_conv = make_caster<Value>;
 
+private:
+    template <typename T = Type, enable_if_t<has_reserve_method<T>::value, int> = 0>
+    void reserve_maybe(const dict &d, Type *) {
+        value.reserve(d.size());
+    }
+    void reserve_maybe(const dict &, void *) {}
+
+public:
     bool load(handle src, bool convert) {
         if (!isinstance<dict>(src)) {
             return false;
         }
         auto d = reinterpret_borrow<dict>(src);
         value.clear();
+        reserve_maybe(d, &value);
         for (auto it : d) {
             key_conv kconv;
             value_conv vconv;
@@ -122,9 +145,9 @@ struct map_caster {
         }
         for (auto &&kv : src) {
             auto key = reinterpret_steal<object>(
-                key_conv::cast(forward_like<T>(kv.first), policy_key, parent));
+                key_conv::cast(detail::forward_like<T>(kv.first), policy_key, parent));
             auto value = reinterpret_steal<object>(
-                value_conv::cast(forward_like<T>(kv.second), policy_value, parent));
+                value_conv::cast(detail::forward_like<T>(kv.second), policy_value, parent));
             if (!key || !value) {
                 return handle();
             }
@@ -160,9 +183,7 @@ struct list_caster {
     }
 
 private:
-    template <
-        typename T = Type,
-        enable_if_t<std::is_same<decltype(std::declval<T>().reserve(0)), void>::value, int> = 0>
+    template <typename T = Type, enable_if_t<has_reserve_method<T>::value, int> = 0>
     void reserve_maybe(const sequence &s, Type *) {
         value.reserve(s.size());
     }
@@ -178,7 +199,7 @@ public:
         ssize_t index = 0;
         for (auto &&value : src) {
             auto value_ = reinterpret_steal<object>(
-                value_conv::cast(forward_like<T>(value), policy, parent));
+                value_conv::cast(detail::forward_like<T>(value), policy, parent));
             if (!value_) {
                 return handle();
             }
@@ -242,7 +263,7 @@ public:
         ssize_t index = 0;
         for (auto &&value : src) {
             auto value_ = reinterpret_steal<object>(
-                value_conv::cast(forward_like<T>(value), policy, parent));
+                value_conv::cast(detail::forward_like<T>(value), policy, parent));
             if (!value_) {
                 return handle();
             }
@@ -252,11 +273,11 @@ public:
     }
 
     PYBIND11_TYPE_CASTER(ArrayType,
-                         const_name("List[") + value_conv::name
+                         const_name<Resizable>(const_name(""), const_name("Annotated["))
+                             + const_name("List[") + value_conv::name + const_name("]")
                              + const_name<Resizable>(const_name(""),
-                                                     const_name("[") + const_name<Size>()
-                                                         + const_name("]"))
-                             + const_name("]"));
+                                                     const_name(", FixedSize(")
+                                                         + const_name<Size>() + const_name(")]")));
 };
 
 template <typename Type, size_t Size>
@@ -290,11 +311,12 @@ struct optional_caster {
     template <typename T>
     static handle cast(T &&src, return_value_policy policy, handle parent) {
         if (!src) {
-            return none().inc_ref();
+            return none().release();
         }
         if (!std::is_lvalue_reference<T>::value) {
             policy = return_value_policy_override<Value>::policy(policy);
         }
+        // NOLINTNEXTLINE(bugprone-unchecked-optional-access)
         return value_conv::cast(*std::forward<T>(src), policy, parent);
     }
 
diff --git a/pybind11/include/pybind11/stl_bind.h b/pybind11/include/pybind11/stl_bind.h
index 22a29b476..49f1b7782 100644
--- a/pybind11/include/pybind11/stl_bind.h
+++ b/pybind11/include/pybind11/stl_bind.h
@@ -10,10 +10,13 @@
 #pragma once
 
 #include "detail/common.h"
+#include "detail/type_caster_base.h"
+#include "cast.h"
 #include "operators.h"
 
 #include <algorithm>
 #include <sstream>
+#include <type_traits>
 
 PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
 PYBIND11_NAMESPACE_BEGIN(detail)
@@ -58,9 +61,11 @@ struct is_comparable<
 /* For a vector/map data structure, recursively check the value type
    (which is std::pair for maps) */
 template <typename T>
-struct is_comparable<T, enable_if_t<container_traits<T>::is_vector>> {
-    static constexpr const bool value = is_comparable<typename T::value_type>::value;
-};
+struct is_comparable<T, enable_if_t<container_traits<T>::is_vector>>
+    : is_comparable<typename recursive_container_traits<T>::type_to_check_recursively> {};
+
+template <>
+struct is_comparable<recursive_bottom> : std::true_type {};
 
 /* For pairs, recursively check the two data types */
 template <typename T>
@@ -352,13 +357,17 @@ void vector_accessor(enable_if_t<vector_needs_copy<Vector>::value, Class_> &cl)
     using DiffType = typename Vector::difference_type;
     using ItType = typename Vector::iterator;
     cl.def("__getitem__", [](const Vector &v, DiffType i) -> T {
-        if (i < 0 && (i += v.size()) < 0) {
+        if (i < 0) {
+            i += v.size();
+            if (i < 0) {
+                throw index_error();
+            }
+        }
+        auto i_st = static_cast<SizeType>(i);
+        if (i_st >= v.size()) {
             throw index_error();
         }
-        if ((SizeType) i >= v.size()) {
-            throw index_error();
-        }
-        return v[(SizeType) i];
+        return v[i_st];
     });
 
     cl.def(
@@ -636,18 +645,52 @@ auto map_if_insertion_operator(Class_ &cl, std::string const &name)
         "Return the canonical string representation of this map.");
 }
 
-template <typename Map>
+template <typename KeyType>
 struct keys_view {
-    Map &map;
+    virtual size_t len() = 0;
+    virtual iterator iter() = 0;
+    virtual bool contains(const KeyType &k) = 0;
+    virtual bool contains(const object &k) = 0;
+    virtual ~keys_view() = default;
 };
 
-template <typename Map>
+template <typename MappedType>
 struct values_view {
+    virtual size_t len() = 0;
+    virtual iterator iter() = 0;
+    virtual ~values_view() = default;
+};
+
+template <typename KeyType, typename MappedType>
+struct items_view {
+    virtual size_t len() = 0;
+    virtual iterator iter() = 0;
+    virtual ~items_view() = default;
+};
+
+template <typename Map, typename KeysView>
+struct KeysViewImpl : public KeysView {
+    explicit KeysViewImpl(Map &map) : map(map) {}
+    size_t len() override { return map.size(); }
+    iterator iter() override { return make_key_iterator(map.begin(), map.end()); }
+    bool contains(const typename Map::key_type &k) override { return map.find(k) != map.end(); }
+    bool contains(const object &) override { return false; }
     Map &map;
 };
 
-template <typename Map>
-struct items_view {
+template <typename Map, typename ValuesView>
+struct ValuesViewImpl : public ValuesView {
+    explicit ValuesViewImpl(Map &map) : map(map) {}
+    size_t len() override { return map.size(); }
+    iterator iter() override { return make_value_iterator(map.begin(), map.end()); }
+    Map &map;
+};
+
+template <typename Map, typename ItemsView>
+struct ItemsViewImpl : public ItemsView {
+    explicit ItemsViewImpl(Map &map) : map(map) {}
+    size_t len() override { return map.size(); }
+    iterator iter() override { return make_iterator(map.begin(), map.end()); }
     Map &map;
 };
 
@@ -657,9 +700,11 @@ template <typename Map, typename holder_type = std::unique_ptr<Map>, typename...
 class_<Map, holder_type> bind_map(handle scope, const std::string &name, Args &&...args) {
     using KeyType = typename Map::key_type;
     using MappedType = typename Map::mapped_type;
-    using KeysView = detail::keys_view<Map>;
-    using ValuesView = detail::values_view<Map>;
-    using ItemsView = detail::items_view<Map>;
+    using StrippedKeyType = detail::remove_cvref_t<KeyType>;
+    using StrippedMappedType = detail::remove_cvref_t<MappedType>;
+    using KeysView = detail::keys_view<StrippedKeyType>;
+    using ValuesView = detail::values_view<StrippedMappedType>;
+    using ItemsView = detail::items_view<StrippedKeyType, StrippedMappedType>;
     using Class_ = class_<Map, holder_type>;
 
     // If either type is a non-module-local bound type then make the map binding non-local as well;
@@ -673,12 +718,57 @@ class_<Map, holder_type> bind_map(handle scope, const std::string &name, Args &&
     }
 
     Class_ cl(scope, name.c_str(), pybind11::module_local(local), std::forward<Args>(args)...);
-    class_<KeysView> keys_view(
-        scope, ("KeysView[" + name + "]").c_str(), pybind11::module_local(local));
-    class_<ValuesView> values_view(
-        scope, ("ValuesView[" + name + "]").c_str(), pybind11::module_local(local));
-    class_<ItemsView> items_view(
-        scope, ("ItemsView[" + name + "]").c_str(), pybind11::module_local(local));
+    static constexpr auto key_type_descr = detail::make_caster<KeyType>::name;
+    static constexpr auto mapped_type_descr = detail::make_caster<MappedType>::name;
+    std::string key_type_name(key_type_descr.text), mapped_type_name(mapped_type_descr.text);
+
+    // If key type isn't properly wrapped, fall back to C++ names
+    if (key_type_name == "%") {
+        key_type_name = detail::type_info_description(typeid(KeyType));
+    }
+    // Similarly for value type:
+    if (mapped_type_name == "%") {
+        mapped_type_name = detail::type_info_description(typeid(MappedType));
+    }
+
+    // Wrap KeysView[KeyType] if it wasn't already wrapped
+    if (!detail::get_type_info(typeid(KeysView))) {
+        class_<KeysView> keys_view(
+            scope, ("KeysView[" + key_type_name + "]").c_str(), pybind11::module_local(local));
+        keys_view.def("__len__", &KeysView::len);
+        keys_view.def("__iter__",
+                      &KeysView::iter,
+                      keep_alive<0, 1>() /* Essential: keep view alive while iterator exists */
+        );
+        keys_view.def("__contains__",
+                      static_cast<bool (KeysView::*)(const KeyType &)>(&KeysView::contains));
+        // Fallback for when the object is not of the key type
+        keys_view.def("__contains__",
+                      static_cast<bool (KeysView::*)(const object &)>(&KeysView::contains));
+    }
+    // Similarly for ValuesView:
+    if (!detail::get_type_info(typeid(ValuesView))) {
+        class_<ValuesView> values_view(scope,
+                                       ("ValuesView[" + mapped_type_name + "]").c_str(),
+                                       pybind11::module_local(local));
+        values_view.def("__len__", &ValuesView::len);
+        values_view.def("__iter__",
+                        &ValuesView::iter,
+                        keep_alive<0, 1>() /* Essential: keep view alive while iterator exists */
+        );
+    }
+    // Similarly for ItemsView:
+    if (!detail::get_type_info(typeid(ItemsView))) {
+        class_<ItemsView> items_view(
+            scope,
+            ("ItemsView[" + key_type_name + ", ").append(mapped_type_name + "]").c_str(),
+            pybind11::module_local(local));
+        items_view.def("__len__", &ItemsView::len);
+        items_view.def("__iter__",
+                       &ItemsView::iter,
+                       keep_alive<0, 1>() /* Essential: keep view alive while iterator exists */
+        );
+    }
 
     cl.def(init<>());
 
@@ -698,19 +788,25 @@ class_<Map, holder_type> bind_map(handle scope, const std::string &name, Args &&
 
     cl.def(
         "keys",
-        [](Map &m) { return KeysView{m}; },
+        [](Map &m) {
+            return std::unique_ptr<KeysView>(new detail::KeysViewImpl<Map, KeysView>(m));
+        },
         keep_alive<0, 1>() /* Essential: keep map alive while view exists */
     );
 
     cl.def(
         "values",
-        [](Map &m) { return ValuesView{m}; },
+        [](Map &m) {
+            return std::unique_ptr<ValuesView>(new detail::ValuesViewImpl<Map, ValuesView>(m));
+        },
         keep_alive<0, 1>() /* Essential: keep map alive while view exists */
     );
 
     cl.def(
         "items",
-        [](Map &m) { return ItemsView{m}; },
+        [](Map &m) {
+            return std::unique_ptr<ItemsView>(new detail::ItemsViewImpl<Map, ItemsView>(m));
+        },
         keep_alive<0, 1>() /* Essential: keep map alive while view exists */
     );
 
@@ -749,36 +845,6 @@ class_<Map, holder_type> bind_map(handle scope, const std::string &name, Args &&
 
     cl.def("__len__", &Map::size);
 
-    keys_view.def("__len__", [](KeysView &view) { return view.map.size(); });
-    keys_view.def(
-        "__iter__",
-        [](KeysView &view) { return make_key_iterator(view.map.begin(), view.map.end()); },
-        keep_alive<0, 1>() /* Essential: keep view alive while iterator exists */
-    );
-    keys_view.def("__contains__", [](KeysView &view, const KeyType &k) -> bool {
-        auto it = view.map.find(k);
-        if (it == view.map.end()) {
-            return false;
-        }
-        return true;
-    });
-    // Fallback for when the object is not of the key type
-    keys_view.def("__contains__", [](KeysView &, const object &) -> bool { return false; });
-
-    values_view.def("__len__", [](ValuesView &view) { return view.map.size(); });
-    values_view.def(
-        "__iter__",
-        [](ValuesView &view) { return make_value_iterator(view.map.begin(), view.map.end()); },
-        keep_alive<0, 1>() /* Essential: keep view alive while iterator exists */
-    );
-
-    items_view.def("__len__", [](ItemsView &view) { return view.map.size(); });
-    items_view.def(
-        "__iter__",
-        [](ItemsView &view) { return make_iterator(view.map.begin(), view.map.end()); },
-        keep_alive<0, 1>() /* Essential: keep view alive while iterator exists */
-    );
-
     return cl;
 }
 
diff --git a/pybind11/include/pybind11/type_caster_pyobject_ptr.h b/pybind11/include/pybind11/type_caster_pyobject_ptr.h
new file mode 100644
index 000000000..aa914f9e1
--- /dev/null
+++ b/pybind11/include/pybind11/type_caster_pyobject_ptr.h
@@ -0,0 +1,61 @@
+// Copyright (c) 2023 The pybind Community.
+
+#pragma once
+
+#include "detail/common.h"
+#include "detail/descr.h"
+#include "cast.h"
+#include "pytypes.h"
+
+PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
+PYBIND11_NAMESPACE_BEGIN(detail)
+
+template <>
+class type_caster<PyObject> {
+public:
+    static constexpr auto name = const_name("object"); // See discussion under PR #4601.
+
+    // This overload is purely to guard against accidents.
+    template <typename T,
+              detail::enable_if_t<!is_same_ignoring_cvref<T, PyObject *>::value, int> = 0>
+    static handle cast(T &&, return_value_policy, handle /*parent*/) {
+        static_assert(is_same_ignoring_cvref<T, PyObject *>::value,
+                      "Invalid C++ type T for to-Python conversion (type_caster<PyObject>).");
+        return nullptr; // Unreachable.
+    }
+
+    static handle cast(PyObject *src, return_value_policy policy, handle /*parent*/) {
+        if (src == nullptr) {
+            throw error_already_set();
+        }
+        if (PyErr_Occurred()) {
+            raise_from(PyExc_SystemError, "src != nullptr but PyErr_Occurred()");
+            throw error_already_set();
+        }
+        if (policy == return_value_policy::take_ownership) {
+            return src;
+        }
+        if (policy == return_value_policy::reference
+            || policy == return_value_policy::automatic_reference) {
+            return handle(src).inc_ref();
+        }
+        pybind11_fail("type_caster<PyObject>::cast(): unsupported return_value_policy: "
+                      + std::to_string(static_cast<int>(policy)));
+    }
+
+    bool load(handle src, bool) {
+        value = reinterpret_borrow<object>(src);
+        return true;
+    }
+
+    template <typename T>
+    using cast_op_type = PyObject *;
+
+    explicit operator PyObject *() { return value.ptr(); }
+
+private:
+    object value;
+};
+
+PYBIND11_NAMESPACE_END(detail)
+PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
diff --git a/pybind11/noxfile.py b/pybind11/noxfile.py
index fe36d70fe..021ced245 100644
--- a/pybind11/noxfile.py
+++ b/pybind11/noxfile.py
@@ -5,7 +5,17 @@ import nox
 nox.needs_version = ">=2022.1.7"
 nox.options.sessions = ["lint", "tests", "tests_packaging"]
 
-PYTHON_VERISONS = ["3.6", "3.7", "3.8", "3.9", "3.10", "3.11", "pypy3.7", "pypy3.8"]
+PYTHON_VERSIONS = [
+    "3.6",
+    "3.7",
+    "3.8",
+    "3.9",
+    "3.10",
+    "3.11",
+    "pypy3.7",
+    "pypy3.8",
+    "pypy3.9",
+]
 
 if os.environ.get("CI", None):
     nox.options.error_on_missing_interpreters = True
@@ -17,10 +27,10 @@ def lint(session: nox.Session) -> None:
     Lint the codebase (except for clang-format/tidy).
     """
     session.install("pre-commit")
-    session.run("pre-commit", "run", "-a")
+    session.run("pre-commit", "run", "-a", *session.posargs)
 
 
-@nox.session(python=PYTHON_VERISONS)
+@nox.session(python=PYTHON_VERSIONS)
 def tests(session: nox.Session) -> None:
     """
     Run the tests (requires a compiler).
@@ -48,7 +58,7 @@ def tests_packaging(session: nox.Session) -> None:
     """
 
     session.install("-r", "tests/requirements.txt", "--prefer-binary")
-    session.run("pytest", "tests/extra_python_package")
+    session.run("pytest", "tests/extra_python_package", *session.posargs)
 
 
 @nox.session(reuse_venv=True)
diff --git a/pybind11/pybind11/__init__.py b/pybind11/pybind11/__init__.py
index a1be96981..7c10b3057 100644
--- a/pybind11/pybind11/__init__.py
+++ b/pybind11/pybind11/__init__.py
@@ -1,16 +1,17 @@
 import sys
 
-if sys.version_info < (3, 6):
+if sys.version_info < (3, 6):  # noqa: UP036
     msg = "pybind11 does not support Python < 3.6. 2.9 was the last release supporting Python 2.7 and 3.5."
     raise ImportError(msg)
 
 
 from ._version import __version__, version_info
-from .commands import get_cmake_dir, get_include
+from .commands import get_cmake_dir, get_include, get_pkgconfig_dir
 
 __all__ = (
     "version_info",
     "__version__",
     "get_include",
     "get_cmake_dir",
+    "get_pkgconfig_dir",
 )
diff --git a/pybind11/pybind11/__main__.py b/pybind11/pybind11/__main__.py
index 22fc4471e..180665c23 100644
--- a/pybind11/pybind11/__main__.py
+++ b/pybind11/pybind11/__main__.py
@@ -4,7 +4,8 @@ import argparse
 import sys
 import sysconfig
 
-from .commands import get_cmake_dir, get_include
+from ._version import __version__
+from .commands import get_cmake_dir, get_include, get_pkgconfig_dir
 
 
 def print_includes() -> None:
@@ -24,8 +25,13 @@ def print_includes() -> None:
 
 
 def main() -> None:
-
     parser = argparse.ArgumentParser()
+    parser.add_argument(
+        "--version",
+        action="version",
+        version=__version__,
+        help="Print the version and exit.",
+    )
     parser.add_argument(
         "--includes",
         action="store_true",
@@ -36,6 +42,11 @@ def main() -> None:
         action="store_true",
         help="Print the CMake module directory, ideal for setting -Dpybind11_ROOT in CMake.",
     )
+    parser.add_argument(
+        "--pkgconfigdir",
+        action="store_true",
+        help="Print the pkgconfig directory, ideal for setting $PKG_CONFIG_PATH.",
+    )
     args = parser.parse_args()
     if not sys.argv[1:]:
         parser.print_help()
@@ -43,6 +54,8 @@ def main() -> None:
         print_includes()
     if args.cmakedir:
         print(get_cmake_dir())
+    if args.pkgconfigdir:
+        print(get_pkgconfig_dir())
 
 
 if __name__ == "__main__":
diff --git a/pybind11/pybind11/_version.py b/pybind11/pybind11/_version.py
index b78d5963d..9280fa054 100644
--- a/pybind11/pybind11/_version.py
+++ b/pybind11/pybind11/_version.py
@@ -8,5 +8,5 @@ def _to_int(s: str) -> Union[int, str]:
         return s
 
 
-__version__ = "2.10.0"
+__version__ = "2.11.1"
 version_info = tuple(_to_int(s) for s in __version__.split("."))
diff --git a/pybind11/pybind11/commands.py b/pybind11/pybind11/commands.py
index a29c8ca61..b11690f46 100644
--- a/pybind11/pybind11/commands.py
+++ b/pybind11/pybind11/commands.py
@@ -3,7 +3,7 @@ import os
 DIR = os.path.abspath(os.path.dirname(__file__))
 
 
-def get_include(user: bool = False) -> str:  # pylint: disable=unused-argument
+def get_include(user: bool = False) -> str:  # noqa: ARG001
     """
     Return the path to the pybind11 include directory. The historical "user"
     argument is unused, and may be removed.
@@ -23,3 +23,15 @@ def get_cmake_dir() -> str:
 
     msg = "pybind11 not installed, installation required to access the CMake files"
     raise ImportError(msg)
+
+
+def get_pkgconfig_dir() -> str:
+    """
+    Return the path to the pybind11 pkgconfig directory.
+    """
+    pkgconfig_installed_path = os.path.join(DIR, "share", "pkgconfig")
+    if os.path.exists(pkgconfig_installed_path):
+        return pkgconfig_installed_path
+
+    msg = "pybind11 not installed, installation required to access the pkgconfig files"
+    raise ImportError(msg)
diff --git a/pybind11/pybind11/setup_helpers.py b/pybind11/pybind11/setup_helpers.py
index 1fd04b915..aeeee9dcf 100644
--- a/pybind11/pybind11/setup_helpers.py
+++ b/pybind11/pybind11/setup_helpers.py
@@ -66,8 +66,8 @@ try:
     from setuptools import Extension as _Extension
     from setuptools.command.build_ext import build_ext as _build_ext
 except ImportError:
-    from distutils.command.build_ext import build_ext as _build_ext
-    from distutils.extension import Extension as _Extension
+    from distutils.command.build_ext import build_ext as _build_ext  # type: ignore[assignment]
+    from distutils.extension import Extension as _Extension  # type: ignore[assignment]
 
 import distutils.ccompiler
 import distutils.errors
@@ -84,7 +84,7 @@ STD_TMPL = "/std:c++{}" if WIN else "-std=c++{}"
 # directory into your path if it sits beside your setup.py.
 
 
-class Pybind11Extension(_Extension):  # type: ignore[misc]
+class Pybind11Extension(_Extension):
     """
     Build a C++11+ Extension module with pybind11. This automatically adds the
     recommended flags when you init the extension and assumes C++ sources - you
@@ -118,7 +118,6 @@ class Pybind11Extension(_Extension):  # type: ignore[misc]
         self.extra_link_args[:0] = flags
 
     def __init__(self, *args: Any, **kwargs: Any) -> None:
-
         self._cxx_level = 0
         cxx_std = kwargs.pop("cxx_std", 0)
 
@@ -145,7 +144,6 @@ class Pybind11Extension(_Extension):  # type: ignore[misc]
         self.cxx_std = cxx_std
 
         cflags = []
-        ldflags = []
         if WIN:
             cflags += ["/EHsc", "/bigobj"]
         else:
@@ -155,11 +153,7 @@ class Pybind11Extension(_Extension):  # type: ignore[misc]
             c_cpp_flags = shlex.split(env_cflags) + shlex.split(env_cppflags)
             if not any(opt.startswith("-g") for opt in c_cpp_flags):
                 cflags += ["-g0"]
-            if MACOS:
-                cflags += ["-stdlib=libc++"]
-                ldflags += ["-stdlib=libc++"]
         self._add_cflags(cflags)
-        self._add_ldflags(ldflags)
 
     @property
     def cxx_std(self) -> int:
@@ -174,9 +168,10 @@ class Pybind11Extension(_Extension):  # type: ignore[misc]
 
     @cxx_std.setter
     def cxx_std(self, level: int) -> None:
-
         if self._cxx_level:
-            warnings.warn("You cannot safely change the cxx_level after setting it!")
+            warnings.warn(
+                "You cannot safely change the cxx_level after setting it!", stacklevel=2
+            )
 
         # MSVC 2015 Update 3 and later only have 14 (and later 17) modes, so
         # force a valid flag here.
@@ -271,7 +266,7 @@ def auto_cpp_level(compiler: Any) -> Union[str, int]:
     raise RuntimeError(msg)
 
 
-class build_ext(_build_ext):  # type: ignore[misc] # noqa: N801
+class build_ext(_build_ext):  # noqa: N801
     """
     Customized build_ext that allows an auto-search for the highest supported
     C++ level for Pybind11Extension. This is only needed for the auto-search
@@ -341,7 +336,7 @@ def naive_recompile(obj: str, src: str) -> bool:
     return os.stat(obj).st_mtime < os.stat(src).st_mtime
 
 
-def no_recompile(obg: str, src: str) -> bool:  # pylint: disable=unused-argument
+def no_recompile(obg: str, src: str) -> bool:  # noqa: ARG001
     """
     This is the safest but slowest choice (and is the default) - will always
     recompile sources.
@@ -439,7 +434,6 @@ class ParallelCompile:
             extra_postargs: Optional[List[str]] = None,
             depends: Optional[List[str]] = None,
         ) -> Any:
-
             # These lines are directly from distutils.ccompiler.CCompiler
             macros, objects, extra_postargs, pp_opts, build = compiler._setup_compile(  # type: ignore[attr-defined]
                 output_dir, macros, include_dirs, sources, depends, extra_postargs
diff --git a/pybind11/pyproject.toml b/pybind11/pyproject.toml
index 3ba1b4b22..59c15ea63 100644
--- a/pybind11/pyproject.toml
+++ b/pybind11/pyproject.toml
@@ -2,6 +2,7 @@
 requires = ["setuptools>=42", "cmake>=3.18", "ninja"]
 build-backend = "setuptools.build_meta"
 
+
 [tool.check-manifest]
 ignore = [
     "tests/**",
@@ -15,11 +16,6 @@ ignore = [
     "noxfile.py",
 ]
 
-[tool.isort]
-# Needs the compiled .so modules and env.py from tests
-known_first_party = "env,pybind11_cross_module_tests,pybind11_tests,"
-# For black compatibility
-profile = "black"
 
 [tool.mypy]
 files = ["pybind11"]
@@ -30,7 +26,7 @@ enable_error_code = ["ignore-without-code", "redundant-expr", "truthy-bool"]
 warn_unreachable = true
 
 [[tool.mypy.overrides]]
-module = ["ghapi.*", "setuptools.*"]
+module = ["ghapi.*"]
 ignore_missing_imports = true
 
 
@@ -58,4 +54,45 @@ messages_control.disable = [
   "invalid-name",
   "protected-access",
   "missing-module-docstring",
+  "unused-argument",  # covered by Ruff ARG
 ]
+
+
+[tool.ruff]
+select = [
+  "E", "F", "W", # flake8
+  "B",           # flake8-bugbear
+  "I",           # isort
+  "N",           # pep8-naming
+  "ARG",         # flake8-unused-arguments
+  "C4",          # flake8-comprehensions
+  "EM",          # flake8-errmsg
+  "ICN",         # flake8-import-conventions
+  "ISC",         # flake8-implicit-str-concat
+  "PGH",         # pygrep-hooks
+  "PIE",         # flake8-pie
+  "PL",          # pylint
+  "PT",          # flake8-pytest-style
+  "RET",         # flake8-return
+  "RUF100",      # Ruff-specific
+  "SIM",         # flake8-simplify
+  "UP",          # pyupgrade
+  "YTT",         # flake8-2020
+]
+ignore = [
+  "PLR",    # Design related pylint
+  "E501",   # Line too long (Black is enough)
+  "PT011",  # Too broad with raises in pytest
+  "PT004",  # Fixture that doesn't return needs underscore (no, it is fine)
+  "SIM118", # iter(x) is not always the same as iter(x.keys())
+]
+target-version = "py37"
+src = ["src"]
+unfixable = ["T20"]
+exclude = []
+line-length = 120
+isort.known-first-party = ["env", "pybind11_cross_module_tests", "pybind11_tests"]
+
+[tool.ruff.per-file-ignores]
+"tests/**" = ["EM", "N"]
+"tests/test_call_policies.py" = ["PLC1901"]
diff --git a/pybind11/setup.cfg b/pybind11/setup.cfg
index 36fbfed4f..92e6c953a 100644
--- a/pybind11/setup.cfg
+++ b/pybind11/setup.cfg
@@ -20,6 +20,7 @@ classifiers =
     Programming Language :: Python :: 3.9
     Programming Language :: Python :: 3.10
     Programming Language :: Python :: 3.11
+    Programming Language :: Python :: 3.12
     License :: OSI Approved :: BSD License
     Programming Language :: Python :: Implementation :: PyPy
     Programming Language :: Python :: Implementation :: CPython
@@ -40,11 +41,3 @@ project_urls =
 [options]
 python_requires = >=3.6
 zip_safe = False
-
-
-[flake8]
-max-line-length = 120
-show_source = True
-exclude = .git, __pycache__, build, dist, docs, tools, venv
-extend-ignore = E203, E722, B950
-extend-select = B9
diff --git a/pybind11/setup.py b/pybind11/setup.py
index a149755bf..9fea7d35c 100644
--- a/pybind11/setup.py
+++ b/pybind11/setup.py
@@ -96,7 +96,7 @@ def get_and_replace(
 
 # Use our input files instead when making the SDist (and anything that depends
 # on it, like a wheel)
-class SDist(setuptools.command.sdist.sdist):  # type: ignore[misc]
+class SDist(setuptools.command.sdist.sdist):
     def make_release_tree(self, base_dir: str, files: List[str]) -> None:
         super().make_release_tree(base_dir, files)
 
@@ -127,6 +127,7 @@ with remove_output("pybind11/include", "pybind11/share"):
             "-DCMAKE_INSTALL_PREFIX=pybind11",
             "-DBUILD_TESTING=OFF",
             "-DPYBIND11_NOPYTHON=ON",
+            "-Dprefix_for_pc_file=${pcfiledir}/../../",
         ]
         if "CMAKE_ARGS" in os.environ:
             fcommand = [
diff --git a/pybind11/tests/CMakeLists.txt b/pybind11/tests/CMakeLists.txt
index 7296cd1b8..80ee9c1f1 100644
--- a/pybind11/tests/CMakeLists.txt
+++ b/pybind11/tests/CMakeLists.txt
@@ -5,20 +5,17 @@
 # All rights reserved. Use of this source code is governed by a
 # BSD-style license that can be found in the LICENSE file.
 
-cmake_minimum_required(VERSION 3.4)
+cmake_minimum_required(VERSION 3.5)
 
-# The `cmake_minimum_required(VERSION 3.4...3.18)` syntax does not work with
+# The `cmake_minimum_required(VERSION 3.5...3.26)` syntax does not work with
 # some versions of VS that have a patched CMake 3.11. This forces us to emulate
 # the behavior using the following workaround:
-if(${CMAKE_VERSION} VERSION_LESS 3.21)
+if(${CMAKE_VERSION} VERSION_LESS 3.26)
   cmake_policy(VERSION ${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION})
 else()
-  cmake_policy(VERSION 3.21)
+  cmake_policy(VERSION 3.26)
 endif()
 
-# Only needed for CMake < 3.5 support
-include(CMakeParseArguments)
-
 # Filter out items; print an optional message if any items filtered. This ignores extensions.
 #
 # Usage:
@@ -128,7 +125,8 @@ set(PYBIND11_TEST_FILES
     test_custom_type_casters
     test_custom_type_setup
     test_docstring_options
-    test_eigen
+    test_eigen_matrix
+    test_eigen_tensor
     test_enum
     test_eval
     test_exceptions
@@ -153,7 +151,11 @@ set(PYBIND11_TEST_FILES
     test_stl_binders
     test_tagbased_polymorphic
     test_thread
+    test_type_caster_pyobject_ptr
     test_union
+    test_unnamed_namespace_a
+    test_unnamed_namespace_b
+    test_vector_unique_ptr_member
     test_virtual_functions)
 
 # Invoking cmake with something like:
@@ -168,7 +170,7 @@ if(PYBIND11_TEST_OVERRIDE)
   # This allows the override to be done with extensions, preserving backwards compatibility.
   foreach(test_name ${TEST_FILES_NO_EXT})
     if(NOT ${test_name} IN_LIST TEST_OVERRIDE_NO_EXT
-    )# If not in the whitelist, add to be filtered out.
+    )# If not in the allowlist, add to be filtered out.
       list(APPEND PYBIND11_TEST_FILTER ${test_name})
     endif()
   endforeach()
@@ -233,7 +235,10 @@ list(GET PYBIND11_EIGEN_VERSION_AND_HASH 1 PYBIND11_EIGEN_VERSION_HASH)
 # Check if Eigen is available; if not, remove from PYBIND11_TEST_FILES (but
 # keep it in PYBIND11_PYTEST_FILES, so that we get the "eigen is not installed"
 # skip message).
-list(FIND PYBIND11_TEST_FILES test_eigen.cpp PYBIND11_TEST_FILES_EIGEN_I)
+list(FIND PYBIND11_TEST_FILES test_eigen_matrix.cpp PYBIND11_TEST_FILES_EIGEN_I)
+if(PYBIND11_TEST_FILES_EIGEN_I EQUAL -1)
+  list(FIND PYBIND11_TEST_FILES test_eigen_tensor.cpp PYBIND11_TEST_FILES_EIGEN_I)
+endif()
 if(PYBIND11_TEST_FILES_EIGEN_I GREATER -1)
   # Try loading via newer Eigen's Eigen3Config first (bypassing tools/FindEigen3.cmake).
   # Eigen 3.3.1+ exports a cmake 3.0+ target for handling dependency requirements, but also
@@ -288,13 +293,34 @@ if(PYBIND11_TEST_FILES_EIGEN_I GREATER -1)
       set(EIGEN3_VERSION ${EIGEN3_VERSION_STRING})
     endif()
     message(STATUS "Building tests with Eigen v${EIGEN3_VERSION}")
+
+    if(NOT (CMAKE_CXX_COMPILER_ID STREQUAL "GNU" AND CMAKE_CXX_COMPILER_VERSION VERSION_LESS 5.0))
+      tests_extra_targets("test_eigen_tensor.py" "eigen_tensor_avoid_stl_array")
+    endif()
+
   else()
-    list(REMOVE_AT PYBIND11_TEST_FILES ${PYBIND11_TEST_FILES_EIGEN_I})
+    list(FIND PYBIND11_TEST_FILES test_eigen_matrix.cpp PYBIND11_TEST_FILES_EIGEN_I)
+    if(PYBIND11_TEST_FILES_EIGEN_I GREATER -1)
+      list(REMOVE_AT PYBIND11_TEST_FILES ${PYBIND11_TEST_FILES_EIGEN_I})
+    endif()
+
+    list(FIND PYBIND11_TEST_FILES test_eigen_tensor.cpp PYBIND11_TEST_FILES_EIGEN_I)
+    if(PYBIND11_TEST_FILES_EIGEN_I GREATER -1)
+      list(REMOVE_AT PYBIND11_TEST_FILES ${PYBIND11_TEST_FILES_EIGEN_I})
+    endif()
     message(
       STATUS "Building tests WITHOUT Eigen, use -DDOWNLOAD_EIGEN=ON on CMake 3.11+ to download")
   endif()
 endif()
 
+# Some code doesn't support gcc 4
+if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" AND CMAKE_CXX_COMPILER_VERSION VERSION_LESS 5.0)
+  list(FIND PYBIND11_TEST_FILES test_eigen_tensor.cpp PYBIND11_TEST_FILES_EIGEN_I)
+  if(PYBIND11_TEST_FILES_EIGEN_I GREATER -1)
+    list(REMOVE_AT PYBIND11_TEST_FILES ${PYBIND11_TEST_FILES_EIGEN_I})
+  endif()
+endif()
+
 # Optional dependency for some tests (boost::variant is only supported with version >= 1.56)
 find_package(Boost 1.56)
 
diff --git a/pybind11/tests/conftest.py b/pybind11/tests/conftest.py
index 02ce263af..ad5b47b4b 100644
--- a/pybind11/tests/conftest.py
+++ b/pybind11/tests/conftest.py
@@ -7,13 +7,36 @@ Adds docstring and exceptions message sanitizers.
 import contextlib
 import difflib
 import gc
+import multiprocessing
 import re
+import sys
 import textwrap
+import traceback
 
 import pytest
 
 # Early diagnostic for failed imports
-import pybind11_tests
+try:
+    import pybind11_tests
+except Exception:
+    # pytest does not show the traceback without this.
+    traceback.print_exc()
+    raise
+
+
+@pytest.fixture(scope="session", autouse=True)
+def use_multiprocessing_forkserver_on_linux():
+    if sys.platform != "linux":
+        # The default on Windows and macOS is "spawn": If it's not broken, don't fix it.
+        return
+
+    # Full background: https://github.com/pybind/pybind11/issues/4105#issuecomment-1301004592
+    # In a nutshell: fork() after starting threads == flakiness in the form of deadlocks.
+    # It is actually a well-known pitfall, unfortunately without guard rails.
+    # "forkserver" is more performant than "spawn" (~9s vs ~13s for tests/test_gil_scoped.py,
+    # visit the issuecomment link above for details).
+    multiprocessing.set_start_method("forkserver")
+
 
 _long_marker = re.compile(r"([0-9])L")
 _hexadecimal = re.compile(r"0x[0-9a-fA-F]+")
@@ -59,9 +82,8 @@ class Output:
         b = _strip_and_dedent(other).splitlines()
         if a == b:
             return True
-        else:
-            self.explanation = _make_explanation(a, b)
-            return False
+        self.explanation = _make_explanation(a, b)
+        return False
 
 
 class Unordered(Output):
@@ -72,9 +94,8 @@ class Unordered(Output):
         b = _split_and_sort(other)
         if a == b:
             return True
-        else:
-            self.explanation = _make_explanation(a, b)
-            return False
+        self.explanation = _make_explanation(a, b)
+        return False
 
 
 class Capture:
@@ -95,9 +116,8 @@ class Capture:
         b = other
         if a == b:
             return True
-        else:
-            self.explanation = a.explanation
-            return False
+        self.explanation = a.explanation
+        return False
 
     def __str__(self):
         return self.out
@@ -114,7 +134,7 @@ class Capture:
         return Output(self.err)
 
 
-@pytest.fixture
+@pytest.fixture()
 def capture(capsys):
     """Extended `capsys` with context manager and custom equality operators"""
     return Capture(capsys)
@@ -135,25 +155,22 @@ class SanitizedString:
         b = _strip_and_dedent(other)
         if a == b:
             return True
-        else:
-            self.explanation = _make_explanation(a.splitlines(), b.splitlines())
-            return False
+        self.explanation = _make_explanation(a.splitlines(), b.splitlines())
+        return False
 
 
 def _sanitize_general(s):
     s = s.strip()
     s = s.replace("pybind11_tests.", "m.")
-    s = _long_marker.sub(r"\1", s)
-    return s
+    return _long_marker.sub(r"\1", s)
 
 
 def _sanitize_docstring(thing):
     s = thing.__doc__
-    s = _sanitize_general(s)
-    return s
+    return _sanitize_general(s)
 
 
-@pytest.fixture
+@pytest.fixture()
 def doc():
     """Sanitize docstrings and add custom failure explanation"""
     return SanitizedString(_sanitize_docstring)
@@ -162,30 +179,20 @@ def doc():
 def _sanitize_message(thing):
     s = str(thing)
     s = _sanitize_general(s)
-    s = _hexadecimal.sub("0", s)
-    return s
+    return _hexadecimal.sub("0", s)
 
 
-@pytest.fixture
+@pytest.fixture()
 def msg():
     """Sanitize messages and add custom failure explanation"""
     return SanitizedString(_sanitize_message)
 
 
-# noinspection PyUnusedLocal
-def pytest_assertrepr_compare(op, left, right):
+def pytest_assertrepr_compare(op, left, right):  # noqa: ARG001
     """Hook to insert custom failure explanation"""
     if hasattr(left, "explanation"):
         return left.explanation
-
-
-@contextlib.contextmanager
-def suppress(exception):
-    """Suppress the desired exception"""
-    try:
-        yield
-    except exception:
-        pass
+    return None
 
 
 def gc_collect():
@@ -196,7 +203,7 @@ def gc_collect():
 
 
 def pytest_configure():
-    pytest.suppress = suppress
+    pytest.suppress = contextlib.suppress
     pytest.gc_collect = gc_collect
 
 
@@ -210,4 +217,5 @@ def pytest_report_header(config):
         f" {pybind11_tests.compiler_info}"
         f" {pybind11_tests.cpp_std}"
         f" {pybind11_tests.PYBIND11_INTERNALS_ID}"
+        f" PYBIND11_SIMPLE_GIL_MANAGEMENT={pybind11_tests.PYBIND11_SIMPLE_GIL_MANAGEMENT}"
     )
diff --git a/pybind11/tests/constructor_stats.h b/pybind11/tests/constructor_stats.h
index a3835c21e..937f6c233 100644
--- a/pybind11/tests/constructor_stats.h
+++ b/pybind11/tests/constructor_stats.h
@@ -115,7 +115,7 @@ public:
 #if defined(PYPY_VERSION)
         PyObject *globals = PyEval_GetGlobals();
         PyObject *result = PyRun_String("import gc\n"
-                                        "for i in range(2):"
+                                        "for i in range(2):\n"
                                         "    gc.collect()\n",
                                         Py_file_input,
                                         globals,
diff --git a/pybind11/tests/cross_module_gil_utils.cpp b/pybind11/tests/cross_module_gil_utils.cpp
index 1436c35d6..7c20849dd 100644
--- a/pybind11/tests/cross_module_gil_utils.cpp
+++ b/pybind11/tests/cross_module_gil_utils.cpp
@@ -6,9 +6,15 @@
     All rights reserved. Use of this source code is governed by a
     BSD-style license that can be found in the LICENSE file.
 */
+#if defined(PYBIND11_INTERNALS_VERSION)
+#    undef PYBIND11_INTERNALS_VERSION
+#endif
+#define PYBIND11_INTERNALS_VERSION 21814642 // Ensure this module has its own `internals` instance.
 #include <pybind11/pybind11.h>
 
 #include <cstdint>
+#include <string>
+#include <thread>
 
 // This file mimics a DSO that makes pybind11 calls but does not define a
 // PYBIND11_MODULE. The purpose is to test that such a DSO can create a
@@ -21,8 +27,54 @@
 namespace {
 
 namespace py = pybind11;
+
 void gil_acquire() { py::gil_scoped_acquire gil; }
 
+std::string gil_multi_acquire_release(unsigned bits) {
+    if ((bits & 0x1u) != 0u) {
+        py::gil_scoped_acquire gil;
+    }
+    if ((bits & 0x2u) != 0u) {
+        py::gil_scoped_release gil;
+    }
+    if ((bits & 0x4u) != 0u) {
+        py::gil_scoped_acquire gil;
+    }
+    if ((bits & 0x8u) != 0u) {
+        py::gil_scoped_release gil;
+    }
+    return PYBIND11_INTERNALS_ID;
+}
+
+struct CustomAutoGIL {
+    CustomAutoGIL() : gstate(PyGILState_Ensure()) {}
+    ~CustomAutoGIL() { PyGILState_Release(gstate); }
+
+    PyGILState_STATE gstate;
+};
+struct CustomAutoNoGIL {
+    CustomAutoNoGIL() : save(PyEval_SaveThread()) {}
+    ~CustomAutoNoGIL() { PyEval_RestoreThread(save); }
+
+    PyThreadState *save;
+};
+
+template <typename Acquire, typename Release>
+void gil_acquire_inner() {
+    Acquire acquire_outer;
+    Acquire acquire_inner;
+    Release release;
+}
+
+template <typename Acquire, typename Release>
+void gil_acquire_nested() {
+    Acquire acquire_outer;
+    Acquire acquire_inner;
+    Release release;
+    auto thread = std::thread(&gil_acquire_inner<Acquire, Release>);
+    thread.join();
+}
+
 constexpr char kModuleName[] = "cross_module_gil_utils";
 
 struct PyModuleDef moduledef = {
@@ -30,6 +82,9 @@ struct PyModuleDef moduledef = {
 
 } // namespace
 
+#define ADD_FUNCTION(Name, ...)                                                                   \
+    PyModule_AddObject(m, Name, PyLong_FromVoidPtr(reinterpret_cast<void *>(&__VA_ARGS__)));
+
 extern "C" PYBIND11_EXPORT PyObject *PyInit_cross_module_gil_utils() {
 
     PyObject *m = PyModule_Create(&moduledef);
@@ -37,8 +92,16 @@ extern "C" PYBIND11_EXPORT PyObject *PyInit_cross_module_gil_utils() {
     if (m != nullptr) {
         static_assert(sizeof(&gil_acquire) == sizeof(void *),
                       "Function pointer must have the same size as void*");
-        PyModule_AddObject(
-            m, "gil_acquire_funcaddr", PyLong_FromVoidPtr(reinterpret_cast<void *>(&gil_acquire)));
+        ADD_FUNCTION("gil_acquire_funcaddr", gil_acquire)
+        ADD_FUNCTION("gil_multi_acquire_release_funcaddr", gil_multi_acquire_release)
+        ADD_FUNCTION("gil_acquire_inner_custom_funcaddr",
+                     gil_acquire_inner<CustomAutoGIL, CustomAutoNoGIL>)
+        ADD_FUNCTION("gil_acquire_nested_custom_funcaddr",
+                     gil_acquire_nested<CustomAutoGIL, CustomAutoNoGIL>)
+        ADD_FUNCTION("gil_acquire_inner_pybind11_funcaddr",
+                     gil_acquire_inner<py::gil_scoped_acquire, py::gil_scoped_release>)
+        ADD_FUNCTION("gil_acquire_nested_pybind11_funcaddr",
+                     gil_acquire_nested<py::gil_scoped_acquire, py::gil_scoped_release>)
     }
 
     return m;
diff --git a/pybind11/tests/eigen_tensor_avoid_stl_array.cpp b/pybind11/tests/eigen_tensor_avoid_stl_array.cpp
new file mode 100644
index 000000000..eacc9e9bd
--- /dev/null
+++ b/pybind11/tests/eigen_tensor_avoid_stl_array.cpp
@@ -0,0 +1,14 @@
+/*
+    tests/eigen_tensor.cpp -- automatic conversion of Eigen Tensor
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#ifndef EIGEN_AVOID_STL_ARRAY
+#    define EIGEN_AVOID_STL_ARRAY
+#endif
+
+#include "test_eigen_tensor.inl"
+
+PYBIND11_MODULE(eigen_tensor_avoid_stl_array, m) { eigen_tensor_test::test_module(m); }
diff --git a/pybind11/tests/env.py b/pybind11/tests/env.py
index 0345df65d..7eea5a3b3 100644
--- a/pybind11/tests/env.py
+++ b/pybind11/tests/env.py
@@ -24,5 +24,4 @@ def deprecated_call():
     pytest_major_minor = (int(pieces[0]), int(pieces[1]))
     if pytest_major_minor < (3, 9):
         return pytest.warns((DeprecationWarning, PendingDeprecationWarning))
-    else:
-        return pytest.deprecated_call()
+    return pytest.deprecated_call()
diff --git a/pybind11/tests/extra_python_package/test_files.py b/pybind11/tests/extra_python_package/test_files.py
index ba16b5224..57387dd8b 100644
--- a/pybind11/tests/extra_python_package/test_files.py
+++ b/pybind11/tests/extra_python_package/test_files.py
@@ -12,6 +12,16 @@ import zipfile
 DIR = os.path.abspath(os.path.dirname(__file__))
 MAIN_DIR = os.path.dirname(os.path.dirname(DIR))
 
+PKGCONFIG = """\
+prefix=${{pcfiledir}}/../../
+includedir=${{prefix}}/include
+
+Name: pybind11
+Description: Seamless operability between C++11 and Python
+Version: {VERSION}
+Cflags: -I${{includedir}}
+"""
+
 
 main_headers = {
     "include/pybind11/attr.h",
@@ -33,6 +43,7 @@ main_headers = {
     "include/pybind11/pytypes.h",
     "include/pybind11/stl.h",
     "include/pybind11/stl_bind.h",
+    "include/pybind11/type_caster_pyobject_ptr.h",
 }
 
 detail_headers = {
@@ -45,6 +56,12 @@ detail_headers = {
     "include/pybind11/detail/typeid.h",
 }
 
+eigen_headers = {
+    "include/pybind11/eigen/common.h",
+    "include/pybind11/eigen/matrix.h",
+    "include/pybind11/eigen/tensor.h",
+}
+
 stl_headers = {
     "include/pybind11/stl/filesystem.h",
 }
@@ -59,6 +76,10 @@ cmake_files = {
     "share/cmake/pybind11/pybind11Tools.cmake",
 }
 
+pkgconfig_files = {
+    "share/pkgconfig/pybind11.pc",
+}
+
 py_files = {
     "__init__.py",
     "__main__.py",
@@ -68,8 +89,8 @@ py_files = {
     "setup_helpers.py",
 }
 
-headers = main_headers | detail_headers | stl_headers
-src_files = headers | cmake_files
+headers = main_headers | detail_headers | eigen_headers | stl_headers
+src_files = headers | cmake_files | pkgconfig_files
 all_files = src_files | py_files
 
 
@@ -78,10 +99,12 @@ sdist_files = {
     "pybind11/include",
     "pybind11/include/pybind11",
     "pybind11/include/pybind11/detail",
+    "pybind11/include/pybind11/eigen",
     "pybind11/include/pybind11/stl",
     "pybind11/share",
     "pybind11/share/cmake",
     "pybind11/share/cmake/pybind11",
+    "pybind11/share/pkgconfig",
     "pyproject.toml",
     "setup.cfg",
     "setup.py",
@@ -89,6 +112,7 @@ sdist_files = {
     "MANIFEST.in",
     "README.rst",
     "PKG-INFO",
+    "SECURITY.md",
 }
 
 local_sdist_files = {
@@ -101,22 +125,24 @@ local_sdist_files = {
 }
 
 
-def test_build_sdist(monkeypatch, tmpdir):
+def read_tz_file(tar: tarfile.TarFile, name: str) -> bytes:
+    start = tar.getnames()[0] + "/"
+    inner_file = tar.extractfile(tar.getmember(f"{start}{name}"))
+    assert inner_file
+    with contextlib.closing(inner_file) as f:
+        return f.read()
 
+
+def normalize_line_endings(value: bytes) -> bytes:
+    return value.replace(os.linesep.encode("utf-8"), b"\n")
+
+
+def test_build_sdist(monkeypatch, tmpdir):
     monkeypatch.chdir(MAIN_DIR)
 
-    out = subprocess.check_output(
-        [
-            sys.executable,
-            "-m",
-            "build",
-            "--sdist",
-            "--outdir",
-            str(tmpdir),
-        ]
+    subprocess.run(
+        [sys.executable, "-m", "build", "--sdist", f"--outdir={tmpdir}"], check=True
     )
-    if hasattr(out, "decode"):
-        out = out.decode()
 
     (sdist,) = tmpdir.visit("*.tar.gz")
 
@@ -125,25 +151,17 @@ def test_build_sdist(monkeypatch, tmpdir):
         version = start[9:-1]
         simpler = {n.split("/", 1)[-1] for n in tar.getnames()[1:]}
 
-        with contextlib.closing(
-            tar.extractfile(tar.getmember(start + "setup.py"))
-        ) as f:
-            setup_py = f.read()
+        setup_py = read_tz_file(tar, "setup.py")
+        pyproject_toml = read_tz_file(tar, "pyproject.toml")
+        pkgconfig = read_tz_file(tar, "pybind11/share/pkgconfig/pybind11.pc")
+        cmake_cfg = read_tz_file(
+            tar, "pybind11/share/cmake/pybind11/pybind11Config.cmake"
+        )
 
-        with contextlib.closing(
-            tar.extractfile(tar.getmember(start + "pyproject.toml"))
-        ) as f:
-            pyproject_toml = f.read()
-
-        with contextlib.closing(
-            tar.extractfile(
-                tar.getmember(
-                    start + "pybind11/share/cmake/pybind11/pybind11Config.cmake"
-                )
-            )
-        ) as f:
-            contents = f.read().decode("utf8")
-        assert 'set(pybind11_INCLUDE_DIR "${PACKAGE_PREFIX_DIR}/include")' in contents
+    assert (
+        'set(pybind11_INCLUDE_DIR "${PACKAGE_PREFIX_DIR}/include")'
+        in cmake_cfg.decode("utf-8")
+    )
 
     files = {f"pybind11/{n}" for n in all_files}
     files |= sdist_files
@@ -154,9 +172,9 @@ def test_build_sdist(monkeypatch, tmpdir):
 
     with open(os.path.join(MAIN_DIR, "tools", "setup_main.py.in"), "rb") as f:
         contents = (
-            string.Template(f.read().decode())
+            string.Template(f.read().decode("utf-8"))
             .substitute(version=version, extra_cmd="")
-            .encode()
+            .encode("utf-8")
         )
     assert setup_py == contents
 
@@ -164,25 +182,18 @@ def test_build_sdist(monkeypatch, tmpdir):
         contents = f.read()
     assert pyproject_toml == contents
 
+    simple_version = ".".join(version.split(".")[:3])
+    pkgconfig_expected = PKGCONFIG.format(VERSION=simple_version).encode("utf-8")
+    assert normalize_line_endings(pkgconfig) == pkgconfig_expected
+
 
 def test_build_global_dist(monkeypatch, tmpdir):
-
     monkeypatch.chdir(MAIN_DIR)
     monkeypatch.setenv("PYBIND11_GLOBAL_SDIST", "1")
-    out = subprocess.check_output(
-        [
-            sys.executable,
-            "-m",
-            "build",
-            "--sdist",
-            "--outdir",
-            str(tmpdir),
-        ]
+    subprocess.run(
+        [sys.executable, "-m", "build", "--sdist", "--outdir", str(tmpdir)], check=True
     )
 
-    if hasattr(out, "decode"):
-        out = out.decode()
-
     (sdist,) = tmpdir.visit("*.tar.gz")
 
     with tarfile.open(str(sdist), "r:gz") as tar:
@@ -190,15 +201,17 @@ def test_build_global_dist(monkeypatch, tmpdir):
         version = start[16:-1]
         simpler = {n.split("/", 1)[-1] for n in tar.getnames()[1:]}
 
-        with contextlib.closing(
-            tar.extractfile(tar.getmember(start + "setup.py"))
-        ) as f:
-            setup_py = f.read()
+        setup_py = read_tz_file(tar, "setup.py")
+        pyproject_toml = read_tz_file(tar, "pyproject.toml")
+        pkgconfig = read_tz_file(tar, "pybind11/share/pkgconfig/pybind11.pc")
+        cmake_cfg = read_tz_file(
+            tar, "pybind11/share/cmake/pybind11/pybind11Config.cmake"
+        )
 
-        with contextlib.closing(
-            tar.extractfile(tar.getmember(start + "pyproject.toml"))
-        ) as f:
-            pyproject_toml = f.read()
+    assert (
+        'set(pybind11_INCLUDE_DIR "${PACKAGE_PREFIX_DIR}/include")'
+        in cmake_cfg.decode("utf-8")
+    )
 
     files = {f"pybind11/{n}" for n in all_files}
     files |= sdist_files
@@ -209,7 +222,7 @@ def test_build_global_dist(monkeypatch, tmpdir):
         contents = (
             string.Template(f.read().decode())
             .substitute(version=version, extra_cmd="")
-            .encode()
+            .encode("utf-8")
         )
         assert setup_py == contents
 
@@ -217,12 +230,16 @@ def test_build_global_dist(monkeypatch, tmpdir):
         contents = f.read()
         assert pyproject_toml == contents
 
+    simple_version = ".".join(version.split(".")[:3])
+    pkgconfig_expected = PKGCONFIG.format(VERSION=simple_version).encode("utf-8")
+    assert normalize_line_endings(pkgconfig) == pkgconfig_expected
+
 
 def tests_build_wheel(monkeypatch, tmpdir):
     monkeypatch.chdir(MAIN_DIR)
 
-    subprocess.check_output(
-        [sys.executable, "-m", "pip", "wheel", ".", "-w", str(tmpdir)]
+    subprocess.run(
+        [sys.executable, "-m", "pip", "wheel", ".", "-w", str(tmpdir)], check=True
     )
 
     (wheel,) = tmpdir.visit("*.whl")
@@ -249,8 +266,8 @@ def tests_build_global_wheel(monkeypatch, tmpdir):
     monkeypatch.chdir(MAIN_DIR)
     monkeypatch.setenv("PYBIND11_GLOBAL_SDIST", "1")
 
-    subprocess.check_output(
-        [sys.executable, "-m", "pip", "wheel", ".", "-w", str(tmpdir)]
+    subprocess.run(
+        [sys.executable, "-m", "pip", "wheel", ".", "-w", str(tmpdir)], check=True
     )
 
     (wheel,) = tmpdir.visit("*.whl")
diff --git a/pybind11/tests/pybind11_tests.cpp b/pybind11/tests/pybind11_tests.cpp
index aa3095594..624034648 100644
--- a/pybind11/tests/pybind11_tests.cpp
+++ b/pybind11/tests/pybind11_tests.cpp
@@ -89,6 +89,12 @@ PYBIND11_MODULE(pybind11_tests, m) {
 #endif
     m.attr("cpp_std") = cpp_std();
     m.attr("PYBIND11_INTERNALS_ID") = PYBIND11_INTERNALS_ID;
+    m.attr("PYBIND11_SIMPLE_GIL_MANAGEMENT") =
+#if defined(PYBIND11_SIMPLE_GIL_MANAGEMENT)
+        true;
+#else
+        false;
+#endif
 
     bind_ConstructorStats(m);
 
diff --git a/pybind11/tests/requirements.txt b/pybind11/tests/requirements.txt
index 04aafa8cf..4ba101119 100644
--- a/pybind11/tests/requirements.txt
+++ b/pybind11/tests/requirements.txt
@@ -6,4 +6,4 @@ numpy==1.22.2; platform_python_implementation!="PyPy" and python_version>="3.10"
 pytest==7.0.0
 pytest-timeout
 scipy==1.5.4; platform_python_implementation!="PyPy" and python_version<"3.10"
-scipy==1.8.0; platform_python_implementation!="PyPy" and python_version=="3.10"
+scipy==1.10.0; platform_python_implementation!="PyPy" and python_version=="3.10"
diff --git a/pybind11/tests/test_async.py b/pybind11/tests/test_async.py
index b9ff9514d..83a4c5036 100644
--- a/pybind11/tests/test_async.py
+++ b/pybind11/tests/test_async.py
@@ -4,7 +4,7 @@ asyncio = pytest.importorskip("asyncio")
 m = pytest.importorskip("pybind11_tests.async_module")
 
 
-@pytest.fixture
+@pytest.fixture()
 def event_loop():
     loop = asyncio.new_event_loop()
     yield loop
@@ -16,7 +16,7 @@ async def get_await_result(x):
 
 
 def test_await(event_loop):
-    assert 5 == event_loop.run_until_complete(get_await_result(m.SupportsAsync()))
+    assert event_loop.run_until_complete(get_await_result(m.SupportsAsync())) == 5
 
 
 def test_await_missing(event_loop):
diff --git a/pybind11/tests/test_buffers.cpp b/pybind11/tests/test_buffers.cpp
index 6b6e8cba7..b5b8c355b 100644
--- a/pybind11/tests/test_buffers.cpp
+++ b/pybind11/tests/test_buffers.cpp
@@ -7,12 +7,47 @@
     BSD-style license that can be found in the LICENSE file.
 */
 
+#include <pybind11/complex.h>
 #include <pybind11/stl.h>
 
 #include "constructor_stats.h"
 #include "pybind11_tests.h"
 
 TEST_SUBMODULE(buffers, m) {
+    m.attr("long_double_and_double_have_same_size") = (sizeof(long double) == sizeof(double));
+
+    m.def("format_descriptor_format_buffer_info_equiv",
+          [](const std::string &cpp_name, const py::buffer &buffer) {
+              // https://google.github.io/styleguide/cppguide.html#Static_and_Global_Variables
+              static auto *format_table = new std::map<std::string, std::string>;
+              static auto *equiv_table
+                  = new std::map<std::string, bool (py::buffer_info::*)() const>;
+              if (format_table->empty()) {
+#define PYBIND11_ASSIGN_HELPER(...)                                                               \
+    (*format_table)[#__VA_ARGS__] = py::format_descriptor<__VA_ARGS__>::format();                 \
+    (*equiv_table)[#__VA_ARGS__] = &py::buffer_info::item_type_is_equivalent_to<__VA_ARGS__>;
+                  PYBIND11_ASSIGN_HELPER(PyObject *)
+                  PYBIND11_ASSIGN_HELPER(bool)
+                  PYBIND11_ASSIGN_HELPER(std::int8_t)
+                  PYBIND11_ASSIGN_HELPER(std::uint8_t)
+                  PYBIND11_ASSIGN_HELPER(std::int16_t)
+                  PYBIND11_ASSIGN_HELPER(std::uint16_t)
+                  PYBIND11_ASSIGN_HELPER(std::int32_t)
+                  PYBIND11_ASSIGN_HELPER(std::uint32_t)
+                  PYBIND11_ASSIGN_HELPER(std::int64_t)
+                  PYBIND11_ASSIGN_HELPER(std::uint64_t)
+                  PYBIND11_ASSIGN_HELPER(float)
+                  PYBIND11_ASSIGN_HELPER(double)
+                  PYBIND11_ASSIGN_HELPER(long double)
+                  PYBIND11_ASSIGN_HELPER(std::complex<float>)
+                  PYBIND11_ASSIGN_HELPER(std::complex<double>)
+                  PYBIND11_ASSIGN_HELPER(std::complex<long double>)
+#undef PYBIND11_ASSIGN_HELPER
+              }
+              return std::pair<std::string, bool>(
+                  (*format_table)[cpp_name], (buffer.request().*((*equiv_table)[cpp_name]))());
+          });
+
     // test_from_python / test_to_python:
     class Matrix {
     public:
diff --git a/pybind11/tests/test_buffers.py b/pybind11/tests/test_buffers.py
index 8354b68cd..63d9d869f 100644
--- a/pybind11/tests/test_buffers.py
+++ b/pybind11/tests/test_buffers.py
@@ -10,6 +10,63 @@ from pybind11_tests import buffers as m
 
 np = pytest.importorskip("numpy")
 
+if m.long_double_and_double_have_same_size:
+    # Determined by the compiler used to build the pybind11 tests
+    # (e.g. MSVC gets here, but MinGW might not).
+    np_float128 = None
+    np_complex256 = None
+else:
+    # Determined by the compiler used to build numpy (e.g. MinGW).
+    np_float128 = getattr(np, *["float128"] * 2)
+    np_complex256 = getattr(np, *["complex256"] * 2)
+
+CPP_NAME_FORMAT_NP_DTYPE_TABLE = [
+    ("PyObject *", "O", object),
+    ("bool", "?", np.bool_),
+    ("std::int8_t", "b", np.int8),
+    ("std::uint8_t", "B", np.uint8),
+    ("std::int16_t", "h", np.int16),
+    ("std::uint16_t", "H", np.uint16),
+    ("std::int32_t", "i", np.int32),
+    ("std::uint32_t", "I", np.uint32),
+    ("std::int64_t", "q", np.int64),
+    ("std::uint64_t", "Q", np.uint64),
+    ("float", "f", np.float32),
+    ("double", "d", np.float64),
+    ("long double", "g", np_float128),
+    ("std::complex<float>", "Zf", np.complex64),
+    ("std::complex<double>", "Zd", np.complex128),
+    ("std::complex<long double>", "Zg", np_complex256),
+]
+CPP_NAME_FORMAT_TABLE = [
+    (cpp_name, format)
+    for cpp_name, format, np_dtype in CPP_NAME_FORMAT_NP_DTYPE_TABLE
+    if np_dtype is not None
+]
+CPP_NAME_NP_DTYPE_TABLE = [
+    (cpp_name, np_dtype) for cpp_name, _, np_dtype in CPP_NAME_FORMAT_NP_DTYPE_TABLE
+]
+
+
+@pytest.mark.parametrize(("cpp_name", "np_dtype"), CPP_NAME_NP_DTYPE_TABLE)
+def test_format_descriptor_format_buffer_info_equiv(cpp_name, np_dtype):
+    if np_dtype is None:
+        pytest.skip(
+            f"cpp_name=`{cpp_name}`: `long double` and `double` have same size."
+        )
+    if isinstance(np_dtype, str):
+        pytest.skip(f"np.{np_dtype} does not exist.")
+    np_array = np.array([], dtype=np_dtype)
+    for other_cpp_name, expected_format in CPP_NAME_FORMAT_TABLE:
+        format, np_array_is_matching = m.format_descriptor_format_buffer_info_equiv(
+            other_cpp_name, np_array
+        )
+        assert format == expected_format
+        if other_cpp_name == cpp_name:
+            assert np_array_is_matching
+        else:
+            assert not np_array_is_matching
+
 
 def test_from_python():
     with pytest.raises(RuntimeError) as excinfo:
@@ -54,7 +111,8 @@ def test_to_python():
     mat2 = np.array(mat, copy=False)
     assert mat2.shape == (5, 4)
     assert abs(mat2).sum() == 11
-    assert mat2[2, 3] == 4 and mat2[3, 2] == 7
+    assert mat2[2, 3] == 4
+    assert mat2[3, 2] == 7
     mat2[2, 3] = 5
     assert mat2[2, 3] == 5
 
diff --git a/pybind11/tests/test_builtin_casters.cpp b/pybind11/tests/test_builtin_casters.cpp
index 6529f47d0..0623b85dc 100644
--- a/pybind11/tests/test_builtin_casters.cpp
+++ b/pybind11/tests/test_builtin_casters.cpp
@@ -73,6 +73,9 @@ PYBIND11_NAMESPACE_END(detail)
 PYBIND11_NAMESPACE_END(pybind11)
 
 TEST_SUBMODULE(builtin_casters, m) {
+    PYBIND11_WARNING_PUSH
+    PYBIND11_WARNING_DISABLE_MSVC(4127)
+
     // test_simple_string
     m.def("string_roundtrip", [](const char *s) { return s; });
 
@@ -86,7 +89,7 @@ TEST_SUBMODULE(builtin_casters, m) {
     std::wstring wstr;
     wstr.push_back(0x61);   // a
     wstr.push_back(0x2e18); // ⸘
-    if (PYBIND11_SILENCE_MSVC_C4127(sizeof(wchar_t) == 2)) {
+    if (sizeof(wchar_t) == 2) {
         wstr.push_back(mathbfA16_1);
         wstr.push_back(mathbfA16_2);
     } // 𝐀, utf16
@@ -113,7 +116,7 @@ TEST_SUBMODULE(builtin_casters, m) {
     // Under Python 2.7, invalid unicode UTF-32 characters didn't appear to trigger
     // UnicodeDecodeError
     m.def("bad_utf32_string", [=]() { return std::u32string({a32, char32_t(0xd800), z32}); });
-    if (PYBIND11_SILENCE_MSVC_C4127(sizeof(wchar_t) == 2)) {
+    if (sizeof(wchar_t) == 2) {
         m.def("bad_wchar_string", [=]() {
             return std::wstring({wchar_t(0x61), wchar_t(0xd800)});
         });
@@ -266,9 +269,14 @@ TEST_SUBMODULE(builtin_casters, m) {
     });
     m.def("lvalue_nested", []() -> const decltype(lvnested) & { return lvnested; });
 
-    static std::pair<int, std::string> int_string_pair{2, "items"};
     m.def(
-        "int_string_pair", []() { return &int_string_pair; }, py::return_value_policy::reference);
+        "int_string_pair",
+        []() {
+            // Using no-destructor idiom to side-step warnings from overzealous compilers.
+            static auto *int_string_pair = new std::pair<int, std::string>{2, "items"};
+            return int_string_pair;
+        },
+        py::return_value_policy::reference);
 
     // test_builtins_cast_return_none
     m.def("return_none_string", []() -> std::string * { return nullptr; });
@@ -379,4 +387,6 @@ TEST_SUBMODULE(builtin_casters, m) {
     m.def("takes_const_ref", [](const ConstRefCasted &x) { return x.tag; });
     m.def("takes_const_ref_wrap",
           [](std::reference_wrapper<const ConstRefCasted> x) { return x.get().tag; });
+
+    PYBIND11_WARNING_POP
 }
diff --git a/pybind11/tests/test_builtin_casters.py b/pybind11/tests/test_builtin_casters.py
index d38ae6802..b1f57bdd9 100644
--- a/pybind11/tests/test_builtin_casters.py
+++ b/pybind11/tests/test_builtin_casters.py
@@ -126,8 +126,8 @@ def test_bytes_to_string():
 
     assert m.strlen(b"hi") == 2
     assert m.string_length(b"world") == 5
-    assert m.string_length("a\x00b".encode()) == 3
-    assert m.strlen("a\x00b".encode()) == 1  # C-string limitation
+    assert m.string_length(b"a\x00b") == 3
+    assert m.strlen(b"a\x00b") == 1  # C-string limitation
 
     # passing in a utf8 encoded string should work
     assert m.string_length("💩".encode()) == 4
@@ -421,13 +421,15 @@ def test_reference_wrapper():
     a2 = m.refwrap_list(copy=True)
     assert [x.value for x in a1] == [2, 3]
     assert [x.value for x in a2] == [2, 3]
-    assert not a1[0] is a2[0] and not a1[1] is a2[1]
+    assert a1[0] is not a2[0]
+    assert a1[1] is not a2[1]
 
     b1 = m.refwrap_list(copy=False)
     b2 = m.refwrap_list(copy=False)
     assert [x.value for x in b1] == [1, 2]
     assert [x.value for x in b2] == [1, 2]
-    assert b1[0] is b2[0] and b1[1] is b2[1]
+    assert b1[0] is b2[0]
+    assert b1[1] is b2[1]
 
     assert m.refwrap_iiw(IncType(5)) == 5
     assert m.refwrap_call_iiw(IncType(10), m.refwrap_iiw) == [10, 10, 10, 10]
diff --git a/pybind11/tests/test_callbacks.cpp b/pybind11/tests/test_callbacks.cpp
index 92b8053de..2fd05dec7 100644
--- a/pybind11/tests/test_callbacks.cpp
+++ b/pybind11/tests/test_callbacks.cpp
@@ -240,4 +240,41 @@ TEST_SUBMODULE(callbacks, m) {
             f();
         }
     });
+
+    auto *custom_def = []() {
+        static PyMethodDef def;
+        def.ml_name = "example_name";
+        def.ml_doc = "Example doc";
+        def.ml_meth = [](PyObject *, PyObject *args) -> PyObject * {
+            if (PyTuple_Size(args) != 1) {
+                throw std::runtime_error("Invalid number of arguments for example_name");
+            }
+            PyObject *first = PyTuple_GetItem(args, 0);
+            if (!PyLong_Check(first)) {
+                throw std::runtime_error("Invalid argument to example_name");
+            }
+            auto result = py::cast(PyLong_AsLong(first) * 9);
+            return result.release().ptr();
+        };
+        def.ml_flags = METH_VARARGS;
+        return &def;
+    }();
+
+    // rec_capsule with name that has the same value (but not pointer) as our internal one
+    // This capsule should be detected by our code as foreign and not inspected as the pointers
+    // shouldn't match
+    constexpr const char *rec_capsule_name
+        = pybind11::detail::internals_function_record_capsule_name;
+    py::capsule rec_capsule(std::malloc(1), [](void *data) { std::free(data); });
+    rec_capsule.set_name(rec_capsule_name);
+    m.add_object("custom_function", PyCFunction_New(custom_def, rec_capsule.ptr()));
+
+    // This test requires a new ABI version to pass
+#if PYBIND11_INTERNALS_VERSION > 4
+    // rec_capsule with nullptr name
+    py::capsule rec_capsule2(std::malloc(1), [](void *data) { std::free(data); });
+    m.add_object("custom_function2", PyCFunction_New(custom_def, rec_capsule2.ptr()));
+#else
+    m.add_object("custom_function2", py::none());
+#endif
 }
diff --git a/pybind11/tests/test_callbacks.py b/pybind11/tests/test_callbacks.py
index 0b1047bbf..4a652f53e 100644
--- a/pybind11/tests/test_callbacks.py
+++ b/pybind11/tests/test_callbacks.py
@@ -5,6 +5,7 @@ import pytest
 
 import env  # noqa: F401
 from pybind11_tests import callbacks as m
+from pybind11_tests import detailed_error_messages_enabled
 
 
 def test_callbacks():
@@ -70,11 +71,20 @@ def test_keyword_args_and_generalized_unpacking():
 
     with pytest.raises(RuntimeError) as excinfo:
         m.test_arg_conversion_error1(f)
-    assert "Unable to convert call argument" in str(excinfo.value)
+    assert str(excinfo.value) == "Unable to convert call argument " + (
+        "'1' of type 'UnregisteredType' to Python object"
+        if detailed_error_messages_enabled
+        else "'1' to Python object (#define PYBIND11_DETAILED_ERROR_MESSAGES or compile in debug mode for details)"
+    )
 
     with pytest.raises(RuntimeError) as excinfo:
         m.test_arg_conversion_error2(f)
-    assert "Unable to convert call argument" in str(excinfo.value)
+    assert str(excinfo.value) == "Unable to convert call argument " + (
+        "'expected_name' of type 'UnregisteredType' to Python object"
+        if detailed_error_messages_enabled
+        else "'expected_name' to Python object "
+        "(#define PYBIND11_DETAILED_ERROR_MESSAGES or compile in debug mode for details)"
+    )
 
 
 def test_lambda_closure_cleanup():
@@ -193,3 +203,16 @@ def test_callback_num_times():
     if len(rates) > 1:
         print("Min    Mean   Max")
         print(f"{min(rates):6.3f} {sum(rates) / len(rates):6.3f} {max(rates):6.3f}")
+
+
+def test_custom_func():
+    assert m.custom_function(4) == 36
+    assert m.roundtrip(m.custom_function)(4) == 36
+
+
+@pytest.mark.skipif(
+    m.custom_function2 is None, reason="Current PYBIND11_INTERNALS_VERSION too low"
+)
+def test_custom_func2():
+    assert m.custom_function2(3) == 27
+    assert m.roundtrip(m.custom_function2)(3) == 27
diff --git a/pybind11/tests/test_chrono.py b/pybind11/tests/test_chrono.py
index 7f47b37a2..a29316c38 100644
--- a/pybind11/tests/test_chrono.py
+++ b/pybind11/tests/test_chrono.py
@@ -7,7 +7,6 @@ from pybind11_tests import chrono as m
 
 
 def test_chrono_system_clock():
-
     # Get the time from both c++ and datetime
     date0 = datetime.datetime.today()
     date1 = m.test_chrono1()
@@ -122,7 +121,6 @@ def test_chrono_system_clock_roundtrip_time(time1, tz, monkeypatch):
 
 
 def test_chrono_duration_roundtrip():
-
     # Get the difference between two times (a timedelta)
     date1 = datetime.datetime.today()
     date2 = datetime.datetime.today()
@@ -143,7 +141,6 @@ def test_chrono_duration_roundtrip():
 
 
 def test_chrono_duration_subtraction_equivalence():
-
     date1 = datetime.datetime.today()
     date2 = datetime.datetime.today()
 
@@ -154,7 +151,6 @@ def test_chrono_duration_subtraction_equivalence():
 
 
 def test_chrono_duration_subtraction_equivalence_date():
-
     date1 = datetime.date.today()
     date2 = datetime.date.today()
 
diff --git a/pybind11/tests/test_class.cpp b/pybind11/tests/test_class.cpp
index c8b8071dc..7241bc881 100644
--- a/pybind11/tests/test_class.cpp
+++ b/pybind11/tests/test_class.cpp
@@ -22,10 +22,8 @@
 
 #include <utility>
 
-#if defined(_MSC_VER)
-#    pragma warning(disable : 4324)
+PYBIND11_WARNING_DISABLE_MSVC(4324)
 //     warning C4324: structure was padded due to alignment specifier
-#endif
 
 // test_brace_initialization
 struct NoBraceInitialization {
@@ -36,7 +34,29 @@ struct NoBraceInitialization {
     std::vector<int> vec;
 };
 
+namespace test_class {
+namespace pr4220_tripped_over_this { // PR #4227
+
+template <int>
+struct SoEmpty {};
+
+template <typename T>
+std::string get_msg(const T &) {
+    return "This is really only meant to exercise successful compilation.";
+}
+
+using Empty0 = SoEmpty<0x0>;
+
+void bind_empty0(py::module_ &m) {
+    py::class_<Empty0>(m, "Empty0").def(py::init<>()).def("get_msg", get_msg<Empty0>);
+}
+
+} // namespace pr4220_tripped_over_this
+} // namespace test_class
+
 TEST_SUBMODULE(class_, m) {
+    m.def("obj_class_name", [](py::handle obj) { return py::detail::obj_class_name(obj.ptr()); });
+
     // test_instance
     struct NoConstructor {
         NoConstructor() = default;
@@ -65,7 +85,7 @@ TEST_SUBMODULE(class_, m) {
         .def_static("new_instance", &NoConstructor::new_instance, "Return an instance");
 
     py::class_<NoConstructorNew>(m, "NoConstructorNew")
-        .def(py::init([](const NoConstructorNew &self) { return self; })) // Need a NOOP __init__
+        .def(py::init([]() { return nullptr; })) // Need a NOOP __init__
         .def_static("__new__",
                     [](const py::object &) { return NoConstructorNew::new_instance(); });
 
@@ -364,6 +384,8 @@ TEST_SUBMODULE(class_, m) {
 
     protected:
         virtual int foo() const { return value; }
+        virtual void *void_foo() { return static_cast<void *>(&value); }
+        virtual void *get_self() { return static_cast<void *>(this); }
 
     private:
         int value = 42;
@@ -372,6 +394,8 @@ TEST_SUBMODULE(class_, m) {
     class TrampolineB : public ProtectedB {
     public:
         int foo() const override { PYBIND11_OVERRIDE(int, ProtectedB, foo, ); }
+        void *void_foo() override { PYBIND11_OVERRIDE(void *, ProtectedB, void_foo, ); }
+        void *get_self() override { PYBIND11_OVERRIDE(void *, ProtectedB, get_self, ); }
     };
 
     class PublicistB : public ProtectedB {
@@ -381,11 +405,23 @@ TEST_SUBMODULE(class_, m) {
         // (in Debug builds only, tested with icpc (ICC) 2021.1 Beta 20200827)
         ~PublicistB() override{}; // NOLINT(modernize-use-equals-default)
         using ProtectedB::foo;
+        using ProtectedB::get_self;
+        using ProtectedB::void_foo;
     };
 
+    m.def("read_foo", [](const void *original) {
+        const int *ptr = reinterpret_cast<const int *>(original);
+        return *ptr;
+    });
+
+    m.def("pointers_equal",
+          [](const void *original, const void *comparison) { return original == comparison; });
+
     py::class_<ProtectedB, TrampolineB>(m, "ProtectedB")
         .def(py::init<>())
-        .def("foo", &PublicistB::foo);
+        .def("foo", &PublicistB::foo)
+        .def("void_foo", &PublicistB::void_foo)
+        .def("get_self", &PublicistB::get_self);
 
     // test_brace_initialization
     struct BraceInitialization {
@@ -517,6 +553,8 @@ TEST_SUBMODULE(class_, m) {
         py::class_<OtherDuplicateNested>(gt, "OtherDuplicateNested");
         py::class_<OtherDuplicateNested>(gt, "YetAnotherDuplicateNested");
     });
+
+    test_class::pr4220_tripped_over_this::bind_empty0(m);
 }
 
 template <int N>
diff --git a/pybind11/tests/test_class.py b/pybind11/tests/test_class.py
index ff9196f0f..ee7467cf8 100644
--- a/pybind11/tests/test_class.py
+++ b/pybind11/tests/test_class.py
@@ -1,10 +1,16 @@
 import pytest
 
-import env  # noqa: F401
+import env
 from pybind11_tests import ConstructorStats, UserType
 from pybind11_tests import class_ as m
 
 
+def test_obj_class_name():
+    expected_name = "UserType" if env.PYPY else "pybind11_tests.UserType"
+    assert m.obj_class_name(UserType(1)) == expected_name
+    assert m.obj_class_name(UserType) == expected_name
+
+
 def test_repr():
     assert "pybind11_type" in repr(type(UserType))
     assert "UserType" in repr(UserType)
@@ -23,7 +29,7 @@ def test_instance(msg):
     assert cstats.alive() == 0
 
 
-def test_instance_new(msg):
+def test_instance_new():
     instance = m.NoConstructorNew()  # .__new__(m.NoConstructor.__class__)
     cstats = ConstructorStats.get(m.NoConstructorNew)
     assert cstats.alive() == 1
@@ -176,7 +182,6 @@ def test_inheritance(msg):
 
 
 def test_inheritance_init(msg):
-
     # Single base
     class Python(m.Pet):
         def __init__(self):
@@ -213,7 +218,7 @@ def test_automatic_upcasting():
 
 
 def test_isinstance():
-    objects = [tuple(), dict(), m.Pet("Polly", "parrot")] + [m.Dog("Molly")] * 4
+    objects = [(), {}, m.Pet("Polly", "parrot")] + [m.Dog("Molly")] * 4
     expected = (True, True, True, True, True, False, False)
     assert m.check_instances(objects) == expected
 
@@ -313,6 +318,8 @@ def test_bind_protected_functions():
 
     b = m.ProtectedB()
     assert b.foo() == 42
+    assert m.read_foo(b.void_foo()) == 42
+    assert m.pointers_equal(b.get_self(), b)
 
     class C(m.ProtectedB):
         def __init__(self):
@@ -417,7 +424,7 @@ def test_exception_rvalue_abort():
 
 
 # https://github.com/pybind/pybind11/issues/1568
-def test_multiple_instances_with_same_pointer(capture):
+def test_multiple_instances_with_same_pointer():
     n = 100
     instances = [m.SamePointer() for _ in range(n)]
     for i in range(n):
@@ -469,3 +476,10 @@ def test_register_duplicate_class():
         m.register_duplicate_nested_class_type(ClassScope)
     expected = 'generic_type: type "YetAnotherDuplicateNested" is already registered!'
     assert str(exc_info.value) == expected
+
+
+def test_pr4220_tripped_over_this():
+    assert (
+        m.Empty0().get_msg()
+        == "This is really only meant to exercise successful compilation."
+    )
diff --git a/pybind11/tests/test_cmake_build/CMakeLists.txt b/pybind11/tests/test_cmake_build/CMakeLists.txt
index 8bfaa386a..e5aa975cf 100644
--- a/pybind11/tests/test_cmake_build/CMakeLists.txt
+++ b/pybind11/tests/test_cmake_build/CMakeLists.txt
@@ -1,6 +1,3 @@
-# Built-in in CMake 3.5+
-include(CMakeParseArguments)
-
 add_custom_target(test_cmake_build)
 
 function(pybind11_add_build_test name)
diff --git a/pybind11/tests/test_cmake_build/installed_embed/CMakeLists.txt b/pybind11/tests/test_cmake_build/installed_embed/CMakeLists.txt
index f7d693998..d9dcb45e4 100644
--- a/pybind11/tests/test_cmake_build/installed_embed/CMakeLists.txt
+++ b/pybind11/tests/test_cmake_build/installed_embed/CMakeLists.txt
@@ -1,12 +1,12 @@
-cmake_minimum_required(VERSION 3.4)
+cmake_minimum_required(VERSION 3.5)
 
-# The `cmake_minimum_required(VERSION 3.4...3.18)` syntax does not work with
+# The `cmake_minimum_required(VERSION 3.5...3.26)` syntax does not work with
 # some versions of VS that have a patched CMake 3.11. This forces us to emulate
 # the behavior using the following workaround:
-if(${CMAKE_VERSION} VERSION_LESS 3.18)
+if(${CMAKE_VERSION} VERSION_LESS 3.26)
   cmake_policy(VERSION ${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION})
 else()
-  cmake_policy(VERSION 3.18)
+  cmake_policy(VERSION 3.26)
 endif()
 
 project(test_installed_embed CXX)
diff --git a/pybind11/tests/test_cmake_build/installed_function/CMakeLists.txt b/pybind11/tests/test_cmake_build/installed_function/CMakeLists.txt
index d7ca4db55..2f4f64275 100644
--- a/pybind11/tests/test_cmake_build/installed_function/CMakeLists.txt
+++ b/pybind11/tests/test_cmake_build/installed_function/CMakeLists.txt
@@ -1,13 +1,13 @@
-cmake_minimum_required(VERSION 3.4)
+cmake_minimum_required(VERSION 3.5)
 project(test_installed_module CXX)
 
-# The `cmake_minimum_required(VERSION 3.4...3.18)` syntax does not work with
+# The `cmake_minimum_required(VERSION 3.5...3.26)` syntax does not work with
 # some versions of VS that have a patched CMake 3.11. This forces us to emulate
 # the behavior using the following workaround:
-if(${CMAKE_VERSION} VERSION_LESS 3.18)
+if(${CMAKE_VERSION} VERSION_LESS 3.26)
   cmake_policy(VERSION ${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION})
 else()
-  cmake_policy(VERSION 3.18)
+  cmake_policy(VERSION 3.26)
 endif()
 
 project(test_installed_function CXX)
diff --git a/pybind11/tests/test_cmake_build/installed_target/CMakeLists.txt b/pybind11/tests/test_cmake_build/installed_target/CMakeLists.txt
index bc5e101f1..a981e236f 100644
--- a/pybind11/tests/test_cmake_build/installed_target/CMakeLists.txt
+++ b/pybind11/tests/test_cmake_build/installed_target/CMakeLists.txt
@@ -1,12 +1,12 @@
-cmake_minimum_required(VERSION 3.4)
+cmake_minimum_required(VERSION 3.5)
 
-# The `cmake_minimum_required(VERSION 3.4...3.18)` syntax does not work with
+# The `cmake_minimum_required(VERSION 3.5...3.26)` syntax does not work with
 # some versions of VS that have a patched CMake 3.11. This forces us to emulate
 # the behavior using the following workaround:
-if(${CMAKE_VERSION} VERSION_LESS 3.18)
+if(${CMAKE_VERSION} VERSION_LESS 3.26)
   cmake_policy(VERSION ${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION})
 else()
-  cmake_policy(VERSION 3.18)
+  cmake_policy(VERSION 3.26)
 endif()
 
 project(test_installed_target CXX)
diff --git a/pybind11/tests/test_cmake_build/subdirectory_embed/CMakeLists.txt b/pybind11/tests/test_cmake_build/subdirectory_embed/CMakeLists.txt
index 58cdd7cfd..f286746b9 100644
--- a/pybind11/tests/test_cmake_build/subdirectory_embed/CMakeLists.txt
+++ b/pybind11/tests/test_cmake_build/subdirectory_embed/CMakeLists.txt
@@ -1,12 +1,12 @@
-cmake_minimum_required(VERSION 3.4)
+cmake_minimum_required(VERSION 3.5)
 
-# The `cmake_minimum_required(VERSION 3.4...3.18)` syntax does not work with
+# The `cmake_minimum_required(VERSION 3.5...3.26)` syntax does not work with
 # some versions of VS that have a patched CMake 3.11. This forces us to emulate
 # the behavior using the following workaround:
-if(${CMAKE_VERSION} VERSION_LESS 3.18)
+if(${CMAKE_VERSION} VERSION_LESS 3.26)
   cmake_policy(VERSION ${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION})
 else()
-  cmake_policy(VERSION 3.18)
+  cmake_policy(VERSION 3.26)
 endif()
 
 project(test_subdirectory_embed CXX)
diff --git a/pybind11/tests/test_cmake_build/subdirectory_function/CMakeLists.txt b/pybind11/tests/test_cmake_build/subdirectory_function/CMakeLists.txt
index 01557c439..275a75c0b 100644
--- a/pybind11/tests/test_cmake_build/subdirectory_function/CMakeLists.txt
+++ b/pybind11/tests/test_cmake_build/subdirectory_function/CMakeLists.txt
@@ -1,12 +1,12 @@
-cmake_minimum_required(VERSION 3.4)
+cmake_minimum_required(VERSION 3.5)
 
-# The `cmake_minimum_required(VERSION 3.4...3.18)` syntax does not work with
+# The `cmake_minimum_required(VERSION 3.5...3.26)` syntax does not work with
 # some versions of VS that have a patched CMake 3.11. This forces us to emulate
 # the behavior using the following workaround:
-if(${CMAKE_VERSION} VERSION_LESS 3.18)
+if(${CMAKE_VERSION} VERSION_LESS 3.26)
   cmake_policy(VERSION ${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION})
 else()
-  cmake_policy(VERSION 3.18)
+  cmake_policy(VERSION 3.26)
 endif()
 
 project(test_subdirectory_function CXX)
diff --git a/pybind11/tests/test_cmake_build/subdirectory_target/CMakeLists.txt b/pybind11/tests/test_cmake_build/subdirectory_target/CMakeLists.txt
index ba82fdee2..37bb2c56e 100644
--- a/pybind11/tests/test_cmake_build/subdirectory_target/CMakeLists.txt
+++ b/pybind11/tests/test_cmake_build/subdirectory_target/CMakeLists.txt
@@ -1,12 +1,12 @@
-cmake_minimum_required(VERSION 3.4)
+cmake_minimum_required(VERSION 3.5)
 
-# The `cmake_minimum_required(VERSION 3.4...3.18)` syntax does not work with
+# The `cmake_minimum_required(VERSION 3.5...3.26)` syntax does not work with
 # some versions of VS that have a patched CMake 3.11. This forces us to emulate
 # the behavior using the following workaround:
-if(${CMAKE_VERSION} VERSION_LESS 3.18)
+if(${CMAKE_VERSION} VERSION_LESS 3.26)
   cmake_policy(VERSION ${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION})
 else()
-  cmake_policy(VERSION 3.18)
+  cmake_policy(VERSION 3.26)
 endif()
 
 project(test_subdirectory_target CXX)
diff --git a/pybind11/tests/test_const_name.py b/pybind11/tests/test_const_name.py
index 10b0caee2..a145f0bbb 100644
--- a/pybind11/tests/test_const_name.py
+++ b/pybind11/tests/test_const_name.py
@@ -3,9 +3,9 @@ import pytest
 from pybind11_tests import const_name as m
 
 
-@pytest.mark.parametrize("func", (m.const_name_tests, m.underscore_tests))
+@pytest.mark.parametrize("func", [m.const_name_tests, m.underscore_tests])
 @pytest.mark.parametrize(
-    "selector, expected",
+    ("selector", "expected"),
     enumerate(
         (
             "",
diff --git a/pybind11/tests/test_constants_and_functions.cpp b/pybind11/tests/test_constants_and_functions.cpp
index 1918a429c..312edca9e 100644
--- a/pybind11/tests/test_constants_and_functions.cpp
+++ b/pybind11/tests/test_constants_and_functions.cpp
@@ -52,15 +52,12 @@ int f1(int x) noexcept { return x + 1; }
 #endif
 int f2(int x) noexcept(true) { return x + 2; }
 int f3(int x) noexcept(false) { return x + 3; }
-#if defined(__GNUG__) && !defined(__INTEL_COMPILER)
-#    pragma GCC diagnostic push
-#    pragma GCC diagnostic ignored "-Wdeprecated"
-#endif
+PYBIND11_WARNING_PUSH
+PYBIND11_WARNING_DISABLE_GCC("-Wdeprecated")
+PYBIND11_WARNING_DISABLE_CLANG("-Wdeprecated")
 // NOLINTNEXTLINE(modernize-use-noexcept)
 int f4(int x) throw() { return x + 4; } // Deprecated equivalent to noexcept(true)
-#if defined(__GNUG__) && !defined(__INTEL_COMPILER)
-#    pragma GCC diagnostic pop
-#endif
+PYBIND11_WARNING_POP
 struct C {
     int m1(int x) noexcept { return x - 1; }
     int m2(int x) const noexcept { return x - 2; }
@@ -68,17 +65,14 @@ struct C {
     int m4(int x) const noexcept(true) { return x - 4; }
     int m5(int x) noexcept(false) { return x - 5; }
     int m6(int x) const noexcept(false) { return x - 6; }
-#if defined(__GNUG__) && !defined(__INTEL_COMPILER)
-#    pragma GCC diagnostic push
-#    pragma GCC diagnostic ignored "-Wdeprecated"
-#endif
+    PYBIND11_WARNING_PUSH
+    PYBIND11_WARNING_DISABLE_GCC("-Wdeprecated")
+    PYBIND11_WARNING_DISABLE_CLANG("-Wdeprecated")
     // NOLINTNEXTLINE(modernize-use-noexcept)
     int m7(int x) throw() { return x - 7; }
     // NOLINTNEXTLINE(modernize-use-noexcept)
     int m8(int x) const throw() { return x - 8; }
-#if defined(__GNUG__) && !defined(__INTEL_COMPILER)
-#    pragma GCC diagnostic pop
-#endif
+    PYBIND11_WARNING_POP
 };
 } // namespace test_exc_sp
 
@@ -126,14 +120,12 @@ TEST_SUBMODULE(constants_and_functions, m) {
         .def("m8", &C::m8);
     m.def("f1", f1);
     m.def("f2", f2);
-#if defined(__INTEL_COMPILER)
-#    pragma warning push
-#    pragma warning disable 878 // incompatible exception specifications
-#endif
+
+    PYBIND11_WARNING_PUSH
+    PYBIND11_WARNING_DISABLE_INTEL(878) // incompatible exception specifications
     m.def("f3", f3);
-#if defined(__INTEL_COMPILER)
-#    pragma warning pop
-#endif
+    PYBIND11_WARNING_POP
+
     m.def("f4", f4);
 
     // test_function_record_leaks
@@ -156,4 +148,7 @@ TEST_SUBMODULE(constants_and_functions, m) {
             py::arg_v("y", 42, "<the answer>"),
             py::arg_v("z", default_value));
     });
+
+    // test noexcept(true) lambda (#4565)
+    m.def("l1", []() noexcept(true) { return 0; });
 }
diff --git a/pybind11/tests/test_constants_and_functions.py b/pybind11/tests/test_constants_and_functions.py
index 5da0b84b8..a1142461c 100644
--- a/pybind11/tests/test_constants_and_functions.py
+++ b/pybind11/tests/test_constants_and_functions.py
@@ -50,3 +50,7 @@ def test_function_record_leaks():
         m.register_large_capture_with_invalid_arguments(m)
     with pytest.raises(RuntimeError):
         m.register_with_raising_repr(m, RaisingRepr())
+
+
+def test_noexcept_lambda():
+    assert m.l1() == 0
diff --git a/pybind11/tests/test_copy_move.cpp b/pybind11/tests/test_copy_move.cpp
index 28c244564..f54733550 100644
--- a/pybind11/tests/test_copy_move.cpp
+++ b/pybind11/tests/test_copy_move.cpp
@@ -13,6 +13,8 @@
 #include "constructor_stats.h"
 #include "pybind11_tests.h"
 
+#include <type_traits>
+
 template <typename derived>
 struct empty {
     static const derived &get_one() { return instance_; }
@@ -293,3 +295,239 @@ TEST_SUBMODULE(copy_move_policies, m) {
     // Make sure that cast from pytype rvalue to other pytype works
     m.def("get_pytype_rvalue_castissue", [](double i) { return py::float_(i).cast<py::int_>(); });
 }
+
+/*
+ * Rest of the file:
+ * static_assert based tests for pybind11 adaptations of
+ * std::is_move_constructible, std::is_copy_constructible and
+ * std::is_copy_assignable (no adaptation of std::is_move_assignable).
+ * Difference between pybind11 and std traits: pybind11 traits will also check
+ * the contained value_types.
+ */
+
+struct NotMovable {
+    NotMovable() = default;
+    NotMovable(NotMovable const &) = default;
+    NotMovable(NotMovable &&) = delete;
+    NotMovable &operator=(NotMovable const &) = default;
+    NotMovable &operator=(NotMovable &&) = delete;
+};
+static_assert(!std::is_move_constructible<NotMovable>::value,
+              "!std::is_move_constructible<NotMovable>::value");
+static_assert(std::is_copy_constructible<NotMovable>::value,
+              "std::is_copy_constructible<NotMovable>::value");
+static_assert(!pybind11::detail::is_move_constructible<NotMovable>::value,
+              "!pybind11::detail::is_move_constructible<NotMovable>::value");
+static_assert(pybind11::detail::is_copy_constructible<NotMovable>::value,
+              "pybind11::detail::is_copy_constructible<NotMovable>::value");
+static_assert(!std::is_move_assignable<NotMovable>::value,
+              "!std::is_move_assignable<NotMovable>::value");
+static_assert(std::is_copy_assignable<NotMovable>::value,
+              "std::is_copy_assignable<NotMovable>::value");
+// pybind11 does not have this
+// static_assert(!pybind11::detail::is_move_assignable<NotMovable>::value,
+//               "!pybind11::detail::is_move_assignable<NotMovable>::value");
+static_assert(pybind11::detail::is_copy_assignable<NotMovable>::value,
+              "pybind11::detail::is_copy_assignable<NotMovable>::value");
+
+struct NotCopyable {
+    NotCopyable() = default;
+    NotCopyable(NotCopyable const &) = delete;
+    NotCopyable(NotCopyable &&) = default;
+    NotCopyable &operator=(NotCopyable const &) = delete;
+    NotCopyable &operator=(NotCopyable &&) = default;
+};
+static_assert(std::is_move_constructible<NotCopyable>::value,
+              "std::is_move_constructible<NotCopyable>::value");
+static_assert(!std::is_copy_constructible<NotCopyable>::value,
+              "!std::is_copy_constructible<NotCopyable>::value");
+static_assert(pybind11::detail::is_move_constructible<NotCopyable>::value,
+              "pybind11::detail::is_move_constructible<NotCopyable>::value");
+static_assert(!pybind11::detail::is_copy_constructible<NotCopyable>::value,
+              "!pybind11::detail::is_copy_constructible<NotCopyable>::value");
+static_assert(std::is_move_assignable<NotCopyable>::value,
+              "std::is_move_assignable<NotCopyable>::value");
+static_assert(!std::is_copy_assignable<NotCopyable>::value,
+              "!std::is_copy_assignable<NotCopyable>::value");
+// pybind11 does not have this
+// static_assert(!pybind11::detail::is_move_assignable<NotCopyable>::value,
+//               "!pybind11::detail::is_move_assignable<NotCopyable>::value");
+static_assert(!pybind11::detail::is_copy_assignable<NotCopyable>::value,
+              "!pybind11::detail::is_copy_assignable<NotCopyable>::value");
+
+struct NotCopyableNotMovable {
+    NotCopyableNotMovable() = default;
+    NotCopyableNotMovable(NotCopyableNotMovable const &) = delete;
+    NotCopyableNotMovable(NotCopyableNotMovable &&) = delete;
+    NotCopyableNotMovable &operator=(NotCopyableNotMovable const &) = delete;
+    NotCopyableNotMovable &operator=(NotCopyableNotMovable &&) = delete;
+};
+static_assert(!std::is_move_constructible<NotCopyableNotMovable>::value,
+              "!std::is_move_constructible<NotCopyableNotMovable>::value");
+static_assert(!std::is_copy_constructible<NotCopyableNotMovable>::value,
+              "!std::is_copy_constructible<NotCopyableNotMovable>::value");
+static_assert(!pybind11::detail::is_move_constructible<NotCopyableNotMovable>::value,
+              "!pybind11::detail::is_move_constructible<NotCopyableNotMovable>::value");
+static_assert(!pybind11::detail::is_copy_constructible<NotCopyableNotMovable>::value,
+              "!pybind11::detail::is_copy_constructible<NotCopyableNotMovable>::value");
+static_assert(!std::is_move_assignable<NotCopyableNotMovable>::value,
+              "!std::is_move_assignable<NotCopyableNotMovable>::value");
+static_assert(!std::is_copy_assignable<NotCopyableNotMovable>::value,
+              "!std::is_copy_assignable<NotCopyableNotMovable>::value");
+// pybind11 does not have this
+// static_assert(!pybind11::detail::is_move_assignable<NotCopyableNotMovable>::value,
+//               "!pybind11::detail::is_move_assignable<NotCopyableNotMovable>::value");
+static_assert(!pybind11::detail::is_copy_assignable<NotCopyableNotMovable>::value,
+              "!pybind11::detail::is_copy_assignable<NotCopyableNotMovable>::value");
+
+struct NotMovableVector : std::vector<NotMovable> {};
+static_assert(std::is_move_constructible<NotMovableVector>::value,
+              "std::is_move_constructible<NotMovableVector>::value");
+static_assert(std::is_copy_constructible<NotMovableVector>::value,
+              "std::is_copy_constructible<NotMovableVector>::value");
+static_assert(!pybind11::detail::is_move_constructible<NotMovableVector>::value,
+              "!pybind11::detail::is_move_constructible<NotMovableVector>::value");
+static_assert(pybind11::detail::is_copy_constructible<NotMovableVector>::value,
+              "pybind11::detail::is_copy_constructible<NotMovableVector>::value");
+static_assert(std::is_move_assignable<NotMovableVector>::value,
+              "std::is_move_assignable<NotMovableVector>::value");
+static_assert(std::is_copy_assignable<NotMovableVector>::value,
+              "std::is_copy_assignable<NotMovableVector>::value");
+// pybind11 does not have this
+// static_assert(!pybind11::detail::is_move_assignable<NotMovableVector>::value,
+//               "!pybind11::detail::is_move_assignable<NotMovableVector>::value");
+static_assert(pybind11::detail::is_copy_assignable<NotMovableVector>::value,
+              "pybind11::detail::is_copy_assignable<NotMovableVector>::value");
+
+struct NotCopyableVector : std::vector<NotCopyable> {};
+static_assert(std::is_move_constructible<NotCopyableVector>::value,
+              "std::is_move_constructible<NotCopyableVector>::value");
+static_assert(std::is_copy_constructible<NotCopyableVector>::value,
+              "std::is_copy_constructible<NotCopyableVector>::value");
+static_assert(pybind11::detail::is_move_constructible<NotCopyableVector>::value,
+              "pybind11::detail::is_move_constructible<NotCopyableVector>::value");
+static_assert(!pybind11::detail::is_copy_constructible<NotCopyableVector>::value,
+              "!pybind11::detail::is_copy_constructible<NotCopyableVector>::value");
+static_assert(std::is_move_assignable<NotCopyableVector>::value,
+              "std::is_move_assignable<NotCopyableVector>::value");
+static_assert(std::is_copy_assignable<NotCopyableVector>::value,
+              "std::is_copy_assignable<NotCopyableVector>::value");
+// pybind11 does not have this
+// static_assert(!pybind11::detail::is_move_assignable<NotCopyableVector>::value,
+//               "!pybind11::detail::is_move_assignable<NotCopyableVector>::value");
+static_assert(!pybind11::detail::is_copy_assignable<NotCopyableVector>::value,
+              "!pybind11::detail::is_copy_assignable<NotCopyableVector>::value");
+
+struct NotCopyableNotMovableVector : std::vector<NotCopyableNotMovable> {};
+static_assert(std::is_move_constructible<NotCopyableNotMovableVector>::value,
+              "std::is_move_constructible<NotCopyableNotMovableVector>::value");
+static_assert(std::is_copy_constructible<NotCopyableNotMovableVector>::value,
+              "std::is_copy_constructible<NotCopyableNotMovableVector>::value");
+static_assert(!pybind11::detail::is_move_constructible<NotCopyableNotMovableVector>::value,
+              "!pybind11::detail::is_move_constructible<NotCopyableNotMovableVector>::value");
+static_assert(!pybind11::detail::is_copy_constructible<NotCopyableNotMovableVector>::value,
+              "!pybind11::detail::is_copy_constructible<NotCopyableNotMovableVector>::value");
+static_assert(std::is_move_assignable<NotCopyableNotMovableVector>::value,
+              "std::is_move_assignable<NotCopyableNotMovableVector>::value");
+static_assert(std::is_copy_assignable<NotCopyableNotMovableVector>::value,
+              "std::is_copy_assignable<NotCopyableNotMovableVector>::value");
+// pybind11 does not have this
+// static_assert(!pybind11::detail::is_move_assignable<NotCopyableNotMovableVector>::value,
+//               "!pybind11::detail::is_move_assignable<NotCopyableNotMovableVector>::value");
+static_assert(!pybind11::detail::is_copy_assignable<NotCopyableNotMovableVector>::value,
+              "!pybind11::detail::is_copy_assignable<NotCopyableNotMovableVector>::value");
+
+struct NotMovableMap : std::map<int, NotMovable> {};
+static_assert(std::is_move_constructible<NotMovableMap>::value,
+              "std::is_move_constructible<NotMovableMap>::value");
+static_assert(std::is_copy_constructible<NotMovableMap>::value,
+              "std::is_copy_constructible<NotMovableMap>::value");
+static_assert(!pybind11::detail::is_move_constructible<NotMovableMap>::value,
+              "!pybind11::detail::is_move_constructible<NotMovableMap>::value");
+static_assert(pybind11::detail::is_copy_constructible<NotMovableMap>::value,
+              "pybind11::detail::is_copy_constructible<NotMovableMap>::value");
+static_assert(std::is_move_assignable<NotMovableMap>::value,
+              "std::is_move_assignable<NotMovableMap>::value");
+static_assert(std::is_copy_assignable<NotMovableMap>::value,
+              "std::is_copy_assignable<NotMovableMap>::value");
+// pybind11 does not have this
+// static_assert(!pybind11::detail::is_move_assignable<NotMovableMap>::value,
+//               "!pybind11::detail::is_move_assignable<NotMovableMap>::value");
+static_assert(pybind11::detail::is_copy_assignable<NotMovableMap>::value,
+              "pybind11::detail::is_copy_assignable<NotMovableMap>::value");
+
+struct NotCopyableMap : std::map<int, NotCopyable> {};
+static_assert(std::is_move_constructible<NotCopyableMap>::value,
+              "std::is_move_constructible<NotCopyableMap>::value");
+static_assert(std::is_copy_constructible<NotCopyableMap>::value,
+              "std::is_copy_constructible<NotCopyableMap>::value");
+static_assert(pybind11::detail::is_move_constructible<NotCopyableMap>::value,
+              "pybind11::detail::is_move_constructible<NotCopyableMap>::value");
+static_assert(!pybind11::detail::is_copy_constructible<NotCopyableMap>::value,
+              "!pybind11::detail::is_copy_constructible<NotCopyableMap>::value");
+static_assert(std::is_move_assignable<NotCopyableMap>::value,
+              "std::is_move_assignable<NotCopyableMap>::value");
+static_assert(std::is_copy_assignable<NotCopyableMap>::value,
+              "std::is_copy_assignable<NotCopyableMap>::value");
+// pybind11 does not have this
+// static_assert(!pybind11::detail::is_move_assignable<NotCopyableMap>::value,
+//               "!pybind11::detail::is_move_assignable<NotCopyableMap>::value");
+static_assert(!pybind11::detail::is_copy_assignable<NotCopyableMap>::value,
+              "!pybind11::detail::is_copy_assignable<NotCopyableMap>::value");
+
+struct NotCopyableNotMovableMap : std::map<int, NotCopyableNotMovable> {};
+static_assert(std::is_move_constructible<NotCopyableNotMovableMap>::value,
+              "std::is_move_constructible<NotCopyableNotMovableMap>::value");
+static_assert(std::is_copy_constructible<NotCopyableNotMovableMap>::value,
+              "std::is_copy_constructible<NotCopyableNotMovableMap>::value");
+static_assert(!pybind11::detail::is_move_constructible<NotCopyableNotMovableMap>::value,
+              "!pybind11::detail::is_move_constructible<NotCopyableNotMovableMap>::value");
+static_assert(!pybind11::detail::is_copy_constructible<NotCopyableNotMovableMap>::value,
+              "!pybind11::detail::is_copy_constructible<NotCopyableNotMovableMap>::value");
+static_assert(std::is_move_assignable<NotCopyableNotMovableMap>::value,
+              "std::is_move_assignable<NotCopyableNotMovableMap>::value");
+static_assert(std::is_copy_assignable<NotCopyableNotMovableMap>::value,
+              "std::is_copy_assignable<NotCopyableNotMovableMap>::value");
+// pybind11 does not have this
+// static_assert(!pybind11::detail::is_move_assignable<NotCopyableNotMovableMap>::value,
+//               "!pybind11::detail::is_move_assignable<NotCopyableNotMovableMap>::value");
+static_assert(!pybind11::detail::is_copy_assignable<NotCopyableNotMovableMap>::value,
+              "!pybind11::detail::is_copy_assignable<NotCopyableNotMovableMap>::value");
+
+struct RecursiveVector : std::vector<RecursiveVector> {};
+static_assert(std::is_move_constructible<RecursiveVector>::value,
+              "std::is_move_constructible<RecursiveVector>::value");
+static_assert(std::is_copy_constructible<RecursiveVector>::value,
+              "std::is_copy_constructible<RecursiveVector>::value");
+static_assert(pybind11::detail::is_move_constructible<RecursiveVector>::value,
+              "pybind11::detail::is_move_constructible<RecursiveVector>::value");
+static_assert(pybind11::detail::is_copy_constructible<RecursiveVector>::value,
+              "pybind11::detail::is_copy_constructible<RecursiveVector>::value");
+static_assert(std::is_move_assignable<RecursiveVector>::value,
+              "std::is_move_assignable<RecursiveVector>::value");
+static_assert(std::is_copy_assignable<RecursiveVector>::value,
+              "std::is_copy_assignable<RecursiveVector>::value");
+// pybind11 does not have this
+// static_assert(!pybind11::detail::is_move_assignable<RecursiveVector>::value,
+//               "!pybind11::detail::is_move_assignable<RecursiveVector>::value");
+static_assert(pybind11::detail::is_copy_assignable<RecursiveVector>::value,
+              "pybind11::detail::is_copy_assignable<RecursiveVector>::value");
+
+struct RecursiveMap : std::map<int, RecursiveMap> {};
+static_assert(std::is_move_constructible<RecursiveMap>::value,
+              "std::is_move_constructible<RecursiveMap>::value");
+static_assert(std::is_copy_constructible<RecursiveMap>::value,
+              "std::is_copy_constructible<RecursiveMap>::value");
+static_assert(pybind11::detail::is_move_constructible<RecursiveMap>::value,
+              "pybind11::detail::is_move_constructible<RecursiveMap>::value");
+static_assert(pybind11::detail::is_copy_constructible<RecursiveMap>::value,
+              "pybind11::detail::is_copy_constructible<RecursiveMap>::value");
+static_assert(std::is_move_assignable<RecursiveMap>::value,
+              "std::is_move_assignable<RecursiveMap>::value");
+static_assert(std::is_copy_assignable<RecursiveMap>::value,
+              "std::is_copy_assignable<RecursiveMap>::value");
+// pybind11 does not have this
+// static_assert(!pybind11::detail::is_move_assignable<RecursiveMap>::value,
+//               "!pybind11::detail::is_move_assignable<RecursiveMap>::value");
+static_assert(pybind11::detail::is_copy_assignable<RecursiveMap>::value,
+              "pybind11::detail::is_copy_assignable<RecursiveMap>::value");
diff --git a/pybind11/tests/test_custom_type_casters.cpp b/pybind11/tests/test_custom_type_casters.cpp
index 25540e368..b4af02a45 100644
--- a/pybind11/tests/test_custom_type_casters.cpp
+++ b/pybind11/tests/test_custom_type_casters.cpp
@@ -21,7 +21,7 @@ public:
 };
 class ArgAlwaysConverts {};
 
-namespace pybind11 {
+namespace PYBIND11_NAMESPACE {
 namespace detail {
 template <>
 struct type_caster<ArgInspector1> {
@@ -74,7 +74,7 @@ public:
     }
 };
 } // namespace detail
-} // namespace pybind11
+} // namespace PYBIND11_NAMESPACE
 
 // test_custom_caster_destruction
 class DestructionTester {
@@ -92,7 +92,7 @@ public:
         return *this;
     }
 };
-namespace pybind11 {
+namespace PYBIND11_NAMESPACE {
 namespace detail {
 template <>
 struct type_caster<DestructionTester> {
@@ -104,7 +104,7 @@ struct type_caster<DestructionTester> {
     }
 };
 } // namespace detail
-} // namespace pybind11
+} // namespace PYBIND11_NAMESPACE
 
 // Define type caster outside of `pybind11::detail` and then alias it.
 namespace other_lib {
@@ -112,7 +112,7 @@ struct MyType {};
 // Corrupt `py` shorthand alias for surrounding context.
 namespace py {}
 // Corrupt unqualified relative `pybind11` namespace.
-namespace pybind11 {}
+namespace PYBIND11_NAMESPACE {}
 // Correct alias.
 namespace py_ = ::pybind11;
 // Define caster. This is effectively no-op, we only ensure it compiles and we
@@ -127,12 +127,12 @@ struct my_caster {
 };
 } // namespace other_lib
 // Effectively "alias" it into correct namespace (via inheritance).
-namespace pybind11 {
+namespace PYBIND11_NAMESPACE {
 namespace detail {
 template <>
 struct type_caster<other_lib::MyType> : public other_lib::my_caster {};
 } // namespace detail
-} // namespace pybind11
+} // namespace PYBIND11_NAMESPACE
 
 TEST_SUBMODULE(custom_type_casters, m) {
     // test_custom_type_casters
diff --git a/pybind11/tests/test_custom_type_casters.py b/pybind11/tests/test_custom_type_casters.py
index adfa6cf86..3a00ea964 100644
--- a/pybind11/tests/test_custom_type_casters.py
+++ b/pybind11/tests/test_custom_type_casters.py
@@ -94,12 +94,14 @@ def test_noconvert_args(msg):
 
 def test_custom_caster_destruction():
     """Tests that returning a pointer to a type that gets converted with a custom type caster gets
-    destroyed when the function has py::return_value_policy::take_ownership policy applied."""
+    destroyed when the function has py::return_value_policy::take_ownership policy applied.
+    """
 
     cstats = m.destruction_tester_cstats()
     # This one *doesn't* have take_ownership: the pointer should be used but not destroyed:
     z = m.custom_caster_no_destroy()
-    assert cstats.alive() == 1 and cstats.default_constructions == 1
+    assert cstats.alive() == 1
+    assert cstats.default_constructions == 1
     assert z
 
     # take_ownership applied: this constructs a new object, casts it, then destroys it:
diff --git a/pybind11/tests/test_custom_type_setup.py b/pybind11/tests/test_custom_type_setup.py
index 19b44c9de..e63ff5758 100644
--- a/pybind11/tests/test_custom_type_setup.py
+++ b/pybind11/tests/test_custom_type_setup.py
@@ -7,7 +7,7 @@ import env  # noqa: F401
 from pybind11_tests import custom_type_setup as m
 
 
-@pytest.fixture
+@pytest.fixture()
 def gc_tester():
     """Tests that an object is garbage collected.
 
diff --git a/pybind11/tests/test_docstring_options.cpp b/pybind11/tests/test_docstring_options.cpp
index 4d44f4e20..dda1cf6e4 100644
--- a/pybind11/tests/test_docstring_options.cpp
+++ b/pybind11/tests/test_docstring_options.cpp
@@ -85,4 +85,57 @@ TEST_SUBMODULE(docstring_options, m) {
                           &DocstringTestFoo::setValue,
                           "This is a property docstring");
     }
+
+    {
+        enum class DocstringTestEnum1 { Member1, Member2 };
+
+        py::enum_<DocstringTestEnum1>(m, "DocstringTestEnum1", "Enum docstring")
+            .value("Member1", DocstringTestEnum1::Member1)
+            .value("Member2", DocstringTestEnum1::Member2);
+    }
+
+    {
+        py::options options;
+        options.enable_enum_members_docstring();
+
+        enum class DocstringTestEnum2 { Member1, Member2 };
+
+        py::enum_<DocstringTestEnum2>(m, "DocstringTestEnum2", "Enum docstring")
+            .value("Member1", DocstringTestEnum2::Member1)
+            .value("Member2", DocstringTestEnum2::Member2);
+    }
+
+    {
+        py::options options;
+        options.disable_enum_members_docstring();
+
+        enum class DocstringTestEnum3 { Member1, Member2 };
+
+        py::enum_<DocstringTestEnum3>(m, "DocstringTestEnum3", "Enum docstring")
+            .value("Member1", DocstringTestEnum3::Member1)
+            .value("Member2", DocstringTestEnum3::Member2);
+    }
+
+    {
+        py::options options;
+        options.disable_user_defined_docstrings();
+
+        enum class DocstringTestEnum4 { Member1, Member2 };
+
+        py::enum_<DocstringTestEnum4>(m, "DocstringTestEnum4", "Enum docstring")
+            .value("Member1", DocstringTestEnum4::Member1)
+            .value("Member2", DocstringTestEnum4::Member2);
+    }
+
+    {
+        py::options options;
+        options.disable_user_defined_docstrings();
+        options.disable_enum_members_docstring();
+
+        enum class DocstringTestEnum5 { Member1, Member2 };
+
+        py::enum_<DocstringTestEnum5>(m, "DocstringTestEnum5", "Enum docstring")
+            .value("Member1", DocstringTestEnum5::Member1)
+            .value("Member2", DocstringTestEnum5::Member2);
+    }
 }
diff --git a/pybind11/tests/test_docstring_options.py b/pybind11/tests/test_docstring_options.py
index fcd16b89f..e6f5a9d98 100644
--- a/pybind11/tests/test_docstring_options.py
+++ b/pybind11/tests/test_docstring_options.py
@@ -39,3 +39,26 @@ def test_docstring_options():
     # Suppression of user-defined docstrings for non-function objects
     assert not m.DocstringTestFoo.__doc__
     assert not m.DocstringTestFoo.value_prop.__doc__
+
+    # Check existig behaviour of enum docstings
+    assert (
+        m.DocstringTestEnum1.__doc__
+        == "Enum docstring\n\nMembers:\n\n  Member1\n\n  Member2"
+    )
+
+    # options.enable_enum_members_docstring()
+    assert (
+        m.DocstringTestEnum2.__doc__
+        == "Enum docstring\n\nMembers:\n\n  Member1\n\n  Member2"
+    )
+
+    # options.disable_enum_members_docstring()
+    assert m.DocstringTestEnum3.__doc__ == "Enum docstring"
+
+    # options.disable_user_defined_docstrings()
+    assert m.DocstringTestEnum4.__doc__ == "Members:\n\n  Member1\n\n  Member2"
+
+    # options.disable_user_defined_docstrings()
+    # options.disable_enum_members_docstring()
+    # When all options are disabled, no docstring (instead of an empty one) should be generated
+    assert m.DocstringTestEnum5.__doc__ is None
diff --git a/pybind11/tests/test_eigen_matrix.cpp b/pybind11/tests/test_eigen_matrix.cpp
new file mode 100644
index 000000000..554cc4d7f
--- /dev/null
+++ b/pybind11/tests/test_eigen_matrix.cpp
@@ -0,0 +1,428 @@
+/*
+    tests/eigen.cpp -- automatic conversion of Eigen types
+
+    Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#include <pybind11/eigen/matrix.h>
+#include <pybind11/stl.h>
+
+#include "constructor_stats.h"
+#include "pybind11_tests.h"
+
+PYBIND11_WARNING_DISABLE_MSVC(4996)
+
+#include <Eigen/Cholesky>
+
+using MatrixXdR = Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>;
+
+// Sets/resets a testing reference matrix to have values of 10*r + c, where r and c are the
+// (1-based) row/column number.
+template <typename M>
+void reset_ref(M &x) {
+    for (int i = 0; i < x.rows(); i++) {
+        for (int j = 0; j < x.cols(); j++) {
+            x(i, j) = 11 + 10 * i + j;
+        }
+    }
+}
+
+// Returns a static, column-major matrix
+Eigen::MatrixXd &get_cm() {
+    static Eigen::MatrixXd *x;
+    if (!x) {
+        x = new Eigen::MatrixXd(3, 3);
+        reset_ref(*x);
+    }
+    return *x;
+}
+// Likewise, but row-major
+MatrixXdR &get_rm() {
+    static MatrixXdR *x;
+    if (!x) {
+        x = new MatrixXdR(3, 3);
+        reset_ref(*x);
+    }
+    return *x;
+}
+// Resets the values of the static matrices returned by get_cm()/get_rm()
+void reset_refs() {
+    reset_ref(get_cm());
+    reset_ref(get_rm());
+}
+
+// Returns element 2,1 from a matrix (used to test copy/nocopy)
+double get_elem(const Eigen::Ref<const Eigen::MatrixXd> &m) { return m(2, 1); };
+
+// Returns a matrix with 10*r + 100*c added to each matrix element (to help test that the matrix
+// reference is referencing rows/columns correctly).
+template <typename MatrixArgType>
+Eigen::MatrixXd adjust_matrix(MatrixArgType m) {
+    Eigen::MatrixXd ret(m);
+    for (int c = 0; c < m.cols(); c++) {
+        for (int r = 0; r < m.rows(); r++) {
+            ret(r, c) += 10 * r + 100 * c; // NOLINT(clang-analyzer-core.uninitialized.Assign)
+        }
+    }
+    return ret;
+}
+
+struct CustomOperatorNew {
+    CustomOperatorNew() = default;
+
+    Eigen::Matrix4d a = Eigen::Matrix4d::Zero();
+    Eigen::Matrix4d b = Eigen::Matrix4d::Identity();
+
+    EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
+};
+
+TEST_SUBMODULE(eigen_matrix, m) {
+    using FixedMatrixR = Eigen::Matrix<float, 5, 6, Eigen::RowMajor>;
+    using FixedMatrixC = Eigen::Matrix<float, 5, 6>;
+    using DenseMatrixR = Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>;
+    using DenseMatrixC = Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic>;
+    using FourRowMatrixC = Eigen::Matrix<float, 4, Eigen::Dynamic>;
+    using FourColMatrixC = Eigen::Matrix<float, Eigen::Dynamic, 4>;
+    using FourRowMatrixR = Eigen::Matrix<float, 4, Eigen::Dynamic>;
+    using FourColMatrixR = Eigen::Matrix<float, Eigen::Dynamic, 4>;
+    using SparseMatrixR = Eigen::SparseMatrix<float, Eigen::RowMajor>;
+    using SparseMatrixC = Eigen::SparseMatrix<float>;
+
+    // various tests
+    m.def("double_col", [](const Eigen::VectorXf &x) -> Eigen::VectorXf { return 2.0f * x; });
+    m.def("double_row",
+          [](const Eigen::RowVectorXf &x) -> Eigen::RowVectorXf { return 2.0f * x; });
+    m.def("double_complex",
+          [](const Eigen::VectorXcf &x) -> Eigen::VectorXcf { return 2.0f * x; });
+    m.def("double_threec", [](py::EigenDRef<Eigen::Vector3f> x) { x *= 2; });
+    m.def("double_threer", [](py::EigenDRef<Eigen::RowVector3f> x) { x *= 2; });
+    m.def("double_mat_cm", [](const Eigen::MatrixXf &x) -> Eigen::MatrixXf { return 2.0f * x; });
+    m.def("double_mat_rm", [](const DenseMatrixR &x) -> DenseMatrixR { return 2.0f * x; });
+
+    // test_eigen_ref_to_python
+    // Different ways of passing via Eigen::Ref; the first and second are the Eigen-recommended
+    m.def("cholesky1",
+          [](const Eigen::Ref<MatrixXdR> &x) -> Eigen::MatrixXd { return x.llt().matrixL(); });
+    m.def("cholesky2", [](const Eigen::Ref<const MatrixXdR> &x) -> Eigen::MatrixXd {
+        return x.llt().matrixL();
+    });
+    m.def("cholesky3",
+          [](const Eigen::Ref<MatrixXdR> &x) -> Eigen::MatrixXd { return x.llt().matrixL(); });
+    m.def("cholesky4", [](const Eigen::Ref<const MatrixXdR> &x) -> Eigen::MatrixXd {
+        return x.llt().matrixL();
+    });
+
+    // test_eigen_ref_mutators
+    // Mutators: these add some value to the given element using Eigen, but Eigen should be mapping
+    // into the numpy array data and so the result should show up there.  There are three versions:
+    // one that works on a contiguous-row matrix (numpy's default), one for a contiguous-column
+    // matrix, and one for any matrix.
+    auto add_rm = [](Eigen::Ref<MatrixXdR> x, int r, int c, double v) { x(r, c) += v; };
+    auto add_cm = [](Eigen::Ref<Eigen::MatrixXd> x, int r, int c, double v) { x(r, c) += v; };
+
+    // Mutators (Eigen maps into numpy variables):
+    m.def("add_rm", add_rm); // Only takes row-contiguous
+    m.def("add_cm", add_cm); // Only takes column-contiguous
+    // Overloaded versions that will accept either row or column contiguous:
+    m.def("add1", add_rm);
+    m.def("add1", add_cm);
+    m.def("add2", add_cm);
+    m.def("add2", add_rm);
+    // This one accepts a matrix of any stride:
+    m.def("add_any",
+          [](py::EigenDRef<Eigen::MatrixXd> x, int r, int c, double v) { x(r, c) += v; });
+
+    // Return mutable references (numpy maps into eigen variables)
+    m.def("get_cm_ref", []() { return Eigen::Ref<Eigen::MatrixXd>(get_cm()); });
+    m.def("get_rm_ref", []() { return Eigen::Ref<MatrixXdR>(get_rm()); });
+    // The same references, but non-mutable (numpy maps into eigen variables, but is !writeable)
+    m.def("get_cm_const_ref", []() { return Eigen::Ref<const Eigen::MatrixXd>(get_cm()); });
+    m.def("get_rm_const_ref", []() { return Eigen::Ref<const MatrixXdR>(get_rm()); });
+
+    m.def("reset_refs", reset_refs); // Restores get_{cm,rm}_ref to original values
+
+    // Increments and returns ref to (same) matrix
+    m.def(
+        "incr_matrix",
+        [](Eigen::Ref<Eigen::MatrixXd> m, double v) {
+            m += Eigen::MatrixXd::Constant(m.rows(), m.cols(), v);
+            return m;
+        },
+        py::return_value_policy::reference);
+
+    // Same, but accepts a matrix of any strides
+    m.def(
+        "incr_matrix_any",
+        [](py::EigenDRef<Eigen::MatrixXd> m, double v) {
+            m += Eigen::MatrixXd::Constant(m.rows(), m.cols(), v);
+            return m;
+        },
+        py::return_value_policy::reference);
+
+    // Returns an eigen slice of even rows
+    m.def(
+        "even_rows",
+        [](py::EigenDRef<Eigen::MatrixXd> m) {
+            return py::EigenDMap<Eigen::MatrixXd>(
+                m.data(),
+                (m.rows() + 1) / 2,
+                m.cols(),
+                py::EigenDStride(m.outerStride(), 2 * m.innerStride()));
+        },
+        py::return_value_policy::reference);
+
+    // Returns an eigen slice of even columns
+    m.def(
+        "even_cols",
+        [](py::EigenDRef<Eigen::MatrixXd> m) {
+            return py::EigenDMap<Eigen::MatrixXd>(
+                m.data(),
+                m.rows(),
+                (m.cols() + 1) / 2,
+                py::EigenDStride(2 * m.outerStride(), m.innerStride()));
+        },
+        py::return_value_policy::reference);
+
+    // Returns diagonals: a vector-like object with an inner stride != 1
+    m.def("diagonal", [](const Eigen::Ref<const Eigen::MatrixXd> &x) { return x.diagonal(); });
+    m.def("diagonal_1",
+          [](const Eigen::Ref<const Eigen::MatrixXd> &x) { return x.diagonal<1>(); });
+    m.def("diagonal_n",
+          [](const Eigen::Ref<const Eigen::MatrixXd> &x, int index) { return x.diagonal(index); });
+
+    // Return a block of a matrix (gives non-standard strides)
+    m.def("block",
+          [m](const py::object &x_obj,
+              int start_row,
+              int start_col,
+              int block_rows,
+              int block_cols) {
+              return m.attr("_block")(x_obj, x_obj, start_row, start_col, block_rows, block_cols);
+          });
+
+    m.def(
+        "_block",
+        [](const py::object &x_obj,
+           const Eigen::Ref<const Eigen::MatrixXd> &x,
+           int start_row,
+           int start_col,
+           int block_rows,
+           int block_cols) {
+            // See PR #4217 for background. This test is a bit over the top, but might be useful
+            // as a concrete example to point to when explaining the dangling reference trap.
+            auto i0 = py::make_tuple(0, 0);
+            auto x0_orig = x_obj[*i0].cast<double>();
+            if (x(0, 0) != x0_orig) {
+                throw std::runtime_error(
+                    "Something in the type_caster for Eigen::Ref is terribly wrong.");
+            }
+            double x0_mod = x0_orig + 1;
+            x_obj[*i0] = x0_mod;
+            auto copy_detected = (x(0, 0) != x0_mod);
+            x_obj[*i0] = x0_orig;
+            if (copy_detected) {
+                throw std::runtime_error("type_caster for Eigen::Ref made a copy.");
+            }
+            return x.block(start_row, start_col, block_rows, block_cols);
+        },
+        py::keep_alive<0, 1>());
+
+    // test_eigen_return_references, test_eigen_keepalive
+    // return value referencing/copying tests:
+    class ReturnTester {
+        Eigen::MatrixXd mat = create();
+
+    public:
+        ReturnTester() { print_created(this); }
+        ~ReturnTester() { print_destroyed(this); }
+        static Eigen::MatrixXd create() { return Eigen::MatrixXd::Ones(10, 10); }
+        // NOLINTNEXTLINE(readability-const-return-type)
+        static const Eigen::MatrixXd createConst() { return Eigen::MatrixXd::Ones(10, 10); }
+        Eigen::MatrixXd &get() { return mat; }
+        Eigen::MatrixXd *getPtr() { return &mat; }
+        const Eigen::MatrixXd &view() { return mat; }
+        const Eigen::MatrixXd *viewPtr() { return &mat; }
+        Eigen::Ref<Eigen::MatrixXd> ref() { return mat; }
+        Eigen::Ref<const Eigen::MatrixXd> refConst() { return mat; }
+        Eigen::Block<Eigen::MatrixXd> block(int r, int c, int nrow, int ncol) {
+            return mat.block(r, c, nrow, ncol);
+        }
+        Eigen::Block<const Eigen::MatrixXd> blockConst(int r, int c, int nrow, int ncol) const {
+            return mat.block(r, c, nrow, ncol);
+        }
+        py::EigenDMap<Eigen::Matrix2d> corners() {
+            return py::EigenDMap<Eigen::Matrix2d>(
+                mat.data(),
+                py::EigenDStride(mat.outerStride() * (mat.outerSize() - 1),
+                                 mat.innerStride() * (mat.innerSize() - 1)));
+        }
+        py::EigenDMap<const Eigen::Matrix2d> cornersConst() const {
+            return py::EigenDMap<const Eigen::Matrix2d>(
+                mat.data(),
+                py::EigenDStride(mat.outerStride() * (mat.outerSize() - 1),
+                                 mat.innerStride() * (mat.innerSize() - 1)));
+        }
+    };
+    using rvp = py::return_value_policy;
+    py::class_<ReturnTester>(m, "ReturnTester")
+        .def(py::init<>())
+        .def_static("create", &ReturnTester::create)
+        .def_static("create_const", &ReturnTester::createConst)
+        .def("get", &ReturnTester::get, rvp::reference_internal)
+        .def("get_ptr", &ReturnTester::getPtr, rvp::reference_internal)
+        .def("view", &ReturnTester::view, rvp::reference_internal)
+        .def("view_ptr", &ReturnTester::view, rvp::reference_internal)
+        .def("copy_get", &ReturnTester::get)       // Default rvp: copy
+        .def("copy_view", &ReturnTester::view)     //         "
+        .def("ref", &ReturnTester::ref)            // Default for Ref is to reference
+        .def("ref_const", &ReturnTester::refConst) // Likewise, but const
+        .def("ref_safe", &ReturnTester::ref, rvp::reference_internal)
+        .def("ref_const_safe", &ReturnTester::refConst, rvp::reference_internal)
+        .def("copy_ref", &ReturnTester::ref, rvp::copy)
+        .def("copy_ref_const", &ReturnTester::refConst, rvp::copy)
+        .def("block", &ReturnTester::block)
+        .def("block_safe", &ReturnTester::block, rvp::reference_internal)
+        .def("block_const", &ReturnTester::blockConst, rvp::reference_internal)
+        .def("copy_block", &ReturnTester::block, rvp::copy)
+        .def("corners", &ReturnTester::corners, rvp::reference_internal)
+        .def("corners_const", &ReturnTester::cornersConst, rvp::reference_internal);
+
+    // test_special_matrix_objects
+    // Returns a DiagonalMatrix with diagonal (1,2,3,...)
+    m.def("incr_diag", [](int k) {
+        Eigen::DiagonalMatrix<int, Eigen::Dynamic> m(k);
+        for (int i = 0; i < k; i++) {
+            m.diagonal()[i] = i + 1;
+        }
+        return m;
+    });
+
+    // Returns a SelfAdjointView referencing the lower triangle of m
+    m.def("symmetric_lower",
+          [](const Eigen::MatrixXi &m) { return m.selfadjointView<Eigen::Lower>(); });
+    // Returns a SelfAdjointView referencing the lower triangle of m
+    m.def("symmetric_upper",
+          [](const Eigen::MatrixXi &m) { return m.selfadjointView<Eigen::Upper>(); });
+
+    // Test matrix for various functions below.
+    Eigen::MatrixXf mat(5, 6);
+    mat << 0, 3, 0, 0, 0, 11, 22, 0, 0, 0, 17, 11, 7, 5, 0, 1, 0, 11, 0, 0, 0, 0, 0, 11, 0, 0, 14,
+        0, 8, 11;
+
+    // test_fixed, and various other tests
+    m.def("fixed_r", [mat]() -> FixedMatrixR { return FixedMatrixR(mat); });
+    // Our Eigen does a hack which respects constness through the numpy writeable flag.
+    // Therefore, the const return actually affects this type despite being an rvalue.
+    // NOLINTNEXTLINE(readability-const-return-type)
+    m.def("fixed_r_const", [mat]() -> const FixedMatrixR { return FixedMatrixR(mat); });
+    m.def("fixed_c", [mat]() -> FixedMatrixC { return FixedMatrixC(mat); });
+    m.def("fixed_copy_r", [](const FixedMatrixR &m) -> FixedMatrixR { return m; });
+    m.def("fixed_copy_c", [](const FixedMatrixC &m) -> FixedMatrixC { return m; });
+    // test_mutator_descriptors
+    m.def("fixed_mutator_r", [](const Eigen::Ref<FixedMatrixR> &) {});
+    m.def("fixed_mutator_c", [](const Eigen::Ref<FixedMatrixC> &) {});
+    m.def("fixed_mutator_a", [](const py::EigenDRef<FixedMatrixC> &) {});
+    // test_dense
+    m.def("dense_r", [mat]() -> DenseMatrixR { return DenseMatrixR(mat); });
+    m.def("dense_c", [mat]() -> DenseMatrixC { return DenseMatrixC(mat); });
+    m.def("dense_copy_r", [](const DenseMatrixR &m) -> DenseMatrixR { return m; });
+    m.def("dense_copy_c", [](const DenseMatrixC &m) -> DenseMatrixC { return m; });
+    // test_sparse, test_sparse_signature
+    m.def("sparse_r", [mat]() -> SparseMatrixR {
+        // NOLINTNEXTLINE(clang-analyzer-core.uninitialized.UndefReturn)
+        return Eigen::SparseView<Eigen::MatrixXf>(mat);
+    });
+    m.def("sparse_c",
+          [mat]() -> SparseMatrixC { return Eigen::SparseView<Eigen::MatrixXf>(mat); });
+    m.def("sparse_copy_r", [](const SparseMatrixR &m) -> SparseMatrixR { return m; });
+    m.def("sparse_copy_c", [](const SparseMatrixC &m) -> SparseMatrixC { return m; });
+    // test_partially_fixed
+    m.def("partial_copy_four_rm_r", [](const FourRowMatrixR &m) -> FourRowMatrixR { return m; });
+    m.def("partial_copy_four_rm_c", [](const FourColMatrixR &m) -> FourColMatrixR { return m; });
+    m.def("partial_copy_four_cm_r", [](const FourRowMatrixC &m) -> FourRowMatrixC { return m; });
+    m.def("partial_copy_four_cm_c", [](const FourColMatrixC &m) -> FourColMatrixC { return m; });
+
+    // test_cpp_casting
+    // Test that we can cast a numpy object to a Eigen::MatrixXd explicitly
+    m.def("cpp_copy", [](py::handle m) { return m.cast<Eigen::MatrixXd>()(1, 0); });
+    m.def("cpp_ref_c", [](py::handle m) { return m.cast<Eigen::Ref<Eigen::MatrixXd>>()(1, 0); });
+    m.def("cpp_ref_r", [](py::handle m) { return m.cast<Eigen::Ref<MatrixXdR>>()(1, 0); });
+    m.def("cpp_ref_any",
+          [](py::handle m) { return m.cast<py::EigenDRef<Eigen::MatrixXd>>()(1, 0); });
+
+    // [workaround(intel)] ICC 20/21 breaks with py::arg().stuff, using py::arg{}.stuff works.
+
+    // test_nocopy_wrapper
+    // Test that we can prevent copying into an argument that would normally copy: First a version
+    // that would allow copying (if types or strides don't match) for comparison:
+    m.def("get_elem", &get_elem);
+    // Now this alternative that calls the tells pybind to fail rather than copy:
+    m.def(
+        "get_elem_nocopy",
+        [](const Eigen::Ref<const Eigen::MatrixXd> &m) -> double { return get_elem(m); },
+        py::arg{}.noconvert());
+    // Also test a row-major-only no-copy const ref:
+    m.def(
+        "get_elem_rm_nocopy",
+        [](Eigen::Ref<const Eigen::Matrix<long, -1, -1, Eigen::RowMajor>> &m) -> long {
+            return m(2, 1);
+        },
+        py::arg{}.noconvert());
+
+    // test_issue738, test_zero_length
+    // Issue #738: 1×N or N×1 2D matrices were neither accepted nor properly copied with an
+    // incompatible stride value on the length-1 dimension--but that should be allowed (without
+    // requiring a copy!) because the stride value can be safely ignored on a size-1 dimension.
+    // Similarly, 0×N or N×0 matrices were not accepted--again, these should be allowed since
+    // they contain no data. This particularly affects numpy ≥ 1.23, which sets the strides to
+    // 0 if any dimension size is 0.
+    m.def("iss738_f1",
+          &adjust_matrix<const Eigen::Ref<const Eigen::MatrixXd> &>,
+          py::arg{}.noconvert());
+    m.def("iss738_f2",
+          &adjust_matrix<const Eigen::Ref<const Eigen::Matrix<double, -1, -1, Eigen::RowMajor>> &>,
+          py::arg{}.noconvert());
+
+    // test_issue1105
+    // Issue #1105: when converting from a numpy two-dimensional (Nx1) or (1xN) value into a dense
+    // eigen Vector or RowVector, the argument would fail to load because the numpy copy would
+    // fail: numpy won't broadcast a Nx1 into a 1-dimensional vector.
+    m.def("iss1105_col", [](const Eigen::VectorXd &) { return true; });
+    m.def("iss1105_row", [](const Eigen::RowVectorXd &) { return true; });
+
+    // test_named_arguments
+    // Make sure named arguments are working properly:
+    m.def(
+        "matrix_multiply",
+        [](const py::EigenDRef<const Eigen::MatrixXd> &A,
+           const py::EigenDRef<const Eigen::MatrixXd> &B) -> Eigen::MatrixXd {
+            if (A.cols() != B.rows()) {
+                throw std::domain_error("Nonconformable matrices!");
+            }
+            return A * B;
+        },
+        py::arg("A"),
+        py::arg("B"));
+
+    // test_custom_operator_new
+    py::class_<CustomOperatorNew>(m, "CustomOperatorNew")
+        .def(py::init<>())
+        .def_readonly("a", &CustomOperatorNew::a)
+        .def_readonly("b", &CustomOperatorNew::b);
+
+    // test_eigen_ref_life_support
+    // In case of a failure (the caster's temp array does not live long enough), creating
+    // a new array (np.ones(10)) increases the chances that the temp array will be garbage
+    // collected and/or that its memory will be overridden with different values.
+    m.def("get_elem_direct", [](const Eigen::Ref<const Eigen::VectorXd> &v) {
+        py::module_::import("numpy").attr("ones")(10);
+        return v(5);
+    });
+    m.def("get_elem_indirect", [](std::vector<Eigen::Ref<const Eigen::VectorXd>> v) {
+        py::module_::import("numpy").attr("ones")(10);
+        return v[0](5);
+    });
+}
diff --git a/pybind11/tests/test_eigen_matrix.py b/pybind11/tests/test_eigen_matrix.py
new file mode 100644
index 000000000..b2e76740b
--- /dev/null
+++ b/pybind11/tests/test_eigen_matrix.py
@@ -0,0 +1,807 @@
+import pytest
+
+from pybind11_tests import ConstructorStats
+
+np = pytest.importorskip("numpy")
+m = pytest.importorskip("pybind11_tests.eigen_matrix")
+
+
+ref = np.array(
+    [
+        [0.0, 3, 0, 0, 0, 11],
+        [22, 0, 0, 0, 17, 11],
+        [7, 5, 0, 1, 0, 11],
+        [0, 0, 0, 0, 0, 11],
+        [0, 0, 14, 0, 8, 11],
+    ]
+)
+
+
+def assert_equal_ref(mat):
+    np.testing.assert_array_equal(mat, ref)
+
+
+def assert_sparse_equal_ref(sparse_mat):
+    assert_equal_ref(sparse_mat.toarray())
+
+
+def test_fixed():
+    assert_equal_ref(m.fixed_c())
+    assert_equal_ref(m.fixed_r())
+    assert_equal_ref(m.fixed_copy_r(m.fixed_r()))
+    assert_equal_ref(m.fixed_copy_c(m.fixed_c()))
+    assert_equal_ref(m.fixed_copy_r(m.fixed_c()))
+    assert_equal_ref(m.fixed_copy_c(m.fixed_r()))
+
+
+def test_dense():
+    assert_equal_ref(m.dense_r())
+    assert_equal_ref(m.dense_c())
+    assert_equal_ref(m.dense_copy_r(m.dense_r()))
+    assert_equal_ref(m.dense_copy_c(m.dense_c()))
+    assert_equal_ref(m.dense_copy_r(m.dense_c()))
+    assert_equal_ref(m.dense_copy_c(m.dense_r()))
+
+
+def test_partially_fixed():
+    ref2 = np.array([[0.0, 1, 2, 3], [4, 5, 6, 7], [8, 9, 10, 11], [12, 13, 14, 15]])
+    np.testing.assert_array_equal(m.partial_copy_four_rm_r(ref2), ref2)
+    np.testing.assert_array_equal(m.partial_copy_four_rm_c(ref2), ref2)
+    np.testing.assert_array_equal(m.partial_copy_four_rm_r(ref2[:, 1]), ref2[:, [1]])
+    np.testing.assert_array_equal(m.partial_copy_four_rm_c(ref2[0, :]), ref2[[0], :])
+    np.testing.assert_array_equal(
+        m.partial_copy_four_rm_r(ref2[:, (0, 2)]), ref2[:, (0, 2)]
+    )
+    np.testing.assert_array_equal(
+        m.partial_copy_four_rm_c(ref2[(3, 1, 2), :]), ref2[(3, 1, 2), :]
+    )
+
+    np.testing.assert_array_equal(m.partial_copy_four_cm_r(ref2), ref2)
+    np.testing.assert_array_equal(m.partial_copy_four_cm_c(ref2), ref2)
+    np.testing.assert_array_equal(m.partial_copy_four_cm_r(ref2[:, 1]), ref2[:, [1]])
+    np.testing.assert_array_equal(m.partial_copy_four_cm_c(ref2[0, :]), ref2[[0], :])
+    np.testing.assert_array_equal(
+        m.partial_copy_four_cm_r(ref2[:, (0, 2)]), ref2[:, (0, 2)]
+    )
+    np.testing.assert_array_equal(
+        m.partial_copy_four_cm_c(ref2[(3, 1, 2), :]), ref2[(3, 1, 2), :]
+    )
+
+    # TypeError should be raise for a shape mismatch
+    functions = [
+        m.partial_copy_four_rm_r,
+        m.partial_copy_four_rm_c,
+        m.partial_copy_four_cm_r,
+        m.partial_copy_four_cm_c,
+    ]
+    matrix_with_wrong_shape = [[1, 2], [3, 4]]
+    for f in functions:
+        with pytest.raises(TypeError) as excinfo:
+            f(matrix_with_wrong_shape)
+        assert "incompatible function arguments" in str(excinfo.value)
+
+
+def test_mutator_descriptors():
+    zr = np.arange(30, dtype="float32").reshape(5, 6)  # row-major
+    zc = zr.reshape(6, 5).transpose()  # column-major
+
+    m.fixed_mutator_r(zr)
+    m.fixed_mutator_c(zc)
+    m.fixed_mutator_a(zr)
+    m.fixed_mutator_a(zc)
+    with pytest.raises(TypeError) as excinfo:
+        m.fixed_mutator_r(zc)
+    assert (
+        "(arg0: numpy.ndarray[numpy.float32[5, 6],"
+        " flags.writeable, flags.c_contiguous]) -> None" in str(excinfo.value)
+    )
+    with pytest.raises(TypeError) as excinfo:
+        m.fixed_mutator_c(zr)
+    assert (
+        "(arg0: numpy.ndarray[numpy.float32[5, 6],"
+        " flags.writeable, flags.f_contiguous]) -> None" in str(excinfo.value)
+    )
+    with pytest.raises(TypeError) as excinfo:
+        m.fixed_mutator_a(np.array([[1, 2], [3, 4]], dtype="float32"))
+    assert "(arg0: numpy.ndarray[numpy.float32[5, 6], flags.writeable]) -> None" in str(
+        excinfo.value
+    )
+    zr.flags.writeable = False
+    with pytest.raises(TypeError):
+        m.fixed_mutator_r(zr)
+    with pytest.raises(TypeError):
+        m.fixed_mutator_a(zr)
+
+
+def test_cpp_casting():
+    assert m.cpp_copy(m.fixed_r()) == 22.0
+    assert m.cpp_copy(m.fixed_c()) == 22.0
+    z = np.array([[5.0, 6], [7, 8]])
+    assert m.cpp_copy(z) == 7.0
+    assert m.cpp_copy(m.get_cm_ref()) == 21.0
+    assert m.cpp_copy(m.get_rm_ref()) == 21.0
+    assert m.cpp_ref_c(m.get_cm_ref()) == 21.0
+    assert m.cpp_ref_r(m.get_rm_ref()) == 21.0
+    with pytest.raises(RuntimeError) as excinfo:
+        # Can't reference m.fixed_c: it contains floats, m.cpp_ref_any wants doubles
+        m.cpp_ref_any(m.fixed_c())
+    assert "Unable to cast Python instance" in str(excinfo.value)
+    with pytest.raises(RuntimeError) as excinfo:
+        # Can't reference m.fixed_r: it contains floats, m.cpp_ref_any wants doubles
+        m.cpp_ref_any(m.fixed_r())
+    assert "Unable to cast Python instance" in str(excinfo.value)
+    assert m.cpp_ref_any(m.ReturnTester.create()) == 1.0
+
+    assert m.cpp_ref_any(m.get_cm_ref()) == 21.0
+    assert m.cpp_ref_any(m.get_cm_ref()) == 21.0
+
+
+def test_pass_readonly_array():
+    z = np.full((5, 6), 42.0)
+    z.flags.writeable = False
+    np.testing.assert_array_equal(z, m.fixed_copy_r(z))
+    np.testing.assert_array_equal(m.fixed_r_const(), m.fixed_r())
+    assert not m.fixed_r_const().flags.writeable
+    np.testing.assert_array_equal(m.fixed_copy_r(m.fixed_r_const()), m.fixed_r_const())
+
+
+def test_nonunit_stride_from_python():
+    counting_mat = np.arange(9.0, dtype=np.float32).reshape((3, 3))
+    second_row = counting_mat[1, :]
+    second_col = counting_mat[:, 1]
+    np.testing.assert_array_equal(m.double_row(second_row), 2.0 * second_row)
+    np.testing.assert_array_equal(m.double_col(second_row), 2.0 * second_row)
+    np.testing.assert_array_equal(m.double_complex(second_row), 2.0 * second_row)
+    np.testing.assert_array_equal(m.double_row(second_col), 2.0 * second_col)
+    np.testing.assert_array_equal(m.double_col(second_col), 2.0 * second_col)
+    np.testing.assert_array_equal(m.double_complex(second_col), 2.0 * second_col)
+
+    counting_3d = np.arange(27.0, dtype=np.float32).reshape((3, 3, 3))
+    slices = [counting_3d[0, :, :], counting_3d[:, 0, :], counting_3d[:, :, 0]]
+    for ref_mat in slices:
+        np.testing.assert_array_equal(m.double_mat_cm(ref_mat), 2.0 * ref_mat)
+        np.testing.assert_array_equal(m.double_mat_rm(ref_mat), 2.0 * ref_mat)
+
+    # Mutator:
+    m.double_threer(second_row)
+    m.double_threec(second_col)
+    np.testing.assert_array_equal(counting_mat, [[0.0, 2, 2], [6, 16, 10], [6, 14, 8]])
+
+
+def test_negative_stride_from_python(msg):
+    """Eigen doesn't support (as of yet) negative strides. When a function takes an Eigen matrix by
+    copy or const reference, we can pass a numpy array that has negative strides.  Otherwise, an
+    exception will be thrown as Eigen will not be able to map the numpy array."""
+
+    counting_mat = np.arange(9.0, dtype=np.float32).reshape((3, 3))
+    counting_mat = counting_mat[::-1, ::-1]
+    second_row = counting_mat[1, :]
+    second_col = counting_mat[:, 1]
+    np.testing.assert_array_equal(m.double_row(second_row), 2.0 * second_row)
+    np.testing.assert_array_equal(m.double_col(second_row), 2.0 * second_row)
+    np.testing.assert_array_equal(m.double_complex(second_row), 2.0 * second_row)
+    np.testing.assert_array_equal(m.double_row(second_col), 2.0 * second_col)
+    np.testing.assert_array_equal(m.double_col(second_col), 2.0 * second_col)
+    np.testing.assert_array_equal(m.double_complex(second_col), 2.0 * second_col)
+
+    counting_3d = np.arange(27.0, dtype=np.float32).reshape((3, 3, 3))
+    counting_3d = counting_3d[::-1, ::-1, ::-1]
+    slices = [counting_3d[0, :, :], counting_3d[:, 0, :], counting_3d[:, :, 0]]
+    for ref_mat in slices:
+        np.testing.assert_array_equal(m.double_mat_cm(ref_mat), 2.0 * ref_mat)
+        np.testing.assert_array_equal(m.double_mat_rm(ref_mat), 2.0 * ref_mat)
+
+    # Mutator:
+    with pytest.raises(TypeError) as excinfo:
+        m.double_threer(second_row)
+    assert (
+        msg(excinfo.value)
+        == """
+        double_threer(): incompatible function arguments. The following argument types are supported:
+            1. (arg0: numpy.ndarray[numpy.float32[1, 3], flags.writeable]) -> None
+
+        Invoked with: """
+        + repr(np.array([5.0, 4.0, 3.0], dtype="float32"))
+    )
+
+    with pytest.raises(TypeError) as excinfo:
+        m.double_threec(second_col)
+    assert (
+        msg(excinfo.value)
+        == """
+        double_threec(): incompatible function arguments. The following argument types are supported:
+            1. (arg0: numpy.ndarray[numpy.float32[3, 1], flags.writeable]) -> None
+
+        Invoked with: """
+        + repr(np.array([7.0, 4.0, 1.0], dtype="float32"))
+    )
+
+
+def test_block_runtime_error_type_caster_eigen_ref_made_a_copy():
+    with pytest.raises(RuntimeError) as excinfo:
+        m.block(ref, 0, 0, 0, 0)
+    assert str(excinfo.value) == "type_caster for Eigen::Ref made a copy."
+
+
+def test_nonunit_stride_to_python():
+    assert np.all(m.diagonal(ref) == ref.diagonal())
+    assert np.all(m.diagonal_1(ref) == ref.diagonal(1))
+    for i in range(-5, 7):
+        assert np.all(m.diagonal_n(ref, i) == ref.diagonal(i)), f"m.diagonal_n({i})"
+
+    # Must be order="F", otherwise the type_caster will make a copy and
+    # m.block() will return a dangling reference (heap-use-after-free).
+    rof = np.asarray(ref, order="F")
+    assert np.all(m.block(rof, 2, 1, 3, 3) == rof[2:5, 1:4])
+    assert np.all(m.block(rof, 1, 4, 4, 2) == rof[1:, 4:])
+    assert np.all(m.block(rof, 1, 4, 3, 2) == rof[1:4, 4:])
+
+
+def test_eigen_ref_to_python():
+    chols = [m.cholesky1, m.cholesky2, m.cholesky3, m.cholesky4]
+    for i, chol in enumerate(chols, start=1):
+        mymat = chol(np.array([[1.0, 2, 4], [2, 13, 23], [4, 23, 77]]))
+        assert np.all(
+            mymat == np.array([[1, 0, 0], [2, 3, 0], [4, 5, 6]])
+        ), f"cholesky{i}"
+
+
+def assign_both(a1, a2, r, c, v):
+    a1[r, c] = v
+    a2[r, c] = v
+
+
+def array_copy_but_one(a, r, c, v):
+    z = np.array(a, copy=True)
+    z[r, c] = v
+    return z
+
+
+def test_eigen_return_references():
+    """Tests various ways of returning references and non-referencing copies"""
+
+    primary = np.ones((10, 10))
+    a = m.ReturnTester()
+    a_get1 = a.get()
+    assert not a_get1.flags.owndata
+    assert a_get1.flags.writeable
+    assign_both(a_get1, primary, 3, 3, 5)
+    a_get2 = a.get_ptr()
+    assert not a_get2.flags.owndata
+    assert a_get2.flags.writeable
+    assign_both(a_get1, primary, 2, 3, 6)
+
+    a_view1 = a.view()
+    assert not a_view1.flags.owndata
+    assert not a_view1.flags.writeable
+    with pytest.raises(ValueError):
+        a_view1[2, 3] = 4
+    a_view2 = a.view_ptr()
+    assert not a_view2.flags.owndata
+    assert not a_view2.flags.writeable
+    with pytest.raises(ValueError):
+        a_view2[2, 3] = 4
+
+    a_copy1 = a.copy_get()
+    assert a_copy1.flags.owndata
+    assert a_copy1.flags.writeable
+    np.testing.assert_array_equal(a_copy1, primary)
+    a_copy1[7, 7] = -44  # Shouldn't affect anything else
+    c1want = array_copy_but_one(primary, 7, 7, -44)
+    a_copy2 = a.copy_view()
+    assert a_copy2.flags.owndata
+    assert a_copy2.flags.writeable
+    np.testing.assert_array_equal(a_copy2, primary)
+    a_copy2[4, 4] = -22  # Shouldn't affect anything else
+    c2want = array_copy_but_one(primary, 4, 4, -22)
+
+    a_ref1 = a.ref()
+    assert not a_ref1.flags.owndata
+    assert a_ref1.flags.writeable
+    assign_both(a_ref1, primary, 1, 1, 15)
+    a_ref2 = a.ref_const()
+    assert not a_ref2.flags.owndata
+    assert not a_ref2.flags.writeable
+    with pytest.raises(ValueError):
+        a_ref2[5, 5] = 33
+    a_ref3 = a.ref_safe()
+    assert not a_ref3.flags.owndata
+    assert a_ref3.flags.writeable
+    assign_both(a_ref3, primary, 0, 7, 99)
+    a_ref4 = a.ref_const_safe()
+    assert not a_ref4.flags.owndata
+    assert not a_ref4.flags.writeable
+    with pytest.raises(ValueError):
+        a_ref4[7, 0] = 987654321
+
+    a_copy3 = a.copy_ref()
+    assert a_copy3.flags.owndata
+    assert a_copy3.flags.writeable
+    np.testing.assert_array_equal(a_copy3, primary)
+    a_copy3[8, 1] = 11
+    c3want = array_copy_but_one(primary, 8, 1, 11)
+    a_copy4 = a.copy_ref_const()
+    assert a_copy4.flags.owndata
+    assert a_copy4.flags.writeable
+    np.testing.assert_array_equal(a_copy4, primary)
+    a_copy4[8, 4] = 88
+    c4want = array_copy_but_one(primary, 8, 4, 88)
+
+    a_block1 = a.block(3, 3, 2, 2)
+    assert not a_block1.flags.owndata
+    assert a_block1.flags.writeable
+    a_block1[0, 0] = 55
+    primary[3, 3] = 55
+    a_block2 = a.block_safe(2, 2, 3, 2)
+    assert not a_block2.flags.owndata
+    assert a_block2.flags.writeable
+    a_block2[2, 1] = -123
+    primary[4, 3] = -123
+    a_block3 = a.block_const(6, 7, 4, 3)
+    assert not a_block3.flags.owndata
+    assert not a_block3.flags.writeable
+    with pytest.raises(ValueError):
+        a_block3[2, 2] = -44444
+
+    a_copy5 = a.copy_block(2, 2, 2, 3)
+    assert a_copy5.flags.owndata
+    assert a_copy5.flags.writeable
+    np.testing.assert_array_equal(a_copy5, primary[2:4, 2:5])
+    a_copy5[1, 1] = 777
+    c5want = array_copy_but_one(primary[2:4, 2:5], 1, 1, 777)
+
+    a_corn1 = a.corners()
+    assert not a_corn1.flags.owndata
+    assert a_corn1.flags.writeable
+    a_corn1 *= 50
+    a_corn1[1, 1] = 999
+    primary[0, 0] = 50
+    primary[0, 9] = 50
+    primary[9, 0] = 50
+    primary[9, 9] = 999
+    a_corn2 = a.corners_const()
+    assert not a_corn2.flags.owndata
+    assert not a_corn2.flags.writeable
+    with pytest.raises(ValueError):
+        a_corn2[1, 0] = 51
+
+    # All of the changes made all the way along should be visible everywhere
+    # now (except for the copies, of course)
+    np.testing.assert_array_equal(a_get1, primary)
+    np.testing.assert_array_equal(a_get2, primary)
+    np.testing.assert_array_equal(a_view1, primary)
+    np.testing.assert_array_equal(a_view2, primary)
+    np.testing.assert_array_equal(a_ref1, primary)
+    np.testing.assert_array_equal(a_ref2, primary)
+    np.testing.assert_array_equal(a_ref3, primary)
+    np.testing.assert_array_equal(a_ref4, primary)
+    np.testing.assert_array_equal(a_block1, primary[3:5, 3:5])
+    np.testing.assert_array_equal(a_block2, primary[2:5, 2:4])
+    np.testing.assert_array_equal(a_block3, primary[6:10, 7:10])
+    np.testing.assert_array_equal(
+        a_corn1, primary[0 :: primary.shape[0] - 1, 0 :: primary.shape[1] - 1]
+    )
+    np.testing.assert_array_equal(
+        a_corn2, primary[0 :: primary.shape[0] - 1, 0 :: primary.shape[1] - 1]
+    )
+
+    np.testing.assert_array_equal(a_copy1, c1want)
+    np.testing.assert_array_equal(a_copy2, c2want)
+    np.testing.assert_array_equal(a_copy3, c3want)
+    np.testing.assert_array_equal(a_copy4, c4want)
+    np.testing.assert_array_equal(a_copy5, c5want)
+
+
+def assert_keeps_alive(cl, method, *args):
+    cstats = ConstructorStats.get(cl)
+    start_with = cstats.alive()
+    a = cl()
+    assert cstats.alive() == start_with + 1
+    z = method(a, *args)
+    assert cstats.alive() == start_with + 1
+    del a
+    # Here's the keep alive in action:
+    assert cstats.alive() == start_with + 1
+    del z
+    # Keep alive should have expired:
+    assert cstats.alive() == start_with
+
+
+def test_eigen_keepalive():
+    a = m.ReturnTester()
+    cstats = ConstructorStats.get(m.ReturnTester)
+    assert cstats.alive() == 1
+    unsafe = [a.ref(), a.ref_const(), a.block(1, 2, 3, 4)]
+    copies = [
+        a.copy_get(),
+        a.copy_view(),
+        a.copy_ref(),
+        a.copy_ref_const(),
+        a.copy_block(4, 3, 2, 1),
+    ]
+    del a
+    assert cstats.alive() == 0
+    del unsafe
+    del copies
+
+    for meth in [
+        m.ReturnTester.get,
+        m.ReturnTester.get_ptr,
+        m.ReturnTester.view,
+        m.ReturnTester.view_ptr,
+        m.ReturnTester.ref_safe,
+        m.ReturnTester.ref_const_safe,
+        m.ReturnTester.corners,
+        m.ReturnTester.corners_const,
+    ]:
+        assert_keeps_alive(m.ReturnTester, meth)
+
+    for meth in [m.ReturnTester.block_safe, m.ReturnTester.block_const]:
+        assert_keeps_alive(m.ReturnTester, meth, 4, 3, 2, 1)
+
+
+def test_eigen_ref_mutators():
+    """Tests Eigen's ability to mutate numpy values"""
+
+    orig = np.array([[1.0, 2, 3], [4, 5, 6], [7, 8, 9]])
+    zr = np.array(orig)
+    zc = np.array(orig, order="F")
+    m.add_rm(zr, 1, 0, 100)
+    assert np.all(zr == np.array([[1.0, 2, 3], [104, 5, 6], [7, 8, 9]]))
+    m.add_cm(zc, 1, 0, 200)
+    assert np.all(zc == np.array([[1.0, 2, 3], [204, 5, 6], [7, 8, 9]]))
+
+    m.add_any(zr, 1, 0, 20)
+    assert np.all(zr == np.array([[1.0, 2, 3], [124, 5, 6], [7, 8, 9]]))
+    m.add_any(zc, 1, 0, 10)
+    assert np.all(zc == np.array([[1.0, 2, 3], [214, 5, 6], [7, 8, 9]]))
+
+    # Can't reference a col-major array with a row-major Ref, and vice versa:
+    with pytest.raises(TypeError):
+        m.add_rm(zc, 1, 0, 1)
+    with pytest.raises(TypeError):
+        m.add_cm(zr, 1, 0, 1)
+
+    # Overloads:
+    m.add1(zr, 1, 0, -100)
+    m.add2(zr, 1, 0, -20)
+    assert np.all(zr == orig)
+    m.add1(zc, 1, 0, -200)
+    m.add2(zc, 1, 0, -10)
+    assert np.all(zc == orig)
+
+    # a non-contiguous slice (this won't work on either the row- or
+    # column-contiguous refs, but should work for the any)
+    cornersr = zr[0::2, 0::2]
+    cornersc = zc[0::2, 0::2]
+
+    assert np.all(cornersr == np.array([[1.0, 3], [7, 9]]))
+    assert np.all(cornersc == np.array([[1.0, 3], [7, 9]]))
+
+    with pytest.raises(TypeError):
+        m.add_rm(cornersr, 0, 1, 25)
+    with pytest.raises(TypeError):
+        m.add_cm(cornersr, 0, 1, 25)
+    with pytest.raises(TypeError):
+        m.add_rm(cornersc, 0, 1, 25)
+    with pytest.raises(TypeError):
+        m.add_cm(cornersc, 0, 1, 25)
+    m.add_any(cornersr, 0, 1, 25)
+    m.add_any(cornersc, 0, 1, 44)
+    assert np.all(zr == np.array([[1.0, 2, 28], [4, 5, 6], [7, 8, 9]]))
+    assert np.all(zc == np.array([[1.0, 2, 47], [4, 5, 6], [7, 8, 9]]))
+
+    # You shouldn't be allowed to pass a non-writeable array to a mutating Eigen method:
+    zro = zr[0:4, 0:4]
+    zro.flags.writeable = False
+    with pytest.raises(TypeError):
+        m.add_rm(zro, 0, 0, 0)
+    with pytest.raises(TypeError):
+        m.add_any(zro, 0, 0, 0)
+    with pytest.raises(TypeError):
+        m.add1(zro, 0, 0, 0)
+    with pytest.raises(TypeError):
+        m.add2(zro, 0, 0, 0)
+
+    # integer array shouldn't be passable to a double-matrix-accepting mutating func:
+    zi = np.array([[1, 2], [3, 4]])
+    with pytest.raises(TypeError):
+        m.add_rm(zi)
+
+
+def test_numpy_ref_mutators():
+    """Tests numpy mutating Eigen matrices (for returned Eigen::Ref<...>s)"""
+
+    m.reset_refs()  # In case another test already changed it
+
+    zc = m.get_cm_ref()
+    zcro = m.get_cm_const_ref()
+    zr = m.get_rm_ref()
+    zrro = m.get_rm_const_ref()
+
+    assert [zc[1, 2], zcro[1, 2], zr[1, 2], zrro[1, 2]] == [23] * 4
+
+    assert not zc.flags.owndata
+    assert zc.flags.writeable
+    assert not zr.flags.owndata
+    assert zr.flags.writeable
+    assert not zcro.flags.owndata
+    assert not zcro.flags.writeable
+    assert not zrro.flags.owndata
+    assert not zrro.flags.writeable
+
+    zc[1, 2] = 99
+    expect = np.array([[11.0, 12, 13], [21, 22, 99], [31, 32, 33]])
+    # We should have just changed zc, of course, but also zcro and the original eigen matrix
+    assert np.all(zc == expect)
+    assert np.all(zcro == expect)
+    assert np.all(m.get_cm_ref() == expect)
+
+    zr[1, 2] = 99
+    assert np.all(zr == expect)
+    assert np.all(zrro == expect)
+    assert np.all(m.get_rm_ref() == expect)
+
+    # Make sure the readonly ones are numpy-readonly:
+    with pytest.raises(ValueError):
+        zcro[1, 2] = 6
+    with pytest.raises(ValueError):
+        zrro[1, 2] = 6
+
+    # We should be able to explicitly copy like this (and since we're copying,
+    # the const should drop away)
+    y1 = np.array(m.get_cm_const_ref())
+
+    assert y1.flags.owndata
+    assert y1.flags.writeable
+    # We should get copies of the eigen data, which was modified above:
+    assert y1[1, 2] == 99
+    y1[1, 2] += 12
+    assert y1[1, 2] == 111
+    assert zc[1, 2] == 99  # Make sure we aren't referencing the original
+
+
+def test_both_ref_mutators():
+    """Tests a complex chain of nested eigen/numpy references"""
+
+    m.reset_refs()  # In case another test already changed it
+
+    z = m.get_cm_ref()  # numpy -> eigen
+    z[0, 2] -= 3
+    z2 = m.incr_matrix(z, 1)  # numpy -> eigen -> numpy -> eigen
+    z2[1, 1] += 6
+    z3 = m.incr_matrix(z, 2)  # (numpy -> eigen)^3
+    z3[2, 2] += -5
+    z4 = m.incr_matrix(z, 3)  # (numpy -> eigen)^4
+    z4[1, 1] -= 1
+    z5 = m.incr_matrix(z, 4)  # (numpy -> eigen)^5
+    z5[0, 0] = 0
+    assert np.all(z == z2)
+    assert np.all(z == z3)
+    assert np.all(z == z4)
+    assert np.all(z == z5)
+    expect = np.array([[0.0, 22, 20], [31, 37, 33], [41, 42, 38]])
+    assert np.all(z == expect)
+
+    y = np.array(range(100), dtype="float64").reshape(10, 10)
+    y2 = m.incr_matrix_any(y, 10)  # np -> eigen -> np
+    y3 = m.incr_matrix_any(
+        y2[0::2, 0::2], -33
+    )  # np -> eigen -> np slice -> np -> eigen -> np
+    y4 = m.even_rows(y3)  # numpy -> eigen slice -> (... y3)
+    y5 = m.even_cols(y4)  # numpy -> eigen slice -> (... y4)
+    y6 = m.incr_matrix_any(y5, 1000)  # numpy -> eigen -> (... y5)
+
+    # Apply same mutations using just numpy:
+    yexpect = np.array(range(100), dtype="float64").reshape(10, 10)
+    yexpect += 10
+    yexpect[0::2, 0::2] -= 33
+    yexpect[0::4, 0::4] += 1000
+    assert np.all(y6 == yexpect[0::4, 0::4])
+    assert np.all(y5 == yexpect[0::4, 0::4])
+    assert np.all(y4 == yexpect[0::4, 0::2])
+    assert np.all(y3 == yexpect[0::2, 0::2])
+    assert np.all(y2 == yexpect)
+    assert np.all(y == yexpect)
+
+
+def test_nocopy_wrapper():
+    # get_elem requires a column-contiguous matrix reference, but should be
+    # callable with other types of matrix (via copying):
+    int_matrix_colmajor = np.array([[1, 2, 3], [4, 5, 6], [7, 8, 9]], order="F")
+    dbl_matrix_colmajor = np.array(
+        int_matrix_colmajor, dtype="double", order="F", copy=True
+    )
+    int_matrix_rowmajor = np.array(int_matrix_colmajor, order="C", copy=True)
+    dbl_matrix_rowmajor = np.array(
+        int_matrix_rowmajor, dtype="double", order="C", copy=True
+    )
+
+    # All should be callable via get_elem:
+    assert m.get_elem(int_matrix_colmajor) == 8
+    assert m.get_elem(dbl_matrix_colmajor) == 8
+    assert m.get_elem(int_matrix_rowmajor) == 8
+    assert m.get_elem(dbl_matrix_rowmajor) == 8
+
+    # All but the second should fail with m.get_elem_nocopy:
+    with pytest.raises(TypeError) as excinfo:
+        m.get_elem_nocopy(int_matrix_colmajor)
+    assert "get_elem_nocopy(): incompatible function arguments." in str(excinfo.value)
+    assert ", flags.f_contiguous" in str(excinfo.value)
+    assert m.get_elem_nocopy(dbl_matrix_colmajor) == 8
+    with pytest.raises(TypeError) as excinfo:
+        m.get_elem_nocopy(int_matrix_rowmajor)
+    assert "get_elem_nocopy(): incompatible function arguments." in str(excinfo.value)
+    assert ", flags.f_contiguous" in str(excinfo.value)
+    with pytest.raises(TypeError) as excinfo:
+        m.get_elem_nocopy(dbl_matrix_rowmajor)
+    assert "get_elem_nocopy(): incompatible function arguments." in str(excinfo.value)
+    assert ", flags.f_contiguous" in str(excinfo.value)
+
+    # For the row-major test, we take a long matrix in row-major, so only the third is allowed:
+    with pytest.raises(TypeError) as excinfo:
+        m.get_elem_rm_nocopy(int_matrix_colmajor)
+    assert "get_elem_rm_nocopy(): incompatible function arguments." in str(
+        excinfo.value
+    )
+    assert ", flags.c_contiguous" in str(excinfo.value)
+    with pytest.raises(TypeError) as excinfo:
+        m.get_elem_rm_nocopy(dbl_matrix_colmajor)
+    assert "get_elem_rm_nocopy(): incompatible function arguments." in str(
+        excinfo.value
+    )
+    assert ", flags.c_contiguous" in str(excinfo.value)
+    assert m.get_elem_rm_nocopy(int_matrix_rowmajor) == 8
+    with pytest.raises(TypeError) as excinfo:
+        m.get_elem_rm_nocopy(dbl_matrix_rowmajor)
+    assert "get_elem_rm_nocopy(): incompatible function arguments." in str(
+        excinfo.value
+    )
+    assert ", flags.c_contiguous" in str(excinfo.value)
+
+
+def test_eigen_ref_life_support():
+    """Ensure the lifetime of temporary arrays created by the `Ref` caster
+
+    The `Ref` caster sometimes creates a copy which needs to stay alive. This needs to
+    happen both for directs casts (just the array) or indirectly (e.g. list of arrays).
+    """
+
+    a = np.full(shape=10, fill_value=8, dtype=np.int8)
+    assert m.get_elem_direct(a) == 8
+
+    list_of_a = [a]
+    assert m.get_elem_indirect(list_of_a) == 8
+
+
+def test_special_matrix_objects():
+    assert np.all(m.incr_diag(7) == np.diag([1.0, 2, 3, 4, 5, 6, 7]))
+
+    asymm = np.array([[1.0, 2, 3, 4], [5, 6, 7, 8], [9, 10, 11, 12], [13, 14, 15, 16]])
+    symm_lower = np.array(asymm)
+    symm_upper = np.array(asymm)
+    for i in range(4):
+        for j in range(i + 1, 4):
+            symm_lower[i, j] = symm_lower[j, i]
+            symm_upper[j, i] = symm_upper[i, j]
+
+    assert np.all(m.symmetric_lower(asymm) == symm_lower)
+    assert np.all(m.symmetric_upper(asymm) == symm_upper)
+
+
+def test_dense_signature(doc):
+    assert (
+        doc(m.double_col)
+        == """
+        double_col(arg0: numpy.ndarray[numpy.float32[m, 1]]) -> numpy.ndarray[numpy.float32[m, 1]]
+    """
+    )
+    assert (
+        doc(m.double_row)
+        == """
+        double_row(arg0: numpy.ndarray[numpy.float32[1, n]]) -> numpy.ndarray[numpy.float32[1, n]]
+    """
+    )
+    assert doc(m.double_complex) == (
+        """
+        double_complex(arg0: numpy.ndarray[numpy.complex64[m, 1]])"""
+        """ -> numpy.ndarray[numpy.complex64[m, 1]]
+    """
+    )
+    assert doc(m.double_mat_rm) == (
+        """
+        double_mat_rm(arg0: numpy.ndarray[numpy.float32[m, n]])"""
+        """ -> numpy.ndarray[numpy.float32[m, n]]
+    """
+    )
+
+
+def test_named_arguments():
+    a = np.array([[1.0, 2], [3, 4], [5, 6]])
+    b = np.ones((2, 1))
+
+    assert np.all(m.matrix_multiply(a, b) == np.array([[3.0], [7], [11]]))
+    assert np.all(m.matrix_multiply(A=a, B=b) == np.array([[3.0], [7], [11]]))
+    assert np.all(m.matrix_multiply(B=b, A=a) == np.array([[3.0], [7], [11]]))
+
+    with pytest.raises(ValueError) as excinfo:
+        m.matrix_multiply(b, a)
+    assert str(excinfo.value) == "Nonconformable matrices!"
+
+    with pytest.raises(ValueError) as excinfo:
+        m.matrix_multiply(A=b, B=a)
+    assert str(excinfo.value) == "Nonconformable matrices!"
+
+    with pytest.raises(ValueError) as excinfo:
+        m.matrix_multiply(B=a, A=b)
+    assert str(excinfo.value) == "Nonconformable matrices!"
+
+
+def test_sparse():
+    pytest.importorskip("scipy")
+    assert_sparse_equal_ref(m.sparse_r())
+    assert_sparse_equal_ref(m.sparse_c())
+    assert_sparse_equal_ref(m.sparse_copy_r(m.sparse_r()))
+    assert_sparse_equal_ref(m.sparse_copy_c(m.sparse_c()))
+    assert_sparse_equal_ref(m.sparse_copy_r(m.sparse_c()))
+    assert_sparse_equal_ref(m.sparse_copy_c(m.sparse_r()))
+
+
+def test_sparse_signature(doc):
+    pytest.importorskip("scipy")
+    assert (
+        doc(m.sparse_copy_r)
+        == """
+        sparse_copy_r(arg0: scipy.sparse.csr_matrix[numpy.float32]) -> scipy.sparse.csr_matrix[numpy.float32]
+    """
+    )
+    assert (
+        doc(m.sparse_copy_c)
+        == """
+        sparse_copy_c(arg0: scipy.sparse.csc_matrix[numpy.float32]) -> scipy.sparse.csc_matrix[numpy.float32]
+    """
+    )
+
+
+def test_issue738():
+    """Ignore strides on a length-1 dimension (even if they would be incompatible length > 1)"""
+    assert np.all(m.iss738_f1(np.array([[1.0, 2, 3]])) == np.array([[1.0, 102, 203]]))
+    assert np.all(
+        m.iss738_f1(np.array([[1.0], [2], [3]])) == np.array([[1.0], [12], [23]])
+    )
+
+    assert np.all(m.iss738_f2(np.array([[1.0, 2, 3]])) == np.array([[1.0, 102, 203]]))
+    assert np.all(
+        m.iss738_f2(np.array([[1.0], [2], [3]])) == np.array([[1.0], [12], [23]])
+    )
+
+
+@pytest.mark.parametrize("func", [m.iss738_f1, m.iss738_f2])
+@pytest.mark.parametrize("sizes", [(0, 2), (2, 0)])
+def test_zero_length(func, sizes):
+    """Ignore strides on a length-0 dimension (even if they would be incompatible length > 1)"""
+    assert np.all(func(np.zeros(sizes)) == np.zeros(sizes))
+
+
+def test_issue1105():
+    """Issue 1105: 1xN or Nx1 input arrays weren't accepted for eigen
+    compile-time row vectors or column vector"""
+    assert m.iss1105_row(np.ones((1, 7)))
+    assert m.iss1105_col(np.ones((7, 1)))
+
+    # These should still fail (incompatible dimensions):
+    with pytest.raises(TypeError) as excinfo:
+        m.iss1105_row(np.ones((7, 1)))
+    assert "incompatible function arguments" in str(excinfo.value)
+    with pytest.raises(TypeError) as excinfo:
+        m.iss1105_col(np.ones((1, 7)))
+    assert "incompatible function arguments" in str(excinfo.value)
+
+
+def test_custom_operator_new():
+    """Using Eigen types as member variables requires a class-specific
+    operator new with proper alignment"""
+
+    o = m.CustomOperatorNew()
+    np.testing.assert_allclose(o.a, 0.0)
+    np.testing.assert_allclose(o.b.diagonal(), 1.0)
diff --git a/pybind11/tests/test_eigen_tensor.cpp b/pybind11/tests/test_eigen_tensor.cpp
new file mode 100644
index 000000000..503c69c7d
--- /dev/null
+++ b/pybind11/tests/test_eigen_tensor.cpp
@@ -0,0 +1,18 @@
+/*
+    tests/eigen_tensor.cpp -- automatic conversion of Eigen Tensor
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#define PYBIND11_TEST_EIGEN_TENSOR_NAMESPACE eigen_tensor
+
+#ifdef EIGEN_AVOID_STL_ARRAY
+#    undef EIGEN_AVOID_STL_ARRAY
+#endif
+
+#include "test_eigen_tensor.inl"
+
+#include "pybind11_tests.h"
+
+test_initializer egien_tensor("eigen_tensor", eigen_tensor_test::test_module);
diff --git a/pybind11/tests/test_eigen_tensor.inl b/pybind11/tests/test_eigen_tensor.inl
new file mode 100644
index 000000000..d864ce737
--- /dev/null
+++ b/pybind11/tests/test_eigen_tensor.inl
@@ -0,0 +1,333 @@
+/*
+    tests/eigen_tensor.cpp -- automatic conversion of Eigen Tensor
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#include <pybind11/eigen/tensor.h>
+
+PYBIND11_NAMESPACE_BEGIN(eigen_tensor_test)
+
+namespace py = pybind11;
+
+PYBIND11_WARNING_DISABLE_MSVC(4127)
+
+template <typename M>
+void reset_tensor(M &x) {
+    for (int i = 0; i < x.dimension(0); i++) {
+        for (int j = 0; j < x.dimension(1); j++) {
+            for (int k = 0; k < x.dimension(2); k++) {
+                x(i, j, k) = i * (5 * 2) + j * 2 + k;
+            }
+        }
+    }
+}
+
+template <typename M>
+bool check_tensor(M &x) {
+    for (int i = 0; i < x.dimension(0); i++) {
+        for (int j = 0; j < x.dimension(1); j++) {
+            for (int k = 0; k < x.dimension(2); k++) {
+                if (x(i, j, k) != (i * (5 * 2) + j * 2 + k)) {
+                    return false;
+                }
+            }
+        }
+    }
+    return true;
+}
+
+template <int Options>
+Eigen::Tensor<double, 3, Options> &get_tensor() {
+    static Eigen::Tensor<double, 3, Options> *x;
+
+    if (!x) {
+        x = new Eigen::Tensor<double, 3, Options>(3, 5, 2);
+        reset_tensor(*x);
+    }
+
+    return *x;
+}
+
+template <int Options>
+Eigen::TensorMap<Eigen::Tensor<double, 3, Options>> &get_tensor_map() {
+    static Eigen::TensorMap<Eigen::Tensor<double, 3, Options>> *x;
+
+    if (!x) {
+        x = new Eigen::TensorMap<Eigen::Tensor<double, 3, Options>>(get_tensor<Options>());
+    }
+
+    return *x;
+}
+
+template <int Options>
+Eigen::TensorFixedSize<double, Eigen::Sizes<3, 5, 2>, Options> &get_fixed_tensor() {
+    static Eigen::TensorFixedSize<double, Eigen::Sizes<3, 5, 2>, Options> *x;
+
+    if (!x) {
+        Eigen::aligned_allocator<Eigen::TensorFixedSize<double, Eigen::Sizes<3, 5, 2>, Options>>
+            allocator;
+        x = new (allocator.allocate(1))
+            Eigen::TensorFixedSize<double, Eigen::Sizes<3, 5, 2>, Options>();
+        reset_tensor(*x);
+    }
+
+    return *x;
+}
+
+template <int Options>
+const Eigen::Tensor<double, 3, Options> &get_const_tensor() {
+    return get_tensor<Options>();
+}
+
+template <int Options>
+struct CustomExample {
+    CustomExample() : member(get_tensor<Options>()), view_member(member) {}
+
+    Eigen::Tensor<double, 3, Options> member;
+    Eigen::TensorMap<Eigen::Tensor<double, 3, Options>> view_member;
+};
+
+template <int Options>
+void init_tensor_module(pybind11::module &m) {
+    const char *needed_options = "";
+    if (Options == Eigen::ColMajor) {
+        needed_options = "F";
+    } else {
+        needed_options = "C";
+    }
+    m.attr("needed_options") = needed_options;
+
+    m.def("setup", []() {
+        reset_tensor(get_tensor<Options>());
+        reset_tensor(get_fixed_tensor<Options>());
+    });
+
+    m.def("is_ok", []() {
+        return check_tensor(get_tensor<Options>()) && check_tensor(get_fixed_tensor<Options>());
+    });
+
+    py::class_<CustomExample<Options>>(m, "CustomExample", py::module_local())
+        .def(py::init<>())
+        .def_readonly(
+            "member", &CustomExample<Options>::member, py::return_value_policy::reference_internal)
+        .def_readonly("member_view",
+                      &CustomExample<Options>::view_member,
+                      py::return_value_policy::reference_internal);
+
+    m.def(
+        "copy_fixed_tensor",
+        []() { return &get_fixed_tensor<Options>(); },
+        py::return_value_policy::copy);
+
+    m.def(
+        "copy_tensor", []() { return &get_tensor<Options>(); }, py::return_value_policy::copy);
+
+    m.def(
+        "copy_const_tensor",
+        []() { return &get_const_tensor<Options>(); },
+        py::return_value_policy::copy);
+
+    m.def(
+        "move_fixed_tensor_copy",
+        []() -> Eigen::TensorFixedSize<double, Eigen::Sizes<3, 5, 2>, Options> {
+            return get_fixed_tensor<Options>();
+        },
+        py::return_value_policy::move);
+
+    m.def(
+        "move_tensor_copy",
+        []() -> Eigen::Tensor<double, 3, Options> { return get_tensor<Options>(); },
+        py::return_value_policy::move);
+
+    m.def(
+        "move_const_tensor",
+        []() -> const Eigen::Tensor<double, 3, Options> & { return get_const_tensor<Options>(); },
+        py::return_value_policy::move);
+
+    m.def(
+        "take_fixed_tensor",
+
+        []() {
+            Eigen::aligned_allocator<
+                Eigen::TensorFixedSize<double, Eigen::Sizes<3, 5, 2>, Options>>
+                allocator;
+            return new (allocator.allocate(1))
+                Eigen::TensorFixedSize<double, Eigen::Sizes<3, 5, 2>, Options>(
+                    get_fixed_tensor<Options>());
+        },
+        py::return_value_policy::take_ownership);
+
+    m.def(
+        "take_tensor",
+        []() { return new Eigen::Tensor<double, 3, Options>(get_tensor<Options>()); },
+        py::return_value_policy::take_ownership);
+
+    m.def(
+        "take_const_tensor",
+        []() -> const Eigen::Tensor<double, 3, Options> * {
+            return new Eigen::Tensor<double, 3, Options>(get_tensor<Options>());
+        },
+        py::return_value_policy::take_ownership);
+
+    m.def(
+        "take_view_tensor",
+        []() -> const Eigen::TensorMap<Eigen::Tensor<double, 3, Options>> * {
+            return new Eigen::TensorMap<Eigen::Tensor<double, 3, Options>>(get_tensor<Options>());
+        },
+        py::return_value_policy::take_ownership);
+
+    m.def(
+        "reference_tensor",
+        []() { return &get_tensor<Options>(); },
+        py::return_value_policy::reference);
+
+    m.def(
+        "reference_tensor_v2",
+        []() -> Eigen::Tensor<double, 3, Options> & { return get_tensor<Options>(); },
+        py::return_value_policy::reference);
+
+    m.def(
+        "reference_tensor_internal",
+        []() { return &get_tensor<Options>(); },
+        py::return_value_policy::reference_internal);
+
+    m.def(
+        "reference_fixed_tensor",
+        []() { return &get_tensor<Options>(); },
+        py::return_value_policy::reference);
+
+    m.def(
+        "reference_const_tensor",
+        []() { return &get_const_tensor<Options>(); },
+        py::return_value_policy::reference);
+
+    m.def(
+        "reference_const_tensor_v2",
+        []() -> const Eigen::Tensor<double, 3, Options> & { return get_const_tensor<Options>(); },
+        py::return_value_policy::reference);
+
+    m.def(
+        "reference_view_of_tensor",
+        []() -> Eigen::TensorMap<Eigen::Tensor<double, 3, Options>> {
+            return get_tensor_map<Options>();
+        },
+        py::return_value_policy::reference);
+
+    m.def(
+        "reference_view_of_tensor_v2",
+        // NOLINTNEXTLINE(readability-const-return-type)
+        []() -> const Eigen::TensorMap<Eigen::Tensor<double, 3, Options>> {
+            return get_tensor_map<Options>(); // NOLINT(readability-const-return-type)
+        },                                    // NOLINT(readability-const-return-type)
+        py::return_value_policy::reference);
+
+    m.def(
+        "reference_view_of_tensor_v3",
+        []() -> Eigen::TensorMap<Eigen::Tensor<double, 3, Options>> * {
+            return &get_tensor_map<Options>();
+        },
+        py::return_value_policy::reference);
+
+    m.def(
+        "reference_view_of_tensor_v4",
+        []() -> const Eigen::TensorMap<Eigen::Tensor<double, 3, Options>> * {
+            return &get_tensor_map<Options>();
+        },
+        py::return_value_policy::reference);
+
+    m.def(
+        "reference_view_of_tensor_v5",
+        []() -> Eigen::TensorMap<Eigen::Tensor<double, 3, Options>> & {
+            return get_tensor_map<Options>();
+        },
+        py::return_value_policy::reference);
+
+    m.def(
+        "reference_view_of_tensor_v6",
+        []() -> const Eigen::TensorMap<Eigen::Tensor<double, 3, Options>> & {
+            return get_tensor_map<Options>();
+        },
+        py::return_value_policy::reference);
+
+    m.def(
+        "reference_view_of_fixed_tensor",
+        []() {
+            return Eigen::TensorMap<
+                Eigen::TensorFixedSize<double, Eigen::Sizes<3, 5, 2>, Options>>(
+                get_fixed_tensor<Options>());
+        },
+        py::return_value_policy::reference);
+
+    m.def("round_trip_tensor",
+          [](const Eigen::Tensor<double, 3, Options> &tensor) { return tensor; });
+
+    m.def(
+        "round_trip_tensor_noconvert",
+        [](const Eigen::Tensor<double, 3, Options> &tensor) { return tensor; },
+        py::arg("tensor").noconvert());
+
+    m.def("round_trip_tensor2",
+          [](const Eigen::Tensor<int32_t, 3, Options> &tensor) { return tensor; });
+
+    m.def("round_trip_fixed_tensor",
+          [](const Eigen::TensorFixedSize<double, Eigen::Sizes<3, 5, 2>, Options> &tensor) {
+              return tensor;
+          });
+
+    m.def(
+        "round_trip_view_tensor",
+        [](Eigen::TensorMap<Eigen::Tensor<double, 3, Options>> view) { return view; },
+        py::return_value_policy::reference);
+
+    m.def(
+        "round_trip_view_tensor_ref",
+        [](Eigen::TensorMap<Eigen::Tensor<double, 3, Options>> &view) { return view; },
+        py::return_value_policy::reference);
+
+    m.def(
+        "round_trip_view_tensor_ptr",
+        [](Eigen::TensorMap<Eigen::Tensor<double, 3, Options>> *view) { return view; },
+        py::return_value_policy::reference);
+
+    m.def(
+        "round_trip_aligned_view_tensor",
+        [](Eigen::TensorMap<Eigen::Tensor<double, 3, Options>, Eigen::Aligned> view) {
+            return view;
+        },
+        py::return_value_policy::reference);
+
+    m.def(
+        "round_trip_const_view_tensor",
+        [](Eigen::TensorMap<const Eigen::Tensor<double, 3, Options>> view) {
+            return Eigen::Tensor<double, 3, Options>(view);
+        },
+        py::return_value_policy::move);
+
+    m.def(
+        "round_trip_rank_0",
+        [](const Eigen::Tensor<double, 0, Options> &tensor) { return tensor; },
+        py::return_value_policy::move);
+
+    m.def(
+        "round_trip_rank_0_noconvert",
+        [](const Eigen::Tensor<double, 0, Options> &tensor) { return tensor; },
+        py::arg("tensor").noconvert(),
+        py::return_value_policy::move);
+
+    m.def(
+        "round_trip_rank_0_view",
+        [](Eigen::TensorMap<Eigen::Tensor<double, 0, Options>> &tensor) { return tensor; },
+        py::return_value_policy::reference);
+}
+
+void test_module(py::module_ &m) {
+    auto f_style = m.def_submodule("f_style");
+    auto c_style = m.def_submodule("c_style");
+
+    init_tensor_module<Eigen::ColMajor>(f_style);
+    init_tensor_module<Eigen::RowMajor>(c_style);
+}
+
+PYBIND11_NAMESPACE_END(eigen_tensor_test)
diff --git a/pybind11/tests/test_eigen_tensor.py b/pybind11/tests/test_eigen_tensor.py
new file mode 100644
index 000000000..3e7ee6b7f
--- /dev/null
+++ b/pybind11/tests/test_eigen_tensor.py
@@ -0,0 +1,288 @@
+import sys
+
+import pytest
+
+np = pytest.importorskip("numpy")
+eigen_tensor = pytest.importorskip("pybind11_tests.eigen_tensor")
+submodules = [eigen_tensor.c_style, eigen_tensor.f_style]
+try:
+    import eigen_tensor_avoid_stl_array as avoid
+
+    submodules += [avoid.c_style, avoid.f_style]
+except ImportError as e:
+    # Ensure config, build, toolchain, etc. issues are not masked here:
+    msg = (
+        "import eigen_tensor_avoid_stl_array FAILED, while "
+        "import pybind11_tests.eigen_tensor succeeded. "
+        "Please ensure that "
+        "test_eigen_tensor.cpp & "
+        "eigen_tensor_avoid_stl_array.cpp "
+        "are built together (or both are not built if Eigen is not available)."
+    )
+    raise RuntimeError(msg) from e
+
+tensor_ref = np.empty((3, 5, 2), dtype=np.int64)
+
+for i in range(tensor_ref.shape[0]):
+    for j in range(tensor_ref.shape[1]):
+        for k in range(tensor_ref.shape[2]):
+            tensor_ref[i, j, k] = i * (5 * 2) + j * 2 + k
+
+indices = (2, 3, 1)
+
+
+@pytest.fixture(autouse=True)
+def cleanup():
+    for module in submodules:
+        module.setup()
+
+    yield
+
+    for module in submodules:
+        assert module.is_ok()
+
+
+def test_import_avoid_stl_array():
+    pytest.importorskip("eigen_tensor_avoid_stl_array")
+    assert len(submodules) == 4
+
+
+def assert_equal_tensor_ref(mat, writeable=True, modified=None):
+    assert mat.flags.writeable == writeable
+
+    copy = np.array(tensor_ref)
+    if modified is not None:
+        copy[indices] = modified
+
+    np.testing.assert_array_equal(mat, copy)
+
+
+@pytest.mark.parametrize("m", submodules)
+@pytest.mark.parametrize("member_name", ["member", "member_view"])
+def test_reference_internal(m, member_name):
+    if not hasattr(sys, "getrefcount"):
+        pytest.skip("No reference counting")
+    foo = m.CustomExample()
+    counts = sys.getrefcount(foo)
+    mem = getattr(foo, member_name)
+    assert_equal_tensor_ref(mem, writeable=False)
+    new_counts = sys.getrefcount(foo)
+    assert new_counts == counts + 1
+    assert_equal_tensor_ref(mem, writeable=False)
+    del mem
+    assert sys.getrefcount(foo) == counts
+
+
+assert_equal_funcs = [
+    "copy_tensor",
+    "copy_fixed_tensor",
+    "copy_const_tensor",
+    "move_tensor_copy",
+    "move_fixed_tensor_copy",
+    "take_tensor",
+    "take_fixed_tensor",
+    "reference_tensor",
+    "reference_tensor_v2",
+    "reference_fixed_tensor",
+    "reference_view_of_tensor",
+    "reference_view_of_tensor_v3",
+    "reference_view_of_tensor_v5",
+    "reference_view_of_fixed_tensor",
+]
+
+assert_equal_const_funcs = [
+    "reference_view_of_tensor_v2",
+    "reference_view_of_tensor_v4",
+    "reference_view_of_tensor_v6",
+    "reference_const_tensor",
+    "reference_const_tensor_v2",
+]
+
+
+@pytest.mark.parametrize("m", submodules)
+@pytest.mark.parametrize("func_name", assert_equal_funcs + assert_equal_const_funcs)
+def test_convert_tensor_to_py(m, func_name):
+    writeable = func_name in assert_equal_funcs
+    assert_equal_tensor_ref(getattr(m, func_name)(), writeable=writeable)
+
+
+@pytest.mark.parametrize("m", submodules)
+def test_bad_cpp_to_python_casts(m):
+    with pytest.raises(
+        RuntimeError, match="Cannot use reference internal when there is no parent"
+    ):
+        m.reference_tensor_internal()
+
+    with pytest.raises(RuntimeError, match="Cannot move from a constant reference"):
+        m.move_const_tensor()
+
+    with pytest.raises(
+        RuntimeError, match="Cannot take ownership of a const reference"
+    ):
+        m.take_const_tensor()
+
+    with pytest.raises(
+        RuntimeError,
+        match="Invalid return_value_policy for Eigen Map type, must be either reference or reference_internal",
+    ):
+        m.take_view_tensor()
+
+
+@pytest.mark.parametrize("m", submodules)
+def test_bad_python_to_cpp_casts(m):
+    with pytest.raises(
+        TypeError, match=r"^round_trip_tensor\(\): incompatible function arguments"
+    ):
+        m.round_trip_tensor(np.zeros((2, 3)))
+
+    with pytest.raises(TypeError, match=r"^Cannot cast array data from dtype"):
+        m.round_trip_tensor(np.zeros(dtype=np.str_, shape=(2, 3, 1)))
+
+    with pytest.raises(
+        TypeError,
+        match=r"^round_trip_tensor_noconvert\(\): incompatible function arguments",
+    ):
+        m.round_trip_tensor_noconvert(tensor_ref)
+
+    assert_equal_tensor_ref(
+        m.round_trip_tensor_noconvert(tensor_ref.astype(np.float64))
+    )
+
+    bad_options = "C" if m.needed_options == "F" else "F"
+    # Shape, dtype and the order need to be correct for a TensorMap cast
+    with pytest.raises(
+        TypeError, match=r"^round_trip_view_tensor\(\): incompatible function arguments"
+    ):
+        m.round_trip_view_tensor(
+            np.zeros((3, 5, 2), dtype=np.float64, order=bad_options)
+        )
+
+    with pytest.raises(
+        TypeError, match=r"^round_trip_view_tensor\(\): incompatible function arguments"
+    ):
+        m.round_trip_view_tensor(
+            np.zeros((3, 5, 2), dtype=np.float32, order=m.needed_options)
+        )
+
+    with pytest.raises(
+        TypeError, match=r"^round_trip_view_tensor\(\): incompatible function arguments"
+    ):
+        m.round_trip_view_tensor(
+            np.zeros((3, 5), dtype=np.float64, order=m.needed_options)
+        )
+
+    temp = np.zeros((3, 5, 2), dtype=np.float64, order=m.needed_options)
+    with pytest.raises(
+        TypeError, match=r"^round_trip_view_tensor\(\): incompatible function arguments"
+    ):
+        m.round_trip_view_tensor(
+            temp[:, ::-1, :],
+        )
+
+    temp = np.zeros((3, 5, 2), dtype=np.float64, order=m.needed_options)
+    temp.setflags(write=False)
+    with pytest.raises(
+        TypeError, match=r"^round_trip_view_tensor\(\): incompatible function arguments"
+    ):
+        m.round_trip_view_tensor(temp)
+
+
+@pytest.mark.parametrize("m", submodules)
+def test_references_actually_refer(m):
+    a = m.reference_tensor()
+    temp = a[indices]
+    a[indices] = 100
+    assert_equal_tensor_ref(m.copy_const_tensor(), modified=100)
+    a[indices] = temp
+    assert_equal_tensor_ref(m.copy_const_tensor())
+
+    a = m.reference_view_of_tensor()
+    a[indices] = 100
+    assert_equal_tensor_ref(m.copy_const_tensor(), modified=100)
+    a[indices] = temp
+    assert_equal_tensor_ref(m.copy_const_tensor())
+
+
+@pytest.mark.parametrize("m", submodules)
+def test_round_trip(m):
+    assert_equal_tensor_ref(m.round_trip_tensor(tensor_ref))
+
+    with pytest.raises(TypeError, match="^Cannot cast array data from"):
+        assert_equal_tensor_ref(m.round_trip_tensor2(tensor_ref))
+
+    assert_equal_tensor_ref(m.round_trip_tensor2(np.array(tensor_ref, dtype=np.int32)))
+    assert_equal_tensor_ref(m.round_trip_fixed_tensor(tensor_ref))
+    assert_equal_tensor_ref(m.round_trip_aligned_view_tensor(m.reference_tensor()))
+
+    copy = np.array(tensor_ref, dtype=np.float64, order=m.needed_options)
+    assert_equal_tensor_ref(m.round_trip_view_tensor(copy))
+    assert_equal_tensor_ref(m.round_trip_view_tensor_ref(copy))
+    assert_equal_tensor_ref(m.round_trip_view_tensor_ptr(copy))
+    copy.setflags(write=False)
+    assert_equal_tensor_ref(m.round_trip_const_view_tensor(copy))
+
+    np.testing.assert_array_equal(
+        tensor_ref[:, ::-1, :], m.round_trip_tensor(tensor_ref[:, ::-1, :])
+    )
+
+    assert m.round_trip_rank_0(np.float64(3.5)) == 3.5
+    assert m.round_trip_rank_0(3.5) == 3.5
+
+    with pytest.raises(
+        TypeError,
+        match=r"^round_trip_rank_0_noconvert\(\): incompatible function arguments",
+    ):
+        m.round_trip_rank_0_noconvert(np.float64(3.5))
+
+    with pytest.raises(
+        TypeError,
+        match=r"^round_trip_rank_0_noconvert\(\): incompatible function arguments",
+    ):
+        m.round_trip_rank_0_noconvert(3.5)
+
+    with pytest.raises(
+        TypeError, match=r"^round_trip_rank_0_view\(\): incompatible function arguments"
+    ):
+        m.round_trip_rank_0_view(np.float64(3.5))
+
+    with pytest.raises(
+        TypeError, match=r"^round_trip_rank_0_view\(\): incompatible function arguments"
+    ):
+        m.round_trip_rank_0_view(3.5)
+
+
+@pytest.mark.parametrize("m", submodules)
+def test_round_trip_references_actually_refer(m):
+    # Need to create a copy that matches the type on the C side
+    copy = np.array(tensor_ref, dtype=np.float64, order=m.needed_options)
+    a = m.round_trip_view_tensor(copy)
+    temp = a[indices]
+    a[indices] = 100
+    assert_equal_tensor_ref(copy, modified=100)
+    a[indices] = temp
+    assert_equal_tensor_ref(copy)
+
+
+@pytest.mark.parametrize("m", submodules)
+def test_doc_string(m, doc):
+    assert (
+        doc(m.copy_tensor) == "copy_tensor() -> numpy.ndarray[numpy.float64[?, ?, ?]]"
+    )
+    assert (
+        doc(m.copy_fixed_tensor)
+        == "copy_fixed_tensor() -> numpy.ndarray[numpy.float64[3, 5, 2]]"
+    )
+    assert (
+        doc(m.reference_const_tensor)
+        == "reference_const_tensor() -> numpy.ndarray[numpy.float64[?, ?, ?]]"
+    )
+
+    order_flag = f"flags.{m.needed_options.lower()}_contiguous"
+    assert doc(m.round_trip_view_tensor) == (
+        f"round_trip_view_tensor(arg0: numpy.ndarray[numpy.float64[?, ?, ?], flags.writeable, {order_flag}])"
+        f" -> numpy.ndarray[numpy.float64[?, ?, ?], flags.writeable, {order_flag}]"
+    )
+    assert doc(m.round_trip_const_view_tensor) == (
+        f"round_trip_const_view_tensor(arg0: numpy.ndarray[numpy.float64[?, ?, ?], {order_flag}])"
+        " -> numpy.ndarray[numpy.float64[?, ?, ?]]"
+    )
diff --git a/pybind11/tests/test_embed/catch.cpp b/pybind11/tests/test_embed/catch.cpp
index 96d2e3f92..558a7a35e 100644
--- a/pybind11/tests/test_embed/catch.cpp
+++ b/pybind11/tests/test_embed/catch.cpp
@@ -3,11 +3,9 @@
 
 #include <pybind11/embed.h>
 
-#ifdef _MSC_VER
 // Silence MSVC C++17 deprecation warning from Catch regarding std::uncaught_exceptions (up to
 // catch 2.0.1; this should be fixed in the next catch release after 2.0.1).
-#    pragma warning(disable : 4996)
-#endif
+PYBIND11_WARNING_DISABLE_MSVC(4996)
 
 // Catch uses _ internally, which breaks gettext style defines
 #ifdef _
@@ -20,7 +18,25 @@
 namespace py = pybind11;
 
 int main(int argc, char *argv[]) {
+    // Setup for TEST_CASE in test_interpreter.cpp, tagging on a large random number:
+    std::string updated_pythonpath("pybind11_test_embed_PYTHONPATH_2099743835476552");
+    const char *preexisting_pythonpath = getenv("PYTHONPATH");
+    if (preexisting_pythonpath != nullptr) {
+#if defined(_WIN32)
+        updated_pythonpath += ';';
+#else
+        updated_pythonpath += ':';
+#endif
+        updated_pythonpath += preexisting_pythonpath;
+    }
+#if defined(_WIN32)
+    _putenv_s("PYTHONPATH", updated_pythonpath.c_str());
+#else
+    setenv("PYTHONPATH", updated_pythonpath.c_str(), /*replace=*/1);
+#endif
+
     py::scoped_interpreter guard{};
+
     auto result = Catch::Session().run(argc, argv);
 
     return result < 0xff ? result : 0xff;
diff --git a/pybind11/tests/test_embed/test_interpreter.cpp b/pybind11/tests/test_embed/test_interpreter.cpp
index 1c45457a0..c6c8a22d9 100644
--- a/pybind11/tests/test_embed/test_interpreter.cpp
+++ b/pybind11/tests/test_embed/test_interpreter.cpp
@@ -1,10 +1,8 @@
 #include <pybind11/embed.h>
 
-#ifdef _MSC_VER
 // Silence MSVC C++17 deprecation warning from Catch regarding std::uncaught_exceptions (up to
 // catch 2.0.1; this should be fixed in the next catch release after 2.0.1).
-#    pragma warning(disable : 4996)
-#endif
+PYBIND11_WARNING_DISABLE_MSVC(4996)
 
 #include <catch.hpp>
 #include <cstdlib>
@@ -16,6 +14,11 @@
 namespace py = pybind11;
 using namespace py::literals;
 
+size_t get_sys_path_size() {
+    auto sys_path = py::module::import("sys").attr("path");
+    return py::len(sys_path);
+}
+
 class Widget {
 public:
     explicit Widget(std::string message) : message(std::move(message)) {}
@@ -75,6 +78,13 @@ PYBIND11_EMBEDDED_MODULE(throw_error_already_set, ) {
     d["missing"].cast<py::object>();
 }
 
+TEST_CASE("PYTHONPATH is used to update sys.path") {
+    // The setup for this TEST_CASE is in catch.cpp!
+    auto sys_path = py::str(py::module_::import("sys").attr("path")).cast<std::string>();
+    REQUIRE_THAT(sys_path,
+                 Catch::Matchers::Contains("pybind11_test_embed_PYTHONPATH_2099743835476552"));
+}
+
 TEST_CASE("Pass classes and data between modules defined in C++ and Python") {
     auto module_ = py::module_::import("test_interpreter");
     REQUIRE(py::hasattr(module_, "DerivedWidget"));
@@ -161,10 +171,94 @@ TEST_CASE("There can be only one interpreter") {
     py::initialize_interpreter();
 }
 
-bool has_pybind11_internals_builtin() {
-    auto builtins = py::handle(PyEval_GetBuiltins());
-    return builtins.contains(PYBIND11_INTERNALS_ID);
-};
+#if PY_VERSION_HEX >= PYBIND11_PYCONFIG_SUPPORT_PY_VERSION_HEX
+TEST_CASE("Custom PyConfig") {
+    py::finalize_interpreter();
+    PyConfig config;
+    PyConfig_InitPythonConfig(&config);
+    REQUIRE_NOTHROW(py::scoped_interpreter{&config});
+    {
+        py::scoped_interpreter p{&config};
+        REQUIRE(py::module_::import("widget_module").attr("add")(1, 41).cast<int>() == 42);
+    }
+    py::initialize_interpreter();
+}
+
+TEST_CASE("scoped_interpreter with PyConfig_InitIsolatedConfig and argv") {
+    py::finalize_interpreter();
+    {
+        PyConfig config;
+        PyConfig_InitIsolatedConfig(&config);
+        char *argv[] = {strdup("a.out")};
+        py::scoped_interpreter argv_scope{&config, 1, argv};
+        std::free(argv[0]);
+        auto module = py::module::import("test_interpreter");
+        auto py_widget = module.attr("DerivedWidget")("The question");
+        const auto &cpp_widget = py_widget.cast<const Widget &>();
+        REQUIRE(cpp_widget.argv0() == "a.out");
+    }
+    py::initialize_interpreter();
+}
+
+TEST_CASE("scoped_interpreter with PyConfig_InitPythonConfig and argv") {
+    py::finalize_interpreter();
+    {
+        PyConfig config;
+        PyConfig_InitPythonConfig(&config);
+
+        // `initialize_interpreter() overrides the default value for config.parse_argv (`1`) by
+        // changing it to `0`. This test exercises `scoped_interpreter` with the default config.
+        char *argv[] = {strdup("a.out"), strdup("arg1")};
+        py::scoped_interpreter argv_scope(&config, 2, argv);
+        std::free(argv[0]);
+        std::free(argv[1]);
+        auto module = py::module::import("test_interpreter");
+        auto py_widget = module.attr("DerivedWidget")("The question");
+        const auto &cpp_widget = py_widget.cast<const Widget &>();
+        REQUIRE(cpp_widget.argv0() == "arg1");
+    }
+    py::initialize_interpreter();
+}
+#endif
+
+TEST_CASE("Add program dir to path pre-PyConfig") {
+    py::finalize_interpreter();
+    size_t path_size_add_program_dir_to_path_false = 0;
+    {
+        py::scoped_interpreter scoped_interp{true, 0, nullptr, false};
+        path_size_add_program_dir_to_path_false = get_sys_path_size();
+    }
+    {
+        py::scoped_interpreter scoped_interp{};
+        REQUIRE(get_sys_path_size() == path_size_add_program_dir_to_path_false + 1);
+    }
+    py::initialize_interpreter();
+}
+
+#if PY_VERSION_HEX >= PYBIND11_PYCONFIG_SUPPORT_PY_VERSION_HEX
+TEST_CASE("Add program dir to path using PyConfig") {
+    py::finalize_interpreter();
+    size_t path_size_add_program_dir_to_path_false = 0;
+    {
+        PyConfig config;
+        PyConfig_InitPythonConfig(&config);
+        py::scoped_interpreter scoped_interp{&config, 0, nullptr, false};
+        path_size_add_program_dir_to_path_false = get_sys_path_size();
+    }
+    {
+        PyConfig config;
+        PyConfig_InitPythonConfig(&config);
+        py::scoped_interpreter scoped_interp{&config};
+        REQUIRE(get_sys_path_size() == path_size_add_program_dir_to_path_false + 1);
+    }
+    py::initialize_interpreter();
+}
+#endif
+
+bool has_state_dict_internals_obj() {
+    return bool(
+        py::detail::get_internals_obj_from_state_dict(py::detail::get_python_state_dict()));
+}
 
 bool has_pybind11_internals_static() {
     auto **&ipp = py::detail::get_internals_pp();
@@ -174,7 +268,7 @@ bool has_pybind11_internals_static() {
 TEST_CASE("Restart the interpreter") {
     // Verify pre-restart state.
     REQUIRE(py::module_::import("widget_module").attr("add")(1, 2).cast<int>() == 3);
-    REQUIRE(has_pybind11_internals_builtin());
+    REQUIRE(has_state_dict_internals_obj());
     REQUIRE(has_pybind11_internals_static());
     REQUIRE(py::module_::import("external_module").attr("A")(123).attr("value").cast<int>()
             == 123);
@@ -191,10 +285,10 @@ TEST_CASE("Restart the interpreter") {
     REQUIRE(Py_IsInitialized() == 1);
 
     // Internals are deleted after a restart.
-    REQUIRE_FALSE(has_pybind11_internals_builtin());
+    REQUIRE_FALSE(has_state_dict_internals_obj());
     REQUIRE_FALSE(has_pybind11_internals_static());
     pybind11::detail::get_internals();
-    REQUIRE(has_pybind11_internals_builtin());
+    REQUIRE(has_state_dict_internals_obj());
     REQUIRE(has_pybind11_internals_static());
     REQUIRE(reinterpret_cast<uintptr_t>(*py::detail::get_internals_pp())
             == py::module_::import("external_module").attr("internals_at")().cast<uintptr_t>());
@@ -209,13 +303,13 @@ TEST_CASE("Restart the interpreter") {
               py::detail::get_internals();
               *static_cast<bool *>(ran) = true;
           });
-    REQUIRE_FALSE(has_pybind11_internals_builtin());
+    REQUIRE_FALSE(has_state_dict_internals_obj());
     REQUIRE_FALSE(has_pybind11_internals_static());
     REQUIRE_FALSE(ran);
     py::finalize_interpreter();
     REQUIRE(ran);
     py::initialize_interpreter();
-    REQUIRE_FALSE(has_pybind11_internals_builtin());
+    REQUIRE_FALSE(has_state_dict_internals_obj());
     REQUIRE_FALSE(has_pybind11_internals_static());
 
     // C++ modules can be reloaded.
@@ -237,7 +331,7 @@ TEST_CASE("Subinterpreter") {
 
         REQUIRE(m.attr("add")(1, 2).cast<int>() == 3);
     }
-    REQUIRE(has_pybind11_internals_builtin());
+    REQUIRE(has_state_dict_internals_obj());
     REQUIRE(has_pybind11_internals_static());
 
     /// Create and switch to a subinterpreter.
@@ -247,7 +341,7 @@ TEST_CASE("Subinterpreter") {
     // Subinterpreters get their own copy of builtins. detail::get_internals() still
     // works by returning from the static variable, i.e. all interpreters share a single
     // global pybind11::internals;
-    REQUIRE_FALSE(has_pybind11_internals_builtin());
+    REQUIRE_FALSE(has_state_dict_internals_obj());
     REQUIRE(has_pybind11_internals_static());
 
     // Modules tags should be gone.
@@ -286,7 +380,6 @@ TEST_CASE("Threads") {
 
     {
         py::gil_scoped_release gil_release{};
-        REQUIRE(has_pybind11_internals_static());
 
         auto threads = std::vector<std::thread>();
         for (auto i = 0; i < num_threads; ++i) {
diff --git a/pybind11/tests/test_enum.py b/pybind11/tests/test_enum.py
index f14a72398..4e85d29c3 100644
--- a/pybind11/tests/test_enum.py
+++ b/pybind11/tests/test_enum.py
@@ -1,3 +1,5 @@
+# ruff: noqa: SIM201 SIM300 SIM202
+
 import pytest
 
 from pybind11_tests import enums as m
diff --git a/pybind11/tests/test_exceptions.cpp b/pybind11/tests/test_exceptions.cpp
index 3ec999d1d..854c7e6f7 100644
--- a/pybind11/tests/test_exceptions.cpp
+++ b/pybind11/tests/test_exceptions.cpp
@@ -105,11 +105,6 @@ struct PythonAlreadySetInDestructor {
     py::str s;
 };
 
-std::string error_already_set_what(const py::object &exc_type, const py::object &exc_value) {
-    PyErr_SetObject(exc_type.ptr(), exc_value.ptr());
-    return py::error_already_set().what();
-}
-
 TEST_SUBMODULE(exceptions, m) {
     m.def("throw_std_exception",
           []() { throw std::runtime_error("This exception was intentionally thrown."); });
@@ -334,4 +329,19 @@ TEST_SUBMODULE(exceptions, m) {
             e.restore();
         }
     });
+
+    // https://github.com/pybind/pybind11/issues/4075
+    m.def("test_pypy_oserror_normalization", []() {
+        try {
+            py::module_::import("io").attr("open")("this_filename_must_not_exist", "r");
+        } catch (const py::error_already_set &e) {
+            return py::str(e.what()); // str must be built before e goes out of scope.
+        }
+        return py::str("UNEXPECTED");
+    });
+
+    m.def("test_fn_cast_int", [](const py::function &fn) {
+        // function returns None instead of int, should give a useful error message
+        fn().cast<int>();
+    });
 }
diff --git a/pybind11/tests/test_exceptions.py b/pybind11/tests/test_exceptions.py
index a5984a142..ccac4536d 100644
--- a/pybind11/tests/test_exceptions.py
+++ b/pybind11/tests/test_exceptions.py
@@ -4,6 +4,7 @@ import pytest
 
 import env
 import pybind11_cross_module_tests as cm
+import pybind11_tests  # noqa: F401
 from pybind11_tests import exceptions as m
 
 
@@ -72,9 +73,9 @@ def test_cross_module_exceptions(msg):
 
 # TODO: FIXME
 @pytest.mark.xfail(
-    "env.PYPY and env.MACOS",
+    "env.MACOS and (env.PYPY or pybind11_tests.compiler_info.startswith('Homebrew Clang'))",
     raises=RuntimeError,
-    reason="Expected failure with PyPy and libc++ (Issue #2847 & PR #2999)",
+    reason="See Issue #2847, PR #2999, PR #4324",
 )
 def test_cross_module_exception_translator():
     with pytest.raises(KeyError):
@@ -93,8 +94,7 @@ def ignore_pytest_unraisable_warning(f):
     if hasattr(pytest, unraisable):  # Python >= 3.8 and pytest >= 6
         dec = pytest.mark.filterwarnings(f"ignore::pytest.{unraisable}")
         return dec(f)
-    else:
-        return f
+    return f
 
 
 # TODO: find out why this fails on PyPy, https://foss.heptapod.net/pypy/pypy/-/issues/3583
@@ -182,11 +182,11 @@ def test_custom(msg):
         m.throws5_1()
     assert msg(excinfo.value) == "MyException5 subclass"
 
-    with pytest.raises(m.MyException5) as excinfo:
+    with pytest.raises(m.MyException5) as excinfo:  # noqa: PT012
         try:
             m.throws5()
-        except m.MyException5_1:
-            raise RuntimeError("Exception error: caught child from parent")
+        except m.MyException5_1 as err:
+            raise RuntimeError("Exception error: caught child from parent") from err
     assert msg(excinfo.value) == "this is a helper-defined translated exception"
 
 
@@ -211,7 +211,7 @@ def test_nested_throws(capture):
         m.try_catch(m.MyException5, throw_myex)
     assert str(excinfo.value) == "nested error"
 
-    def pycatch(exctype, f, *args):
+    def pycatch(exctype, f, *args):  # noqa: ARG001
         try:
             f(*args)
         except m.MyException as e:
@@ -275,6 +275,20 @@ def test_local_translator(msg):
     assert msg(excinfo.value) == "this mod"
 
 
+def test_error_already_set_message_with_unicode_surrogate():  # Issue #4288
+    assert m.error_already_set_what(RuntimeError, "\ud927") == (
+        "RuntimeError: \\ud927",
+        False,
+    )
+
+
+def test_error_already_set_message_with_malformed_utf8():
+    assert m.error_already_set_what(RuntimeError, b"\x80") == (
+        "RuntimeError: b'\\x80'",
+        False,
+    )
+
+
 class FlakyException(Exception):
     def __init__(self, failure_point):
         if failure_point == "failure_point_init":
@@ -288,12 +302,12 @@ class FlakyException(Exception):
 
 
 @pytest.mark.parametrize(
-    "exc_type, exc_value, expected_what",
-    (
+    ("exc_type", "exc_value", "expected_what"),
+    [
         (ValueError, "plain_str", "ValueError: plain_str"),
         (ValueError, ("tuple_elem",), "ValueError: tuple_elem"),
         (FlakyException, ("happy",), "FlakyException: FlakyException.__str__"),
-    ),
+    ],
 )
 def test_error_already_set_what_with_happy_exceptions(
     exc_type, exc_value, expected_what
@@ -303,8 +317,7 @@ def test_error_already_set_what_with_happy_exceptions(
     assert what == expected_what
 
 
-@pytest.mark.skipif("env.PYPY", reason="PyErr_NormalizeException Segmentation fault")
-def test_flaky_exception_failure_point_init():
+def _test_flaky_exception_failure_point_init_before_py_3_12():
     with pytest.raises(RuntimeError) as excinfo:
         m.error_already_set_what(FlakyException, ("failure_point_init",))
     lines = str(excinfo.value).splitlines()
@@ -318,7 +331,33 @@ def test_flaky_exception_failure_point_init():
     # Checking the first two lines of the traceback as formatted in error_string():
     assert "test_exceptions.py(" in lines[3]
     assert lines[3].endswith("): __init__")
-    assert lines[4].endswith("): test_flaky_exception_failure_point_init")
+    assert lines[4].endswith(
+        "): _test_flaky_exception_failure_point_init_before_py_3_12"
+    )
+
+
+def _test_flaky_exception_failure_point_init_py_3_12():
+    # Behavior change in Python 3.12: https://github.com/python/cpython/issues/102594
+    what, py_err_set_after_what = m.error_already_set_what(
+        FlakyException, ("failure_point_init",)
+    )
+    assert not py_err_set_after_what
+    lines = what.splitlines()
+    assert lines[0].endswith("ValueError[WITH __notes__]: triggered_failure_point_init")
+    assert lines[1] == "__notes__ (len=1):"
+    assert "Normalization failed:" in lines[2]
+    assert "FlakyException" in lines[2]
+
+
+@pytest.mark.skipif(
+    "env.PYPY and sys.version_info[:2] < (3, 12)",
+    reason="PyErr_NormalizeException Segmentation fault",
+)
+def test_flaky_exception_failure_point_init():
+    if sys.version_info[:2] < (3, 12):
+        _test_flaky_exception_failure_point_init_before_py_3_12()
+    else:
+        _test_flaky_exception_failure_point_init_py_3_12()
 
 
 def test_flaky_exception_failure_point_str():
@@ -327,10 +366,7 @@ def test_flaky_exception_failure_point_str():
     )
     assert not py_err_set_after_what
     lines = what.splitlines()
-    if env.PYPY and len(lines) == 3:
-        n = 3  # Traceback is missing.
-    else:
-        n = 5
+    n = 3 if env.PYPY and len(lines) == 3 else 5
     assert (
         lines[:n]
         == [
@@ -360,3 +396,18 @@ def test_error_already_set_double_restore():
         "Internal error: pybind11::detail::error_fetch_and_normalize::restore()"
         " called a second time. ORIGINAL ERROR: ValueError: Random error."
     )
+
+
+def test_pypy_oserror_normalization():
+    # https://github.com/pybind/pybind11/issues/4075
+    what = m.test_pypy_oserror_normalization()
+    assert "this_filename_must_not_exist" in what
+
+
+def test_fn_cast_int_exception():
+    with pytest.raises(RuntimeError) as excinfo:
+        m.test_fn_cast_int(lambda: None)
+
+    assert str(excinfo.value).startswith(
+        "Unable to cast Python instance of type <class 'NoneType'> to C++ type"
+    )
diff --git a/pybind11/tests/test_factory_constructors.py b/pybind11/tests/test_factory_constructors.py
index 120a587c4..04df80260 100644
--- a/pybind11/tests/test_factory_constructors.py
+++ b/pybind11/tests/test_factory_constructors.py
@@ -96,7 +96,7 @@ def test_init_factory_signature(msg):
         3. __init__(self: m.factory_constructors.TestFactory1, arg0: m.factory_constructors.tag.pointer_tag) -> None
 
         4. __init__(self: m.factory_constructors.TestFactory1, arg0: handle, arg1: int, arg2: handle) -> None
-    """  # noqa: E501 line too long
+    """
     )
 
 
diff --git a/pybind11/tests/test_gil_scoped.cpp b/pybind11/tests/test_gil_scoped.cpp
index 97efdc161..f136086e8 100644
--- a/pybind11/tests/test_gil_scoped.cpp
+++ b/pybind11/tests/test_gil_scoped.cpp
@@ -11,6 +11,13 @@
 
 #include "pybind11_tests.h"
 
+#include <string>
+#include <thread>
+
+#define CROSS_MODULE(Function)                                                                    \
+    auto cm = py::module_::import("cross_module_gil_utils");                                      \
+    auto target = reinterpret_cast<void (*)()>(PyLong_AsVoidPtr(cm.attr(Function).ptr()));
+
 class VirtClass {
 public:
     virtual ~VirtClass() = default;
@@ -28,6 +35,16 @@ class PyVirtClass : public VirtClass {
 };
 
 TEST_SUBMODULE(gil_scoped, m) {
+    m.attr("defined_THREAD_SANITIZER") =
+#if defined(THREAD_SANITIZER)
+        true;
+#else
+        false;
+#endif
+
+    m.def("intentional_deadlock",
+          []() { std::thread([]() { py::gil_scoped_acquire gil_acquired; }).join(); });
+
     py::class_<VirtClass, PyVirtClass>(m, "VirtClass")
         .def(py::init<>())
         .def("virtual_func", &VirtClass::virtual_func)
@@ -37,11 +54,91 @@ TEST_SUBMODULE(gil_scoped, m) {
     m.def("test_callback_std_func", [](const std::function<void()> &func) { func(); });
     m.def("test_callback_virtual_func", [](VirtClass &virt) { virt.virtual_func(); });
     m.def("test_callback_pure_virtual_func", [](VirtClass &virt) { virt.pure_virtual_func(); });
-    m.def("test_cross_module_gil", []() {
-        auto cm = py::module_::import("cross_module_gil_utils");
-        auto gil_acquire = reinterpret_cast<void (*)()>(
-            PyLong_AsVoidPtr(cm.attr("gil_acquire_funcaddr").ptr()));
+    m.def("test_cross_module_gil_released", []() {
+        CROSS_MODULE("gil_acquire_funcaddr")
         py::gil_scoped_release gil_release;
-        gil_acquire();
+        target();
+    });
+    m.def("test_cross_module_gil_acquired", []() {
+        CROSS_MODULE("gil_acquire_funcaddr")
+        py::gil_scoped_acquire gil_acquire;
+        target();
+    });
+    m.def("test_cross_module_gil_inner_custom_released", []() {
+        CROSS_MODULE("gil_acquire_inner_custom_funcaddr")
+        py::gil_scoped_release gil_release;
+        target();
+    });
+    m.def("test_cross_module_gil_inner_custom_acquired", []() {
+        CROSS_MODULE("gil_acquire_inner_custom_funcaddr")
+        py::gil_scoped_acquire gil_acquire;
+        target();
+    });
+    m.def("test_cross_module_gil_inner_pybind11_released", []() {
+        CROSS_MODULE("gil_acquire_inner_pybind11_funcaddr")
+        py::gil_scoped_release gil_release;
+        target();
+    });
+    m.def("test_cross_module_gil_inner_pybind11_acquired", []() {
+        CROSS_MODULE("gil_acquire_inner_pybind11_funcaddr")
+        py::gil_scoped_acquire gil_acquire;
+        target();
+    });
+    m.def("test_cross_module_gil_nested_custom_released", []() {
+        CROSS_MODULE("gil_acquire_nested_custom_funcaddr")
+        py::gil_scoped_release gil_release;
+        target();
+    });
+    m.def("test_cross_module_gil_nested_custom_acquired", []() {
+        CROSS_MODULE("gil_acquire_nested_custom_funcaddr")
+        py::gil_scoped_acquire gil_acquire;
+        target();
+    });
+    m.def("test_cross_module_gil_nested_pybind11_released", []() {
+        CROSS_MODULE("gil_acquire_nested_pybind11_funcaddr")
+        py::gil_scoped_release gil_release;
+        target();
+    });
+    m.def("test_cross_module_gil_nested_pybind11_acquired", []() {
+        CROSS_MODULE("gil_acquire_nested_pybind11_funcaddr")
+        py::gil_scoped_acquire gil_acquire;
+        target();
+    });
+    m.def("test_release_acquire", [](const py::object &obj) {
+        py::gil_scoped_release gil_released;
+        py::gil_scoped_acquire gil_acquired;
+        return py::str(obj);
+    });
+    m.def("test_nested_acquire", [](const py::object &obj) {
+        py::gil_scoped_release gil_released;
+        py::gil_scoped_acquire gil_acquired_outer;
+        py::gil_scoped_acquire gil_acquired_inner;
+        return py::str(obj);
+    });
+    m.def("test_multi_acquire_release_cross_module", [](unsigned bits) {
+        py::set internals_ids;
+        internals_ids.add(PYBIND11_INTERNALS_ID);
+        {
+            py::gil_scoped_release gil_released;
+            auto thread_f = [bits, &internals_ids]() {
+                py::gil_scoped_acquire gil_acquired;
+                auto cm = py::module_::import("cross_module_gil_utils");
+                auto target = reinterpret_cast<std::string (*)(unsigned)>(
+                    PyLong_AsVoidPtr(cm.attr("gil_multi_acquire_release_funcaddr").ptr()));
+                std::string cm_internals_id = target(bits >> 3);
+                internals_ids.add(cm_internals_id);
+            };
+            if ((bits & 0x1u) != 0u) {
+                thread_f();
+            }
+            if ((bits & 0x2u) != 0u) {
+                std::thread non_python_thread(thread_f);
+                non_python_thread.join();
+            }
+            if ((bits & 0x4u) != 0u) {
+                thread_f();
+            }
+        }
+        return internals_ids;
     });
 }
diff --git a/pybind11/tests/test_gil_scoped.py b/pybind11/tests/test_gil_scoped.py
index 52374b0cc..fc8af9b77 100644
--- a/pybind11/tests/test_gil_scoped.py
+++ b/pybind11/tests/test_gil_scoped.py
@@ -1,45 +1,197 @@
 import multiprocessing
+import sys
 import threading
+import time
 
+import pytest
+
+import env
 from pybind11_tests import gil_scoped as m
 
 
+class ExtendedVirtClass(m.VirtClass):
+    def virtual_func(self):
+        pass
+
+    def pure_virtual_func(self):
+        pass
+
+
+def test_callback_py_obj():
+    m.test_callback_py_obj(lambda: None)
+
+
+def test_callback_std_func():
+    m.test_callback_std_func(lambda: None)
+
+
+def test_callback_virtual_func():
+    extended = ExtendedVirtClass()
+    m.test_callback_virtual_func(extended)
+
+
+def test_callback_pure_virtual_func():
+    extended = ExtendedVirtClass()
+    m.test_callback_pure_virtual_func(extended)
+
+
+def test_cross_module_gil_released():
+    """Makes sure that the GIL can be acquired by another module from a GIL-released state."""
+    m.test_cross_module_gil_released()  # Should not raise a SIGSEGV
+
+
+def test_cross_module_gil_acquired():
+    """Makes sure that the GIL can be acquired by another module from a GIL-acquired state."""
+    m.test_cross_module_gil_acquired()  # Should not raise a SIGSEGV
+
+
+def test_cross_module_gil_inner_custom_released():
+    """Makes sure that the GIL can be acquired/released by another module
+    from a GIL-released state using custom locking logic."""
+    m.test_cross_module_gil_inner_custom_released()
+
+
+def test_cross_module_gil_inner_custom_acquired():
+    """Makes sure that the GIL can be acquired/acquired by another module
+    from a GIL-acquired state using custom locking logic."""
+    m.test_cross_module_gil_inner_custom_acquired()
+
+
+def test_cross_module_gil_inner_pybind11_released():
+    """Makes sure that the GIL can be acquired/released by another module
+    from a GIL-released state using pybind11 locking logic."""
+    m.test_cross_module_gil_inner_pybind11_released()
+
+
+def test_cross_module_gil_inner_pybind11_acquired():
+    """Makes sure that the GIL can be acquired/acquired by another module
+    from a GIL-acquired state using pybind11 locking logic."""
+    m.test_cross_module_gil_inner_pybind11_acquired()
+
+
+def test_cross_module_gil_nested_custom_released():
+    """Makes sure that the GIL can be nested acquired/released by another module
+    from a GIL-released state using custom locking logic."""
+    m.test_cross_module_gil_nested_custom_released()
+
+
+def test_cross_module_gil_nested_custom_acquired():
+    """Makes sure that the GIL can be nested acquired/acquired by another module
+    from a GIL-acquired state using custom locking logic."""
+    m.test_cross_module_gil_nested_custom_acquired()
+
+
+def test_cross_module_gil_nested_pybind11_released():
+    """Makes sure that the GIL can be nested acquired/released by another module
+    from a GIL-released state using pybind11 locking logic."""
+    m.test_cross_module_gil_nested_pybind11_released()
+
+
+def test_cross_module_gil_nested_pybind11_acquired():
+    """Makes sure that the GIL can be nested acquired/acquired by another module
+    from a GIL-acquired state using pybind11 locking logic."""
+    m.test_cross_module_gil_nested_pybind11_acquired()
+
+
+def test_release_acquire():
+    assert m.test_release_acquire(0xAB) == "171"
+
+
+def test_nested_acquire():
+    assert m.test_nested_acquire(0xAB) == "171"
+
+
+def test_multi_acquire_release_cross_module():
+    for bits in range(16 * 8):
+        internals_ids = m.test_multi_acquire_release_cross_module(bits)
+        assert len(internals_ids) == 2 if bits % 8 else 1
+
+
+# Intentionally putting human review in the loop here, to guard against accidents.
+VARS_BEFORE_ALL_BASIC_TESTS = dict(vars())  # Make a copy of the dict (critical).
+ALL_BASIC_TESTS = (
+    test_callback_py_obj,
+    test_callback_std_func,
+    test_callback_virtual_func,
+    test_callback_pure_virtual_func,
+    test_cross_module_gil_released,
+    test_cross_module_gil_acquired,
+    test_cross_module_gil_inner_custom_released,
+    test_cross_module_gil_inner_custom_acquired,
+    test_cross_module_gil_inner_pybind11_released,
+    test_cross_module_gil_inner_pybind11_acquired,
+    test_cross_module_gil_nested_custom_released,
+    test_cross_module_gil_nested_custom_acquired,
+    test_cross_module_gil_nested_pybind11_released,
+    test_cross_module_gil_nested_pybind11_acquired,
+    test_release_acquire,
+    test_nested_acquire,
+    test_multi_acquire_release_cross_module,
+)
+
+
+def test_all_basic_tests_completeness():
+    num_found = 0
+    for key, value in VARS_BEFORE_ALL_BASIC_TESTS.items():
+        if not key.startswith("test_"):
+            continue
+        assert value in ALL_BASIC_TESTS
+        num_found += 1
+    assert len(ALL_BASIC_TESTS) == num_found
+
+
+def _intentional_deadlock():
+    m.intentional_deadlock()
+
+
+ALL_BASIC_TESTS_PLUS_INTENTIONAL_DEADLOCK = ALL_BASIC_TESTS + (_intentional_deadlock,)
+
+
 def _run_in_process(target, *args, **kwargs):
-    """Runs target in process and returns its exitcode after 10s (None if still alive)."""
+    test_fn = target if len(args) == 0 else args[0]
+    # Do not need to wait much, 10s should be more than enough.
+    timeout = 0.1 if test_fn is _intentional_deadlock else 10
     process = multiprocessing.Process(target=target, args=args, kwargs=kwargs)
     process.daemon = True
     try:
+        t_start = time.time()
         process.start()
-        # Do not need to wait much, 10s should be more than enough.
-        process.join(timeout=10)
+        if timeout >= 100:  # For debugging.
+            print(
+                "\nprocess.pid STARTED", process.pid, (sys.argv, target, args, kwargs)
+            )
+            print(f"COPY-PASTE-THIS: gdb {sys.argv[0]} -p {process.pid}", flush=True)
+        process.join(timeout=timeout)
+        if timeout >= 100:
+            print("\nprocess.pid JOINED", process.pid, flush=True)
+        t_delta = time.time() - t_start
+        if process.exitcode == 66 and m.defined_THREAD_SANITIZER:  # Issue #2754
+            # WOULD-BE-NICE-TO-HAVE: Check that the message below is actually in the output.
+            # Maybe this could work:
+            # https://gist.github.com/alexeygrigorev/01ce847f2e721b513b42ea4a6c96905e
+            pytest.skip(
+                "ThreadSanitizer: starting new threads after multi-threaded fork is not supported."
+            )
+        elif test_fn is _intentional_deadlock:
+            assert process.exitcode is None
+            return 0
+
+        if process.exitcode is None:
+            assert t_delta > 0.9 * timeout
+            msg = "DEADLOCK, most likely, exactly what this test is meant to detect."
+            if env.PYPY and env.WIN:
+                pytest.skip(msg)
+            raise RuntimeError(msg)
         return process.exitcode
     finally:
         if process.is_alive():
             process.terminate()
 
 
-def _python_to_cpp_to_python():
-    """Calls different C++ functions that come back to Python."""
-
-    class ExtendedVirtClass(m.VirtClass):
-        def virtual_func(self):
-            pass
-
-        def pure_virtual_func(self):
-            pass
-
-    extended = ExtendedVirtClass()
-    m.test_callback_py_obj(lambda: None)
-    m.test_callback_std_func(lambda: None)
-    m.test_callback_virtual_func(extended)
-    m.test_callback_pure_virtual_func(extended)
-
-
-def _python_to_cpp_to_python_from_threads(num_threads, parallel=False):
-    """Calls different C++ functions that come back to Python, from Python threads."""
+def _run_in_threads(test_fn, num_threads, parallel):
     threads = []
     for _ in range(num_threads):
-        thread = threading.Thread(target=_python_to_cpp_to_python)
+        thread = threading.Thread(target=test_fn)
         thread.daemon = True
         thread.start()
         if parallel:
@@ -51,43 +203,40 @@ def _python_to_cpp_to_python_from_threads(num_threads, parallel=False):
 
 
 # TODO: FIXME, sometimes returns -11 (segfault) instead of 0 on macOS Python 3.9
-def test_python_to_cpp_to_python_from_thread():
+@pytest.mark.parametrize("test_fn", ALL_BASIC_TESTS_PLUS_INTENTIONAL_DEADLOCK)
+def test_run_in_process_one_thread(test_fn):
     """Makes sure there is no GIL deadlock when running in a thread.
 
     It runs in a separate process to be able to stop and assert if it deadlocks.
     """
-    assert _run_in_process(_python_to_cpp_to_python_from_threads, 1) == 0
+    assert _run_in_process(_run_in_threads, test_fn, num_threads=1, parallel=False) == 0
 
 
 # TODO: FIXME on macOS Python 3.9
-def test_python_to_cpp_to_python_from_thread_multiple_parallel():
+@pytest.mark.parametrize("test_fn", ALL_BASIC_TESTS_PLUS_INTENTIONAL_DEADLOCK)
+def test_run_in_process_multiple_threads_parallel(test_fn):
     """Makes sure there is no GIL deadlock when running in a thread multiple times in parallel.
 
     It runs in a separate process to be able to stop and assert if it deadlocks.
     """
-    assert _run_in_process(_python_to_cpp_to_python_from_threads, 8, parallel=True) == 0
+    assert _run_in_process(_run_in_threads, test_fn, num_threads=8, parallel=True) == 0
 
 
 # TODO: FIXME on macOS Python 3.9
-def test_python_to_cpp_to_python_from_thread_multiple_sequential():
+@pytest.mark.parametrize("test_fn", ALL_BASIC_TESTS_PLUS_INTENTIONAL_DEADLOCK)
+def test_run_in_process_multiple_threads_sequential(test_fn):
     """Makes sure there is no GIL deadlock when running in a thread multiple times sequentially.
 
     It runs in a separate process to be able to stop and assert if it deadlocks.
     """
-    assert (
-        _run_in_process(_python_to_cpp_to_python_from_threads, 8, parallel=False) == 0
-    )
+    assert _run_in_process(_run_in_threads, test_fn, num_threads=8, parallel=False) == 0
 
 
 # TODO: FIXME on macOS Python 3.9
-def test_python_to_cpp_to_python_from_process():
+@pytest.mark.parametrize("test_fn", ALL_BASIC_TESTS_PLUS_INTENTIONAL_DEADLOCK)
+def test_run_in_process_direct(test_fn):
     """Makes sure there is no GIL deadlock when using processes.
 
     This test is for completion, but it was never an issue.
     """
-    assert _run_in_process(_python_to_cpp_to_python) == 0
-
-
-def test_cross_module_gil():
-    """Makes sure that the GIL can be acquired by another module from a GIL-released state."""
-    m.test_cross_module_gil()  # Should not raise a SIGSEGV
+    assert _run_in_process(test_fn) == 0
diff --git a/pybind11/tests/test_iostream.py b/pybind11/tests/test_iostream.py
index 5bbdf6955..d283eb152 100644
--- a/pybind11/tests/test_iostream.py
+++ b/pybind11/tests/test_iostream.py
@@ -9,16 +9,16 @@ def test_captured(capsys):
     m.captured_output(msg)
     stdout, stderr = capsys.readouterr()
     assert stdout == msg
-    assert stderr == ""
+    assert not stderr
 
     m.captured_output_default(msg)
     stdout, stderr = capsys.readouterr()
     assert stdout == msg
-    assert stderr == ""
+    assert not stderr
 
     m.captured_err(msg)
     stdout, stderr = capsys.readouterr()
-    assert stdout == ""
+    assert not stdout
     assert stderr == msg
 
 
@@ -30,7 +30,7 @@ def test_captured_large_string(capsys):
     m.captured_output_default(msg)
     stdout, stderr = capsys.readouterr()
     assert stdout == msg
-    assert stderr == ""
+    assert not stderr
 
 
 def test_captured_utf8_2byte_offset0(capsys):
@@ -40,7 +40,7 @@ def test_captured_utf8_2byte_offset0(capsys):
     m.captured_output_default(msg)
     stdout, stderr = capsys.readouterr()
     assert stdout == msg
-    assert stderr == ""
+    assert not stderr
 
 
 def test_captured_utf8_2byte_offset1(capsys):
@@ -50,7 +50,7 @@ def test_captured_utf8_2byte_offset1(capsys):
     m.captured_output_default(msg)
     stdout, stderr = capsys.readouterr()
     assert stdout == msg
-    assert stderr == ""
+    assert not stderr
 
 
 def test_captured_utf8_3byte_offset0(capsys):
@@ -60,7 +60,7 @@ def test_captured_utf8_3byte_offset0(capsys):
     m.captured_output_default(msg)
     stdout, stderr = capsys.readouterr()
     assert stdout == msg
-    assert stderr == ""
+    assert not stderr
 
 
 def test_captured_utf8_3byte_offset1(capsys):
@@ -70,7 +70,7 @@ def test_captured_utf8_3byte_offset1(capsys):
     m.captured_output_default(msg)
     stdout, stderr = capsys.readouterr()
     assert stdout == msg
-    assert stderr == ""
+    assert not stderr
 
 
 def test_captured_utf8_3byte_offset2(capsys):
@@ -80,7 +80,7 @@ def test_captured_utf8_3byte_offset2(capsys):
     m.captured_output_default(msg)
     stdout, stderr = capsys.readouterr()
     assert stdout == msg
-    assert stderr == ""
+    assert not stderr
 
 
 def test_captured_utf8_4byte_offset0(capsys):
@@ -90,7 +90,7 @@ def test_captured_utf8_4byte_offset0(capsys):
     m.captured_output_default(msg)
     stdout, stderr = capsys.readouterr()
     assert stdout == msg
-    assert stderr == ""
+    assert not stderr
 
 
 def test_captured_utf8_4byte_offset1(capsys):
@@ -100,7 +100,7 @@ def test_captured_utf8_4byte_offset1(capsys):
     m.captured_output_default(msg)
     stdout, stderr = capsys.readouterr()
     assert stdout == msg
-    assert stderr == ""
+    assert not stderr
 
 
 def test_captured_utf8_4byte_offset2(capsys):
@@ -110,7 +110,7 @@ def test_captured_utf8_4byte_offset2(capsys):
     m.captured_output_default(msg)
     stdout, stderr = capsys.readouterr()
     assert stdout == msg
-    assert stderr == ""
+    assert not stderr
 
 
 def test_captured_utf8_4byte_offset3(capsys):
@@ -120,7 +120,7 @@ def test_captured_utf8_4byte_offset3(capsys):
     m.captured_output_default(msg)
     stdout, stderr = capsys.readouterr()
     assert stdout == msg
-    assert stderr == ""
+    assert not stderr
 
 
 def test_guard_capture(capsys):
@@ -128,7 +128,7 @@ def test_guard_capture(capsys):
     m.guard_output(msg)
     stdout, stderr = capsys.readouterr()
     assert stdout == msg
-    assert stderr == ""
+    assert not stderr
 
 
 def test_series_captured(capture):
@@ -145,7 +145,7 @@ def test_flush(capfd):
     with m.ostream_redirect():
         m.noisy_function(msg, flush=False)
         stdout, stderr = capfd.readouterr()
-        assert stdout == ""
+        assert not stdout
 
         m.noisy_function(msg2, flush=True)
         stdout, stderr = capfd.readouterr()
@@ -164,15 +164,15 @@ def test_not_captured(capfd):
         m.raw_output(msg)
     stdout, stderr = capfd.readouterr()
     assert stdout == msg
-    assert stderr == ""
-    assert stream.getvalue() == ""
+    assert not stderr
+    assert not stream.getvalue()
 
     stream = StringIO()
     with redirect_stdout(stream):
         m.captured_output(msg)
     stdout, stderr = capfd.readouterr()
-    assert stdout == ""
-    assert stderr == ""
+    assert not stdout
+    assert not stderr
     assert stream.getvalue() == msg
 
 
@@ -182,16 +182,16 @@ def test_err(capfd):
     with redirect_stderr(stream):
         m.raw_err(msg)
     stdout, stderr = capfd.readouterr()
-    assert stdout == ""
+    assert not stdout
     assert stderr == msg
-    assert stream.getvalue() == ""
+    assert not stream.getvalue()
 
     stream = StringIO()
     with redirect_stderr(stream):
         m.captured_err(msg)
     stdout, stderr = capfd.readouterr()
-    assert stdout == ""
-    assert stderr == ""
+    assert not stdout
+    assert not stderr
     assert stream.getvalue() == msg
 
 
@@ -221,14 +221,13 @@ def test_redirect(capfd):
         m.raw_output(msg)
     stdout, stderr = capfd.readouterr()
     assert stdout == msg
-    assert stream.getvalue() == ""
+    assert not stream.getvalue()
 
     stream = StringIO()
-    with redirect_stdout(stream):
-        with m.ostream_redirect():
-            m.raw_output(msg)
+    with redirect_stdout(stream), m.ostream_redirect():
+        m.raw_output(msg)
     stdout, stderr = capfd.readouterr()
-    assert stdout == ""
+    assert not stdout
     assert stream.getvalue() == msg
 
     stream = StringIO()
@@ -236,7 +235,7 @@ def test_redirect(capfd):
         m.raw_output(msg)
     stdout, stderr = capfd.readouterr()
     assert stdout == msg
-    assert stream.getvalue() == ""
+    assert not stream.getvalue()
 
 
 def test_redirect_err(capfd):
@@ -244,13 +243,12 @@ def test_redirect_err(capfd):
     msg2 = "StdErr"
 
     stream = StringIO()
-    with redirect_stderr(stream):
-        with m.ostream_redirect(stdout=False):
-            m.raw_output(msg)
-            m.raw_err(msg2)
+    with redirect_stderr(stream), m.ostream_redirect(stdout=False):
+        m.raw_output(msg)
+        m.raw_err(msg2)
     stdout, stderr = capfd.readouterr()
     assert stdout == msg
-    assert stderr == ""
+    assert not stderr
     assert stream.getvalue() == msg2
 
 
@@ -260,14 +258,12 @@ def test_redirect_both(capfd):
 
     stream = StringIO()
     stream2 = StringIO()
-    with redirect_stdout(stream):
-        with redirect_stderr(stream2):
-            with m.ostream_redirect():
-                m.raw_output(msg)
-                m.raw_err(msg2)
+    with redirect_stdout(stream), redirect_stderr(stream2), m.ostream_redirect():
+        m.raw_output(msg)
+        m.raw_err(msg2)
     stdout, stderr = capfd.readouterr()
-    assert stdout == ""
-    assert stderr == ""
+    assert not stdout
+    assert not stderr
     assert stream.getvalue() == msg
     assert stream2.getvalue() == msg2
 
diff --git a/pybind11/tests/test_kwargs_and_defaults.cpp b/pybind11/tests/test_kwargs_and_defaults.cpp
index 7418afefb..77e72c0c7 100644
--- a/pybind11/tests/test_kwargs_and_defaults.cpp
+++ b/pybind11/tests/test_kwargs_and_defaults.cpp
@@ -43,7 +43,15 @@ TEST_SUBMODULE(kwargs_and_defaults, m) {
     m.def("kw_func_udl_z", kw_func, "x"_a, "y"_a = 0);
 
     // test_args_and_kwargs
-    m.def("args_function", [](py::args args) -> py::tuple { return std::move(args); });
+    m.def("args_function", [](py::args args) -> py::tuple {
+        PYBIND11_WARNING_PUSH
+
+#ifdef PYBIND11_DETECTED_CLANG_WITH_MISLEADING_CALL_STD_MOVE_EXPLICITLY_WARNING
+        PYBIND11_WARNING_DISABLE_CLANG("-Wreturn-std-move")
+#endif
+        return args;
+        PYBIND11_WARNING_POP
+    });
     m.def("args_kwargs_function", [](const py::args &args, const py::kwargs &kwargs) {
         return py::make_tuple(args, kwargs);
     });
diff --git a/pybind11/tests/test_kwargs_and_defaults.py b/pybind11/tests/test_kwargs_and_defaults.py
index ab7017886..7174726fc 100644
--- a/pybind11/tests/test_kwargs_and_defaults.py
+++ b/pybind11/tests/test_kwargs_and_defaults.py
@@ -25,7 +25,7 @@ def test_function_signatures(doc):
     )
 
 
-def test_named_arguments(msg):
+def test_named_arguments():
     assert m.kw_func0(5, 10) == "x=5, y=10"
 
     assert m.kw_func1(5, 10) == "x=5, y=10"
@@ -43,8 +43,7 @@ def test_named_arguments(msg):
         # noinspection PyArgumentList
         m.kw_func2(x=5, y=10, z=12)
     assert excinfo.match(
-        r"(?s)^kw_func2\(\): incompatible.*Invoked with: kwargs: ((x=5|y=10|z=12)(, |$))"
-        + "{3}$"
+        r"(?s)^kw_func2\(\): incompatible.*Invoked with: kwargs: ((x=5|y=10|z=12)(, |$)){3}$"
     )
 
     assert m.kw_func4() == "{13 17}"
@@ -59,7 +58,7 @@ def test_arg_and_kwargs():
     assert m.args_function(*args) == args
 
     args = "a1", "a2"
-    kwargs = dict(arg3="a3", arg4=4)
+    kwargs = {"arg3": "a3", "arg4": 4}
     assert m.args_kwargs_function(*args, **kwargs) == (args, kwargs)
 
 
@@ -177,7 +176,7 @@ def test_mixed_args_and_kwargs(msg):
 
     assert (
         m.args_kwonly_kwargs_defaults.__doc__
-        == "args_kwonly_kwargs_defaults(i: int = 1, j: float = 3.14159, *args, z: int = 42, **kwargs) -> tuple\n"  # noqa: E501 line too long
+        == "args_kwonly_kwargs_defaults(i: int = 1, j: float = 3.14159, *args, z: int = 42, **kwargs) -> tuple\n"
     )
     assert m.args_kwonly_kwargs_defaults() == (1, 3.14159, (), 42, {})
     assert m.args_kwonly_kwargs_defaults(2) == (2, 3.14159, (), 42, {})
@@ -233,15 +232,15 @@ def test_keyword_only_args(msg):
     x.method(i=1, j=2)
     assert (
         m.first_arg_kw_only.__init__.__doc__
-        == "__init__(self: pybind11_tests.kwargs_and_defaults.first_arg_kw_only, *, i: int = 0) -> None\n"  # noqa: E501 line too long
+        == "__init__(self: pybind11_tests.kwargs_and_defaults.first_arg_kw_only, *, i: int = 0) -> None\n"
     )
     assert (
         m.first_arg_kw_only.method.__doc__
-        == "method(self: pybind11_tests.kwargs_and_defaults.first_arg_kw_only, *, i: int = 1, j: int = 2) -> None\n"  # noqa: E501 line too long
+        == "method(self: pybind11_tests.kwargs_and_defaults.first_arg_kw_only, *, i: int = 1, j: int = 2) -> None\n"
     )
 
 
-def test_positional_only_args(msg):
+def test_positional_only_args():
     assert m.pos_only_all(1, 2) == (1, 2)
     assert m.pos_only_all(2, 1) == (2, 1)
 
@@ -283,7 +282,7 @@ def test_positional_only_args(msg):
     # Mix it with args and kwargs:
     assert (
         m.args_kwonly_full_monty.__doc__
-        == "args_kwonly_full_monty(arg0: int = 1, arg1: int = 2, /, j: float = 3.14159, *args, z: int = 42, **kwargs) -> tuple\n"  # noqa: E501 line too long
+        == "args_kwonly_full_monty(arg0: int = 1, arg1: int = 2, /, j: float = 3.14159, *args, z: int = 42, **kwargs) -> tuple\n"
     )
     assert m.args_kwonly_full_monty() == (1, 2, 3.14159, (), 42, {})
     assert m.args_kwonly_full_monty(8) == (8, 2, 3.14159, (), 42, {})
@@ -326,18 +325,18 @@ def test_positional_only_args(msg):
     # https://github.com/pybind/pybind11/pull/3402#issuecomment-963341987
     assert (
         m.first_arg_kw_only.pos_only.__doc__
-        == "pos_only(self: pybind11_tests.kwargs_and_defaults.first_arg_kw_only, /, i: int, j: int) -> None\n"  # noqa: E501 line too long
+        == "pos_only(self: pybind11_tests.kwargs_and_defaults.first_arg_kw_only, /, i: int, j: int) -> None\n"
     )
 
 
 def test_signatures():
-    assert "kw_only_all(*, i: int, j: int) -> tuple\n" == m.kw_only_all.__doc__
-    assert "kw_only_mixed(i: int, *, j: int) -> tuple\n" == m.kw_only_mixed.__doc__
-    assert "pos_only_all(i: int, j: int, /) -> tuple\n" == m.pos_only_all.__doc__
-    assert "pos_only_mix(i: int, /, j: int) -> tuple\n" == m.pos_only_mix.__doc__
+    assert m.kw_only_all.__doc__ == "kw_only_all(*, i: int, j: int) -> tuple\n"
+    assert m.kw_only_mixed.__doc__ == "kw_only_mixed(i: int, *, j: int) -> tuple\n"
+    assert m.pos_only_all.__doc__ == "pos_only_all(i: int, j: int, /) -> tuple\n"
+    assert m.pos_only_mix.__doc__ == "pos_only_mix(i: int, /, j: int) -> tuple\n"
     assert (
-        "pos_kw_only_mix(i: int, /, j: int, *, k: int) -> tuple\n"
-        == m.pos_kw_only_mix.__doc__
+        m.pos_kw_only_mix.__doc__
+        == "pos_kw_only_mix(i: int, /, j: int, *, k: int) -> tuple\n"
     )
 
 
diff --git a/pybind11/tests/test_local_bindings.py b/pybind11/tests/test_local_bindings.py
index 654d96d49..d64187739 100644
--- a/pybind11/tests/test_local_bindings.py
+++ b/pybind11/tests/test_local_bindings.py
@@ -130,7 +130,8 @@ def test_stl_bind_global():
 def test_mixed_local_global():
     """Local types take precedence over globally registered types: a module with a `module_local`
     type can be registered even if the type is already registered globally.  With the module,
-    casting will go to the local type; outside the module casting goes to the global type."""
+    casting will go to the local type; outside the module casting goes to the global type.
+    """
     import pybind11_cross_module_tests as cm
 
     m.register_mixed_global()
diff --git a/pybind11/tests/test_methods_and_attributes.cpp b/pybind11/tests/test_methods_and_attributes.cpp
index 815dd5e98..31d46eb7e 100644
--- a/pybind11/tests/test_methods_and_attributes.cpp
+++ b/pybind11/tests/test_methods_and_attributes.cpp
@@ -177,6 +177,38 @@ struct RValueRefParam {
     std::size_t func4(std::string &&s) const & { return s.size(); }
 };
 
+namespace pybind11_tests {
+namespace exercise_is_setter {
+
+struct FieldBase {
+    int int_value() const { return int_value_; }
+
+    FieldBase &SetIntValue(int int_value) {
+        int_value_ = int_value;
+        return *this;
+    }
+
+private:
+    int int_value_ = -99;
+};
+
+struct Field : FieldBase {};
+
+void add_bindings(py::module &m) {
+    py::module sm = m.def_submodule("exercise_is_setter");
+    // NOTE: FieldBase is not wrapped, therefore ...
+    py::class_<Field>(sm, "Field")
+        .def(py::init<>())
+        .def_property(
+            "int_value",
+            &Field::int_value,
+            &Field::SetIntValue // ... the `FieldBase &` return value here cannot be converted.
+        );
+}
+
+} // namespace exercise_is_setter
+} // namespace pybind11_tests
+
 TEST_SUBMODULE(methods_and_attributes, m) {
     // test_methods_and_attributes
     py::class_<ExampleMandA> emna(m, "ExampleMandA");
@@ -456,4 +488,6 @@ TEST_SUBMODULE(methods_and_attributes, m) {
         .def("func2", &RValueRefParam::func2)
         .def("func3", &RValueRefParam::func3)
         .def("func4", &RValueRefParam::func4);
+
+    pybind11_tests::exercise_is_setter::add_bindings(m);
 }
diff --git a/pybind11/tests/test_methods_and_attributes.py b/pybind11/tests/test_methods_and_attributes.py
index 0a2ae1239..955a85f67 100644
--- a/pybind11/tests/test_methods_and_attributes.py
+++ b/pybind11/tests/test_methods_and_attributes.py
@@ -183,9 +183,9 @@ def test_static_properties():
 
     # Only static attributes can be deleted
     del m.TestPropertiesOverride.def_readonly_static
+    assert hasattr(m.TestPropertiesOverride, "def_readonly_static")
     assert (
-        hasattr(m.TestPropertiesOverride, "def_readonly_static")
-        and m.TestPropertiesOverride.def_readonly_static
+        m.TestPropertiesOverride.def_readonly_static
         is m.TestProperties.def_readonly_static
     )
     assert "def_readonly_static" not in m.TestPropertiesOverride.__dict__
@@ -256,10 +256,7 @@ def test_no_mixed_overloads():
 
 @pytest.mark.parametrize("access", ["ro", "rw", "static_ro", "static_rw"])
 def test_property_return_value_policies(access):
-    if not access.startswith("static"):
-        obj = m.TestPropRVP()
-    else:
-        obj = m.TestPropRVP
+    obj = m.TestPropRVP() if not access.startswith("static") else m.TestPropRVP
 
     ref = getattr(obj, access + "_ref")
     assert ref.value == 1
@@ -525,3 +522,12 @@ def test_rvalue_ref_param():
     assert r.func2("1234") == 4
     assert r.func3("12345") == 5
     assert r.func4("123456") == 6
+
+
+def test_is_setter():
+    fld = m.exercise_is_setter.Field()
+    assert fld.int_value == -99
+    setter_return = fld.int_value = 100
+    assert isinstance(setter_return, int)
+    assert setter_return == 100
+    assert fld.int_value == 100
diff --git a/pybind11/tests/test_modules.py b/pybind11/tests/test_modules.py
index e11d68e78..2f6d825b7 100644
--- a/pybind11/tests/test_modules.py
+++ b/pybind11/tests/test_modules.py
@@ -1,3 +1,5 @@
+import builtins
+
 import pytest
 
 import env
@@ -61,7 +63,6 @@ def test_importing():
     from pybind11_tests.modules import OD
 
     assert OD is OrderedDict
-    assert str(OD([(1, "a"), (2, "b")])) == "OrderedDict([(1, 'a'), (2, 'b')])"
 
 
 def test_pydoc():
@@ -86,12 +87,7 @@ def test_builtin_key_type():
 
     Previous versions of pybind11 would add a unicode key in python 2.
     """
-    if hasattr(__builtins__, "keys"):
-        keys = __builtins__.keys()
-    else:  # this is to make pypy happy since builtins is different there.
-        keys = __builtins__.__dict__.keys()
-
-    assert {type(k) for k in keys} == {str}
+    assert all(type(k) == str for k in dir(builtins))
 
 
 @pytest.mark.xfail("env.PYPY", reason="PyModule_GetName()")
@@ -107,11 +103,10 @@ def test_def_submodule_failures():
         sm_name_orig = sm.__name__
         sm.__name__ = malformed_utf8
         try:
-            with pytest.raises(Exception):
-                # Seen with Python 3.9: SystemError: nameless module
-                # But we do not want to exercise the internals of PyModule_GetName(), which could
-                # change in future versions of Python, but a bad __name__ is very likely to cause
-                # some kind of failure indefinitely.
+            # We want to assert that a bad __name__ causes some kind of failure, although we do not want to exercise
+            # the internals of PyModule_GetName(). Currently all supported Python versions raise SystemError. If that
+            # changes in future Python versions, simply add the new expected exception types here.
+            with pytest.raises(SystemError):
                 m.def_submodule(sm, b"SubSubModuleName")
         finally:
             # Clean up to ensure nothing gets upset by a module with an invalid __name__.
diff --git a/pybind11/tests/test_numpy_array.cpp b/pybind11/tests/test_numpy_array.cpp
index 69ddbe1ef..8c122a865 100644
--- a/pybind11/tests/test_numpy_array.cpp
+++ b/pybind11/tests/test_numpy_array.cpp
@@ -521,4 +521,32 @@ TEST_SUBMODULE(numpy_array, sm) {
     sm.def("test_fmt_desc_double", [](const py::array_t<double> &) {});
     sm.def("test_fmt_desc_const_float", [](const py::array_t<const float> &) {});
     sm.def("test_fmt_desc_const_double", [](const py::array_t<const double> &) {});
+
+    sm.def("round_trip_float", [](double d) { return d; });
+
+    sm.def("pass_array_pyobject_ptr_return_sum_str_values",
+           [](const py::array_t<PyObject *> &objs) {
+               std::string sum_str_values;
+               for (const auto &obj : objs) {
+                   sum_str_values += py::str(obj.attr("value"));
+               }
+               return sum_str_values;
+           });
+
+    sm.def("pass_array_pyobject_ptr_return_as_list",
+           [](const py::array_t<PyObject *> &objs) -> py::list { return objs; });
+
+    sm.def("return_array_pyobject_ptr_cpp_loop", [](const py::list &objs) {
+        py::size_t arr_size = py::len(objs);
+        py::array_t<PyObject *> arr_from_list(static_cast<py::ssize_t>(arr_size));
+        PyObject **data = arr_from_list.mutable_data();
+        for (py::size_t i = 0; i < arr_size; i++) {
+            assert(data[i] == nullptr);
+            data[i] = py::cast<PyObject *>(objs[i].attr("value"));
+        }
+        return arr_from_list;
+    });
+
+    sm.def("return_array_pyobject_ptr_from_list",
+           [](const py::list &objs) -> py::array_t<PyObject *> { return objs; });
 }
diff --git a/pybind11/tests/test_numpy_array.py b/pybind11/tests/test_numpy_array.py
index 504963b16..12e7d17d1 100644
--- a/pybind11/tests/test_numpy_array.py
+++ b/pybind11/tests/test_numpy_array.py
@@ -22,7 +22,7 @@ def test_dtypes():
             )
 
 
-@pytest.fixture(scope="function")
+@pytest.fixture()
 def arr():
     return np.array([[1, 2, 3], [4, 5, 6]], "=u2")
 
@@ -67,7 +67,7 @@ def test_array_attributes():
 
 
 @pytest.mark.parametrize(
-    "args, ret", [([], 0), ([0], 0), ([1], 3), ([0, 1], 1), ([1, 2], 5)]
+    ("args", "ret"), [([], 0), ([0], 0), ([1], 3), ([0, 1], 1), ([1, 2], 5)]
 )
 def test_index_offset(arr, args, ret):
     assert m.index_at(arr, *args) == ret
@@ -93,7 +93,7 @@ def test_dim_check_fail(arr):
 
 
 @pytest.mark.parametrize(
-    "args, ret",
+    ("args", "ret"),
     [
         ([], [1, 2, 3, 4, 5, 6]),
         ([1], [4, 5, 6]),
@@ -211,12 +211,14 @@ def test_wrap():
             assert b[0, 0] == 1234
 
     a1 = np.array([1, 2], dtype=np.int16)
-    assert a1.flags.owndata and a1.base is None
+    assert a1.flags.owndata
+    assert a1.base is None
     a2 = m.wrap(a1)
     assert_references(a1, a2)
 
     a1 = np.array([[1, 2], [3, 4]], dtype=np.float32, order="F")
-    assert a1.flags.owndata and a1.base is None
+    assert a1.flags.owndata
+    assert a1.base is None
     a2 = m.wrap(a1)
     assert_references(a1, a2)
 
@@ -451,13 +453,15 @@ def test_array_resize():
     try:
         m.array_resize3(a, 3, True)
     except ValueError as e:
-        assert str(e).startswith("cannot resize an array")
+        assert str(e).startswith("cannot resize an array")  # noqa: PT017
     # transposed array doesn't own data
     b = a.transpose()
     try:
         m.array_resize3(b, 3, False)
     except ValueError as e:
-        assert str(e).startswith("cannot resize this array: it does not own its data")
+        assert str(e).startswith(  # noqa: PT017
+            "cannot resize this array: it does not own its data"
+        )
     # ... but reshape should be fine
     m.array_reshape2(b)
     assert b.shape == (8, 8)
@@ -585,3 +589,80 @@ def test_dtype_refcount_leak():
     m.ndim(a)
     after = getrefcount(dtype)
     assert after == before
+
+
+def test_round_trip_float():
+    arr = np.zeros((), np.float64)
+    arr[()] = 37.2
+    assert m.round_trip_float(arr) == 37.2
+
+
+# HINT: An easy and robust way (although only manual unfortunately) to check for
+#       ref-count leaks in the test_.*pyobject_ptr.* functions below is to
+#           * temporarily insert `while True:` (one-by-one),
+#           * run this test, and
+#           * run the Linux `top` command in another shell to visually monitor
+#             `RES` for a minute or two.
+#       If there is a leak, it is usually evident in seconds because the `RES`
+#       value increases without bounds. (Don't forget to Ctrl-C the test!)
+
+
+# For use as a temporary user-defined object, to maximize sensitivity of the tests below:
+#     * Ref-count leaks will be immediately evident.
+#     * Sanitizers are much more likely to detect heap-use-after-free due to
+#       other ref-count bugs.
+class PyValueHolder:
+    def __init__(self, value):
+        self.value = value
+
+
+def WrapWithPyValueHolder(*values):
+    return [PyValueHolder(v) for v in values]
+
+
+def UnwrapPyValueHolder(vhs):
+    return [vh.value for vh in vhs]
+
+
+def test_pass_array_pyobject_ptr_return_sum_str_values_ndarray():
+    # Intentionally all temporaries, do not change.
+    assert (
+        m.pass_array_pyobject_ptr_return_sum_str_values(
+            np.array(WrapWithPyValueHolder(-3, "four", 5.0), dtype=object)
+        )
+        == "-3four5.0"
+    )
+
+
+def test_pass_array_pyobject_ptr_return_sum_str_values_list():
+    # Intentionally all temporaries, do not change.
+    assert (
+        m.pass_array_pyobject_ptr_return_sum_str_values(
+            WrapWithPyValueHolder(2, "three", -4.0)
+        )
+        == "2three-4.0"
+    )
+
+
+def test_pass_array_pyobject_ptr_return_as_list():
+    # Intentionally all temporaries, do not change.
+    assert UnwrapPyValueHolder(
+        m.pass_array_pyobject_ptr_return_as_list(
+            np.array(WrapWithPyValueHolder(-1, "two", 3.0), dtype=object)
+        )
+    ) == [-1, "two", 3.0]
+
+
+@pytest.mark.parametrize(
+    ("return_array_pyobject_ptr", "unwrap"),
+    [
+        (m.return_array_pyobject_ptr_cpp_loop, list),
+        (m.return_array_pyobject_ptr_from_list, UnwrapPyValueHolder),
+    ],
+)
+def test_return_array_pyobject_ptr_cpp_loop(return_array_pyobject_ptr, unwrap):
+    # Intentionally all temporaries, do not change.
+    arr_from_list = return_array_pyobject_ptr(WrapWithPyValueHolder(6, "seven", -8.0))
+    assert isinstance(arr_from_list, np.ndarray)
+    assert arr_from_list.dtype == np.dtype("O")
+    assert unwrap(arr_from_list) == [6, "seven", -8.0]
diff --git a/pybind11/tests/test_numpy_dtypes.py b/pybind11/tests/test_numpy_dtypes.py
index fcfd587b1..d10457eeb 100644
--- a/pybind11/tests/test_numpy_dtypes.py
+++ b/pybind11/tests/test_numpy_dtypes.py
@@ -130,14 +130,10 @@ def test_dtype(simple_dtype):
         partial_nested_fmt(),
         "[('a','S3'),('b','S3')]",
         (
-            "{{'names':['a','b','c','d'],"
-            + "'formats':[('S4',(3,)),('"
-            + e
-            + "i4',(2,)),('u1',(3,)),('"
-            + e
-            + "f4',(4,2))],"
-            + "'offsets':[0,12,20,24],'itemsize':56}}"
-        ).format(e=e),
+            "{'names':['a','b','c','d'],"
+            f"'formats':[('S4',(3,)),('{e}i4',(2,)),('u1',(3,)),('{e}f4',(4,2))],"
+            "'offsets':[0,12,20,24],'itemsize':56}"
+        ),
         "[('e1','" + e + "i8'),('e2','u1')]",
         "[('x','i1'),('y','" + e + "u8')]",
         "[('cflt','" + e + "c8'),('cdbl','" + e + "c16')]",
@@ -291,19 +287,17 @@ def test_array_array():
 
     arr = m.create_array_array(3)
     assert str(arr.dtype).replace(" ", "") == (
-        "{{'names':['a','b','c','d'],"
-        + "'formats':[('S4',(3,)),('"
-        + e
-        + "i4',(2,)),('u1',(3,)),('{e}f4',(4,2))],"
-        + "'offsets':[0,12,20,24],'itemsize':56}}"
-    ).format(e=e)
+        "{'names':['a','b','c','d'],"
+        f"'formats':[('S4',(3,)),('{e}i4',(2,)),('u1',(3,)),('{e}f4',(4,2))],"
+        "'offsets':[0,12,20,24],'itemsize':56}"
+    )
     assert m.print_array_array(arr) == [
         "a={{A,B,C,D},{K,L,M,N},{U,V,W,X}},b={0,1},"
-        + "c={0,1,2},d={{0,1},{10,11},{20,21},{30,31}}",
+        "c={0,1,2},d={{0,1},{10,11},{20,21},{30,31}}",
         "a={{W,X,Y,Z},{G,H,I,J},{Q,R,S,T}},b={1000,1001},"
-        + "c={10,11,12},d={{100,101},{110,111},{120,121},{130,131}}",
+        "c={10,11,12},d={{100,101},{110,111},{120,121},{130,131}}",
         "a={{S,T,U,V},{C,D,E,F},{M,N,O,P}},b={2000,2001},"
-        + "c={20,21,22},d={{200,201},{210,211},{220,221},{230,231}}",
+        "c={20,21,22},d={{200,201},{210,211},{220,221},{230,231}}",
     ]
     assert arr["a"].tolist() == [
         [b"ABCD", b"KLMN", b"UVWX"],
diff --git a/pybind11/tests/test_numpy_vectorize.py b/pybind11/tests/test_numpy_vectorize.py
index 7e8c015c4..f1e8b6254 100644
--- a/pybind11/tests/test_numpy_vectorize.py
+++ b/pybind11/tests/test_numpy_vectorize.py
@@ -149,7 +149,7 @@ def test_docs(doc):
         doc(m.vectorized_func)
         == """
         vectorized_func(arg0: numpy.ndarray[numpy.int32], arg1: numpy.ndarray[numpy.float32], arg2: numpy.ndarray[numpy.float64]) -> object
-    """  # noqa: E501 line too long
+    """
     )
 
 
diff --git a/pybind11/tests/test_operator_overloading.cpp b/pybind11/tests/test_operator_overloading.cpp
index a4b895a89..112a363b4 100644
--- a/pybind11/tests/test_operator_overloading.cpp
+++ b/pybind11/tests/test_operator_overloading.cpp
@@ -132,22 +132,18 @@ struct hash<HashMe> {
 // Not a good abs function, but easy to test.
 std::string abs(const Vector2 &) { return "abs(Vector2)"; }
 
-// MSVC & Intel warns about unknown pragmas, and warnings are errors.
-#if !defined(_MSC_VER) && !defined(__INTEL_COMPILER)
-#    pragma GCC diagnostic push
 // clang 7.0.0 and Apple LLVM 10.0.1 introduce `-Wself-assign-overloaded` to
 // `-Wall`, which is used here for overloading (e.g. `py::self += py::self `).
-// Here, we suppress the warning using `#pragma diagnostic`.
+// Here, we suppress the warning
 // Taken from: https://github.com/RobotLocomotion/drake/commit/aaf84b46
 // TODO(eric): This could be resolved using a function / functor (e.g. `py::self()`).
-#    if defined(__APPLE__) && defined(__clang__)
-#        if (__clang_major__ >= 10)
-#            pragma GCC diagnostic ignored "-Wself-assign-overloaded"
-#        endif
-#    elif defined(__clang__)
-#        if (__clang_major__ >= 7)
-#            pragma GCC diagnostic ignored "-Wself-assign-overloaded"
-#        endif
+#if defined(__APPLE__) && defined(__clang__)
+#    if (__clang_major__ >= 10)
+PYBIND11_WARNING_DISABLE_CLANG("-Wself-assign-overloaded")
+#    endif
+#elif defined(__clang__)
+#    if (__clang_major__ >= 7)
+PYBIND11_WARNING_DISABLE_CLANG("-Wself-assign-overloaded")
 #    endif
 #endif
 
@@ -283,6 +279,3 @@ TEST_SUBMODULE(operators, m) {
 
     m.def("get_unhashable_HashMe_set", []() { return std::unordered_set<HashMe>{{"one"}}; });
 }
-#if !defined(_MSC_VER) && !defined(__INTEL_COMPILER)
-#    pragma GCC diagnostic pop
-#endif
diff --git a/pybind11/tests/test_operator_overloading.py b/pybind11/tests/test_operator_overloading.py
index b228da3cc..9fde305a0 100644
--- a/pybind11/tests/test_operator_overloading.py
+++ b/pybind11/tests/test_operator_overloading.py
@@ -130,7 +130,6 @@ def test_nested():
 
 
 def test_overriding_eq_reset_hash():
-
     assert m.Comparable(15) is not m.Comparable(15)
     assert m.Comparable(15) == m.Comparable(15)
 
diff --git a/pybind11/tests/test_pytypes.cpp b/pybind11/tests/test_pytypes.cpp
index f532e2608..b4ee64289 100644
--- a/pybind11/tests/test_pytypes.cpp
+++ b/pybind11/tests/test_pytypes.cpp
@@ -99,6 +99,8 @@ void m_defs(py::module_ &m) {
 } // namespace handle_from_move_only_type_with_operator_PyObject
 
 TEST_SUBMODULE(pytypes, m) {
+    m.def("obj_class_name", [](py::handle obj) { return py::detail::obj_class_name(obj.ptr()); });
+
     handle_from_move_only_type_with_operator_PyObject::m_defs(m);
 
     // test_bool
@@ -109,6 +111,11 @@ TEST_SUBMODULE(pytypes, m) {
     m.def("get_iterator", [] { return py::iterator(); });
     // test_iterable
     m.def("get_iterable", [] { return py::iterable(); });
+    m.def("get_frozenset_from_iterable",
+          [](const py::iterable &iter) { return py::frozenset(iter); });
+    m.def("get_list_from_iterable", [](const py::iterable &iter) { return py::list(iter); });
+    m.def("get_set_from_iterable", [](const py::iterable &iter) { return py::set(iter); });
+    m.def("get_tuple_from_iterable", [](const py::iterable &iter) { return py::tuple(iter); });
     // test_float
     m.def("get_float", [] { return py::float_(0.0f); });
     // test_list
@@ -178,7 +185,7 @@ TEST_SUBMODULE(pytypes, m) {
         return d2;
     });
     m.def("dict_contains",
-          [](const py::dict &dict, py::object val) { return dict.contains(val); });
+          [](const py::dict &dict, const py::object &val) { return dict.contains(val); });
     m.def("dict_contains",
           [](const py::dict &dict, const char *val) { return dict.contains(val); });
 
@@ -201,7 +208,12 @@ TEST_SUBMODULE(pytypes, m) {
     m.def("str_from_char_ssize_t", []() { return py::str{"red", (py::ssize_t) 3}; });
     m.def("str_from_char_size_t", []() { return py::str{"blue", (py::size_t) 4}; });
     m.def("str_from_string", []() { return py::str(std::string("baz")); });
+    m.def("str_from_std_string_input", [](const std::string &stri) { return py::str(stri); });
+    m.def("str_from_cstr_input", [](const char *c_str) { return py::str(c_str); });
     m.def("str_from_bytes", []() { return py::str(py::bytes("boo", 3)); });
+    m.def("str_from_bytes_input",
+          [](const py::bytes &encoded_str) { return py::str(encoded_str); });
+
     m.def("str_from_object", [](const py::object &obj) { return py::str(obj); });
     m.def("repr_from_object", [](const py::object &obj) { return py::repr(obj); });
     m.def("str_from_handle", [](py::handle h) { return py::str(h); });
@@ -248,6 +260,15 @@ TEST_SUBMODULE(pytypes, m) {
         });
     });
 
+    m.def("return_capsule_with_destructor_3", []() {
+        py::print("creating capsule");
+        auto cap = py::capsule((void *) 1233, "oname", [](void *ptr) {
+            py::print("destructing capsule: {}"_s.format((size_t) ptr));
+        });
+        py::print("original name: {}"_s.format(cap.name()));
+        return cap;
+    });
+
     m.def("return_renamed_capsule_with_destructor_2", []() {
         py::print("creating capsule");
         auto cap = py::capsule((void *) 1234, [](void *ptr) {
@@ -284,6 +305,12 @@ TEST_SUBMODULE(pytypes, m) {
         return capsule;
     });
 
+    m.def("return_capsule_with_explicit_nullptr_dtor", []() {
+        py::print("creating capsule with explicit nullptr dtor");
+        return py::capsule(reinterpret_cast<void *>(1234),
+                           static_cast<void (*)(void *)>(nullptr)); // PR #4221
+    });
+
     // test_accessors
     m.def("accessor_api", [](const py::object &o) {
         auto d = py::dict();
@@ -527,6 +554,9 @@ TEST_SUBMODULE(pytypes, m) {
 
     m.def("hash_function", [](py::object obj) { return py::hash(std::move(obj)); });
 
+    m.def("obj_contains",
+          [](py::object &obj, const py::object &key) { return obj.contains(key); });
+
     m.def("test_number_protocol", [](const py::object &a, const py::object &b) {
         py::list l;
         l.append(a.equal(b));
@@ -756,4 +786,38 @@ TEST_SUBMODULE(pytypes, m) {
         }
         return o;
     });
+
+    // testing immutable object augmented assignment: #issue 3812
+    m.def("inplace_append", [](py::object &a, const py::object &b) {
+        a += b;
+        return a;
+    });
+    m.def("inplace_subtract", [](py::object &a, const py::object &b) {
+        a -= b;
+        return a;
+    });
+    m.def("inplace_multiply", [](py::object &a, const py::object &b) {
+        a *= b;
+        return a;
+    });
+    m.def("inplace_divide", [](py::object &a, const py::object &b) {
+        a /= b;
+        return a;
+    });
+    m.def("inplace_or", [](py::object &a, const py::object &b) {
+        a |= b;
+        return a;
+    });
+    m.def("inplace_and", [](py::object &a, const py::object &b) {
+        a &= b;
+        return a;
+    });
+    m.def("inplace_lshift", [](py::object &a, const py::object &b) {
+        a <<= b;
+        return a;
+    });
+    m.def("inplace_rshift", [](py::object &a, const py::object &b) {
+        a >>= b;
+        return a;
+    });
 }
diff --git a/pybind11/tests/test_pytypes.py b/pybind11/tests/test_pytypes.py
index 7a0a8b4ab..eda7a20a9 100644
--- a/pybind11/tests/test_pytypes.py
+++ b/pybind11/tests/test_pytypes.py
@@ -9,7 +9,13 @@ from pybind11_tests import detailed_error_messages_enabled
 from pybind11_tests import pytypes as m
 
 
-def test_handle_from_move_only_type_with_operator_PyObject():  # noqa: N802
+def test_obj_class_name():
+    assert m.obj_class_name(None) == "NoneType"
+    assert m.obj_class_name(list) == "list"
+    assert m.obj_class_name([]) == "list"
+
+
+def test_handle_from_move_only_type_with_operator_PyObject():
     assert m.handle_from_move_only_type_with_operator_PyObject_ncnst()
     assert m.handle_from_move_only_type_with_operator_PyObject_const()
 
@@ -26,6 +32,22 @@ def test_iterator(doc):
     assert doc(m.get_iterator) == "get_iterator() -> Iterator"
 
 
+@pytest.mark.parametrize(
+    ("pytype", "from_iter_func"),
+    [
+        (frozenset, m.get_frozenset_from_iterable),
+        (list, m.get_list_from_iterable),
+        (set, m.get_set_from_iterable),
+        (tuple, m.get_tuple_from_iterable),
+    ],
+)
+def test_from_iterable(pytype, from_iter_func):
+    my_iter = iter(range(10))
+    s = from_iter_func(my_iter)
+    assert type(s) == pytype
+    assert s == pytype(range(10))
+
+
 def test_iterable(doc):
     assert doc(m.get_iterable) == "get_iterable() -> Iterable"
 
@@ -65,7 +87,7 @@ def test_list(capture, doc):
     assert doc(m.print_list) == "print_list(arg0: list) -> None"
 
 
-def test_none(capture, doc):
+def test_none(doc):
     assert doc(m.get_none) == "get_none() -> None"
     assert doc(m.print_none) == "print_none(arg0: None) -> None"
 
@@ -152,6 +174,31 @@ def test_dict(capture, doc):
     assert m.dict_keyword_constructor() == {"x": 1, "y": 2, "z": 3}
 
 
+class CustomContains:
+    d = {"key": None}
+
+    def __contains__(self, m):
+        return m in self.d
+
+
+@pytest.mark.parametrize(
+    ("arg", "func"),
+    [
+        (set(), m.anyset_contains),
+        ({}, m.dict_contains),
+        (CustomContains(), m.obj_contains),
+    ],
+)
+@pytest.mark.xfail("env.PYPY and sys.pypy_version_info < (7, 3, 10)", strict=False)
+def test_unhashable_exceptions(arg, func):
+    class Unhashable:
+        __hash__ = None
+
+    with pytest.raises(TypeError) as exc_info:
+        func(arg, Unhashable())
+    assert "unhashable type:" in str(exc_info.value)
+
+
 def test_tuple():
     assert m.tuple_no_args() == ()
     assert m.tuple_ssize_t() == ()
@@ -203,6 +250,20 @@ def test_str(doc):
         m.str_from_string_from_str(ucs_surrogates_str)
 
 
+@pytest.mark.parametrize(
+    "func",
+    [
+        m.str_from_bytes_input,
+        m.str_from_cstr_input,
+        m.str_from_std_string_input,
+    ],
+)
+def test_surrogate_pairs_unicode_error(func):
+    input_str = "\ud83d\ude4f".encode("utf-8", "surrogatepass")
+    with pytest.raises(UnicodeDecodeError):
+        func(input_str)
+
+
 def test_bytes(doc):
     assert m.bytes_from_char_ssize_t().decode() == "green"
     assert m.bytes_from_char_size_t().decode() == "purple"
@@ -212,7 +273,7 @@ def test_bytes(doc):
     assert doc(m.bytes_from_str) == "bytes_from_str() -> bytes"
 
 
-def test_bytearray(doc):
+def test_bytearray():
     assert m.bytearray_from_char_ssize_t().decode() == "$%"
     assert m.bytearray_from_char_size_t().decode() == "@$!"
     assert m.bytearray_from_string().decode() == "foo"
@@ -258,6 +319,19 @@ def test_capsule(capture):
     """
     )
 
+    with capture:
+        a = m.return_capsule_with_destructor_3()
+        del a
+        pytest.gc_collect()
+    assert (
+        capture.unordered
+        == """
+        creating capsule
+        destructing capsule: 1233
+        original name: oname
+    """
+    )
+
     with capture:
         a = m.return_renamed_capsule_with_destructor_2()
         del a
@@ -283,6 +357,17 @@ def test_capsule(capture):
     """
     )
 
+    with capture:
+        a = m.return_capsule_with_explicit_nullptr_dtor()
+        del a
+        pytest.gc_collect()
+    assert (
+        capture.unordered
+        == """
+        creating capsule with explicit nullptr dtor
+    """
+    )
+
 
 def test_accessors():
     class SubTestObject:
@@ -313,7 +398,7 @@ def test_accessors():
     assert d["implicit_list"] == [1, 2, 3]
     assert all(x in TestObject.__dict__ for x in d["implicit_dict"])
 
-    assert m.tuple_accessor(tuple()) == (0, 1, 2)
+    assert m.tuple_accessor(()) == (0, 1, 2)
 
     d = m.accessor_assignment()
     assert d["get"] == 0
@@ -403,7 +488,7 @@ def test_pybind11_str_raw_str():
     assert cvt({}) == "{}"
     assert cvt({3: 4}) == "{3: 4}"
     assert cvt(set()) == "set()"
-    assert cvt({3, 3}) == "{3}"
+    assert cvt({3}) == "{3}"
 
     valid_orig = "DZ"
     valid_utf8 = valid_orig.encode("utf-8")
@@ -464,7 +549,7 @@ def test_print(capture):
     assert str(excinfo.value) == "Unable to convert call argument " + (
         "'1' of type 'UnregisteredType' to Python object"
         if detailed_error_messages_enabled
-        else "to Python object (#define PYBIND11_DETAILED_ERROR_MESSAGES or compile in debug mode for details)"
+        else "'1' to Python object (#define PYBIND11_DETAILED_ERROR_MESSAGES or compile in debug mode for details)"
     )
 
 
@@ -521,7 +606,7 @@ def test_issue2361():
 
 
 @pytest.mark.parametrize(
-    "method, args, fmt, expected_view",
+    ("method", "args", "fmt", "expected_view"),
     [
         (m.test_memoryview_object, (b"red",), "B", b"red"),
         (m.test_memoryview_buffer_info, (b"green",), "B", b"green"),
@@ -579,7 +664,7 @@ def test_memoryview_from_memory():
 
 
 def test_builtin_functions():
-    assert m.get_len([i for i in range(42)]) == 42
+    assert m.get_len(list(range(42))) == 42
     with pytest.raises(TypeError) as exc_info:
         m.get_len(i for i in range(42))
     assert str(exc_info.value) in [
@@ -623,7 +708,7 @@ def test_pass_bytes_or_unicode_to_string_types():
 
 
 @pytest.mark.parametrize(
-    "create_weakref, create_weakref_with_callback",
+    ("create_weakref", "create_weakref_with_callback"),
     [
         (m.weakref_from_handle, m.weakref_from_handle_and_function),
         (m.weakref_from_object, m.weakref_from_object_and_function),
@@ -638,7 +723,7 @@ def test_weakref(create_weakref, create_weakref_with_callback):
 
     callback_called = False
 
-    def callback(wr):
+    def callback(_):
         nonlocal callback_called
         callback_called = True
 
@@ -658,7 +743,7 @@ def test_weakref(create_weakref, create_weakref_with_callback):
 
 
 @pytest.mark.parametrize(
-    "create_weakref, has_callback",
+    ("create_weakref", "has_callback"),
     [
         (m.weakref_from_handle, False),
         (m.weakref_from_object, False),
@@ -676,10 +761,7 @@ def test_weakref_err(create_weakref, has_callback):
     ob = C()
     # Should raise TypeError on CPython
     with pytest.raises(TypeError) if not env.PYPY else contextlib.nullcontext():
-        if has_callback:
-            _ = create_weakref(ob, callback)
-        else:
-            _ = create_weakref(ob)
+        _ = create_weakref(ob, callback) if has_callback else create_weakref(ob)
 
 
 def test_cpp_iterators():
@@ -739,3 +821,78 @@ def test_populate_obj_str_attrs():
     new_attrs = {k: v for k, v in new_o.__dict__.items() if not k.startswith("_")}
     assert all(isinstance(v, str) for v in new_attrs.values())
     assert len(new_attrs) == pop
+
+
+@pytest.mark.parametrize(
+    ("a", "b"),
+    [("foo", "bar"), (1, 2), (1.0, 2.0), (list(range(3)), list(range(3, 6)))],
+)
+def test_inplace_append(a, b):
+    expected = a + b
+    assert m.inplace_append(a, b) == expected
+
+
+@pytest.mark.parametrize(
+    ("a", "b"), [(3, 2), (3.0, 2.0), (set(range(3)), set(range(2)))]
+)
+def test_inplace_subtract(a, b):
+    expected = a - b
+    assert m.inplace_subtract(a, b) == expected
+
+
+@pytest.mark.parametrize(("a", "b"), [(3, 2), (3.0, 2.0), ([1], 3)])
+def test_inplace_multiply(a, b):
+    expected = a * b
+    assert m.inplace_multiply(a, b) == expected
+
+
+@pytest.mark.parametrize(("a", "b"), [(6, 3), (6.0, 3.0)])
+def test_inplace_divide(a, b):
+    expected = a / b
+    assert m.inplace_divide(a, b) == expected
+
+
+@pytest.mark.parametrize(
+    ("a", "b"),
+    [
+        (False, True),
+        (
+            set(),
+            {
+                1,
+            },
+        ),
+    ],
+)
+def test_inplace_or(a, b):
+    expected = a | b
+    assert m.inplace_or(a, b) == expected
+
+
+@pytest.mark.parametrize(
+    ("a", "b"),
+    [
+        (True, False),
+        (
+            {1, 2, 3},
+            {
+                1,
+            },
+        ),
+    ],
+)
+def test_inplace_and(a, b):
+    expected = a & b
+    assert m.inplace_and(a, b) == expected
+
+
+@pytest.mark.parametrize(("a", "b"), [(8, 1), (-3, 2)])
+def test_inplace_lshift(a, b):
+    expected = a << b
+    assert m.inplace_lshift(a, b) == expected
+
+
+@pytest.mark.parametrize(("a", "b"), [(8, 1), (-2, 2)])
+def test_inplace_rshift(a, b):
+    expected = a >> b
+    assert m.inplace_rshift(a, b) == expected
diff --git a/pybind11/tests/test_sequences_and_iterators.cpp b/pybind11/tests/test_sequences_and_iterators.cpp
index b867f49a2..1de65edbf 100644
--- a/pybind11/tests/test_sequences_and_iterators.cpp
+++ b/pybind11/tests/test_sequences_and_iterators.cpp
@@ -559,4 +559,23 @@ TEST_SUBMODULE(sequences_and_iterators, m) {
           []() { return py::make_iterator<py::return_value_policy::copy>(list); });
     m.def("make_iterator_2",
           []() { return py::make_iterator<py::return_value_policy::automatic>(list); });
+
+    // test_iterator on c arrays
+    // #4100: ensure lvalue required as increment operand
+    class CArrayHolder {
+    public:
+        CArrayHolder(double x, double y, double z) {
+            values[0] = x;
+            values[1] = y;
+            values[2] = z;
+        };
+        double values[3];
+    };
+
+    py::class_<CArrayHolder>(m, "CArrayHolder")
+        .def(py::init<double, double, double>())
+        .def(
+            "__iter__",
+            [](const CArrayHolder &v) { return py::make_iterator(v.values, v.values + 3); },
+            py::keep_alive<0, 1>());
 }
diff --git a/pybind11/tests/test_sequences_and_iterators.py b/pybind11/tests/test_sequences_and_iterators.py
index 062e3b3d3..dc129f2bf 100644
--- a/pybind11/tests/test_sequences_and_iterators.py
+++ b/pybind11/tests/test_sequences_and_iterators.py
@@ -1,5 +1,5 @@
 import pytest
-from pytest import approx
+from pytest import approx  # noqa: PT013
 
 from pybind11_tests import ConstructorStats
 from pybind11_tests import sequences_and_iterators as m
@@ -103,7 +103,8 @@ def test_sequence():
 
     assert "Sequence" in repr(s)
     assert len(s) == 5
-    assert s[0] == 0 and s[3] == 0
+    assert s[0] == 0
+    assert s[3] == 0
     assert 12.34 not in s
     s[0], s[3] = 12.34, 56.78
     assert 12.34 in s
@@ -241,3 +242,11 @@ def test_iterator_rvp():
     assert list(m.make_iterator_1()) == [1, 2, 3]
     assert list(m.make_iterator_2()) == [1, 2, 3]
     assert not isinstance(m.make_iterator_1(), type(m.make_iterator_2()))
+
+
+def test_carray_iterator():
+    """#4100: Check for proper iterator overload with C-Arrays"""
+    args_gt = [float(i) for i in range(3)]
+    arr_h = m.CArrayHolder(*args_gt)
+    args = list(arr_h)
+    assert args_gt == args
diff --git a/pybind11/tests/test_smart_ptr.cpp b/pybind11/tests/test_smart_ptr.cpp
index 2c23a9a19..6d9efcedc 100644
--- a/pybind11/tests/test_smart_ptr.cpp
+++ b/pybind11/tests/test_smart_ptr.cpp
@@ -266,14 +266,14 @@ struct ElementList {
 // It is always possible to construct a ref<T> from an Object* pointer without
 // possible inconsistencies, hence the 'true' argument at the end.
 // Make pybind11 aware of the non-standard getter member function
-namespace pybind11 {
+namespace PYBIND11_NAMESPACE {
 namespace detail {
 template <typename T>
 struct holder_helper<ref<T>> {
     static const T *get(const ref<T> &p) { return p.get_ptr(); }
 };
 } // namespace detail
-} // namespace pybind11
+} // namespace PYBIND11_NAMESPACE
 
 // Make pybind aware of the ref-counted wrapper type (s):
 PYBIND11_DECLARE_HOLDER_TYPE(T, ref<T>, true);
diff --git a/pybind11/tests/test_stl.cpp b/pybind11/tests/test_stl.cpp
index 38d32fda9..d45465d68 100644
--- a/pybind11/tests/test_stl.cpp
+++ b/pybind11/tests/test_stl.cpp
@@ -23,7 +23,7 @@
 #if defined(PYBIND11_TEST_BOOST)
 #    include <boost/optional.hpp>
 
-namespace pybind11 {
+namespace PYBIND11_NAMESPACE {
 namespace detail {
 template <typename T>
 struct type_caster<boost::optional<T>> : optional_caster<boost::optional<T>> {};
@@ -31,7 +31,7 @@ struct type_caster<boost::optional<T>> : optional_caster<boost::optional<T>> {};
 template <>
 struct type_caster<boost::none_t> : void_caster<boost::none_t> {};
 } // namespace detail
-} // namespace pybind11
+} // namespace PYBIND11_NAMESPACE
 #endif
 
 // Test with `std::variant` in C++17 mode, or with `boost::variant` in C++11/14
@@ -43,7 +43,7 @@ using std::variant;
 #    define PYBIND11_TEST_VARIANT 1
 using boost::variant;
 
-namespace pybind11 {
+namespace PYBIND11_NAMESPACE {
 namespace detail {
 template <typename... Ts>
 struct type_caster<boost::variant<Ts...>> : variant_caster<boost::variant<Ts...>> {};
@@ -56,7 +56,7 @@ struct visit_helper<boost::variant> {
     }
 };
 } // namespace detail
-} // namespace pybind11
+} // namespace PYBIND11_NAMESPACE
 #endif
 
 PYBIND11_MAKE_OPAQUE(std::vector<std::string, std::allocator<std::string>>);
@@ -159,13 +159,13 @@ private:
     std::vector<T> storage;
 };
 
-namespace pybind11 {
+namespace PYBIND11_NAMESPACE {
 namespace detail {
 template <typename T>
 struct type_caster<ReferenceSensitiveOptional<T>>
     : optional_caster<ReferenceSensitiveOptional<T>> {};
 } // namespace detail
-} // namespace pybind11
+} // namespace PYBIND11_NAMESPACE
 
 TEST_SUBMODULE(stl, m) {
     // test_vector
@@ -176,9 +176,14 @@ TEST_SUBMODULE(stl, m) {
     m.def("load_bool_vector",
           [](const std::vector<bool> &v) { return v.at(0) == true && v.at(1) == false; });
     // Unnumbered regression (caused by #936): pointers to stl containers aren't castable
-    static std::vector<RValueCaster> lvv{2};
     m.def(
-        "cast_ptr_vector", []() { return &lvv; }, py::return_value_policy::reference);
+        "cast_ptr_vector",
+        []() {
+            // Using no-destructor idiom to side-step warnings from overzealous compilers.
+            static auto *v = new std::vector<RValueCaster>{2};
+            return v;
+        },
+        py::return_value_policy::reference);
 
     // test_deque
     m.def("cast_deque", []() { return std::deque<int>{1}; });
@@ -237,6 +242,7 @@ TEST_SUBMODULE(stl, m) {
     lvn["b"].emplace_back();        // add a list
     lvn["b"].back().emplace_back(); // add an array
     lvn["b"].back().emplace_back(); // add another array
+    static std::vector<RValueCaster> lvv{2};
     m.def("cast_lv_vector", []() -> const decltype(lvv) & { return lvv; });
     m.def("cast_lv_array", []() -> const decltype(lva) & { return lva; });
     m.def("cast_lv_map", []() -> const decltype(lvm) & { return lvm; });
diff --git a/pybind11/tests/test_stl.py b/pybind11/tests/test_stl.py
index d30c38211..8a614f8b8 100644
--- a/pybind11/tests/test_stl.py
+++ b/pybind11/tests/test_stl.py
@@ -14,7 +14,7 @@ def test_vector(doc):
 
     assert m.cast_bool_vector() == [True, False]
     assert m.load_bool_vector([True, False])
-    assert m.load_bool_vector(tuple([True, False]))
+    assert m.load_bool_vector((True, False))
 
     assert doc(m.cast_vector) == "cast_vector() -> List[int]"
     assert doc(m.load_vector) == "load_vector(arg0: List[int]) -> bool"
@@ -23,7 +23,7 @@ def test_vector(doc):
     assert m.cast_ptr_vector() == ["lvalue", "lvalue"]
 
 
-def test_deque(doc):
+def test_deque():
     """std::deque <-> list"""
     lst = m.cast_deque()
     assert lst == [1]
@@ -39,8 +39,11 @@ def test_array(doc):
     assert m.load_array(lst)
     assert m.load_array(tuple(lst))
 
-    assert doc(m.cast_array) == "cast_array() -> List[int[2]]"
-    assert doc(m.load_array) == "load_array(arg0: List[int[2]]) -> bool"
+    assert doc(m.cast_array) == "cast_array() -> Annotated[List[int], FixedSize(2)]"
+    assert (
+        doc(m.load_array)
+        == "load_array(arg0: Annotated[List[int], FixedSize(2)]) -> bool"
+    )
 
 
 def test_valarray(doc):
@@ -95,7 +98,8 @@ def test_recursive_casting():
 
     # Issue #853 test case:
     z = m.cast_unique_ptr_vector()
-    assert z[0].value == 7 and z[1].value == 42
+    assert z[0].value == 7
+    assert z[1].value == 42
 
 
 def test_move_out_container():
@@ -366,7 +370,7 @@ def test_issue_1561():
     """check fix for issue #1561"""
     bar = m.Issue1561Outer()
     bar.list = [m.Issue1561Inner("bar")]
-    bar.list
+    assert bar.list
     assert bar.list[0].data == "bar"
 
 
diff --git a/pybind11/tests/test_stl_binders.cpp b/pybind11/tests/test_stl_binders.cpp
index ca9630bd1..1681760aa 100644
--- a/pybind11/tests/test_stl_binders.cpp
+++ b/pybind11/tests/test_stl_binders.cpp
@@ -70,6 +70,44 @@ NestMap *times_hundred(int n) {
     return m;
 }
 
+/*
+ * Recursive data structures as test for issue #4623
+ */
+struct RecursiveVector : std::vector<RecursiveVector> {
+    using Parent = std::vector<RecursiveVector>;
+    using Parent::Parent;
+};
+
+struct RecursiveMap : std::map<int, RecursiveMap> {
+    using Parent = std::map<int, RecursiveMap>;
+    using Parent::Parent;
+};
+
+/*
+ * Pybind11 does not catch more complicated recursion schemes, such as mutual
+ * recursion.
+ * In that case custom recursive_container_traits specializations need to be added,
+ * thus manually telling pybind11 about the recursion.
+ */
+struct MutuallyRecursiveContainerPairMV;
+struct MutuallyRecursiveContainerPairVM;
+
+struct MutuallyRecursiveContainerPairMV : std::map<int, MutuallyRecursiveContainerPairVM> {};
+struct MutuallyRecursiveContainerPairVM : std::vector<MutuallyRecursiveContainerPairMV> {};
+
+namespace pybind11 {
+namespace detail {
+template <typename SFINAE>
+struct recursive_container_traits<MutuallyRecursiveContainerPairMV, SFINAE> {
+    using type_to_check_recursively = recursive_bottom;
+};
+template <typename SFINAE>
+struct recursive_container_traits<MutuallyRecursiveContainerPairVM, SFINAE> {
+    using type_to_check_recursively = recursive_bottom;
+};
+} // namespace detail
+} // namespace pybind11
+
 TEST_SUBMODULE(stl_binders, m) {
     // test_vector_int
     py::bind_vector<std::vector<unsigned int>>(m, "VectorInt", py::buffer_protocol());
@@ -129,6 +167,12 @@ TEST_SUBMODULE(stl_binders, m) {
             m, "VectorUndeclStruct", py::buffer_protocol());
     });
 
+    // Bind recursive container types
+    py::bind_vector<RecursiveVector>(m, "RecursiveVector");
+    py::bind_map<RecursiveMap>(m, "RecursiveMap");
+    py::bind_map<MutuallyRecursiveContainerPairMV>(m, "MutuallyRecursiveContainerPairMV");
+    py::bind_vector<MutuallyRecursiveContainerPairVM>(m, "MutuallyRecursiveContainerPairVM");
+
     // The rest depends on numpy:
     try {
         py::module_::import("numpy");
diff --git a/pybind11/tests/test_stl_binders.py b/pybind11/tests/test_stl_binders.py
index d5e9ccced..e002f5b67 100644
--- a/pybind11/tests/test_stl_binders.py
+++ b/pybind11/tests/test_stl_binders.py
@@ -186,9 +186,9 @@ def test_map_string_double():
     um["ua"] = 1.1
     um["ub"] = 2.6
 
-    assert sorted(list(um)) == ["ua", "ub"]
+    assert sorted(um) == ["ua", "ub"]
     assert list(um.keys()) == list(um)
-    assert sorted(list(um.items())) == [("ua", 1.1), ("ub", 2.6)]
+    assert sorted(um.items()) == [("ua", 1.1), ("ub", 2.6)]
     assert list(zip(um.keys(), um.values())) == list(um.items())
     assert "UnorderedMapStringDouble" in str(um)
 
@@ -304,8 +304,52 @@ def test_map_delitem():
     um["ua"] = 1.1
     um["ub"] = 2.6
 
-    assert sorted(list(um)) == ["ua", "ub"]
-    assert sorted(list(um.items())) == [("ua", 1.1), ("ub", 2.6)]
+    assert sorted(um) == ["ua", "ub"]
+    assert sorted(um.items()) == [("ua", 1.1), ("ub", 2.6)]
     del um["ua"]
-    assert sorted(list(um)) == ["ub"]
-    assert sorted(list(um.items())) == [("ub", 2.6)]
+    assert sorted(um) == ["ub"]
+    assert sorted(um.items()) == [("ub", 2.6)]
+
+
+def test_map_view_types():
+    map_string_double = m.MapStringDouble()
+    unordered_map_string_double = m.UnorderedMapStringDouble()
+    map_string_double_const = m.MapStringDoubleConst()
+    unordered_map_string_double_const = m.UnorderedMapStringDoubleConst()
+
+    assert map_string_double.keys().__class__.__name__ == "KeysView[str]"
+    assert map_string_double.values().__class__.__name__ == "ValuesView[float]"
+    assert map_string_double.items().__class__.__name__ == "ItemsView[str, float]"
+
+    keys_type = type(map_string_double.keys())
+    assert type(unordered_map_string_double.keys()) is keys_type
+    assert type(map_string_double_const.keys()) is keys_type
+    assert type(unordered_map_string_double_const.keys()) is keys_type
+
+    values_type = type(map_string_double.values())
+    assert type(unordered_map_string_double.values()) is values_type
+    assert type(map_string_double_const.values()) is values_type
+    assert type(unordered_map_string_double_const.values()) is values_type
+
+    items_type = type(map_string_double.items())
+    assert type(unordered_map_string_double.items()) is items_type
+    assert type(map_string_double_const.items()) is items_type
+    assert type(unordered_map_string_double_const.items()) is items_type
+
+
+def test_recursive_vector():
+    recursive_vector = m.RecursiveVector()
+    recursive_vector.append(m.RecursiveVector())
+    recursive_vector[0].append(m.RecursiveVector())
+    recursive_vector[0].append(m.RecursiveVector())
+    # Can't use len() since test_stl_binders.cpp does not include stl.h,
+    # so the necessary conversion is missing
+    assert recursive_vector[0].count(m.RecursiveVector()) == 2
+
+
+def test_recursive_map():
+    recursive_map = m.RecursiveMap()
+    recursive_map[100] = m.RecursiveMap()
+    recursive_map[100][101] = m.RecursiveMap()
+    recursive_map[100][102] = m.RecursiveMap()
+    assert list(recursive_map[100].keys()) == [101, 102]
diff --git a/pybind11/tests/test_tagbased_polymorphic.cpp b/pybind11/tests/test_tagbased_polymorphic.cpp
index 2807e86ba..12ba6532f 100644
--- a/pybind11/tests/test_tagbased_polymorphic.cpp
+++ b/pybind11/tests/test_tagbased_polymorphic.cpp
@@ -117,7 +117,7 @@ std::string Animal::name_of_kind(Kind kind) {
     return raw_name;
 }
 
-namespace pybind11 {
+namespace PYBIND11_NAMESPACE {
 template <typename itype>
 struct polymorphic_type_hook<itype, detail::enable_if_t<std::is_base_of<Animal, itype>::value>> {
     static const void *get(const itype *src, const std::type_info *&type) {
@@ -125,7 +125,7 @@ struct polymorphic_type_hook<itype, detail::enable_if_t<std::is_base_of<Animal,
         return src;
     }
 };
-} // namespace pybind11
+} // namespace PYBIND11_NAMESPACE
 
 TEST_SUBMODULE(tagbased_polymorphic, m) {
     py::class_<Animal>(m, "Animal").def_readonly("name", &Animal::name);
diff --git a/pybind11/tests/test_type_caster_pyobject_ptr.cpp b/pybind11/tests/test_type_caster_pyobject_ptr.cpp
new file mode 100644
index 000000000..1667ea126
--- /dev/null
+++ b/pybind11/tests/test_type_caster_pyobject_ptr.cpp
@@ -0,0 +1,130 @@
+#include <pybind11/functional.h>
+#include <pybind11/stl.h>
+#include <pybind11/type_caster_pyobject_ptr.h>
+
+#include "pybind11_tests.h"
+
+#include <cstddef>
+#include <vector>
+
+namespace {
+
+std::vector<PyObject *> make_vector_pyobject_ptr(const py::object &ValueHolder) {
+    std::vector<PyObject *> vec_obj;
+    for (int i = 1; i < 3; i++) {
+        vec_obj.push_back(ValueHolder(i * 93).release().ptr());
+    }
+    // This vector now owns the refcounts.
+    return vec_obj;
+}
+
+} // namespace
+
+TEST_SUBMODULE(type_caster_pyobject_ptr, m) {
+    m.def("cast_from_pyobject_ptr", []() {
+        PyObject *ptr = PyLong_FromLongLong(6758L);
+        return py::cast(ptr, py::return_value_policy::take_ownership);
+    });
+    m.def("cast_handle_to_pyobject_ptr", [](py::handle obj) {
+        auto rc1 = obj.ref_count();
+        auto *ptr = py::cast<PyObject *>(obj);
+        auto rc2 = obj.ref_count();
+        if (rc2 != rc1 + 1) {
+            return -1;
+        }
+        return 100 - py::reinterpret_steal<py::object>(ptr).attr("value").cast<int>();
+    });
+    m.def("cast_object_to_pyobject_ptr", [](py::object obj) {
+        py::handle hdl = obj;
+        auto rc1 = hdl.ref_count();
+        auto *ptr = py::cast<PyObject *>(std::move(obj));
+        auto rc2 = hdl.ref_count();
+        if (rc2 != rc1) {
+            return -1;
+        }
+        return 300 - py::reinterpret_steal<py::object>(ptr).attr("value").cast<int>();
+    });
+    m.def("cast_list_to_pyobject_ptr", [](py::list lst) {
+        // This is to cover types implicitly convertible to object.
+        py::handle hdl = lst;
+        auto rc1 = hdl.ref_count();
+        auto *ptr = py::cast<PyObject *>(std::move(lst));
+        auto rc2 = hdl.ref_count();
+        if (rc2 != rc1) {
+            return -1;
+        }
+        return 400 - static_cast<int>(py::len(py::reinterpret_steal<py::list>(ptr)));
+    });
+
+    m.def(
+        "return_pyobject_ptr",
+        []() { return PyLong_FromLongLong(2314L); },
+        py::return_value_policy::take_ownership);
+    m.def("pass_pyobject_ptr", [](PyObject *ptr) {
+        return 200 - py::reinterpret_borrow<py::object>(ptr).attr("value").cast<int>();
+    });
+
+    m.def("call_callback_with_object_return",
+          [](const std::function<py::object(int)> &cb, int value) { return cb(value); });
+    m.def(
+        "call_callback_with_pyobject_ptr_return",
+        [](const std::function<PyObject *(int)> &cb, int value) { return cb(value); },
+        py::return_value_policy::take_ownership);
+    m.def(
+        "call_callback_with_pyobject_ptr_arg",
+        [](const std::function<int(PyObject *)> &cb, py::handle obj) { return cb(obj.ptr()); },
+        py::arg("cb"), // This triggers return_value_policy::automatic_reference
+        py::arg("obj"));
+
+    m.def("cast_to_pyobject_ptr_nullptr", [](bool set_error) {
+        if (set_error) {
+            PyErr_SetString(PyExc_RuntimeError, "Reflective of healthy error handling.");
+        }
+        PyObject *ptr = nullptr;
+        py::cast(ptr);
+    });
+
+    m.def("cast_to_pyobject_ptr_non_nullptr_with_error_set", []() {
+        PyErr_SetString(PyExc_RuntimeError, "Reflective of unhealthy error handling.");
+        py::cast(Py_None);
+    });
+
+    m.def("pass_list_pyobject_ptr", [](const std::vector<PyObject *> &vec_obj) {
+        int acc = 0;
+        for (const auto &ptr : vec_obj) {
+            acc = acc * 1000 + py::reinterpret_borrow<py::object>(ptr).attr("value").cast<int>();
+        }
+        return acc;
+    });
+
+    m.def("return_list_pyobject_ptr_take_ownership",
+          make_vector_pyobject_ptr,
+          // Ownership is transferred one-by-one when the vector is converted to a Python list.
+          py::return_value_policy::take_ownership);
+
+    m.def("return_list_pyobject_ptr_reference",
+          make_vector_pyobject_ptr,
+          // Ownership is not transferred.
+          py::return_value_policy::reference);
+
+    m.def("dec_ref_each_pyobject_ptr", [](const std::vector<PyObject *> &vec_obj) {
+        std::size_t i = 0;
+        for (; i < vec_obj.size(); i++) {
+            py::handle h(vec_obj[i]);
+            if (static_cast<std::size_t>(h.ref_count()) < 2) {
+                break; // Something is badly wrong.
+            }
+            h.dec_ref();
+        }
+        return i;
+    });
+
+    m.def("pass_pyobject_ptr_and_int", [](PyObject *, int) {});
+
+#ifdef PYBIND11_NO_COMPILE_SECTION // Change to ifndef for manual testing.
+    {
+        PyObject *ptr = nullptr;
+        (void) py::cast(*ptr);
+    }
+#endif
+}
diff --git a/pybind11/tests/test_type_caster_pyobject_ptr.py b/pybind11/tests/test_type_caster_pyobject_ptr.py
new file mode 100644
index 000000000..1f1ece2ba
--- /dev/null
+++ b/pybind11/tests/test_type_caster_pyobject_ptr.py
@@ -0,0 +1,104 @@
+import pytest
+
+from pybind11_tests import type_caster_pyobject_ptr as m
+
+
+# For use as a temporary user-defined object, to maximize sensitivity of the tests below.
+class ValueHolder:
+    def __init__(self, value):
+        self.value = value
+
+
+def test_cast_from_pyobject_ptr():
+    assert m.cast_from_pyobject_ptr() == 6758
+
+
+def test_cast_handle_to_pyobject_ptr():
+    assert m.cast_handle_to_pyobject_ptr(ValueHolder(24)) == 76
+
+
+def test_cast_object_to_pyobject_ptr():
+    assert m.cast_object_to_pyobject_ptr(ValueHolder(43)) == 257
+
+
+def test_cast_list_to_pyobject_ptr():
+    assert m.cast_list_to_pyobject_ptr([1, 2, 3, 4, 5]) == 395
+
+
+def test_return_pyobject_ptr():
+    assert m.return_pyobject_ptr() == 2314
+
+
+def test_pass_pyobject_ptr():
+    assert m.pass_pyobject_ptr(ValueHolder(82)) == 118
+
+
+@pytest.mark.parametrize(
+    "call_callback",
+    [
+        m.call_callback_with_object_return,
+        m.call_callback_with_pyobject_ptr_return,
+    ],
+)
+def test_call_callback_with_object_return(call_callback):
+    def cb(value):
+        if value < 0:
+            raise ValueError("Raised from cb")
+        return ValueHolder(1000 - value)
+
+    assert call_callback(cb, 287).value == 713
+
+    with pytest.raises(ValueError, match="^Raised from cb$"):
+        call_callback(cb, -1)
+
+
+def test_call_callback_with_pyobject_ptr_arg():
+    def cb(obj):
+        return 300 - obj.value
+
+    assert m.call_callback_with_pyobject_ptr_arg(cb, ValueHolder(39)) == 261
+
+
+@pytest.mark.parametrize("set_error", [True, False])
+def test_cast_to_python_nullptr(set_error):
+    expected = {
+        True: r"^Reflective of healthy error handling\.$",
+        False: (
+            r"^Internal error: pybind11::error_already_set called "
+            r"while Python error indicator not set\.$"
+        ),
+    }[set_error]
+    with pytest.raises(RuntimeError, match=expected):
+        m.cast_to_pyobject_ptr_nullptr(set_error)
+
+
+def test_cast_to_python_non_nullptr_with_error_set():
+    with pytest.raises(SystemError) as excinfo:
+        m.cast_to_pyobject_ptr_non_nullptr_with_error_set()
+    assert str(excinfo.value) == "src != nullptr but PyErr_Occurred()"
+    assert str(excinfo.value.__cause__) == "Reflective of unhealthy error handling."
+
+
+def test_pass_list_pyobject_ptr():
+    acc = m.pass_list_pyobject_ptr([ValueHolder(842), ValueHolder(452)])
+    assert acc == 842452
+
+
+def test_return_list_pyobject_ptr_take_ownership():
+    vec_obj = m.return_list_pyobject_ptr_take_ownership(ValueHolder)
+    assert [e.value for e in vec_obj] == [93, 186]
+
+
+def test_return_list_pyobject_ptr_reference():
+    vec_obj = m.return_list_pyobject_ptr_reference(ValueHolder)
+    assert [e.value for e in vec_obj] == [93, 186]
+    # Commenting out the next `assert` will leak the Python references.
+    # An easy way to see evidence of the leaks:
+    # Insert `while True:` as the first line of this function and monitor the
+    # process RES (Resident Memory Size) with the Unix top command.
+    assert m.dec_ref_each_pyobject_ptr(vec_obj) == 2
+
+
+def test_type_caster_name_via_incompatible_function_arguments_type_error():
+    with pytest.raises(TypeError, match=r"1\. \(arg0: object, arg1: int\) -> None"):
+        m.pass_pyobject_ptr_and_int(ValueHolder(101), ValueHolder(202))
diff --git a/pybind11/tests/test_unnamed_namespace_a.cpp b/pybind11/tests/test_unnamed_namespace_a.cpp
new file mode 100644
index 000000000..2152e64bd
--- /dev/null
+++ b/pybind11/tests/test_unnamed_namespace_a.cpp
@@ -0,0 +1,38 @@
+#include "pybind11_tests.h"
+
+namespace {
+struct any_struct {};
+} // namespace
+
+TEST_SUBMODULE(unnamed_namespace_a, m) {
+    if (py::detail::get_type_info(typeid(any_struct)) == nullptr) {
+        py::class_<any_struct>(m, "unnamed_namespace_a_any_struct");
+    } else {
+        m.attr("unnamed_namespace_a_any_struct") = py::none();
+    }
+    m.attr("PYBIND11_INTERNALS_VERSION") = PYBIND11_INTERNALS_VERSION;
+    m.attr("defined_WIN32_or__WIN32") =
+#if defined(WIN32) || defined(_WIN32)
+        true;
+#else
+        false;
+#endif
+    m.attr("defined___clang__") =
+#if defined(__clang__)
+        true;
+#else
+        false;
+#endif
+    m.attr("defined__LIBCPP_VERSION") =
+#if defined(_LIBCPP_VERSION)
+        true;
+#else
+        false;
+#endif
+    m.attr("defined___GLIBCXX__") =
+#if defined(__GLIBCXX__)
+        true;
+#else
+        false;
+#endif
+}
diff --git a/pybind11/tests/test_unnamed_namespace_a.py b/pybind11/tests/test_unnamed_namespace_a.py
new file mode 100644
index 000000000..9d9856c5a
--- /dev/null
+++ b/pybind11/tests/test_unnamed_namespace_a.py
@@ -0,0 +1,34 @@
+import pytest
+
+from pybind11_tests import unnamed_namespace_a as m
+from pybind11_tests import unnamed_namespace_b as mb
+
+XFAIL_CONDITION = (
+    "(m.PYBIND11_INTERNALS_VERSION <= 4 and (m.defined___clang__ or not m.defined___GLIBCXX__))"
+    " or "
+    "(m.PYBIND11_INTERNALS_VERSION >= 5 and not m.defined_WIN32_or__WIN32"
+    " and "
+    "(m.defined___clang__ or m.defined__LIBCPP_VERSION))"
+)
+XFAIL_REASON = "Known issues: https://github.com/pybind/pybind11/pull/4319"
+
+
+@pytest.mark.xfail(XFAIL_CONDITION, reason=XFAIL_REASON, strict=False)
+@pytest.mark.parametrize(
+    "any_struct", [m.unnamed_namespace_a_any_struct, mb.unnamed_namespace_b_any_struct]
+)
+def test_have_class_any_struct(any_struct):
+    assert any_struct is not None
+
+
+def test_have_at_least_one_class_any_struct():
+    assert (
+        m.unnamed_namespace_a_any_struct is not None
+        or mb.unnamed_namespace_b_any_struct is not None
+    )
+
+
+@pytest.mark.xfail(XFAIL_CONDITION, reason=XFAIL_REASON, strict=True)
+def test_have_both_class_any_struct():
+    assert m.unnamed_namespace_a_any_struct is not None
+    assert mb.unnamed_namespace_b_any_struct is not None
diff --git a/pybind11/tests/test_unnamed_namespace_b.cpp b/pybind11/tests/test_unnamed_namespace_b.cpp
new file mode 100644
index 000000000..f97757a7d
--- /dev/null
+++ b/pybind11/tests/test_unnamed_namespace_b.cpp
@@ -0,0 +1,13 @@
+#include "pybind11_tests.h"
+
+namespace {
+struct any_struct {};
+} // namespace
+
+TEST_SUBMODULE(unnamed_namespace_b, m) {
+    if (py::detail::get_type_info(typeid(any_struct)) == nullptr) {
+        py::class_<any_struct>(m, "unnamed_namespace_b_any_struct");
+    } else {
+        m.attr("unnamed_namespace_b_any_struct") = py::none();
+    }
+}
diff --git a/pybind11/tests/test_unnamed_namespace_b.py b/pybind11/tests/test_unnamed_namespace_b.py
new file mode 100644
index 000000000..4bcaa7a6c
--- /dev/null
+++ b/pybind11/tests/test_unnamed_namespace_b.py
@@ -0,0 +1,5 @@
+from pybind11_tests import unnamed_namespace_b as m
+
+
+def test_have_attr_any_struct():
+    assert hasattr(m, "unnamed_namespace_b_any_struct")
diff --git a/pybind11/tests/test_vector_unique_ptr_member.cpp b/pybind11/tests/test_vector_unique_ptr_member.cpp
new file mode 100644
index 000000000..680cf9a6d
--- /dev/null
+++ b/pybind11/tests/test_vector_unique_ptr_member.cpp
@@ -0,0 +1,54 @@
+#include "pybind11_tests.h"
+
+#include <cstddef>
+#include <memory>
+#include <vector>
+
+namespace pybind11_tests {
+namespace vector_unique_ptr_member {
+
+struct DataType {};
+
+// Reduced from a use case in the wild.
+struct VectorOwner {
+    static std::unique_ptr<VectorOwner> Create(std::size_t num_elems) {
+        return std::unique_ptr<VectorOwner>(
+            new VectorOwner(std::vector<std::unique_ptr<DataType>>(num_elems)));
+    }
+
+    std::size_t data_size() const { return data_.size(); }
+
+private:
+    explicit VectorOwner(std::vector<std::unique_ptr<DataType>> data) : data_(std::move(data)) {}
+
+    const std::vector<std::unique_ptr<DataType>> data_;
+};
+
+} // namespace vector_unique_ptr_member
+} // namespace pybind11_tests
+
+namespace pybind11 {
+namespace detail {
+
+template <>
+struct is_copy_constructible<pybind11_tests::vector_unique_ptr_member::VectorOwner>
+    : std::false_type {};
+
+template <>
+struct is_move_constructible<pybind11_tests::vector_unique_ptr_member::VectorOwner>
+    : std::false_type {};
+
+} // namespace detail
+} // namespace pybind11
+
+using namespace pybind11_tests::vector_unique_ptr_member;
+
+py::object py_cast_VectorOwner_ptr(VectorOwner *ptr) { return py::cast(ptr); }
+
+TEST_SUBMODULE(vector_unique_ptr_member, m) {
+    py::class_<VectorOwner>(m, "VectorOwner")
+        .def_static("Create", &VectorOwner::Create)
+        .def("data_size", &VectorOwner::data_size);
+
+    m.def("py_cast_VectorOwner_ptr", py_cast_VectorOwner_ptr);
+}
diff --git a/pybind11/tests/test_vector_unique_ptr_member.py b/pybind11/tests/test_vector_unique_ptr_member.py
new file mode 100644
index 000000000..2da3d97c3
--- /dev/null
+++ b/pybind11/tests/test_vector_unique_ptr_member.py
@@ -0,0 +1,14 @@
+import pytest
+
+from pybind11_tests import vector_unique_ptr_member as m
+
+
+@pytest.mark.parametrize("num_elems", range(3))
+def test_create(num_elems):
+    vo = m.VectorOwner.Create(num_elems)
+    assert vo.data_size() == num_elems
+
+
+def test_cast():
+    vo = m.VectorOwner.Create(0)
+    assert m.py_cast_VectorOwner_ptr(vo) is vo
diff --git a/pybind11/tests/test_virtual_functions.cpp b/pybind11/tests/test_virtual_functions.cpp
index 323aa0d22..93b136ad3 100644
--- a/pybind11/tests/test_virtual_functions.cpp
+++ b/pybind11/tests/test_virtual_functions.cpp
@@ -173,7 +173,8 @@ struct AdderBase {
     using DataVisitor = std::function<void(const Data &)>;
 
     virtual void
-    operator()(const Data &first, const Data &second, const DataVisitor &visitor) const = 0;
+    operator()(const Data &first, const Data &second, const DataVisitor &visitor) const
+        = 0;
     virtual ~AdderBase() = default;
     AdderBase() = default;
     AdderBase(const AdderBase &) = delete;
diff --git a/pybind11/tests/test_virtual_functions.py b/pybind11/tests/test_virtual_functions.py
index 4d00d3690..c17af7df5 100644
--- a/pybind11/tests/test_virtual_functions.py
+++ b/pybind11/tests/test_virtual_functions.py
@@ -192,8 +192,7 @@ def test_move_support():
     class NCVirtExt(m.NCVirt):
         def get_noncopyable(self, a, b):
             # Constructs and returns a new instance:
-            nc = m.NonCopyable(a * a, b * b)
-            return nc
+            return m.NonCopyable(a * a, b * b)
 
         def get_movable(self, a, b):
             # Return a referenced copy
@@ -256,7 +255,7 @@ def test_dispatch_issue(msg):
     assert m.dispatch_issue_go(b) == "Yay.."
 
 
-def test_recursive_dispatch_issue(msg):
+def test_recursive_dispatch_issue():
     """#3357: Recursive dispatch fails to find python function override"""
 
     class Data(m.Data):
@@ -269,7 +268,7 @@ def test_recursive_dispatch_issue(msg):
             # lambda is a workaround, which adds extra frame to the
             # current CPython thread. Removing lambda reveals the bug
             # [https://github.com/pybind/pybind11/issues/3357]
-            (lambda: visitor(Data(first.value + second.value)))()
+            (lambda: visitor(Data(first.value + second.value)))()  # noqa: PLC3002
 
     class StoreResultVisitor:
         def __init__(self):
diff --git a/pybind11/tools/FindCatch.cmake b/pybind11/tools/FindCatch.cmake
index 57bba58b3..5d3fcbfb1 100644
--- a/pybind11/tools/FindCatch.cmake
+++ b/pybind11/tools/FindCatch.cmake
@@ -36,10 +36,14 @@ endfunction()
 function(_download_catch version destination_dir)
   message(STATUS "Downloading catch v${version}...")
   set(url https://github.com/philsquared/Catch/releases/download/v${version}/catch.hpp)
-  file(DOWNLOAD ${url} "${destination_dir}/catch.hpp" STATUS status)
+  file(
+    DOWNLOAD ${url} "${destination_dir}/catch.hpp"
+    STATUS status
+    LOG log)
   list(GET status 0 error)
   if(error)
-    message(FATAL_ERROR "Could not download ${url}")
+    string(REPLACE "\n" "\n  " log "  ${log}")
+    message(FATAL_ERROR "Could not download URL:\n" "  ${url}\n" "Log:\n" "${log}")
   endif()
   set(CATCH_INCLUDE_DIR
       "${destination_dir}"
diff --git a/pybind11/tools/FindPythonLibsNew.cmake b/pybind11/tools/FindPythonLibsNew.cmake
index a5a628fd7..ce558d4ec 100644
--- a/pybind11/tools/FindPythonLibsNew.cmake
+++ b/pybind11/tools/FindPythonLibsNew.cmake
@@ -151,9 +151,13 @@ if(NOT _PYTHON_SUCCESS MATCHES 0)
   return()
 endif()
 
+option(
+  PYBIND11_PYTHONLIBS_OVERWRITE
+  "Overwrite cached values read from Python library (classic search). Turn off if cross-compiling and manually setting these values."
+  ON)
 # Can manually set values when cross-compiling
 macro(_PYBIND11_GET_IF_UNDEF lst index name)
-  if(NOT DEFINED "${name}")
+  if(PYBIND11_PYTHONLIBS_OVERWRITE OR NOT DEFINED "${name}")
     list(GET "${lst}" "${index}" "${name}")
   endif()
 endmacro()
@@ -204,7 +208,9 @@ string(REGEX REPLACE "\\\\" "/" PYTHON_PREFIX "${PYTHON_PREFIX}")
 string(REGEX REPLACE "\\\\" "/" PYTHON_INCLUDE_DIR "${PYTHON_INCLUDE_DIR}")
 string(REGEX REPLACE "\\\\" "/" PYTHON_SITE_PACKAGES "${PYTHON_SITE_PACKAGES}")
 
-if(CMAKE_HOST_WIN32)
+if(DEFINED PYTHON_LIBRARY)
+  # Don't write to PYTHON_LIBRARY if it's already set
+elseif(CMAKE_HOST_WIN32)
   set(PYTHON_LIBRARY "${PYTHON_PREFIX}/libs/python${PYTHON_LIBRARY_SUFFIX}.lib")
 
   # when run in a venv, PYTHON_PREFIX points to it. But the libraries remain in the
@@ -270,7 +276,7 @@ if(NOT PYTHON_DEBUG_LIBRARY)
 endif()
 set(PYTHON_DEBUG_LIBRARIES "${PYTHON_DEBUG_LIBRARY}")
 
-find_package_message(PYTHON "Found PythonLibs: ${PYTHON_LIBRARY}"
+find_package_message(PYTHON "Found PythonLibs: ${PYTHON_LIBRARIES}"
                      "${PYTHON_EXECUTABLE}${PYTHON_VERSION_STRING}")
 
 set(PYTHONLIBS_FOUND TRUE)
diff --git a/pybind11/tools/JoinPaths.cmake b/pybind11/tools/JoinPaths.cmake
new file mode 100644
index 000000000..c68d91b84
--- /dev/null
+++ b/pybind11/tools/JoinPaths.cmake
@@ -0,0 +1,23 @@
+# This module provides function for joining paths
+# known from most languages
+#
+# SPDX-License-Identifier: (MIT OR CC0-1.0)
+# Copyright 2020 Jan Tojnar
+# https://github.com/jtojnar/cmake-snips
+#
+# Modelled after Python’s os.path.join
+# https://docs.python.org/3.7/library/os.path.html#os.path.join
+# Windows not supported
+function(join_paths joined_path first_path_segment)
+    set(temp_path "${first_path_segment}")
+    foreach(current_segment IN LISTS ARGN)
+        if(NOT ("${current_segment}" STREQUAL ""))
+            if(IS_ABSOLUTE "${current_segment}")
+                set(temp_path "${current_segment}")
+            else()
+                set(temp_path "${temp_path}/${current_segment}")
+            endif()
+        endif()
+    endforeach()
+    set(${joined_path} "${temp_path}" PARENT_SCOPE)
+endfunction()
diff --git a/pybind11/tools/codespell_ignore_lines_from_errors.py b/pybind11/tools/codespell_ignore_lines_from_errors.py
new file mode 100644
index 000000000..4ec9add12
--- /dev/null
+++ b/pybind11/tools/codespell_ignore_lines_from_errors.py
@@ -0,0 +1,39 @@
+"""Simple script for rebuilding .codespell-ignore-lines
+
+Usage:
+
+cat < /dev/null > .codespell-ignore-lines
+pre-commit run --all-files codespell >& /tmp/codespell_errors.txt
+python3 tools/codespell_ignore_lines_from_errors.py /tmp/codespell_errors.txt > .codespell-ignore-lines
+
+git diff to review changes, then commit, push.
+"""
+
+import sys
+from typing import List
+
+
+def run(args: List[str]) -> None:
+    assert len(args) == 1, "codespell_errors.txt"
+    cache = {}
+    done = set()
+    with open(args[0]) as f:
+        lines = f.read().splitlines()
+
+    for line in sorted(lines):
+        i = line.find(" ==> ")
+        if i > 0:
+            flds = line[:i].split(":")
+            if len(flds) >= 2:
+                filename, line_num = flds[:2]
+                if filename not in cache:
+                    with open(filename) as f:
+                        cache[filename] = f.read().splitlines()
+                supp = cache[filename][int(line_num) - 1]
+                if supp not in done:
+                    print(supp)
+                    done.add(supp)
+
+
+if __name__ == "__main__":
+    run(args=sys.argv[1:])
diff --git a/pybind11/tools/make_changelog.py b/pybind11/tools/make_changelog.py
index 839040a93..b5bd83294 100755
--- a/pybind11/tools/make_changelog.py
+++ b/pybind11/tools/make_changelog.py
@@ -31,8 +31,10 @@ issues = (issue for page in issues_pages for issue in page)
 missing = []
 
 for issue in issues:
-    changelog = ENTRY.findall(issue.body)
-    if changelog:
+    changelog = ENTRY.findall(issue.body or "")
+    if not changelog or not changelog[0]:
+        missing.append(issue)
+    else:
         (msg,) = changelog
         if not msg.startswith("* "):
             msg = "* " + msg
@@ -44,9 +46,6 @@ for issue in issues:
         print(Syntax(msg, "rst", theme="ansi_light", word_wrap=True))
         print()
 
-    else:
-        missing.append(issue)
-
 if missing:
     print()
     print("[blue]" + "-" * 30)
diff --git a/pybind11/tools/pybind11.pc.in b/pybind11/tools/pybind11.pc.in
new file mode 100644
index 000000000..402f0b357
--- /dev/null
+++ b/pybind11/tools/pybind11.pc.in
@@ -0,0 +1,7 @@
+prefix=@prefix_for_pc_file@
+includedir=@includedir_for_pc_file@
+
+Name: @PROJECT_NAME@
+Description: Seamless operability between C++11 and Python
+Version: @PROJECT_VERSION@
+Cflags: -I${includedir}
diff --git a/pybind11/tools/pybind11Common.cmake b/pybind11/tools/pybind11Common.cmake
index e1fb601ac..308d1b70d 100644
--- a/pybind11/tools/pybind11Common.cmake
+++ b/pybind11/tools/pybind11Common.cmake
@@ -5,8 +5,8 @@ Adds the following targets::
     pybind11::pybind11 - link to headers and pybind11
     pybind11::module - Adds module links
     pybind11::embed - Adds embed links
-    pybind11::lto - Link time optimizations (manual selection)
-    pybind11::thin_lto - Link time optimizations (manual selection)
+    pybind11::lto - Link time optimizations (only if CMAKE_INTERPROCEDURAL_OPTIMIZATION is not set)
+    pybind11::thin_lto - Link time optimizations (only if CMAKE_INTERPROCEDURAL_OPTIMIZATION is not set)
     pybind11::python_link_helper - Adds link to Python libraries
     pybind11::windows_extras - MSVC bigobj and mp for building multithreaded
     pybind11::opt_size - avoid optimizations that increase code size
@@ -20,7 +20,7 @@ Adds the following functions::
 
 # CMake 3.10 has an include_guard command, but we can't use that yet
 # include_guard(global) (pre-CMake 3.10)
-if(TARGET pybind11::lto)
+if(TARGET pybind11::pybind11)
   return()
 endif()
 
@@ -163,11 +163,19 @@ endif()
 
 # --------------------- Python specifics -------------------------
 
+# CMake 3.27 removes the classic FindPythonInterp if CMP0148 is NEW
+if(CMAKE_VERSION VERSION_LESS "3.27")
+  set(_pybind11_missing_old_python "OLD")
+else()
+  cmake_policy(GET CMP0148 _pybind11_missing_old_python)
+endif()
+
 # Check to see which Python mode we are in, new, old, or no python
 if(PYBIND11_NOPYTHON)
   set(_pybind11_nopython ON)
 elseif(
-  PYBIND11_FINDPYTHON
+  _pybind11_missing_old_python STREQUAL "NEW"
+  OR PYBIND11_FINDPYTHON
   OR Python_FOUND
   OR Python2_FOUND
   OR Python3_FOUND)
@@ -311,6 +319,16 @@ function(_pybind11_generate_lto target prefer_thin_lto)
         HAS_FLTO "-flto${cxx_append}" "-flto${linker_append}" PYBIND11_LTO_CXX_FLAGS
         PYBIND11_LTO_LINKER_FLAGS)
     endif()
+  elseif(CMAKE_CXX_COMPILER_ID MATCHES "IntelLLVM")
+    # IntelLLVM equivalent to LTO is called IPO; also IntelLLVM is WIN32/UNIX
+    # WARNING/HELP WANTED: This block of code is currently not covered by pybind11 GitHub Actions!
+    if(WIN32)
+      _pybind11_return_if_cxx_and_linker_flags_work(
+        HAS_INTEL_IPO "-Qipo" "-Qipo" PYBIND11_LTO_CXX_FLAGS PYBIND11_LTO_LINKER_FLAGS)
+    else()
+      _pybind11_return_if_cxx_and_linker_flags_work(
+        HAS_INTEL_IPO "-ipo" "-ipo" PYBIND11_LTO_CXX_FLAGS PYBIND11_LTO_LINKER_FLAGS)
+    endif()
   elseif(CMAKE_CXX_COMPILER_ID MATCHES "Intel")
     # Intel equivalent to LTO is called IPO
     _pybind11_return_if_cxx_and_linker_flags_work(HAS_INTEL_IPO "-ipo" "-ipo"
@@ -362,11 +380,13 @@ function(_pybind11_generate_lto target prefer_thin_lto)
   endif()
 endfunction()
 
-add_library(pybind11::lto IMPORTED INTERFACE ${optional_global})
-_pybind11_generate_lto(pybind11::lto FALSE)
+if(NOT DEFINED CMAKE_INTERPROCEDURAL_OPTIMIZATION)
+  add_library(pybind11::lto IMPORTED INTERFACE ${optional_global})
+  _pybind11_generate_lto(pybind11::lto FALSE)
 
-add_library(pybind11::thin_lto IMPORTED INTERFACE ${optional_global})
-_pybind11_generate_lto(pybind11::thin_lto TRUE)
+  add_library(pybind11::thin_lto IMPORTED INTERFACE ${optional_global})
+  _pybind11_generate_lto(pybind11::thin_lto TRUE)
+endif()
 
 # ---------------------- pybind11_strip -----------------------------
 
diff --git a/pybind11/tools/pybind11Config.cmake.in b/pybind11/tools/pybind11Config.cmake.in
index 9383e8c67..5734f437b 100644
--- a/pybind11/tools/pybind11Config.cmake.in
+++ b/pybind11/tools/pybind11Config.cmake.in
@@ -63,7 +63,9 @@ Modes
 
 There are two modes provided; classic, which is built on the old Python
 discovery packages in CMake, or the new FindPython mode, which uses FindPython
-from 3.12+ forward (3.15+ _highly_ recommended).
+from 3.12+ forward (3.15+ _highly_ recommended). If you set the minimum or
+maximum version of CMake to 3.27+, then FindPython is the default (since
+FindPythonInterp/FindPythonLibs has been removed via policy `CMP0148`).
 
 New FindPython mode
 ^^^^^^^^^^^^^^^^^^^
diff --git a/pybind11/tools/pybind11NewTools.cmake b/pybind11/tools/pybind11NewTools.cmake
index abba0fe0e..7d7424a79 100644
--- a/pybind11/tools/pybind11NewTools.cmake
+++ b/pybind11/tools/pybind11NewTools.cmake
@@ -9,7 +9,7 @@ if(CMAKE_VERSION VERSION_LESS 3.12)
   message(FATAL_ERROR "You cannot use the new FindPython module with CMake < 3.12")
 endif()
 
-include_guard(GLOBAL)
+include_guard(DIRECTORY)
 
 get_property(
   is_config
@@ -233,7 +233,9 @@ function(pybind11_add_module target_name)
     endif()
   endif()
 
-  if(NOT MSVC AND NOT ${CMAKE_BUILD_TYPE} MATCHES Debug|RelWithDebInfo)
+  # Use case-insensitive comparison to match the result of $<CONFIG:cfgs>
+  string(TOUPPER "${CMAKE_BUILD_TYPE}" uppercase_CMAKE_BUILD_TYPE)
+  if(NOT MSVC AND NOT "${uppercase_CMAKE_BUILD_TYPE}" MATCHES DEBUG|RELWITHDEBINFO)
     # Strip unnecessary sections of the binary on Linux/macOS
     pybind11_strip(${target_name})
   endif()
diff --git a/pybind11/tools/pybind11Tools.cmake b/pybind11/tools/pybind11Tools.cmake
index 5535e872f..66ad00a47 100644
--- a/pybind11/tools/pybind11Tools.cmake
+++ b/pybind11/tools/pybind11Tools.cmake
@@ -115,6 +115,7 @@ if(PYTHON_IS_DEBUG)
     PROPERTY INTERFACE_COMPILE_DEFINITIONS Py_DEBUG)
 endif()
 
+# The <3.11 code here does not support release/debug builds at the same time, like on vcpkg
 if(CMAKE_VERSION VERSION_LESS 3.11)
   set_property(
     TARGET pybind11::module
@@ -130,16 +131,19 @@ if(CMAKE_VERSION VERSION_LESS 3.11)
     APPEND
     PROPERTY INTERFACE_LINK_LIBRARIES pybind11::pybind11 $<BUILD_INTERFACE:${PYTHON_LIBRARIES}>)
 else()
+  # The IMPORTED INTERFACE library here is to ensure that "debug" and "release" get processed outside
+  # of a generator expression - https://gitlab.kitware.com/cmake/cmake/-/issues/18424, as they are
+  # target_link_library keywords rather than real libraries.
+  add_library(pybind11::_ClassicPythonLibraries IMPORTED INTERFACE)
+  target_link_libraries(pybind11::_ClassicPythonLibraries INTERFACE ${PYTHON_LIBRARIES})
   target_link_libraries(
     pybind11::module
     INTERFACE
       pybind11::python_link_helper
-      "$<$<OR:$<PLATFORM_ID:Windows>,$<PLATFORM_ID:Cygwin>>:$<BUILD_INTERFACE:${PYTHON_LIBRARIES}>>"
-  )
+      "$<$<OR:$<PLATFORM_ID:Windows>,$<PLATFORM_ID:Cygwin>>:pybind11::_ClassicPythonLibraries>")
 
   target_link_libraries(pybind11::embed INTERFACE pybind11::pybind11
-                                                  $<BUILD_INTERFACE:${PYTHON_LIBRARIES}>)
-
+                                                  pybind11::_ClassicPythonLibraries)
 endif()
 
 function(pybind11_extension name)
@@ -208,7 +212,9 @@ function(pybind11_add_module target_name)
     endif()
   endif()
 
-  if(NOT MSVC AND NOT ${CMAKE_BUILD_TYPE} MATCHES Debug|RelWithDebInfo)
+  # Use case-insensitive comparison to match the result of $<CONFIG:cfgs>
+  string(TOUPPER "${CMAKE_BUILD_TYPE}" uppercase_CMAKE_BUILD_TYPE)
+  if(NOT MSVC AND NOT "${uppercase_CMAKE_BUILD_TYPE}" MATCHES DEBUG|RELWITHDEBINFO)
     pybind11_strip(${target_name})
   endif()
 
diff --git a/pybind11/tools/setup_global.py.in b/pybind11/tools/setup_global.py.in
index 8aa387178..885ac5c72 100644
--- a/pybind11/tools/setup_global.py.in
+++ b/pybind11/tools/setup_global.py.in
@@ -27,9 +27,11 @@ class InstallHeadersNested(install_headers):
 
 main_headers = glob.glob("pybind11/include/pybind11/*.h")
 detail_headers = glob.glob("pybind11/include/pybind11/detail/*.h")
+eigen_headers = glob.glob("pybind11/include/pybind11/eigen/*.h")
 stl_headers = glob.glob("pybind11/include/pybind11/stl/*.h")
 cmake_files = glob.glob("pybind11/share/cmake/pybind11/*.cmake")
-headers = main_headers + detail_headers + stl_headers
+pkgconfig_files = glob.glob("pybind11/share/pkgconfig/*.pc")
+headers = main_headers + detail_headers + stl_headers + eigen_headers
 
 cmdclass = {"install_headers": InstallHeadersNested}
 $extra_cmd
@@ -51,8 +53,10 @@ setup(
     headers=headers,
     data_files=[
         (base + "share/cmake/pybind11", cmake_files),
+        (base + "share/pkgconfig", pkgconfig_files),
         (base + "include/pybind11", main_headers),
         (base + "include/pybind11/detail", detail_headers),
+        (base + "include/pybind11/eigen", eigen_headers),
         (base + "include/pybind11/stl", stl_headers),
     ],
     cmdclass=cmdclass,
diff --git a/pybind11/tools/setup_main.py.in b/pybind11/tools/setup_main.py.in
index 738d73faa..6358cc7b9 100644
--- a/pybind11/tools/setup_main.py.in
+++ b/pybind11/tools/setup_main.py.in
@@ -15,15 +15,19 @@ setup(
         "pybind11",
         "pybind11.include.pybind11",
         "pybind11.include.pybind11.detail",
+        "pybind11.include.pybind11.eigen",
         "pybind11.include.pybind11.stl",
         "pybind11.share.cmake.pybind11",
+        "pybind11.share.pkgconfig",
     ],
     package_data={
         "pybind11": ["py.typed"],
         "pybind11.include.pybind11": ["*.h"],
         "pybind11.include.pybind11.detail": ["*.h"],
+        "pybind11.include.pybind11.eigen": ["*.h"],
         "pybind11.include.pybind11.stl": ["*.h"],
         "pybind11.share.cmake.pybind11": ["*.cmake"],
+        "pybind11.share.pkgconfig": ["*.pc"],
     },
     extras_require={
         "global": ["pybind11_global==$version"]
diff --git a/tests/expected/matlab/TemplatedFunctionRot3.m b/tests/expected/matlab/TemplatedFunctionRot3.m
index 13f661342..07dbd6217 100644
--- a/tests/expected/matlab/TemplatedFunctionRot3.m
+++ b/tests/expected/matlab/TemplatedFunctionRot3.m
@@ -1,6 +1,6 @@
 function varargout = TemplatedFunctionRot3(varargin)
       if length(varargin) == 1 && isa(varargin{1},'gtsam.Rot3')
-        functions_wrapper(25, varargin{:});
+        functions_wrapper(26, varargin{:});
       else
         error('Arguments do not match any overload of function TemplatedFunctionRot3');
       end
diff --git a/tests/expected/matlab/functions_wrapper.cpp b/tests/expected/matlab/functions_wrapper.cpp
index 7c6a70e4a..2e5212086 100644
--- a/tests/expected/matlab/functions_wrapper.cpp
+++ b/tests/expected/matlab/functions_wrapper.cpp
@@ -229,7 +229,16 @@ void setPose_24(int nargout, mxArray *out[], int nargin, const mxArray *in[])
   checkArguments("setPose",nargout,nargin,0);
   setPose(gtsam::Pose3());
 }
-void TemplatedFunctionRot3_25(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void EliminateDiscrete_25(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+{
+  checkArguments("EliminateDiscrete",nargout,nargin,2);
+  gtsam::DiscreteFactorGraph& factors = *unwrap_shared_ptr< gtsam::DiscreteFactorGraph >(in[0], "ptr_gtsamDiscreteFactorGraph");
+  gtsam::Ordering& frontalKeys = *unwrap_shared_ptr< gtsam::Ordering >(in[1], "ptr_gtsamOrdering");
+  auto pairResult = EliminateDiscrete(factors,frontalKeys);
+  out[0] = wrap_shared_ptr(pairResult.first,"gtsam.DiscreteConditional", false);
+  out[1] = wrap_shared_ptr(pairResult.second,"gtsam.DecisionTreeFactor", false);
+}
+void TemplatedFunctionRot3_26(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   checkArguments("TemplatedFunctionRot3",nargout,nargin,1);
   gtsam::Rot3& t = *unwrap_shared_ptr< gtsam::Rot3 >(in[0], "ptr_gtsamRot3");
@@ -323,7 +332,10 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
       setPose_24(nargout, out, nargin-1, in+1);
       break;
     case 25:
-      TemplatedFunctionRot3_25(nargout, out, nargin-1, in+1);
+      EliminateDiscrete_25(nargout, out, nargin-1, in+1);
+      break;
+    case 26:
+      TemplatedFunctionRot3_26(nargout, out, nargin-1, in+1);
       break;
     }
   } catch(const std::exception& e) {
diff --git a/tests/expected/python/functions_pybind.cpp b/tests/expected/python/functions_pybind.cpp
index b0490dcdc..dcbd9eed5 100644
--- a/tests/expected/python/functions_pybind.cpp
+++ b/tests/expected/python/functions_pybind.cpp
@@ -30,6 +30,7 @@ PYBIND11_MODULE(functions_py, m_) {
     m_.def("DefaultFuncZero",[](int a, int b, double c, int d, bool e){ ::DefaultFuncZero(a, b, c, d, e);}, py::arg("a"), py::arg("b"), py::arg("c") = 0.0, py::arg("d") = 0, py::arg("e") = false);
     m_.def("DefaultFuncVector",[](const std::vector<int>& i, const std::vector<string>& s){ ::DefaultFuncVector(i, s);}, py::arg("i") = {1, 2, 3}, py::arg("s") = {"borglab", "gtsam"});
     m_.def("setPose",[](const gtsam::Pose3& pose){ ::setPose(pose);}, py::arg("pose") = gtsam::Pose3());
+    m_.def("EliminateDiscrete",[](const gtsam::DiscreteFactorGraph& factors, const gtsam::Ordering& frontalKeys){return ::EliminateDiscrete(factors, frontalKeys);}, py::arg("factors"), py::arg("frontalKeys"));
     m_.def("TemplatedFunctionRot3",[](const gtsam::Rot3& t){ ::TemplatedFunction<gtsam::Rot3>(t);}, py::arg("t"));
 
 #include "python/specializations.h"
diff --git a/tests/fixtures/functions.i b/tests/fixtures/functions.i
index 7f3c83332..22babd6d9 100644
--- a/tests/fixtures/functions.i
+++ b/tests/fixtures/functions.i
@@ -36,3 +36,7 @@ void DefaultFuncVector(const std::vector<int> &i = {1, 2, 3}, const std::vector<
 
 // Test for non-trivial default constructor
 void setPose(const gtsam::Pose3& pose = gtsam::Pose3());
+
+std::pair<gtsam::DiscreteConditional*, gtsam::DecisionTreeFactor*>
+EliminateDiscrete(const gtsam::DiscreteFactorGraph& factors,
+                  const gtsam::Ordering& frontalKeys);
\ No newline at end of file

From 790e3d515c16fcc7d45d28961278862b0cd93e16 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 6 Oct 2023 12:34:49 -0400
Subject: [PATCH 183/206] add templated at methods for FactorGraph so it can
 perform typecasting for us

---
 .../tests/testHybridGaussianFactorGraph.cpp       |  6 +++---
 gtsam/inference/FactorGraph.h                     | 15 +++++++++++++++
 gtsam/linear/tests/testGaussianFactorGraph.cpp    |  3 +--
 gtsam/nonlinear/GncOptimizer.h                    | 15 ++++++---------
 gtsam/sfm/tests/testShonanAveraging.cpp           |  8 +++++---
 gtsam/slam/tests/testDataset.cpp                  | 13 +++++--------
 gtsam_unstable/discrete/tests/testLoopyBelief.cpp |  7 ++-----
 .../nonlinear/tests/testNonlinearClusterTree.cpp  |  2 +-
 tests/testNonlinearFactor.cpp                     |  2 +-
 9 files changed, 39 insertions(+), 32 deletions(-)

diff --git a/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp b/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp
index df38c171e..b240e1626 100644
--- a/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp
@@ -42,8 +42,8 @@
 #include <functional>
 #include <iostream>
 #include <iterator>
-#include <vector>
 #include <numeric>
+#include <vector>
 
 #include "Switching.h"
 #include "TinyHybridExample.h"
@@ -613,11 +613,11 @@ TEST(HybridGaussianFactorGraph, assembleGraphTree) {
   // Create expected decision tree with two factor graphs:
 
   // Get mixture factor:
-  auto mixture = std::dynamic_pointer_cast<GaussianMixtureFactor>(fg.at(0));
+  auto mixture = fg.at<GaussianMixtureFactor>(0);
   CHECK(mixture);
 
   // Get prior factor:
-  const auto gf = std::dynamic_pointer_cast<HybridConditional>(fg.at(1));
+  const auto gf = fg.at<HybridConditional>(1);
   CHECK(gf);
   using GF = GaussianFactor::shared_ptr;
   const GF prior = gf->asGaussian();
diff --git a/gtsam/inference/FactorGraph.h b/gtsam/inference/FactorGraph.h
index 327fca49a..b6046d0bb 100644
--- a/gtsam/inference/FactorGraph.h
+++ b/gtsam/inference/FactorGraph.h
@@ -310,6 +310,21 @@ class FactorGraph {
    */
   sharedFactor& at(size_t i) { return factors_.at(i); }
 
+  /** Get a specific factor by index and typecast to factor type F
+   * (this checks array bounds and may throw
+   * an exception, as opposed to operator[] which does not).
+   */
+  template <typename F>
+  std::shared_ptr<F> at(size_t i) {
+    return std::dynamic_pointer_cast<F>(factors_.at(i));
+  }
+
+  /// Const version of templated `at` method.
+  template <typename F>
+  const std::shared_ptr<F> at(size_t i) const {
+    return std::dynamic_pointer_cast<F>(factors_.at(i));
+  }
+
   /** Get a specific factor by index (this does not check array bounds, as
    * opposed to at() which does).
    */
diff --git a/gtsam/linear/tests/testGaussianFactorGraph.cpp b/gtsam/linear/tests/testGaussianFactorGraph.cpp
index 2ba00abc1..03222bb3f 100644
--- a/gtsam/linear/tests/testGaussianFactorGraph.cpp
+++ b/gtsam/linear/tests/testGaussianFactorGraph.cpp
@@ -391,8 +391,7 @@ TEST(GaussianFactorGraph, clone) {
   EXPECT(assert_equal(init_graph, actCloned));  // Same as the original version
 
   // Apply an in-place change to init_graph and compare
-  JacobianFactor::shared_ptr jacFactor0 =
-      std::dynamic_pointer_cast<JacobianFactor>(init_graph.at(0));
+  JacobianFactor::shared_ptr jacFactor0 = init_graph.at<JacobianFactor>(0);
   CHECK(jacFactor0);
   jacFactor0->getA(jacFactor0->begin()) *= 7.;
   EXPECT(assert_inequal(init_graph, exp_graph));
diff --git a/gtsam/nonlinear/GncOptimizer.h b/gtsam/nonlinear/GncOptimizer.h
index d59eb4371..b646d009e 100644
--- a/gtsam/nonlinear/GncOptimizer.h
+++ b/gtsam/nonlinear/GncOptimizer.h
@@ -65,10 +65,9 @@ class GncOptimizer {
     nfg_.resize(graph.size());
     for (size_t i = 0; i < graph.size(); i++) {
       if (graph[i]) {
-        NoiseModelFactor::shared_ptr factor = std::dynamic_pointer_cast<
-            NoiseModelFactor>(graph[i]);
-        auto robust = std::dynamic_pointer_cast<
-            noiseModel::Robust>(factor->noiseModel());
+        NoiseModelFactor::shared_ptr factor = graph.at<NoiseModelFactor>(i);
+        auto robust =
+            std::dynamic_pointer_cast<noiseModel::Robust>(factor->noiseModel());
         // if the factor has a robust loss, we remove the robust loss
         nfg_[i] = robust ? factor-> cloneWithNewNoiseModel(robust->noise()) : factor;
       }
@@ -401,11 +400,9 @@ class GncOptimizer {
     newGraph.resize(nfg_.size());
     for (size_t i = 0; i < nfg_.size(); i++) {
       if (nfg_[i]) {
-        auto factor = std::dynamic_pointer_cast<
-            NoiseModelFactor>(nfg_[i]);
-        auto noiseModel =
-            std::dynamic_pointer_cast<noiseModel::Gaussian>(
-                factor->noiseModel());
+        auto factor = nfg_.at<NoiseModelFactor>(i);
+        auto noiseModel = std::dynamic_pointer_cast<noiseModel::Gaussian>(
+            factor->noiseModel());
         if (noiseModel) {
           Matrix newInfo = weights[i] * noiseModel->information();
           auto newNoiseModel = noiseModel::Gaussian::Information(newInfo);
diff --git a/gtsam/sfm/tests/testShonanAveraging.cpp b/gtsam/sfm/tests/testShonanAveraging.cpp
index dd4759daa..dfa725ab6 100644
--- a/gtsam/sfm/tests/testShonanAveraging.cpp
+++ b/gtsam/sfm/tests/testShonanAveraging.cpp
@@ -372,9 +372,11 @@ TEST(ShonanAveraging2, noisyToyGraphWithHuber) {
 
   // test that each factor is actually robust
   for (size_t i=0; i<=4; i++) { // note: last is the Gauge factor and is not robust
-	  const auto &robust = std::dynamic_pointer_cast<noiseModel::Robust>(
-			  std::dynamic_pointer_cast<NoiseModelFactor>(graph[i])->noiseModel());
-	  EXPECT(robust); // we expect the factors to be use a robust noise model (in particular, Huber)
+    const auto &robust = std::dynamic_pointer_cast<noiseModel::Robust>(
+        graph.at<NoiseModelFactor>(i)->noiseModel());
+    // we expect the factors to be use a robust noise model
+    // (in particular, Huber)
+    EXPECT(robust);
   }
 
   // test result
diff --git a/gtsam/slam/tests/testDataset.cpp b/gtsam/slam/tests/testDataset.cpp
index 8591a3932..13104174f 100644
--- a/gtsam/slam/tests/testDataset.cpp
+++ b/gtsam/slam/tests/testDataset.cpp
@@ -97,8 +97,7 @@ TEST(dataSet, load2D) {
   auto model = noiseModel::Unit::Create(3);
   BetweenFactor<Pose2> expected(1, 0, Pose2(-0.99879, 0.0417574, -0.00818381),
                                 model);
-  BetweenFactor<Pose2>::shared_ptr actual =
-      std::dynamic_pointer_cast<BetweenFactor<Pose2>>(graph->at(0));
+  BetweenFactor<Pose2>::shared_ptr actual = graph->at<BetweenFactor<Pose2>>(0);
   EXPECT(assert_equal(expected, *actual));
 
   // Check binary measurements, Pose2
@@ -113,9 +112,8 @@ TEST(dataSet, load2D) {
   // // Check factor parsing
   const auto actualFactors = parseFactors<Pose2>(filename);
   for (size_t i : {0, 1, 2, 3, 4, 5}) {
-    EXPECT(assert_equal(
-        *std::dynamic_pointer_cast<BetweenFactor<Pose2>>(graph->at(i)),
-        *actualFactors[i], 1e-5));
+    EXPECT(assert_equal(*graph->at<BetweenFactor<Pose2>>(i), *actualFactors[i],
+                        1e-5));
   }
 
   // Check pose parsing
@@ -194,9 +192,8 @@ TEST(dataSet, readG2o3D) {
   // Check factor parsing
   const auto actualFactors = parseFactors<Pose3>(g2oFile);
   for (size_t i : {0, 1, 2, 3, 4, 5}) {
-    EXPECT(assert_equal(
-        *std::dynamic_pointer_cast<BetweenFactor<Pose3>>(expectedGraph[i]),
-        *actualFactors[i], 1e-5));
+    EXPECT(assert_equal(*expectedGraph.at<BetweenFactor<Pose3>>(i),
+                        *actualFactors[i], 1e-5));
   }
 
   // Check pose parsing
diff --git a/gtsam_unstable/discrete/tests/testLoopyBelief.cpp b/gtsam_unstable/discrete/tests/testLoopyBelief.cpp
index 7c769fd78..39d9d743b 100644
--- a/gtsam_unstable/discrete/tests/testLoopyBelief.cpp
+++ b/gtsam_unstable/discrete/tests/testLoopyBelief.cpp
@@ -183,13 +183,10 @@ class LoopyBelief {
         // accumulate unary factors
         if (graph.at(factorIndex)->size() == 1) {
           if (!prodOfUnaries)
-            prodOfUnaries = std::dynamic_pointer_cast<DecisionTreeFactor>(
-                graph.at(factorIndex));
+            prodOfUnaries = graph.at<DecisionTreeFactor>(factorIndex);
           else
             prodOfUnaries = std::make_shared<DecisionTreeFactor>(
-                *prodOfUnaries *
-                (*std::dynamic_pointer_cast<DecisionTreeFactor>(
-                    graph.at(factorIndex))));
+                *prodOfUnaries * (*graph.at<DecisionTreeFactor>(factorIndex)));
         }
       }
 
diff --git a/gtsam_unstable/nonlinear/tests/testNonlinearClusterTree.cpp b/gtsam_unstable/nonlinear/tests/testNonlinearClusterTree.cpp
index 38cfd7348..bbb461abb 100644
--- a/gtsam_unstable/nonlinear/tests/testNonlinearClusterTree.cpp
+++ b/gtsam_unstable/nonlinear/tests/testNonlinearClusterTree.cpp
@@ -87,7 +87,7 @@ TEST(NonlinearClusterTree, Clusters) {
   Ordering ordering;
   ordering.push_back(x1);
   const auto [bn, fg] = gfg->eliminatePartialSequential(ordering);
-  auto expectedFactor = std::dynamic_pointer_cast<HessianFactor>(fg->at(0));
+  auto expectedFactor = fg->at<HessianFactor>(0);
   if (!expectedFactor)
     throw std::runtime_error("Expected HessianFactor");
 
diff --git a/tests/testNonlinearFactor.cpp b/tests/testNonlinearFactor.cpp
index 06ae3366c..cca78b80e 100644
--- a/tests/testNonlinearFactor.cpp
+++ b/tests/testNonlinearFactor.cpp
@@ -323,7 +323,7 @@ TEST( NonlinearFactor, cloneWithNewNoiseModel )
   // create actual
   NonlinearFactorGraph actual;
   SharedNoiseModel noise2 = noiseModel::Isotropic::Sigma(2,sigma2);
-  actual.push_back( std::dynamic_pointer_cast<NoiseModelFactor>(nfg[0])->cloneWithNewNoiseModel(noise2) );
+  actual.push_back(nfg.at<NoiseModelFactor>(0)->cloneWithNewNoiseModel(noise2));
 
   // check it's all good
   CHECK(assert_equal(expected, actual));

From 4750d850cef1f180c6bf143c6471d698b2f7ed16 Mon Sep 17 00:00:00 2001
From: ShuangLiu1992 <ShuangLiu1992@users.noreply.github.com>
Date: Sat, 7 Oct 2023 03:59:35 +0000
Subject: [PATCH 184/206] guard serialization.h

---
 gtsam/base/serialization.h | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/gtsam/base/serialization.h b/gtsam/base/serialization.h
index e615afe83..12556db09 100644
--- a/gtsam/base/serialization.h
+++ b/gtsam/base/serialization.h
@@ -16,7 +16,7 @@
  * @author Richard Roberts
  * @date Feb 7, 2012
  */
-
+#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #pragma once
 
 #include <Eigen/Core>
@@ -270,3 +270,4 @@ void deserializeBinary(const std::string& serialized, T& output,
 ///@}
 
 }  // namespace gtsam
+#endif
\ No newline at end of file

From 1d861d49d778cda4293d06ac707ba15ab54d0050 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 7 Oct 2023 16:11:50 -0400
Subject: [PATCH 185/206] remove automatic install of python dev dependencies,
 leave that to the user

---
 python/CMakeLists.txt | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index 61c9797c2..f874c2f21 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -5,12 +5,6 @@ if (NOT GTSAM_BUILD_PYTHON)
     return()
 endif()
 
-# Install development dependencies to build wrapper
-message(STATUS "Installing Python development dependencies")
-execute_process(COMMAND "${PYTHON_EXECUTABLE}" "-m" "pip" "install" "-r" "dev_requirements.txt"
-                WORKING_DIRECTORY ${PROJECT_PYTHON_SOURCE_DIR}
-                OUTPUT_QUIET)
-
 # Generate setup.py.
 file(READ "${PROJECT_SOURCE_DIR}/README.md" README_CONTENTS)
 configure_file(${PROJECT_PYTHON_SOURCE_DIR}/setup.py.in

From 3f3578ee6f9733b3819d223244307dfd4e6f49c5 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 7 Oct 2023 16:19:02 -0400
Subject: [PATCH 186/206] remove previous guard and do some formatting

---
 gtsam/base/serialization.h | 3 ++-
 gtsam/precompiled_header.h | 2 --
 2 files changed, 2 insertions(+), 3 deletions(-)

diff --git a/gtsam/base/serialization.h b/gtsam/base/serialization.h
index 12556db09..18612bc22 100644
--- a/gtsam/base/serialization.h
+++ b/gtsam/base/serialization.h
@@ -16,6 +16,7 @@
  * @author Richard Roberts
  * @date Feb 7, 2012
  */
+
 #ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #pragma once
 
@@ -270,4 +271,4 @@ void deserializeBinary(const std::string& serialized, T& output,
 ///@}
 
 }  // namespace gtsam
-#endif
\ No newline at end of file
+#endif
diff --git a/gtsam/precompiled_header.h b/gtsam/precompiled_header.h
index e7188fc05..5ff2a55c5 100644
--- a/gtsam/precompiled_header.h
+++ b/gtsam/precompiled_header.h
@@ -42,10 +42,8 @@
 #include <gtsam/base/Matrix.h>
 #include <gtsam/base/OptionalJacobian.h>
 #include <gtsam/base/ProductLieGroup.h>
-#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
 #include <gtsam/base/serialization.h>
 #include <gtsam/base/serializationTestHelpers.h>
-#endif
 #include <gtsam/base/SymmetricBlockMatrix.h>
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/TestableAssertions.h>

From 086d58e21e4b22bc175d27e74e814c72bce4a6d3 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 7 Oct 2023 16:25:11 -0400
Subject: [PATCH 187/206] install python dependencies in CI

---
 .github/workflows/build-python.yml | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/build-python.yml b/.github/workflows/build-python.yml
index 480c791dc..cc282570d 100644
--- a/.github/workflows/build-python.yml
+++ b/.github/workflows/build-python.yml
@@ -109,10 +109,13 @@ jobs:
         with:
           swap-size-gb: 6
 
-      - name: Install Dependencies
+      - name: Install System Dependencies
         run: |
           bash .github/scripts/python.sh -d
 
+      - name: Install Python Dependencies
+        run: pip install -r python/dev_requirements.txt
+
       - name: Build
         run: |
           bash .github/scripts/python.sh -b

From 06200f0dbd4599c19afdcc8800f2b359e7b49312 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 7 Oct 2023 17:26:40 -0400
Subject: [PATCH 188/206] correct way to install dependencies

---
 .github/workflows/build-python.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build-python.yml b/.github/workflows/build-python.yml
index cc282570d..4b31bf3e7 100644
--- a/.github/workflows/build-python.yml
+++ b/.github/workflows/build-python.yml
@@ -114,7 +114,7 @@ jobs:
           bash .github/scripts/python.sh -d
 
       - name: Install Python Dependencies
-        run: pip install -r python/dev_requirements.txt
+        run: $PYTHON -m pip install -r python/dev_requirements.txt
 
       - name: Build
         run: |

From 3fac23b9b946ecfb2c94311239b55aa6a7886c88 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 7 Oct 2023 17:32:34 -0400
Subject: [PATCH 189/206] fix

---
 .github/workflows/build-python.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build-python.yml b/.github/workflows/build-python.yml
index 4b31bf3e7..91bc4e80a 100644
--- a/.github/workflows/build-python.yml
+++ b/.github/workflows/build-python.yml
@@ -114,7 +114,7 @@ jobs:
           bash .github/scripts/python.sh -d
 
       - name: Install Python Dependencies
-        run: $PYTHON -m pip install -r python/dev_requirements.txt
+        run: python$PYTHON_VERSION -m pip install -r python/dev_requirements.txt
 
       - name: Build
         run: |

From 8f61d0b2edab0f65fa1c7fc21f4a4a44322bc82a Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 8 Oct 2023 11:23:54 -0400
Subject: [PATCH 190/206] mark private options as advanced and move GTSAM
 specific options to HandleGeneralOptions.cmake

---
 cmake/GtsamBuildTypes.cmake      | 18 ++++++++++++++----
 cmake/GtsamTesting.cmake         | 16 ++++------------
 cmake/HandleGeneralOptions.cmake | 21 +++++++++++++++++++++
 3 files changed, 39 insertions(+), 16 deletions(-)

diff --git a/cmake/GtsamBuildTypes.cmake b/cmake/GtsamBuildTypes.cmake
index b24be5f08..2aad58abb 100644
--- a/cmake/GtsamBuildTypes.cmake
+++ b/cmake/GtsamBuildTypes.cmake
@@ -55,9 +55,6 @@ if(NOT CMAKE_BUILD_TYPE AND NOT MSVC AND NOT XCODE_VERSION)
       "Choose the type of build, options are: None Debug Release Timing Profiling RelWithDebInfo." FORCE)
 endif()
 
-# Add option for using build type postfixes to allow installing multiple build modes
-option(GTSAM_BUILD_TYPE_POSTFIXES        "Enable/Disable appending the build type to the name of compiled libraries" ON)
-
 # Define all cache variables, to be populated below depending on the OS/compiler:
 set(GTSAM_COMPILE_OPTIONS_PRIVATE        "" CACHE INTERNAL "(Do not edit) Private compiler flags for all build configurations." FORCE)
 set(GTSAM_COMPILE_OPTIONS_PUBLIC         "" CACHE INTERNAL "(Do not edit) Public compiler flags (exported to user projects) for all build configurations."  FORCE)
@@ -82,6 +79,13 @@ set(GTSAM_COMPILE_DEFINITIONS_PRIVATE_RELWITHDEBINFO  "NDEBUG" CACHE STRING "(Us
 set(GTSAM_COMPILE_DEFINITIONS_PRIVATE_RELEASE         "NDEBUG" CACHE STRING "(User editable) Private preprocessor macros for Release configuration.")
 set(GTSAM_COMPILE_DEFINITIONS_PRIVATE_PROFILING       "NDEBUG" CACHE STRING "(User editable) Private preprocessor macros for Profiling configuration.")
 set(GTSAM_COMPILE_DEFINITIONS_PRIVATE_TIMING          "NDEBUG;ENABLE_TIMING" CACHE STRING "(User editable) Private preprocessor macros for Timing configuration.")
+
+mark_as_advanced(GTSAM_COMPILE_DEFINITIONS_PRIVATE_DEBUG)
+mark_as_advanced(GTSAM_COMPILE_DEFINITIONS_PRIVATE_RELWITHDEBINFO)
+mark_as_advanced(GTSAM_COMPILE_DEFINITIONS_PRIVATE_RELEASE)
+mark_as_advanced(GTSAM_COMPILE_DEFINITIONS_PRIVATE_PROFILING)
+mark_as_advanced(GTSAM_COMPILE_DEFINITIONS_PRIVATE_TIMING)
+
 if(MSVC)
   # Common to all configurations:
   list_append_cache(GTSAM_COMPILE_DEFINITIONS_PRIVATE
@@ -143,6 +147,13 @@ else()
   set(GTSAM_COMPILE_OPTIONS_PRIVATE_TIMING          -g -O3  CACHE STRING "(User editable) Private compiler flags for Timing configuration.")
 endif()
 
+mark_as_advanced(GTSAM_COMPILE_OPTIONS_PRIVATE_COMMON)
+mark_as_advanced(GTSAM_COMPILE_OPTIONS_PRIVATE_DEBUG)
+mark_as_advanced(GTSAM_COMPILE_OPTIONS_PRIVATE_RELWITHDEBINFO)
+mark_as_advanced(GTSAM_COMPILE_OPTIONS_PRIVATE_RELEASE)
+mark_as_advanced(GTSAM_COMPILE_OPTIONS_PRIVATE_PROFILING)
+mark_as_advanced(GTSAM_COMPILE_OPTIONS_PRIVATE_TIMING)
+
 # Enable C++17:
 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.")
@@ -198,7 +209,6 @@ if(${CMAKE_CXX_COMPILER_ID} STREQUAL "Clang")
 endif()
 
 if (NOT MSVC)
-  option(GTSAM_BUILD_WITH_MARCH_NATIVE  "Enable/Disable building with all instructions supported by native architecture (binary may not be portable!)" OFF)
   if(GTSAM_BUILD_WITH_MARCH_NATIVE)
     # Check if Apple OS and compiler is [Apple]Clang
     if(APPLE AND (${CMAKE_CXX_COMPILER_ID} MATCHES "^(Apple)?Clang$"))
diff --git a/cmake/GtsamTesting.cmake b/cmake/GtsamTesting.cmake
index 573fb696a..cea83a1dc 100644
--- a/cmake/GtsamTesting.cmake
+++ b/cmake/GtsamTesting.cmake
@@ -52,6 +52,10 @@ endmacro()
 #                  an empty string "" if nothing needs to be excluded.
 #   linkLibraries: The list of libraries to link to.
 macro(gtsamAddExamplesGlob globPatterns excludedFiles linkLibraries)
+	if(NOT DEFINED GTSAM_BUILD_EXAMPLES_ALWAYS)
+		set(GTSAM_BUILD_EXAMPLES_ALWAYS OFF)
+	endif()
+
 	gtsamAddExesGlob_impl("${globPatterns}" "${excludedFiles}" "${linkLibraries}" "examples" ${GTSAM_BUILD_EXAMPLES_ALWAYS})
 endmacro()
 
@@ -86,18 +90,6 @@ endmacro()
 # Build macros for using tests
 enable_testing()
 
-option(GTSAM_BUILD_TESTS                 "Enable/Disable building of tests"          ON)
-option(GTSAM_BUILD_EXAMPLES_ALWAYS       "Build examples with 'make all' (build with 'make examples' if not)"       ON)
-option(GTSAM_BUILD_TIMING_ALWAYS         "Build timing scripts with 'make all' (build with 'make timing' if not"    OFF)
-
-# Add option for combining unit tests
-if(MSVC OR XCODE_VERSION)
-	option(GTSAM_SINGLE_TEST_EXE "Combine unit tests into single executable (faster compile)" ON)
-else()
-	option(GTSAM_SINGLE_TEST_EXE "Combine unit tests into single executable (faster compile)" OFF)
-endif()
-mark_as_advanced(GTSAM_SINGLE_TEST_EXE)
-
 # Enable make check (http://www.cmake.org/Wiki/CMakeEmulateMakeCheck)
 if(GTSAM_BUILD_TESTS)
 	add_custom_target(check COMMAND ${CMAKE_CTEST_COMMAND} -C $<CONFIGURATION> --output-on-failure)
diff --git a/cmake/HandleGeneralOptions.cmake b/cmake/HandleGeneralOptions.cmake
index 13000a5b0..47a3a597d 100644
--- a/cmake/HandleGeneralOptions.cmake
+++ b/cmake/HandleGeneralOptions.cmake
@@ -8,6 +8,27 @@ else()
     set(GTSAM_UNSTABLE_AVAILABLE 0)
 endif()
 
+### GtsamTesting related options
+option(GTSAM_BUILD_TESTS                 "Enable/Disable building of tests"          ON)
+option(GTSAM_BUILD_EXAMPLES_ALWAYS       "Build examples with 'make all' (build with 'make examples' if not)"       ON)
+option(GTSAM_BUILD_TIMING_ALWAYS         "Build timing scripts with 'make all' (build with 'make timing' if not"    OFF)
+
+# Add option for combining unit tests
+if(MSVC OR XCODE_VERSION)
+    option(GTSAM_SINGLE_TEST_EXE "Combine unit tests into single executable (faster compile)" ON)
+else()
+    option(GTSAM_SINGLE_TEST_EXE "Combine unit tests into single executable (faster compile)" OFF)
+endif()
+mark_as_advanced(GTSAM_SINGLE_TEST_EXE)
+###
+
+# Add option for using build type postfixes to allow installing multiple build modes
+option(GTSAM_BUILD_TYPE_POSTFIXES        "Enable/Disable appending the build type to the name of compiled libraries" ON)
+
+if (NOT MSVC)
+    option(GTSAM_BUILD_WITH_MARCH_NATIVE  "Enable/Disable building with all instructions supported by native architecture (binary may not be portable!)" OFF)
+endif()
+
 # Configurable Options
 if(GTSAM_UNSTABLE_AVAILABLE)
     option(GTSAM_BUILD_UNSTABLE              "Enable/Disable libgtsam_unstable"          ON)

From f47006d187534f007eaa2622f173a3c56f66cf3d Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 8 Oct 2023 11:24:26 -0400
Subject: [PATCH 191/206] include cmake files after options have been handled

---
 CMakeLists.txt | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 309cc7c4e..044f09e02 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -42,13 +42,6 @@ set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${CMAKE_CURRENT_SOURCE_DIR}/cmake"
 include(GtsamMakeConfigFile)
 include(GNUInstallDirs)
 
-# Load build type flags and default to Debug mode
-include(GtsamBuildTypes)
-
-# Use macros for creating tests/timing scripts
-include(GtsamTesting)
-include(GtsamPrinting)
-
 # guard against in-source builds
 if(${GTSAM_SOURCE_DIR} STREQUAL ${GTSAM_BINARY_DIR})
   message(FATAL_ERROR "In-source builds not allowed. Please make a new directory (called a build directory) and run CMake from there. You may need to remove CMakeCache.txt. ")
@@ -56,6 +49,13 @@ endif()
 
 include(cmake/HandleGeneralOptions.cmake)   # CMake build options
 
+# Load build type flags and default to Debug mode
+include(GtsamBuildTypes)
+
+# Use macros for creating tests/timing scripts
+include(GtsamTesting)
+include(GtsamPrinting)
+
 ############### Decide on BOOST ######################################
 # Enable or disable serialization with GTSAM_ENABLE_BOOST_SERIALIZATION
 option(GTSAM_ENABLE_BOOST_SERIALIZATION "Enable Boost serialization" ON)

From e4fff746900b8eff5a603eeaf5008d02bd70c4a1 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 8 Oct 2023 12:16:24 -0400
Subject: [PATCH 192/206] update gtsamAddExamplesGlob and gtsamAddTimingGlob to
 take an additional argument rather than using a global variable

---
 cmake/GtsamTesting.cmake                        | 16 +++++++---------
 cmake/README.html                               |  5 +++--
 cmake/README.md                                 |  5 +++--
 examples/CMakeLists.txt                         |  2 +-
 gtsam_unstable/discrete/examples/CMakeLists.txt |  2 +-
 gtsam_unstable/examples/CMakeLists.txt          |  2 +-
 gtsam_unstable/timing/CMakeLists.txt            |  2 +-
 timing/CMakeLists.txt                           |  2 +-
 8 files changed, 18 insertions(+), 18 deletions(-)

diff --git a/cmake/GtsamTesting.cmake b/cmake/GtsamTesting.cmake
index cea83a1dc..c604b18ab 100644
--- a/cmake/GtsamTesting.cmake
+++ b/cmake/GtsamTesting.cmake
@@ -42,7 +42,7 @@ endmacro()
 # GTSAM_BUILD_EXAMPLES_ALWAYS is enabled.  They may also be built with 'make examples'.
 #
 # Usage example:
-#   gtsamAddExamplesGlob("*.cpp" "BrokenExample.cpp" "gtsam;GeographicLib")
+#   gtsamAddExamplesGlob("*.cpp" "BrokenExample.cpp" "gtsam;GeographicLib" ON)
 #
 # Arguments:
 #   globPatterns:  The list of files or glob patterns from which to create examples, with
@@ -51,12 +51,9 @@ endmacro()
 #   excludedFiles: A list of files or globs to exclude, e.g. "C*.cpp;BrokenExample.cpp".  Pass
 #                  an empty string "" if nothing needs to be excluded.
 #   linkLibraries: The list of libraries to link to.
-macro(gtsamAddExamplesGlob globPatterns excludedFiles linkLibraries)
-	if(NOT DEFINED GTSAM_BUILD_EXAMPLES_ALWAYS)
-		set(GTSAM_BUILD_EXAMPLES_ALWAYS OFF)
-	endif()
-
-	gtsamAddExesGlob_impl("${globPatterns}" "${excludedFiles}" "${linkLibraries}" "examples" ${GTSAM_BUILD_EXAMPLES_ALWAYS})
+#   buildWithAll: Build examples with `make` and/or `make all`
+macro(gtsamAddExamplesGlob globPatterns excludedFiles linkLibraries buildWithAll)
+	gtsamAddExesGlob_impl("${globPatterns}" "${excludedFiles}" "${linkLibraries}" "examples" ${buildWithAll})
 endmacro()
 
 
@@ -80,8 +77,9 @@ endmacro()
 #   excludedFiles: A list of files or globs to exclude, e.g. "C*.cpp;BrokenExample.cpp".  Pass
 #                  an empty string "" if nothing needs to be excluded.
 #   linkLibraries: The list of libraries to link to.
-macro(gtsamAddTimingGlob globPatterns excludedFiles linkLibraries)
-	gtsamAddExesGlob_impl("${globPatterns}" "${excludedFiles}" "${linkLibraries}" "timing" ${GTSAM_BUILD_TIMING_ALWAYS})
+#   buildWithAll: Build examples with `make` and/or `make all`
+macro(gtsamAddTimingGlob globPatterns excludedFiles linkLibraries buildWithAll)
+	gtsamAddExesGlob_impl("${globPatterns}" "${excludedFiles}" "${linkLibraries}" "timing" ${buildWithAll})
 endmacro()
 
 
diff --git a/cmake/README.html b/cmake/README.html
index 8170cd489..9cdb5c758 100644
--- a/cmake/README.html
+++ b/cmake/README.html
@@ -47,9 +47,9 @@ linkLibraries: The list of libraries to link to in addition to CppUnitLite.
 </code></pre>
 </li>
 <li>
-<p><code>gtsamAddExamplesGlob(globPatterns excludedFiles linkLibraries)</code> Add scripts that will serve as examples of how to use the library.  A list of files or glob patterns is specified, and one executable will be created for each matching .cpp file.  These executables will not be installed.  They are build with 'make all' if GTSAM_BUILD_EXAMPLES_ALWAYS is enabled.  They may also be built with 'make examples'.</p>
+<p><code>gtsamAddExamplesGlob(globPatterns excludedFiles linkLibraries buildWithAll)</code> Add scripts that will serve as examples of how to use the library.  A list of files or glob patterns is specified, and one executable will be created for each matching .cpp file.  These executables will not be installed.  They are build with 'make all' if GTSAM_BUILD_EXAMPLES_ALWAYS is enabled.  They may also be built with 'make examples'.</p>
 <p>Usage example:</p>
-<pre><code>gtsamAddExamplesGlob("*.cpp" "BrokenExample.cpp" "gtsam;GeographicLib")
+<pre><code>gtsamAddExamplesGlob("*.cpp" "BrokenExample.cpp" "gtsam;GeographicLib" ON)
 </code></pre>
 <p>Arguments:</p>
 <pre><code>globPatterns:  The list of files or glob patterns from which to create unit tests, with
@@ -58,6 +58,7 @@ linkLibraries: The list of libraries to link to in addition to CppUnitLite.
 excludedFiles: A list of files or globs to exclude, e.g. "C*.cpp;BrokenExample.cpp".  Pass
                an empty string "" if nothing needs to be excluded.
 linkLibraries: The list of libraries to link to.
+buildWithAll: Build examples with `make` and/or `make all`
 </code></pre>
 </li>
 </ul>
diff --git a/cmake/README.md b/cmake/README.md
index 569a401b1..4203b8d3c 100644
--- a/cmake/README.md
+++ b/cmake/README.md
@@ -52,11 +52,11 @@ Defines two useful functions for creating CTest unit tests.  Also immediately cr
                        Pass an empty string "" if nothing needs to be excluded.
         linkLibraries: The list of libraries to link to in addition to CppUnitLite.
         
-*   `gtsamAddExamplesGlob(globPatterns excludedFiles linkLibraries)` Add scripts that will serve as examples of how to use the library.  A list of files or glob patterns is specified, and one executable will be created for each matching .cpp file.  These executables will not be installed.  They are build with 'make all' if GTSAM_BUILD_EXAMPLES_ALWAYS is enabled.  They may also be built with 'make examples'.
+*   `gtsamAddExamplesGlob(globPatterns excludedFiles linkLibraries buildWithAll)` Add scripts that will serve as examples of how to use the library.  A list of files or glob patterns is specified, and one executable will be created for each matching .cpp file.  These executables will not be installed.  They are build with 'make all' if GTSAM_BUILD_EXAMPLES_ALWAYS is enabled.  They may also be built with 'make examples'.
 
     Usage example:
 
-        gtsamAddExamplesGlob("*.cpp" "BrokenExample.cpp" "gtsam;GeographicLib")
+        gtsamAddExamplesGlob("*.cpp" "BrokenExample.cpp" "gtsam;GeographicLib" ON)
 
     Arguments:
 
@@ -66,6 +66,7 @@ Defines two useful functions for creating CTest unit tests.  Also immediately cr
         excludedFiles: A list of files or globs to exclude, e.g. "C*.cpp;BrokenExample.cpp".  Pass
                        an empty string "" if nothing needs to be excluded.
         linkLibraries: The list of libraries to link to.
+        buildWithAll: Build examples with `make` and/or `make all`
 
 ## GtsamMakeConfigFile
 
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index 52d90deb9..280b82265 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -20,4 +20,4 @@ if (NOT GTSAM_USE_BOOST_FEATURES)
       )
 endif()
 
-gtsamAddExamplesGlob("*.cpp" "${excluded_examples}" "gtsam;${Boost_PROGRAM_OPTIONS_LIBRARY}")
+gtsamAddExamplesGlob("*.cpp" "${excluded_examples}" "gtsam;${Boost_PROGRAM_OPTIONS_LIBRARY}" ${GTSAM_BUILD_EXAMPLES_ALWAYS})
diff --git a/gtsam_unstable/discrete/examples/CMakeLists.txt b/gtsam_unstable/discrete/examples/CMakeLists.txt
index ba4e278c9..16e057cfe 100644
--- a/gtsam_unstable/discrete/examples/CMakeLists.txt
+++ b/gtsam_unstable/discrete/examples/CMakeLists.txt
@@ -12,4 +12,4 @@ endif()
 
 
 
-gtsamAddExamplesGlob("*.cpp" "${excluded_examples}" "gtsam_unstable")
+gtsamAddExamplesGlob("*.cpp" "${excluded_examples}" "gtsam_unstable" ${GTSAM_BUILD_EXAMPLES_ALWAYS})
diff --git a/gtsam_unstable/examples/CMakeLists.txt b/gtsam_unstable/examples/CMakeLists.txt
index 967937b22..120f293e7 100644
--- a/gtsam_unstable/examples/CMakeLists.txt
+++ b/gtsam_unstable/examples/CMakeLists.txt
@@ -9,4 +9,4 @@ if (NOT GTSAM_USE_BOOST_FEATURES)
 endif()
 
 
-gtsamAddExamplesGlob("*.cpp" "${excluded_examples}" "gtsam_unstable")
+gtsamAddExamplesGlob("*.cpp" "${excluded_examples}" "gtsam_unstable" ${GTSAM_BUILD_EXAMPLES_ALWAYS})
diff --git a/gtsam_unstable/timing/CMakeLists.txt b/gtsam_unstable/timing/CMakeLists.txt
index b5130ae92..44ea2f5af 100644
--- a/gtsam_unstable/timing/CMakeLists.txt
+++ b/gtsam_unstable/timing/CMakeLists.txt
@@ -1 +1 @@
-gtsamAddTimingGlob("*.cpp" "" "gtsam_unstable")
+gtsamAddTimingGlob("*.cpp" "" "gtsam_unstable" ${GTSAM_BUILD_TIMING_ALWAYS})
diff --git a/timing/CMakeLists.txt b/timing/CMakeLists.txt
index e3f97ee0c..f4fbae940 100644
--- a/timing/CMakeLists.txt
+++ b/timing/CMakeLists.txt
@@ -14,6 +14,6 @@ if (NOT GTSAM_USE_BOOST_FEATURES)
       )
 endif()
 
-gtsamAddTimingGlob("*.cpp" "${excluded_scripts}" "gtsam")
+gtsamAddTimingGlob("*.cpp" "${excluded_scripts}" "gtsam" ${GTSAM_BUILD_TIMING_ALWAYS})
 
 target_link_libraries(timeGaussianFactorGraph CppUnitLite)

From a30999f1de0a0cb52d1d314990b678365f8e1d33 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 8 Oct 2023 14:44:38 -0400
Subject: [PATCH 193/206] Move testing cmake flags back to GtsamTesting

---
 cmake/GtsamTesting.cmake         | 12 ++++++++++++
 cmake/HandleGeneralOptions.cmake |  9 ---------
 2 files changed, 12 insertions(+), 9 deletions(-)

diff --git a/cmake/GtsamTesting.cmake b/cmake/GtsamTesting.cmake
index c604b18ab..6fbe14ff3 100644
--- a/cmake/GtsamTesting.cmake
+++ b/cmake/GtsamTesting.cmake
@@ -88,6 +88,17 @@ endmacro()
 # Build macros for using tests
 enable_testing()
 
+#TODO(Varun) Move to HandlePrintConfiguration.cmake. This will require additional changes.
+option(GTSAM_BUILD_TESTS                 "Enable/Disable building of tests"          ON)	
+
+# Add option for combining unit tests	
+if(MSVC OR XCODE_VERSION)	
+	option(GTSAM_SINGLE_TEST_EXE "Combine unit tests into single executable (faster compile)" ON)	
+else()	
+	option(GTSAM_SINGLE_TEST_EXE "Combine unit tests into single executable (faster compile)" OFF)	
+endif()	
+mark_as_advanced(GTSAM_SINGLE_TEST_EXE)
+
 # Enable make check (http://www.cmake.org/Wiki/CMakeEmulateMakeCheck)
 if(GTSAM_BUILD_TESTS)
 	add_custom_target(check COMMAND ${CMAKE_CTEST_COMMAND} -C $<CONFIGURATION> --output-on-failure)
@@ -113,6 +124,7 @@ add_custom_target(timing)
 # Implementations of this file's macros:
 
 macro(gtsamAddTestsGlob_impl groupName globPatterns excludedFiles linkLibraries)
+	#TODO(Varun) Building of tests should not depend on global gtsam flag
 	if(GTSAM_BUILD_TESTS)
 		# Add group target if it doesn't already exist
 		if(NOT TARGET check.${groupName})
diff --git a/cmake/HandleGeneralOptions.cmake b/cmake/HandleGeneralOptions.cmake
index 47a3a597d..302bdf860 100644
--- a/cmake/HandleGeneralOptions.cmake
+++ b/cmake/HandleGeneralOptions.cmake
@@ -9,17 +9,8 @@ else()
 endif()
 
 ### GtsamTesting related options
-option(GTSAM_BUILD_TESTS                 "Enable/Disable building of tests"          ON)
 option(GTSAM_BUILD_EXAMPLES_ALWAYS       "Build examples with 'make all' (build with 'make examples' if not)"       ON)
 option(GTSAM_BUILD_TIMING_ALWAYS         "Build timing scripts with 'make all' (build with 'make timing' if not"    OFF)
-
-# Add option for combining unit tests
-if(MSVC OR XCODE_VERSION)
-    option(GTSAM_SINGLE_TEST_EXE "Combine unit tests into single executable (faster compile)" ON)
-else()
-    option(GTSAM_SINGLE_TEST_EXE "Combine unit tests into single executable (faster compile)" OFF)
-endif()
-mark_as_advanced(GTSAM_SINGLE_TEST_EXE)
 ###
 
 # Add option for using build type postfixes to allow installing multiple build modes

From b6dbb0fe92dc4977d2fc135fb8bdffe83993fd24 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 8 Oct 2023 15:02:01 -0400
Subject: [PATCH 194/206] remove extra spaces

---
 cmake/GtsamTesting.cmake | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/cmake/GtsamTesting.cmake b/cmake/GtsamTesting.cmake
index 6fbe14ff3..47b059213 100644
--- a/cmake/GtsamTesting.cmake
+++ b/cmake/GtsamTesting.cmake
@@ -91,12 +91,12 @@ enable_testing()
 #TODO(Varun) Move to HandlePrintConfiguration.cmake. This will require additional changes.
 option(GTSAM_BUILD_TESTS                 "Enable/Disable building of tests"          ON)	
 
-# Add option for combining unit tests	
-if(MSVC OR XCODE_VERSION)	
-	option(GTSAM_SINGLE_TEST_EXE "Combine unit tests into single executable (faster compile)" ON)	
-else()	
-	option(GTSAM_SINGLE_TEST_EXE "Combine unit tests into single executable (faster compile)" OFF)	
-endif()	
+# Add option for combining unit tests
+if(MSVC OR XCODE_VERSION)
+	option(GTSAM_SINGLE_TEST_EXE "Combine unit tests into single executable (faster compile)" ON)
+else()
+	option(GTSAM_SINGLE_TEST_EXE "Combine unit tests into single executable (faster compile)" OFF)
+endif()
 mark_as_advanced(GTSAM_SINGLE_TEST_EXE)
 
 # Enable make check (http://www.cmake.org/Wiki/CMakeEmulateMakeCheck)

From d5d75274ecca38266cdd4c6cc2d92d3c1a37a310 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 10 Oct 2023 06:55:54 -0400
Subject: [PATCH 195/206] rearrange Values::insert to fix 1477

---
 gtsam/nonlinear/values.i | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/gtsam/nonlinear/values.i b/gtsam/nonlinear/values.i
index e36b1cf1c..64c0f447d 100644
--- a/gtsam/nonlinear/values.i
+++ b/gtsam/nonlinear/values.i
@@ -66,8 +66,6 @@ class Values {
 
   // The order is important: Vector has to precede Point2/Point3 so `atVector`
   // can work for those fixed-size vectors.
-  void insert(size_t j, Vector vector);
-  void insert(size_t j, Matrix matrix);
   void insert(size_t j, const gtsam::Point2& point2);
   void insert(size_t j, const gtsam::Point3& point3);
   void insert(size_t j, const gtsam::Rot2& rot2);
@@ -94,6 +92,10 @@ class Values {
   void insert(size_t j, const gtsam::PinholePose<gtsam::Cal3Unified>& camera);
   void insert(size_t j, const gtsam::imuBias::ConstantBias& constant_bias);
   void insert(size_t j, const gtsam::NavState& nav_state);
+  // Vector and Matrix versions should go at the end
+  // to avoid collisions with Point2 and Point3
+  void insert(size_t j, Vector vector);
+  void insert(size_t j, Matrix matrix);
   void insert(size_t j, double c);
 
   template <T = {gtsam::Point2, gtsam::Point3}>
@@ -125,6 +127,8 @@ class Values {
   void update(size_t j, const gtsam::PinholePose<gtsam::Cal3Unified>& camera);
   void update(size_t j, const gtsam::imuBias::ConstantBias& constant_bias);
   void update(size_t j, const gtsam::NavState& nav_state);
+  // Vector and Matrix versions should go at the end
+  // to avoid collisions with Point2 and Point3
   void update(size_t j, Vector vector);
   void update(size_t j, Matrix matrix);
   void update(size_t j, double c);
@@ -165,6 +169,8 @@ class Values {
   void insert_or_assign(size_t j,
                         const gtsam::imuBias::ConstantBias& constant_bias);
   void insert_or_assign(size_t j, const gtsam::NavState& nav_state);
+  // Vector and Matrix versions should go at the end
+  // to avoid collisions with Point2 and Point3
   void insert_or_assign(size_t j, Vector vector);
   void insert_or_assign(size_t j, Matrix matrix);
   void insert_or_assign(size_t j, double c);

From 87e28ea698b8a20675acc993fc33703e7a2df5ad Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 10 Oct 2023 06:56:17 -0400
Subject: [PATCH 196/206] wrap SmartProjectionPoseFactor::point()

---
 gtsam/slam/slam.i | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/gtsam/slam/slam.i b/gtsam/slam/slam.i
index d35a87eee..7135137bb 100644
--- a/gtsam/slam/slam.i
+++ b/gtsam/slam/slam.i
@@ -156,6 +156,9 @@ virtual class SmartProjectionPoseFactor : gtsam::NonlinearFactor {
 
   // enabling serialization functionality
   void serialize() const;
+
+  gtsam::TriangulationResult point() const;
+  gtsam::TriangulationResult point(const gtsam::Values& values) const;
 };
 
 typedef gtsam::SmartProjectionPoseFactor<gtsam::Cal3_S2>

From d16bba321f6bbb80204e27af03521b2de01c84a7 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 10 Oct 2023 07:42:25 -0400
Subject: [PATCH 197/206] correct method ordering as per documentation

---
 gtsam/nonlinear/values.i | 32 ++++++++++++++++----------------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/gtsam/nonlinear/values.i b/gtsam/nonlinear/values.i
index 64c0f447d..1b0322699 100644
--- a/gtsam/nonlinear/values.i
+++ b/gtsam/nonlinear/values.i
@@ -59,13 +59,17 @@ class Values {
   // enabling serialization functionality
   void serialize() const;
 
-  // New in 4.0, we have to specialize every insert/update/at to generate
-  // wrappers Instead of the old: void insert(size_t j, const gtsam::Value&
-  // value); void update(size_t j, const gtsam::Value& val); gtsam::Value
-  // at(size_t j) const;
+  // New in 4.0, we have to specialize every insert/update/at
+  // to generate wrappers.
+  // Instead of the old:
+  // void insert(size_t j, const gtsam::Value& value);
+  // void update(size_t j, const gtsam::Value& val);
+  // gtsam::Value at(size_t j) const;
 
   // The order is important: Vector has to precede Point2/Point3 so `atVector`
   // can work for those fixed-size vectors.
+  void insert(size_t j, Vector vector);
+  void insert(size_t j, Matrix matrix);
   void insert(size_t j, const gtsam::Point2& point2);
   void insert(size_t j, const gtsam::Point3& point3);
   void insert(size_t j, const gtsam::Rot2& rot2);
@@ -92,15 +96,15 @@ class Values {
   void insert(size_t j, const gtsam::PinholePose<gtsam::Cal3Unified>& camera);
   void insert(size_t j, const gtsam::imuBias::ConstantBias& constant_bias);
   void insert(size_t j, const gtsam::NavState& nav_state);
-  // Vector and Matrix versions should go at the end
-  // to avoid collisions with Point2 and Point3
-  void insert(size_t j, Vector vector);
-  void insert(size_t j, Matrix matrix);
   void insert(size_t j, double c);
 
   template <T = {gtsam::Point2, gtsam::Point3}>
   void insert(size_t j, const T& val);
 
+  // The order is important: Vector has to precede Point2/Point3 so `atVector`
+  // can work for those fixed-size vectors.
+  void update(size_t j, Vector vector);
+  void update(size_t j, Matrix matrix);
   void update(size_t j, const gtsam::Point2& point2);
   void update(size_t j, const gtsam::Point3& point3);
   void update(size_t j, const gtsam::Rot2& rot2);
@@ -127,12 +131,12 @@ class Values {
   void update(size_t j, const gtsam::PinholePose<gtsam::Cal3Unified>& camera);
   void update(size_t j, const gtsam::imuBias::ConstantBias& constant_bias);
   void update(size_t j, const gtsam::NavState& nav_state);
-  // Vector and Matrix versions should go at the end
-  // to avoid collisions with Point2 and Point3
-  void update(size_t j, Vector vector);
-  void update(size_t j, Matrix matrix);
   void update(size_t j, double c);
 
+  // The order is important: Vector has to precede Point2/Point3 so `atVector`
+  // can work for those fixed-size vectors.
+  void insert_or_assign(size_t j, Vector vector);
+  void insert_or_assign(size_t j, Matrix matrix);
   void insert_or_assign(size_t j, const gtsam::Point2& point2);
   void insert_or_assign(size_t j, const gtsam::Point3& point3);
   void insert_or_assign(size_t j, const gtsam::Rot2& rot2);
@@ -169,10 +173,6 @@ class Values {
   void insert_or_assign(size_t j,
                         const gtsam::imuBias::ConstantBias& constant_bias);
   void insert_or_assign(size_t j, const gtsam::NavState& nav_state);
-  // Vector and Matrix versions should go at the end
-  // to avoid collisions with Point2 and Point3
-  void insert_or_assign(size_t j, Vector vector);
-  void insert_or_assign(size_t j, Matrix matrix);
   void insert_or_assign(size_t j, double c);
 
   template <T = {gtsam::Point2,

From f0fcdfa902d52b5e86e8a36d3a2662c2281a7686 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 11 Oct 2023 14:21:59 -0400
Subject: [PATCH 198/206] make DefaultKeyFormatter an extern variable so it can
 be updated in downstream applications

---
 gtsam/inference/Key.cpp |  5 ++++-
 gtsam/inference/Key.h   | 18 ++++++++++--------
 2 files changed, 14 insertions(+), 9 deletions(-)

diff --git a/gtsam/inference/Key.cpp b/gtsam/inference/Key.cpp
index 8fcea0d05..b5196b73b 100644
--- a/gtsam/inference/Key.cpp
+++ b/gtsam/inference/Key.cpp
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file Key.h
+ * @file Key.cpp
  * @brief
  * @author Richard Roberts
  * @author Alex Cunningham
@@ -26,6 +26,9 @@ using namespace std;
 
 namespace gtsam {
 
+// KeyFormatter DefaultKeyFormatter = &_dynamicsKeyFormatter;
+KeyFormatter DefaultKeyFormatter = &_defaultKeyFormatter;
+
 /* ************************************************************************* */
 string _defaultKeyFormatter(Key key) {
   const Symbol asSymbol(key);
diff --git a/gtsam/inference/Key.h b/gtsam/inference/Key.h
index 31428a50e..defa47233 100644
--- a/gtsam/inference/Key.h
+++ b/gtsam/inference/Key.h
@@ -37,10 +37,16 @@ using KeyFormatter = std::function<std::string(Key)>;
 // Helper function for DefaultKeyFormatter
 GTSAM_EXPORT std::string _defaultKeyFormatter(Key key);
 
-/// The default KeyFormatter, which is used if no KeyFormatter is passed to
-/// a nonlinear 'print' function.  Automatically detects plain integer keys
-/// and Symbol keys.
-static const KeyFormatter DefaultKeyFormatter = &_defaultKeyFormatter;
+/**
+ * The default KeyFormatter, which is used if no KeyFormatter is passed
+ * to a 'print' function.
+ *
+ * Automatically detects plain integer keys and Symbol keys.
+ * 
+ * Marked as `extern` so that it can be updated by external libraries.
+ *
+ */
+extern KeyFormatter DefaultKeyFormatter;
 
 // Helper function for Multi-robot Key Formatter
 GTSAM_EXPORT std::string _multirobotKeyFormatter(gtsam::Key key);
@@ -124,7 +130,3 @@ struct traits<Key> {
 };
 
 } // namespace gtsam
-
-
-
-

From ebf3672c8dc7166dd196e3391f6b43e87c332f60 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 11 Oct 2023 14:26:39 -0400
Subject: [PATCH 199/206] add comment

---
 gtsam/inference/Key.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/inference/Key.cpp b/gtsam/inference/Key.cpp
index b5196b73b..15d633eeb 100644
--- a/gtsam/inference/Key.cpp
+++ b/gtsam/inference/Key.cpp
@@ -26,7 +26,7 @@ using namespace std;
 
 namespace gtsam {
 
-// KeyFormatter DefaultKeyFormatter = &_dynamicsKeyFormatter;
+/// Assign default key formatter
 KeyFormatter DefaultKeyFormatter = &_defaultKeyFormatter;
 
 /* ************************************************************************* */

From 3c5c500aa5cbf31e5442cc61d32daaedc8440716 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 11 Oct 2023 18:00:45 -0400
Subject: [PATCH 200/206] mark DefaultKeyFormatter with GTSAM_EXPORT

---
 gtsam/inference/Key.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/inference/Key.h b/gtsam/inference/Key.h
index defa47233..a02d018f5 100644
--- a/gtsam/inference/Key.h
+++ b/gtsam/inference/Key.h
@@ -46,7 +46,7 @@ GTSAM_EXPORT std::string _defaultKeyFormatter(Key key);
  * Marked as `extern` so that it can be updated by external libraries.
  *
  */
-extern KeyFormatter DefaultKeyFormatter;
+extern GTSAM_EXPORT KeyFormatter DefaultKeyFormatter;
 
 // Helper function for Multi-robot Key Formatter
 GTSAM_EXPORT std::string _multirobotKeyFormatter(gtsam::Key key);

From 95add4786a58b7bba9d1d5b4aee44f6d0c9b37cc Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 12 Oct 2023 08:57:38 -0400
Subject: [PATCH 201/206] overload JacobianFactor::getA method with one that
 takes a key

---
 gtsam/linear/JacobianFactor.h             | 6 ++++++
 gtsam/linear/tests/testJacobianFactor.cpp | 9 +++++++++
 2 files changed, 15 insertions(+)

diff --git a/gtsam/linear/JacobianFactor.h b/gtsam/linear/JacobianFactor.h
index 375e82698..407ed1e27 100644
--- a/gtsam/linear/JacobianFactor.h
+++ b/gtsam/linear/JacobianFactor.h
@@ -312,6 +312,12 @@ namespace gtsam {
     /** Get a view of the A matrix */
     ABlock getA() { return Ab_.range(0, size()); }
 
+    /**
+     * Get a view of the A matrix for the variable
+     * pointed to by the given key.
+     */
+    ABlock getA(const Key& key) { return Ab_(find(key) - begin()); }
+
     /** Update an information matrix by adding the information corresponding to this factor
      * (used internally during elimination).
      * @param scatter A mapping from variable index to slot index in this HessianFactor
diff --git a/gtsam/linear/tests/testJacobianFactor.cpp b/gtsam/linear/tests/testJacobianFactor.cpp
index 0ad77b366..234466620 100644
--- a/gtsam/linear/tests/testJacobianFactor.cpp
+++ b/gtsam/linear/tests/testJacobianFactor.cpp
@@ -65,7 +65,10 @@ TEST(JacobianFactor, constructors_and_accessors)
     JacobianFactor actual(terms[0].first, terms[0].second, b, noise);
     EXPECT(assert_equal(expected, actual));
     LONGS_EQUAL((long)terms[0].first, (long)actual.keys().back());
+    // Key iterator
     EXPECT(assert_equal(terms[0].second, actual.getA(actual.end() - 1)));
+    // Key
+    EXPECT(assert_equal(terms[0].second, actual.getA(terms[0].first)));
     EXPECT(assert_equal(b, expected.getb()));
     EXPECT(assert_equal(b, actual.getb()));
     EXPECT(noise == expected.get_model());
@@ -78,7 +81,10 @@ TEST(JacobianFactor, constructors_and_accessors)
       terms[1].first, terms[1].second, b, noise);
     EXPECT(assert_equal(expected, actual));
     LONGS_EQUAL((long)terms[1].first, (long)actual.keys().back());
+    // Key iterator
     EXPECT(assert_equal(terms[1].second, actual.getA(actual.end() - 1)));
+    // Key
+    EXPECT(assert_equal(terms[1].second, actual.getA(terms[1].first)));
     EXPECT(assert_equal(b, expected.getb()));
     EXPECT(assert_equal(b, actual.getb()));
     EXPECT(noise == expected.get_model());
@@ -91,7 +97,10 @@ TEST(JacobianFactor, constructors_and_accessors)
       terms[1].first, terms[1].second, terms[2].first, terms[2].second, b, noise);
     EXPECT(assert_equal(expected, actual));
     LONGS_EQUAL((long)terms[2].first, (long)actual.keys().back());
+    // Key iterator
     EXPECT(assert_equal(terms[2].second, actual.getA(actual.end() - 1)));
+    // Key
+    EXPECT(assert_equal(terms[2].second, actual.getA(terms[2].first)));
     EXPECT(assert_equal(b, expected.getb()));
     EXPECT(assert_equal(b, actual.getb()));
     EXPECT(noise == expected.get_model());

From 7e1a683e34c853593f9bdacd1f10d799938f458d Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 13 Oct 2023 15:36:45 -0400
Subject: [PATCH 202/206] Revert "imrpove bounds checks in Chebyshev2"

This reverts commit 2a386f8631e38de120d67138e6f2bfeb56d0f644.
---
 gtsam/basis/Chebyshev2.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/gtsam/basis/Chebyshev2.cpp b/gtsam/basis/Chebyshev2.cpp
index 63fca64cc..44876b6e9 100644
--- a/gtsam/basis/Chebyshev2.cpp
+++ b/gtsam/basis/Chebyshev2.cpp
@@ -32,7 +32,7 @@ Weights Chebyshev2::CalculateWeights(size_t N, double x, double a, double b) {
     const double dj =
         x - Point(N, j, a, b);  // only thing that depends on [a,b]
 
-    if (std::abs(dj) < 1e-12) {
+    if (std::abs(dj) < 1e-10) {
       // exceptional case: x coincides with a Chebyshev point
       weights.setZero();
       weights(j) = 1;
@@ -73,7 +73,7 @@ Weights Chebyshev2::DerivativeWeights(size_t N, double x, double a, double b) {
   for (size_t j = 0; j < N; j++) {
     const double dj =
         x - Point(N, j, a, b);  // only thing that depends on [a,b]
-    if (std::abs(dj) < 1e-12) {
+    if (std::abs(dj) < 1e-10) {
       // exceptional case: x coincides with a Chebyshev point
       weightDerivatives.setZero();
       // compute the jth row of the differentiation matrix for this point

From 1b909d2eea35f985ce3d127a18d2175ff5791b21 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 13 Oct 2023 15:36:55 -0400
Subject: [PATCH 203/206] Revert "overload the Chebyshev2::Point method to
 reduce duplication"

This reverts commit b2efd64d2bfd8ab378dc8dd16faff971d82391b4.
---
 gtsam/basis/Chebyshev2.h | 27 ++++++++++++---------------
 1 file changed, 12 insertions(+), 15 deletions(-)

diff --git a/gtsam/basis/Chebyshev2.h b/gtsam/basis/Chebyshev2.h
index 55bb39488..4c3542d56 100644
--- a/gtsam/basis/Chebyshev2.h
+++ b/gtsam/basis/Chebyshev2.h
@@ -51,30 +51,27 @@ class GTSAM_EXPORT Chebyshev2 : public Basis<Chebyshev2> {
   using Parameters = Eigen::Matrix<double, /*Nx1*/ -1, 1>;
   using DiffMatrix = Eigen::Matrix<double, /*NxN*/ -1, -1>;
 
-  /**
-   * @brief Specific Chebyshev point, within [a,b] interval.
-   * Default interval is [-1, 1]
-   * 
-   * @param N The degree of the polynomial
-   * @param j The index of the Chebyshev point
-   * @param a Lower bound of interval (default: -1)
-   * @param b Upper bound of interval (default: 1)
-   * @return double
-   */
-  static double Point(size_t N, int j, double a = -1, double b = 1) {
+  /// Specific Chebyshev point
+  static double Point(size_t N, int j) {
     assert(j >= 0 && size_t(j) < N);
     const double dtheta = M_PI / (N > 1 ? (N - 1) : 1);
     // We add -PI so that we get values ordered from -1 to +1
-    // sin(-M_PI_2 + dtheta*j); also works
+    // sin(- M_PI_2 + dtheta*j); also works
+    return cos(-M_PI + dtheta * j);
+  }
+
+  /// Specific Chebyshev point, within [a,b] interval
+  static double Point(size_t N, int j, double a, double b) {
+    assert(j >= 0 && size_t(j) < N);
+    const double dtheta = M_PI / (N - 1);
+    // We add -PI so that we get values ordered from -1 to +1
     return a + (b - a) * (1. + cos(-M_PI + dtheta * j)) / 2;
   }
 
   /// All Chebyshev points
   static Vector Points(size_t N) {
     Vector points(N);
-    for (size_t j = 0; j < N; j++) {
-      points(j) = Point(N, j);
-    }
+    for (size_t j = 0; j < N; j++) points(j) = Point(N, j);
     return points;
   }
 

From 320ac1bc6afb2006e7ca4b911ad8f13586e165bd Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 17 Oct 2023 15:32:56 -0400
Subject: [PATCH 204/206] Revert "re-enable debug CI for linux"

This reverts commit 331ae137af844fee6b7604dbddc0a71764fb2880.
---
 .github/workflows/build-linux.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build-linux.yml b/.github/workflows/build-linux.yml
index 4502dbe0e..5de09c63f 100644
--- a/.github/workflows/build-linux.yml
+++ b/.github/workflows/build-linux.yml
@@ -31,7 +31,7 @@ jobs:
           ubuntu-22.04-clang-14,
         ]
 
-        build_type: [Debug, Release]
+        build_type: [Release]
         build_unstable: [ON]
         include:
           - name: ubuntu-20.04-gcc-9

From fd02accccb92417599aca82ae83d2ca718ae984f Mon Sep 17 00:00:00 2001
From: Jose Luis Blanco-Claraco <joseluisblancoc@gmail.com>
Date: Mon, 30 Oct 2023 00:18:45 +0100
Subject: [PATCH 205/206] Fix apparent non-templated type in expressions

---
 gtsam/slam/expressions.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/gtsam/slam/expressions.h b/gtsam/slam/expressions.h
index d1bfab7f2..1bed487ee 100644
--- a/gtsam/slam/expressions.h
+++ b/gtsam/slam/expressions.h
@@ -155,10 +155,10 @@ Point2_ project2(const Expression<CAMERA>& camera_, const Expression<POINT>& p_)
 namespace internal {
 // Helper template for project3 expression below
 template <class CALIBRATION, class POINT>
-inline Point2 project6(const Pose3& x, const Point3& p, const Cal3_S2& K,
+inline Point2 project6(const Pose3& x, const POINT& p, const CALIBRATION& K,
                        OptionalJacobian<2, 6> Dpose, OptionalJacobian<2, 3> Dpoint,
                        OptionalJacobian<2, 5> Dcal) {
-  return PinholeCamera<Cal3_S2>(x, K).project(p, Dpose, Dpoint, Dcal);
+  return PinholeCamera<CALIBRATION>(x, K).project(p, Dpose, Dpoint, Dcal);
 }
 }
 

From a06303e55e238bfcb63d3283ea42d94581da7fe7 Mon Sep 17 00:00:00 2001
From: Jose Luis Blanco-Claraco <joseluisblancoc@gmail.com>
Date: Mon, 30 Oct 2023 01:09:11 +0100
Subject: [PATCH 206/206] Update expressions.h

Template dimension too
---
 gtsam/slam/expressions.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/slam/expressions.h b/gtsam/slam/expressions.h
index 1bed487ee..8d34ce681 100644
--- a/gtsam/slam/expressions.h
+++ b/gtsam/slam/expressions.h
@@ -157,7 +157,7 @@ namespace internal {
 template <class CALIBRATION, class POINT>
 inline Point2 project6(const Pose3& x, const POINT& p, const CALIBRATION& K,
                        OptionalJacobian<2, 6> Dpose, OptionalJacobian<2, 3> Dpoint,
-                       OptionalJacobian<2, 5> Dcal) {
+                       OptionalJacobian<2, CALIBRATION::dimension> Dcal) {
   return PinholeCamera<CALIBRATION>(x, K).project(p, Dpose, Dpoint, Dcal);
 }
 }