Merge branch 'develop' into fix/smartfactor_body_P_sensor

gtsam/geometry/SOn.h

@@ -292,6 +292,10 @@ class SO : public LieGroup<SO<N>, internal::DimensionSO(N)> {
                    boost::none) const;
   /// @}
 
+  template <class Archive>
+  friend void save(Archive&, SO&, const unsigned int);
+  template <class Archive>
+  friend void load(Archive&, SO&, const unsigned int);
   template <class Archive>
   friend void serialize(Archive&, SO&, const unsigned int);
   friend class boost::serialization::access;
@@ -329,6 +333,16 @@ template <>
 SOn LieGroup<SOn, Eigen::Dynamic>::between(const SOn& g, DynamicJacobian H1,
                                            DynamicJacobian H2) const;
 
+/** Serialization function */
+template<class Archive>
+void serialize(
+  Archive& ar, SOn& Q,
+  const unsigned int file_version
+) {
+  Matrix& M = Q.matrix_;
+  ar& M;
+}
+
 /*
  * Define the traits. internal::LieGroup provides both Lie group and Testable
  */

gtsam/slam/FrobeniusFactor.h

@@ -33,7 +33,7 @@ namespace gtsam {
  * isotropic. If it is, we extend to 'Dim' dimensions, otherwise we throw an
  * error. If defaultToUnit == false throws an exception on unexepcted input.
  */
-boost::shared_ptr<noiseModel::Isotropic> ConvertPose3NoiseModel(
+  GTSAM_EXPORT boost::shared_ptr<noiseModel::Isotropic> ConvertPose3NoiseModel(
     const SharedNoiseModel& model, size_t d, bool defaultToUnit = true);
 
 /**
@@ -125,7 +125,7 @@ class FrobeniusBetweenFactor : public NoiseModelFactor2<Rot, Rot> {
  * the SO(p) matrices down to a Stiefel manifold of p*d matrices.
  * TODO(frank): template on D=2 or 3
  */
-class FrobeniusWormholeFactor : public NoiseModelFactor2<SOn, SOn> {
+class GTSAM_EXPORT FrobeniusWormholeFactor : public NoiseModelFactor2<SOn, SOn> {
   Matrix M_;                   ///< measured rotation between R1 and R2
   size_t p_, pp_, dimension_;  ///< dimensionality constants
   Matrix G_;                   ///< matrix of vectorized generators