Merge branch 'develop' into imu-examples

2020-08-17 00:38:14 -04:00 · 2020-08-17 00:38:14 -04:00 · be70d1785c
parent 45b5cd4011 ae4968328d
commit be70d1785c
25 changed files with 1415 additions and 875 deletions
--- a/.github/scripts/python.sh
+++ b/.github/scripts/python.sh
@ -0,0 +1,94 @@
+#!/bin/bash
+
+##########################################################
+# Build and test the GTSAM Python wrapper.
+##########################################################
+
+set -x -e
+
+if [ -z ${PYTHON_VERSION+x} ]; then
+    echo "Please provide the Python version to build against!"
+    exit 127
+fi
+
+if [ -z ${WRAPPER+x} ]; then
+    echo "Please provide the wrapper to build!"
+    exit 126
+fi
+
+PYTHON="python${PYTHON_VERSION}"
+
+if [[ $(uname) == "Darwin" ]]; then
+    brew install wget
+else
+    # Install a system package required by our library
+    sudo apt-get install -y wget libicu-dev python3-pip python3-setuptools
+fi
+
+PATH=$PATH:$($PYTHON -c "import site; print(site.USER_BASE)")/bin
+
+case $WRAPPER in
+"cython")
+    BUILD_CYTHON="ON"
+    BUILD_PYBIND="OFF"
+    TYPEDEF_POINTS_TO_VECTORS="OFF"
+
+    sudo $PYTHON -m pip install -r $GITHUB_WORKSPACE/cython/requirements.txt
+    ;;
+"pybind")
+    BUILD_CYTHON="OFF"
+    BUILD_PYBIND="ON"
+    TYPEDEF_POINTS_TO_VECTORS="ON"
+
+    sudo $PYTHON -m pip install -r $GITHUB_WORKSPACE/python/requirements.txt
+    ;;
+*)
+    exit 126
+    ;;
+esac
+
+git submodule update --init --recursive
+
+mkdir $GITHUB_WORKSPACE/build
+cd $GITHUB_WORKSPACE/build
+
+cmake $GITHUB_WORKSPACE -DCMAKE_BUILD_TYPE=Release \
+    -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_UNSTABLE=ON \
+    -DGTSAM_USE_QUATERNIONS=OFF \
+    -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
+    -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
+    -DGTSAM_INSTALL_CYTHON_TOOLBOX=${BUILD_CYTHON} \
+    -DGTSAM_BUILD_PYTHON=${BUILD_PYBIND} \
+    -DGTSAM_TYPEDEF_POINTS_TO_VECTORS=${TYPEDEF_POINTS_TO_VECTORS} \
+    -DGTSAM_PYTHON_VERSION=$PYTHON_VERSION \
+    -DPYTHON_EXECUTABLE:FILEPATH=$(which $PYTHON) \
+    -DGTSAM_ALLOW_DEPRECATED_SINCE_V41=OFF \
+    -DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/gtsam_install
+
+make -j$(nproc) install &
+
+while ps -p $! > /dev/null
+do
+  sleep 60
+  now=$(date +%s)
+  printf "%d seconds have elapsed\n" $(( (now - start) ))
+done
+
+case $WRAPPER in
+"cython")
+    cd $GITHUB_WORKSPACE/build/cython
+    $PYTHON setup.py install --user --prefix=
+    cd $GITHUB_WORKSPACE/build/cython/gtsam/tests
+    $PYTHON -m unittest discover
+    ;;
+"pybind")
+    cd $GITHUB_WORKSPACE/python
+    $PYTHON setup.py install --user --prefix=
+    cd $GITHUB_WORKSPACE/wrap/python/gtsam_py/tests
+    $PYTHON -m unittest discover
+    ;;
+*)
+    echo "THIS SHOULD NEVER HAPPEN!"
+    exit 125
+    ;;
+esac
--- a/.github/scripts/unix.sh
+++ b/.github/scripts/unix.sh
@ -1,20 +1,25 @@
 #!/bin/bash

+##########################################################
+# Build and test GTSAM for *nix based systems.
+# Specifically Linux and macOS.
+##########################################################
+
 # install TBB with _debug.so files
 function install_tbb()
 {
  TBB_BASEURL=https://github.com/oneapi-src/oneTBB/releases/download
-  TBB_VERSION=4.4.2
-  TBB_DIR=tbb44_20151115oss
+  TBB_VERSION=4.4.5
+  TBB_DIR=tbb44_20160526oss
  TBB_SAVEPATH="/tmp/tbb.tgz"

-  if [ "$TRAVIS_OS_NAME" == "linux" ]; then
+  if [ "$(uname)" == "Linux" ]; then
    OS_SHORT="lin"
    TBB_LIB_DIR="intel64/gcc4.4"
    SUDO="sudo"

-  elif [ "$TRAVIS_OS_NAME" == "osx" ]; then
-    OS_SHORT="lin"
+  elif [ "$(uname)" == "Darwin" ]; then
+    OS_SHORT="osx"
    TBB_LIB_DIR=""
    SUDO=""

@ -25,7 +30,7 @@ function install_tbb()

  TBBROOT=/tmp/$TBB_DIR
  # Copy the needed files to the correct places.
-  # This works correctly for travis builds, instead of setting path variables.
+  # This works correctly for CI builds, instead of setting path variables.
  # This is what Homebrew does to install TBB on Macs
  $SUDO cp -R $TBBROOT/lib/$TBB_LIB_DIR/* /usr/local/lib/
  $SUDO cp -R $TBBROOT/include/ /usr/local/include/
@ -38,15 +43,15 @@ function configure()
  set -e   # Make sure any error makes the script to return an error code
  set -x   # echo

-  SOURCE_DIR=`pwd`
-  BUILD_DIR=build
+  SOURCE_DIR=$GITHUB_WORKSPACE
+  BUILD_DIR=$GITHUB_WORKSPACE/build

  #env
-  git clean -fd || true
+  git submodule update --init --recursive
  rm -fr $BUILD_DIR || true
  mkdir $BUILD_DIR && cd $BUILD_DIR

-  install_tbb
+  [ "${GTSAM_WITH_TBB:-OFF}" = "ON" ] && install_tbb

  if [ ! -z "$GCC_VERSION" ]; then
    export CC=gcc-$GCC_VERSION
@ -63,7 +68,10 @@ function configure()
      -DGTSAM_BUILD_EXAMPLES_ALWAYS=${GTSAM_BUILD_EXAMPLES_ALWAYS:-ON} \
      -DGTSAM_ALLOW_DEPRECATED_SINCE_V4=${GTSAM_ALLOW_DEPRECATED_SINCE_V41:-OFF} \
      -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
-      -DCMAKE_VERBOSE_MAKEFILE=OFF
+      -DCMAKE_VERBOSE_MAKEFILE=ON \
+      -DBOOST_ROOT=$BOOST_ROOT \
+      -DBoost_NO_SYSTEM_PATHS=ON \
+      -DBoost_ARCHITECTURE=-x64
 }


@ -71,7 +79,7 @@ function configure()
 function finish ()
 {
  # Print ccache stats
-  ccache -s
+  [ -x "$(command -v ccache)" ] && ccache -s

  cd $SOURCE_DIR
 }
@ -111,4 +119,4 @@ case $1 in
  -t)
    test
    ;;
-esac
+esac
--- a/.github/workflows/build-linux.yml
+++ b/.github/workflows/build-linux.yml
@ -0,0 +1,78 @@
+name: Linux CI
+
+on: [push, pull_request]
+
+jobs:
+  build:
+    name: ${{ matrix.name }} ${{ matrix.build_type }}
+    runs-on: ${{ matrix.os }}
+
+    env:
+      CTEST_OUTPUT_ON_FAILURE: ON
+      CTEST_PARALLEL_LEVEL: 2
+      CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
+      GTSAM_BUILD_UNSTABLE: ${{ matrix.build_unstable }}
+
+    strategy:
+      fail-fast: false
+      matrix:
+        # Github Actions requires a single row to be added to the build matrix.
+        # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
+        name: [
+          ubuntu-18.04-gcc-5,
+          ubuntu-18.04-gcc-9,
+          ubuntu-18.04-clang-9,
+        ]
+
+        build_type: [Debug, Release]
+        build_unstable: [ON]
+        include:
+          - name: ubuntu-18.04-gcc-5
+            os: ubuntu-18.04
+            compiler: gcc
+            version: "5"
+
+          - name: ubuntu-18.04-gcc-9
+            os: ubuntu-18.04
+            compiler: gcc
+            version: "9"
+
+          - name: ubuntu-18.04-clang-9
+            os: ubuntu-18.04
+            compiler: clang
+            version: "9"
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@master
+      - name: Install (Linux)
+        if: runner.os == 'Linux'
+        run: |
+          # LLVM 9 is not in Bionic's repositories so we add the official LLVM repository.
+          if [ "${{ matrix.compiler }}" = "clang" ] && [ "${{ matrix.version }}" = "9" ]; then
+            sudo add-apt-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-9 main"
+          fi
+          sudo apt-get -y update
+
+          sudo apt install cmake build-essential pkg-config libpython-dev python-numpy
+          
+          echo "::set-env name=BOOST_ROOT::$(echo $BOOST_ROOT_1_69_0)"
+          echo "::set-env name=LD_LIBRARY_PATH::$(echo $BOOST_ROOT_1_69_0/lib)"
+          
+          if [ "${{ matrix.compiler }}" = "gcc" ]; then
+            sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
+            echo "::set-env name=CC::gcc-${{ matrix.version }}"
+            echo "::set-env name=CXX::g++-${{ matrix.version }}"
+          else
+            sudo apt-get install -y clang-${{ matrix.version }} g++-multilib
+            echo "::set-env name=CC::clang-${{ matrix.version }}"
+            echo "::set-env name=CXX::clang++-${{ matrix.version }}"
+          fi
+      - name: Check Boost version
+        if: runner.os == 'Linux'
+        run: |
+          echo "BOOST_ROOT = $BOOST_ROOT"
+      - name: Build (Linux)
+        if: runner.os == 'Linux'
+        run: |
+          bash .github/scripts/unix.sh -t
--- a/.github/workflows/build-macos.yml
+++ b/.github/workflows/build-macos.yml
@ -0,0 +1,51 @@
+name: macOS CI
+
+on: [pull_request]
+
+jobs:
+  build:
+    name: ${{ matrix.name }} ${{ matrix.build_type }}
+    runs-on: ${{ matrix.os }}
+
+    env:
+      CTEST_OUTPUT_ON_FAILURE: ON
+      CTEST_PARALLEL_LEVEL: 2
+      CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
+      GTSAM_BUILD_UNSTABLE: ${{ matrix.build_unstable }}
+    strategy:
+      fail-fast: false
+      matrix:
+        # Github Actions requires a single row to be added to the build matrix.
+        # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
+        name: [
+          macOS-10.15-xcode-11.3.1,
+        ]
+
+        build_type: [Debug, Release]
+        build_unstable: [ON]
+        include:
+          - name: macOS-10.15-xcode-11.3.1
+            os: macOS-10.15
+            compiler: xcode
+            version: "11.3.1"
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@master
+      - name: Install (macOS)
+        if: runner.os == 'macOS'
+        run: |
+          brew install cmake ninja boost
+          if [ "${{ matrix.compiler }}" = "gcc" ]; then
+            brew install gcc@${{ matrix.version }}
+            echo "::set-env name=CC::gcc-${{ matrix.version }}"
+            echo "::set-env name=CXX::g++-${{ matrix.version }}"
+          else
+            sudo xcode-select -switch /Applications/Xcode_${{ matrix.version }}.app
+            echo "::set-env name=CC::clang"
+            echo "::set-env name=CXX::clang++"
+          fi
+      - name: Build (macOS)
+        if: runner.os == 'macOS'
+        run: |
+          bash .github/scripts/unix.sh -t
--- a/.github/workflows/build-python.yml
+++ b/.github/workflows/build-python.yml
@ -0,0 +1,95 @@
+name: Python CI
+
+on: [pull_request]
+
+jobs:
+  build:
+    name: ${{ matrix.name }} ${{ matrix.build_type }} Python ${{ matrix.python_version }}
+    runs-on: ${{ matrix.os }}
+
+    env:
+      CTEST_OUTPUT_ON_FAILURE: ON
+      CTEST_PARALLEL_LEVEL: 2
+      CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
+      PYTHON_VERSION: ${{ matrix.python_version }}
+      WRAPPER: ${{ matrix.wrapper }}
+    strategy:
+      fail-fast: false
+      matrix:
+        # Github Actions requires a single row to be added to the build matrix.
+        # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
+        name: [
+          ubuntu-18.04-gcc-5,
+          ubuntu-18.04-gcc-9,
+          ubuntu-18.04-clang-9,
+          macOS-10.15-xcode-11.3.1,
+        ]
+
+        build_type: [Debug, Release]
+        python_version: [3]
+        wrapper: [cython]
+        include:
+          - name: ubuntu-18.04-gcc-5
+            os: ubuntu-18.04
+            compiler: gcc
+            version: "5"
+
+          - name: ubuntu-18.04-gcc-9
+            os: ubuntu-18.04
+            compiler: gcc
+            version: "9"
+
+          - name: ubuntu-18.04-clang-9
+            os: ubuntu-18.04
+            compiler: clang
+            version: "9"
+
+          - name: macOS-10.15-xcode-11.3.1
+            os: macOS-10.15
+            compiler: xcode
+            version: "11.3.1"
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@master
+      - name: Install (Linux)
+        if: runner.os == 'Linux'
+        run: |
+          # LLVM 9 is not in Bionic's repositories so we add the official LLVM repository.
+          if [ "${{ matrix.compiler }}" = "clang" ] && [ "${{ matrix.version }}" = "9" ]; then
+            sudo add-apt-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-9 main"
+          fi
+          sudo apt-get -y update
+          
+          sudo apt install cmake build-essential pkg-config libpython-dev python-numpy libboost-all-dev
+          
+          if [ "${{ matrix.compiler }}" = "gcc" ]; then
+            sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
+            echo "::set-env name=CC::gcc-${{ matrix.version }}"
+            echo "::set-env name=CXX::g++-${{ matrix.version }}"
+          else
+            sudo apt-get install -y clang-${{ matrix.version }} g++-multilib
+            echo "::set-env name=CC::clang-${{ matrix.version }}"
+            echo "::set-env name=CXX::clang++-${{ matrix.version }}"
+          fi
+      - name: Install (macOS)
+        if: runner.os == 'macOS'
+        run: |
+          brew install cmake ninja boost
+          if [ "${{ matrix.compiler }}" = "gcc" ]; then
+            brew install gcc@${{ matrix.version }}
+            echo "::set-env name=CC::gcc-${{ matrix.version }}"
+            echo "::set-env name=CXX::g++-${{ matrix.version }}"
+          else
+            sudo xcode-select -switch /Applications/Xcode_${{ matrix.version }}.app
+            echo "::set-env name=CC::clang"
+            echo "::set-env name=CXX::clang++"
+          fi
+      - name: Build (Linux)
+        if: runner.os == 'Linux'
+        run: |
+          bash .github/scripts/python.sh
+      - name: Build (macOS)
+        if: runner.os == 'macOS'
+        run: |
+          bash .github/scripts/python.sh
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@ -0,0 +1,75 @@
+name: Windows CI
+
+on: [pull_request]
+
+jobs:
+  build:
+    name: ${{ matrix.name }} ${{ matrix.build_type }}
+    runs-on: ${{ matrix.os }}
+
+    env:
+      CTEST_OUTPUT_ON_FAILURE: ON
+      CTEST_PARALLEL_LEVEL: 2
+      CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
+      GTSAM_BUILD_UNSTABLE: ${{ matrix.build_unstable }}
+    strategy:
+      fail-fast: false
+      matrix:
+        # Github Actions requires a single row to be added to the build matrix.
+        # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
+        name: [
+          windows-2016-cl,
+          windows-2019-cl,
+        ]
+
+        build_type: [Debug, Release]
+        build_unstable: [ON]
+        include:
+          - name: windows-2016-cl
+            os: windows-2016
+            compiler: cl
+
+          - name: windows-2019-cl
+            os: windows-2019
+            compiler: cl
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@master
+      - name: Install (Windows)
+        if: runner.os == 'Windows'
+        shell: powershell
+        run: |
+          Invoke-Expression (New-Object System.Net.WebClient).DownloadString('https://get.scoop.sh')
+          scoop install ninja --global
+          if ("${{ matrix.compiler }}".StartsWith("clang")) {
+            scoop install llvm --global
+          }
+          if ("${{ matrix.compiler }}" -eq "gcc") {
+            # Chocolatey GCC is broken on the windows-2019 image.
+            # See: https://github.com/DaanDeMeyer/doctest/runs/231595515
+            # See: https://github.community/t5/GitHub-Actions/Something-is-wrong-with-the-chocolatey-installed-version-of-gcc/td-p/32413
+            scoop install gcc --global
+            echo "::set-env name=CC::gcc"
+            echo "::set-env name=CXX::g++"
+          } elseif ("${{ matrix.compiler }}" -eq "clang") {
+            echo "::set-env name=CC::clang"
+            echo "::set-env name=CXX::clang++"
+          } else {
+            echo "::set-env name=CC::${{ matrix.compiler }}"
+            echo "::set-env name=CXX::${{ matrix.compiler }}"
+          }
+          # Scoop modifies the PATH so we make the modified PATH global.
+          echo "::set-env name=PATH::$env:PATH"
+      - name: Build (Windows)
+        if: runner.os == 'Windows'
+        run: |
+          cmake -E remove_directory build
+          echo "BOOST_ROOT_1_72_0: ${env:BOOST_ROOT_1_72_0}"
+          cmake -B build -S . -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DBOOST_ROOT="${env:BOOST_ROOT_1_72_0}" -DBOOST_INCLUDEDIR="${env:BOOST_ROOT_1_72_0}\boost\include" -DBOOST_LIBRARYDIR="${env:BOOST_ROOT_1_72_0}\lib"
+          cmake --build build --config ${{ matrix.build_type }} --target gtsam
+          cmake --build build --config ${{ matrix.build_type }} --target gtsam_unstable
+          cmake --build build --config ${{ matrix.build_type }} --target wrap
+          cmake --build build --config ${{ matrix.build_type }} --target check.base
+          cmake --build build --config ${{ matrix.build_type }} --target check.base_unstable
+          cmake --build build --config ${{ matrix.build_type }} --target check.linear
--- a/.github/workflows/trigger-python.yml
+++ b/.github/workflows/trigger-python.yml
@ -1,6 +1,9 @@
 # This triggers Cython builds on `gtsam-manylinux-build`
 name: Trigger Python Builds
-on: push
+on:
+  push:
+    branches:
+      - develop
 jobs:
  triggerCython:
    runs-on: ubuntu-latest
--- a/.travis.python.sh
+++ b/.travis.python.sh
@ -1,43 +0,0 @@
-#!/bin/bash
-set -x -e
-
-if [ -z ${PYTHON_VERSION+x} ]; then
-    echo "Please provide the Python version to build against!"
-    exit 127
-fi
-
-PYTHON="python${PYTHON_VERSION}"
-
-if [[ $(uname) == "Darwin" ]]; then
-    brew install wget
-else
-    # Install a system package required by our library
-    sudo apt-get install wget libicu-dev python3-pip python3-setuptools
-fi
-
-CURRDIR=$(pwd)
-
-sudo $PYTHON -m pip install -r ./cython/requirements.txt
-
-mkdir $CURRDIR/build
-cd $CURRDIR/build
-
-cmake $CURRDIR -DCMAKE_BUILD_TYPE=Release \
-    -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_UNSTABLE=ON \
-    -DGTSAM_USE_QUATERNIONS=OFF \
-    -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
-    -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
-    -DGTSAM_INSTALL_CYTHON_TOOLBOX=ON \
-    -DGTSAM_PYTHON_VERSION=$PYTHON_VERSION \
-    -DGTSAM_ALLOW_DEPRECATED_SINCE_V41=OFF \
-    -DCMAKE_INSTALL_PREFIX=$CURRDIR/../gtsam_install
-
-make -j$(nproc) install
-
-cd cython
-
-sudo $PYTHON setup.py install
-
-cd $CURRDIR/cython/gtsam/tests
-
-$PYTHON -m unittest discover
--- a/.travis.yml
+++ b/.travis.yml
@ -1,140 +0,0 @@
-language: cpp
-cache: ccache
-dist: xenial
-
-addons:
-  apt:
-    sources:
-    - ubuntu-toolchain-r-test
-    - sourceline: 'deb http://apt.llvm.org/xenial/ llvm-toolchain-xenial-9 main'
-      key_url: 'https://apt.llvm.org/llvm-snapshot.gpg.key'
-    packages:
-    - g++-9
-    - clang-9
-    - build-essential pkg-config
-    - cmake
-    - python3-dev libpython-dev
-    - python3-numpy
-    - libboost-all-dev
-
-# before_install:
-  # - if [ "$TRAVIS_OS_NAME" == "osx" ]; then brew update; fi
-
-install:
-  - if [ "$TRAVIS_OS_NAME" == "osx" ]; then HOMEBREW_NO_AUTO_UPDATE=1 brew install ccache  ; fi
-  - if [ "$TRAVIS_OS_NAME" == "osx" ]; then export PATH="/usr/local/opt/ccache/libexec:$PATH" ; fi
-
-# We first do the compile stage specified below, then the matrix expansion specified after.
-stages:
-  - compile
-  - test
-  - special
-
-env:
-  global:
-    - MAKEFLAGS="-j3"
-    - CCACHE_SLOPPINESS=pch_defines,time_macros
-
-# Compile stage without building examples/tests to populate the caches.
-jobs:
-# -------- STAGE 1: COMPILE -----------
-  include:
-# on Mac, GCC
-  - stage: compile
-    os: osx
-    compiler: gcc
-    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
-    script: bash .travis.sh -b
-  - stage: compile
-    os: osx
-    compiler: gcc
-    env: CMAKE_BUILD_TYPE=Release
-    script: bash .travis.sh -b
-# on Mac, CLANG
-  - stage: compile
-    os: osx
-    compiler: clang
-    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
-    script: bash .travis.sh -b
-  - stage: compile
-    os: osx
-    compiler: clang
-    env: CMAKE_BUILD_TYPE=Release
-    script: bash .travis.sh -b
-# on Linux, GCC
-  - stage: compile
-    os: linux
-    compiler: gcc
-    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
-    script: bash .travis.sh -b
-  - stage: compile
-    os: linux
-    compiler: gcc
-    env: CMAKE_BUILD_TYPE=Release
-    script: bash .travis.sh -b
-# on Linux, CLANG
-  - stage: compile
-    os: linux
-    compiler: clang
-    env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
-    script: bash .travis.sh -b
-  - stage: compile
-    os: linux
-    compiler: clang
-    env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Release
-    script: bash .travis.sh -b
-# on Linux, with deprecated ON to make sure that path still compiles/tests
-  - stage: special
-    os: linux
-    compiler: clang
-    env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_ALLOW_DEPRECATED_SINCE_V41=ON
-    script: bash .travis.sh -b
-# on Linux, with GTSAM_WITH_TBB on to make sure GTSAM still compiles/tests
-  # - stage: special
-  #   os: linux
-  #   compiler: gcc
-  #   env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_WITH_TBB=ON
-  #   script: bash .travis.sh -t
-# -------- STAGE 2: TESTS -----------
-# on Mac, GCC
-  - stage: test
-    os: osx
-    compiler: clang
-    env: CMAKE_BUILD_TYPE=Release
-    script: bash .travis.sh -t
-  - stage: test
-    os: osx
-    compiler: clang
-    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
-    script: bash .travis.sh -t
-  - stage: test
-    os: linux
-    compiler: gcc
-    env: CMAKE_BUILD_TYPE=Release
-    script: bash .travis.sh -t
-  - stage: test
-    os: linux
-    compiler: gcc
-    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
-    script: bash .travis.sh -t
-  - stage: test
-    os: linux
-    compiler: clang
-    env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Release
-    script: bash .travis.sh -t
-# on Linux, with quaternions ON to make sure that path still compiles/tests
-  - stage: special
-    os: linux
-    compiler: clang
-    env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Release GTSAM_BUILD_UNSTABLE=OFF GTSAM_USE_QUATERNIONS=ON
-    script: bash .travis.sh -t
-  - stage: special
-    os: linux
-    compiler: gcc
-    env: PYTHON_VERSION=3
-    script: bash .travis.python.sh
-  - stage: special
-    os: osx
-    compiler: clang
-    env: PYTHON_VERSION=3
-    script: bash .travis.python.sh
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -509,104 +509,104 @@ set(CPACK_DEBIAN_PACKAGE_DEPENDS "libboost-dev (>= 1.43)") #Example: "libc6 (>=
 # Print configuration variables
 message(STATUS "===============================================================")
 message(STATUS "================  Configuration Options  ======================")
-message(STATUS "  CMAKE_CXX_COMPILER_ID type     : ${CMAKE_CXX_COMPILER_ID}")
-message(STATUS "  CMAKE_CXX_COMPILER_VERSION     : ${CMAKE_CXX_COMPILER_VERSION}")
-message(STATUS "  CMake version                  : ${CMAKE_VERSION}")
-message(STATUS "  CMake generator                : ${CMAKE_GENERATOR}")
-message(STATUS "  CMake build tool               : ${CMAKE_BUILD_TOOL}")
+print_config("CMAKE_CXX_COMPILER_ID type" "${CMAKE_CXX_COMPILER_ID}")
+print_config("CMAKE_CXX_COMPILER_VERSION" "${CMAKE_CXX_COMPILER_VERSION}")
+print_config("CMake version"    "${CMAKE_VERSION}")
+print_config("CMake generator"  "${CMAKE_GENERATOR}")
+print_config("CMake build tool" "${CMAKE_BUILD_TOOL}")
 message(STATUS "Build flags                                               ")
-print_config_flag(${GTSAM_BUILD_TESTS}                 "Build Tests                    ")
-print_config_flag(${GTSAM_BUILD_EXAMPLES_ALWAYS}       "Build examples with 'make all' ")
-print_config_flag(${GTSAM_BUILD_TIMING_ALWAYS}         "Build timing scripts with 'make all'")
+print_enabled_config(${GTSAM_BUILD_TESTS}                 "Build Tests")
+print_enabled_config(${GTSAM_BUILD_EXAMPLES_ALWAYS}       "Build examples with 'make all'")
+print_enabled_config(${GTSAM_BUILD_TIMING_ALWAYS}         "Build timing scripts with 'make all'")
 if (DOXYGEN_FOUND)
-    print_config_flag(${GTSAM_BUILD_DOCS}              "Build Docs                     ")
+    print_enabled_config(${GTSAM_BUILD_DOCS}              "Build Docs")
 endif()
-print_config_flag(${BUILD_SHARED_LIBS}                 "Build shared GTSAM libraries   ")
-print_config_flag(${GTSAM_BUILD_TYPE_POSTFIXES}        "Put build type in library name ")
+print_enabled_config(${BUILD_SHARED_LIBS}                 "Build shared GTSAM libraries")
+print_enabled_config(${GTSAM_BUILD_TYPE_POSTFIXES}        "Put build type in library name")
 if(GTSAM_UNSTABLE_AVAILABLE)
-    print_config_flag(${GTSAM_BUILD_UNSTABLE}          "Build libgtsam_unstable        ")
+    print_enabled_config(${GTSAM_BUILD_UNSTABLE}          "Build libgtsam_unstable")
 endif()

 if(NOT MSVC AND NOT XCODE_VERSION)
-    print_config_flag(${GTSAM_BUILD_WITH_MARCH_NATIVE}     "Build for native architecture  ")
-    message(STATUS "  Build type                     : ${CMAKE_BUILD_TYPE}")
-    message(STATUS "  C compilation flags            : ${CMAKE_C_FLAGS} ${CMAKE_C_FLAGS_${CMAKE_BUILD_TYPE_UPPER}}")
-    message(STATUS "  C++ compilation flags          : ${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_${CMAKE_BUILD_TYPE_UPPER}}")
+    print_enabled_config(${GTSAM_BUILD_WITH_MARCH_NATIVE}     "Build for native architecture  ")
+    print_config("Build type" "${CMAKE_BUILD_TYPE}")
+    print_config("C compilation flags" "${CMAKE_C_FLAGS} ${CMAKE_C_FLAGS_${CMAKE_BUILD_TYPE_UPPER}}")
+    print_config("C++ compilation flags" "${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_${CMAKE_BUILD_TYPE_UPPER}}")
 endif()

 print_build_options_for_target(gtsam)

-message(STATUS "  Use System Eigen                : ${GTSAM_USE_SYSTEM_EIGEN} (Using version: ${GTSAM_EIGEN_VERSION})")
+print_config("Use System Eigen" "${GTSAM_USE_SYSTEM_EIGEN} (Using version: ${GTSAM_EIGEN_VERSION})")

 if(GTSAM_USE_TBB)
-	message(STATUS "  Use Intel TBB                   : Yes")
+    print_config("Use Intel TBB" "Yes")
 elseif(TBB_FOUND)
-	message(STATUS "  Use Intel TBB                   : TBB found but GTSAM_WITH_TBB is disabled")
+    print_config("Use Intel TBB" "TBB found but GTSAM_WITH_TBB is disabled")
 else()
-	message(STATUS "  Use Intel TBB                   : TBB not found")
+    print_config("Use Intel TBB" "TBB not found")
 endif()
 if(GTSAM_USE_EIGEN_MKL)
-	message(STATUS "  Eigen will use MKL              : Yes")
+    print_config("Eigen will use MKL" "Yes")
 elseif(MKL_FOUND)
-	message(STATUS "  Eigen will use MKL              : MKL found but GTSAM_WITH_EIGEN_MKL is disabled")
+    print_config("Eigen will use MKL" "MKL found but GTSAM_WITH_EIGEN_MKL is disabled")
 else()
-	message(STATUS "  Eigen will use MKL              : MKL not found")
+    print_config("Eigen will use MKL" "MKL not found")
 endif()
 if(GTSAM_USE_EIGEN_MKL_OPENMP)
-	message(STATUS "  Eigen will use MKL and OpenMP   : Yes")
+    print_config("Eigen will use MKL and OpenMP" "Yes")
 elseif(OPENMP_FOUND AND NOT GTSAM_WITH_EIGEN_MKL)
-	message(STATUS "  Eigen will use MKL and OpenMP   : OpenMP found but GTSAM_WITH_EIGEN_MKL is disabled")
+    print_config("Eigen will use MKL and OpenMP" "OpenMP found but GTSAM_WITH_EIGEN_MKL is disabled")
 elseif(OPENMP_FOUND AND NOT MKL_FOUND)
-	message(STATUS "  Eigen will use MKL and OpenMP   : OpenMP found but MKL not found")
+    print_config("Eigen will use MKL and OpenMP" "OpenMP found but MKL not found")
 elseif(OPENMP_FOUND)
-	message(STATUS "  Eigen will use MKL and OpenMP   : OpenMP found but GTSAM_WITH_EIGEN_MKL_OPENMP is disabled")
+    print_config("Eigen will use MKL and OpenMP" "OpenMP found but GTSAM_WITH_EIGEN_MKL_OPENMP is disabled")
 else()
-	message(STATUS "  Eigen will use MKL and OpenMP   : OpenMP not found")
+    print_config("Eigen will use MKL and OpenMP" "OpenMP not found")
 endif()
-message(STATUS "  Default allocator               : ${GTSAM_DEFAULT_ALLOCATOR}")
+print_config("Default allocator" "${GTSAM_DEFAULT_ALLOCATOR}")

 if(GTSAM_THROW_CHEIRALITY_EXCEPTION)
-	message(STATUS "  Cheirality exceptions enabled   : YES")
+    print_config("Cheirality exceptions enabled" "YES")
 else()
-	message(STATUS "  Cheirality exceptions enabled   : NO")
+    print_config("Cheirality exceptions enabled" "NO")
 endif()

 if(NOT MSVC AND NOT XCODE_VERSION)
 	if(CCACHE_FOUND AND GTSAM_BUILD_WITH_CCACHE)
-		message(STATUS "  Build with ccache               : Yes")
+        print_config("Build with ccache" "Yes")
 	elseif(CCACHE_FOUND)
-		message(STATUS "  Build with ccache               : ccache found but GTSAM_BUILD_WITH_CCACHE is disabled")
+        print_config("Build with ccache" "ccache found but GTSAM_BUILD_WITH_CCACHE is disabled")
 	else()
-		message(STATUS "  Build with ccache               : No")
+        print_config("Build with ccache" "No")
 	endif()
 endif()

-message(STATUS "Packaging flags                                               ")
-message(STATUS "  CPack Source Generator          : ${CPACK_SOURCE_GENERATOR}")
-message(STATUS "  CPack Generator                 : ${CPACK_GENERATOR}")
+message(STATUS "Packaging flags")
+print_config("CPack Source Generator" "${CPACK_SOURCE_GENERATOR}")
+print_config("CPack Generator" "${CPACK_GENERATOR}")

 message(STATUS "GTSAM flags                                               ")
-print_config_flag(${GTSAM_USE_QUATERNIONS}             "Quaternions as default Rot3     ")
-print_config_flag(${GTSAM_ENABLE_CONSISTENCY_CHECKS}   "Runtime consistency checking    ")
-print_config_flag(${GTSAM_ROT3_EXPMAP}                 "Rot3 retract is full ExpMap     ")
-print_config_flag(${GTSAM_POSE3_EXPMAP}                "Pose3 retract is full ExpMap    ")
-print_config_flag(${GTSAM_ALLOW_DEPRECATED_SINCE_V41}  "Allow features deprecated in GTSAM 4.1")
-print_config_flag(${GTSAM_TYPEDEF_POINTS_TO_VECTORS}   "Point3 is typedef to Vector3    ")
-print_config_flag(${GTSAM_SUPPORT_NESTED_DISSECTION}   "Metis-based Nested Dissection   ")
-print_config_flag(${GTSAM_TANGENT_PREINTEGRATION}      "Use tangent-space preintegration")
-print_config_flag(${GTSAM_BUILD_WRAP}                  "Build Wrap                      ")
+print_enabled_config(${GTSAM_USE_QUATERNIONS}             "Quaternions as default Rot3     ")
+print_enabled_config(${GTSAM_ENABLE_CONSISTENCY_CHECKS}   "Runtime consistency checking    ")
+print_enabled_config(${GTSAM_ROT3_EXPMAP}                 "Rot3 retract is full ExpMap     ")
+print_enabled_config(${GTSAM_POSE3_EXPMAP}                "Pose3 retract is full ExpMap    ")
+print_enabled_config(${GTSAM_ALLOW_DEPRECATED_SINCE_V41}  "Allow features deprecated in GTSAM 4.1")
+print_enabled_config(${GTSAM_TYPEDEF_POINTS_TO_VECTORS}   "Point3 is typedef to Vector3    ")
+print_enabled_config(${GTSAM_SUPPORT_NESTED_DISSECTION}   "Metis-based Nested Dissection   ")
+print_enabled_config(${GTSAM_TANGENT_PREINTEGRATION}      "Use tangent-space preintegration")
+print_enabled_config(${GTSAM_BUILD_WRAP}                  "Build Wrap                      ")

-message(STATUS "MATLAB toolbox flags                                      ")
-print_config_flag(${GTSAM_INSTALL_MATLAB_TOOLBOX}      "Install MATLAB toolbox          ")
+message(STATUS "MATLAB toolbox flags")
+print_enabled_config(${GTSAM_INSTALL_MATLAB_TOOLBOX}      "Install MATLAB toolbox          ")
 if (${GTSAM_INSTALL_MATLAB_TOOLBOX})
-    message(STATUS "  MATLAB root                     : ${MATLAB_ROOT}")
-    message(STATUS "  MEX binary                      : ${MEX_COMMAND}")
+    print_config("MATLAB root" "${MATLAB_ROOT}")
+    print_config("MEX binary" "${MEX_COMMAND}")
 endif()

 message(STATUS "Cython toolbox flags                                      ")
-print_config_flag(${GTSAM_INSTALL_CYTHON_TOOLBOX}      "Install Cython toolbox          ")
+print_enabled_config(${GTSAM_INSTALL_CYTHON_TOOLBOX}      "Install Cython toolbox          ")
 if(GTSAM_INSTALL_CYTHON_TOOLBOX)
-	message(STATUS "  Python version                  : ${GTSAM_PYTHON_VERSION}")
+    print_config("Python version" "${GTSAM_PYTHON_VERSION}")
 endif()
 message(STATUS "===============================================================")

--- a/appveyor.yml
+++ b/appveyor.yml
@ -1,33 +0,0 @@
-# version format
-version: 4.0.3-{branch}-build{build}
-
-os: Visual Studio 2019
-
-clone_folder: c:\projects\gtsam
-
-platform: x64
-configuration: Release
-
-environment:
-  CTEST_OUTPUT_ON_FAILURE: 1
-  BOOST_ROOT: C:/Libraries/boost_1_71_0
-
-build_script:
-  - cd c:\projects\gtsam\build
-  # As of Dec 2019, not all unit tests build cleanly for MSVC, so we'll just
-  # check that parts of GTSAM build correctly:
-  #- cmake --build .
-  - cmake --build . --config Release --target gtsam
-  - cmake --build . --config Release --target gtsam_unstable
-  - cmake --build . --config Release --target wrap
-  #- cmake --build . --target check
-  - cmake --build . --config Release --target check.base
-  - cmake --build . --config Release --target check.base_unstable
-  - cmake --build . --config Release --target check.linear
-
-before_build:
-  - cd c:\projects\gtsam
-  - mkdir build
-  - cd build
-  # Disable examples to avoid AppVeyor timeout
-  - cmake -G "Visual Studio 16 2019"  .. -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF
--- a/cmake/GtsamPrinting.cmake
+++ b/cmake/GtsamPrinting.cmake
@ -1,14 +1,3 @@
-# print configuration variables
-# Usage:
-#print_config_flag(${GTSAM_BUILD_TESTS} "Build Tests                ")
-function(print_config_flag flag msg)
-    if (flag)
-        message(STATUS "  ${msg}: Enabled")
-    else ()
-        message(STATUS "  ${msg}: Disabled")
-    endif ()
-endfunction()
-
 # Based on https://github.com/jimbraun/XCDF/blob/master/cmake/CMakePadString.cmake
 function(string_pad RESULT_NAME DESIRED_LENGTH VALUE)
    string(LENGTH "${VALUE}" VALUE_LENGTH)
@ -26,6 +15,27 @@ endfunction()
 set(GTSAM_PRINT_SUMMARY_PADDING_LENGTH 50 CACHE STRING "Padding of cmake summary report lines after configuring.")
 mark_as_advanced(GTSAM_PRINT_SUMMARY_PADDING_LENGTH)

+# print configuration variables with automatic padding
+# Usage:
+#   print_config(${GTSAM_BUILD_TESTS} "Build Tests")
+function(print_config config msg)
+  string_pad(padded_config ${GTSAM_PRINT_SUMMARY_PADDING_LENGTH} " ${config}")
+  message(STATUS "${padded_config}: ${msg}")
+endfunction()
+
+# print configuration variable with enabled/disabled value
+# Usage:
+#   print_enabled_config(${GTSAM_BUILD_TESTS} "Build Tests                ")
+function(print_enabled_config config msg)
+    string_pad(padded_msg ${GTSAM_PRINT_SUMMARY_PADDING_LENGTH} " ${msg}")
+    if (config)
+        message(STATUS "${padded_msg}: Enabled")
+    else ()
+        message(STATUS "${padded_msg}: Disabled")
+    endif ()
+endfunction()
+
+
 # Print "  var: ${var}" padding with spaces as needed
 function(print_padded variable_name)
  string_pad(padded_prop ${GTSAM_PRINT_SUMMARY_PADDING_LENGTH} " ${variable_name}")
--- a/cython/gtsam/utils/plot.py
+++ b/cython/gtsam/utils/plot.py
@ -155,7 +155,6 @@ def plot_pose2(fignum, pose, axis_length=0.1, covariance=None,

    axes.set_xlabel(axis_labels[0])
    axes.set_ylabel(axis_labels[1])
-    axes.set_zlabel(axis_labels[2])

    return fig

--- a/cython/gtsam/utils/visual_data_generator.py
+++ b/cython/gtsam/utils/visual_data_generator.py
@ -30,8 +30,8 @@ class GroundTruth:

    def __init__(self, K=Cal3_S2(), nrCameras=3, nrPoints=4):
        self.K = K
-        self.cameras = [Pose3()] * nrCameras
-        self.points = [Point3()] * nrPoints
+        self.cameras = [gtsam.Pose3()] * nrCameras
+        self.points = [gtsam.Point3(0, 0, 0)] * nrPoints

    def print_(self, s=""):
        print(s)
@ -99,11 +99,11 @@ def generate_data(options):
    r = 40
    for i in range(options.nrCameras):
        theta = i * 2 * np.pi / options.nrCameras
-        t = Point3(r * np.cos(theta), r * np.sin(theta), height)
-        truth.cameras[i] = PinholeCameraCal3_S2.Lookat(t,
-                                                       Point3(),
-                                                       Point3(0, 0, 1),
-                                                       truth.K)
+        t = gtsam.Point3(r * np.cos(theta), r * np.sin(theta), height)
+        truth.cameras[i] = gtsam.SimpleCamera.Lookat(t,
+                                                     gtsam.Point3(0, 0, 0),
+                                                     gtsam.Point3(0, 0, 1),
+                                                     truth.K)
        # Create measurements
        for j in range(nrPoints):
            # All landmarks seen in every frame
--- a/examples/Data/example_with_vertices.g2o
+++ b/examples/Data/example_with_vertices.g2o
@ -1,16 +1,16 @@
-VERTEX_SE3:QUAT 8646911284551352320 40 -1.15443e-13 10 0.557345 0.557345 -0.435162 -0.435162
-VERTEX_SE3:QUAT 8646911284551352321 28.2843 28.2843 10 0.301633 0.728207 -0.568567 -0.235508
-VERTEX_SE3:QUAT 8646911284551352322 -1.6986e-08 40 10 -3.89609e-10 0.788205 -0.615412 -2.07622e-10
-VERTEX_SE3:QUAT 8646911284551352323 -28.2843 28.2843 10 -0.301633 0.728207 -0.568567 0.235508
-VERTEX_SE3:QUAT 8646911284551352324 -40 -2.32554e-10 10 -0.557345 0.557345 -0.435162 0.435162
-VERTEX_SE3:QUAT 8646911284551352325 -28.2843 -28.2843 10 -0.728207 0.301633 -0.235508 0.568567
-VERTEX_SE3:QUAT 8646911284551352326 -2.53531e-09 -40 10 -0.788205 -1.25891e-11 -3.82742e-13 0.615412
-VERTEX_SE3:QUAT 8646911284551352327 28.2843 -28.2843 10 -0.728207 -0.301633 0.235508 0.568567
-VERTEX_TRACKXYZ 7782220156096217088 10 10 10
-VERTEX_TRACKXYZ 7782220156096217089 -10 10 10
-VERTEX_TRACKXYZ 7782220156096217090 -10 -10 10
-VERTEX_TRACKXYZ 7782220156096217091 10 -10 10
-VERTEX_TRACKXYZ 7782220156096217092 10 10 -10
-VERTEX_TRACKXYZ 7782220156096217093 -10 10 -10
-VERTEX_TRACKXYZ 7782220156096217094 -10 -10 -10
-VERTEX_TRACKXYZ 7782220156096217095 10 -10 -10
+VERTEX_SE3:QUAT 0 40 -1.15443e-13 10 0.557345 0.557345 -0.435162 -0.435162
+VERTEX_SE3:QUAT 1 28.2843 28.2843 10 0.301633 0.728207 -0.568567 -0.235508
+VERTEX_SE3:QUAT 2 -1.6986e-08 40 10 -3.89609e-10 0.788205 -0.615412 -2.07622e-10
+VERTEX_SE3:QUAT 3 -28.2843 28.2843 10 -0.301633 0.728207 -0.568567 0.235508
+VERTEX_SE3:QUAT 4 -40 -2.32554e-10 10 -0.557345 0.557345 -0.435162 0.435162
+VERTEX_SE3:QUAT 5 -28.2843 -28.2843 10 -0.728207 0.301633 -0.235508 0.568567
+VERTEX_SE3:QUAT 6 -2.53531e-09 -40 10 -0.788205 -1.25891e-11 -3.82742e-13 0.615412
+VERTEX_SE3:QUAT 7 28.2843 -28.2843 10 -0.728207 -0.301633 0.235508 0.568567
+VERTEX_TRACKXYZ 0 10 10 10
+VERTEX_TRACKXYZ 1 -10 10 10
+VERTEX_TRACKXYZ 2 -10 -10 10
+VERTEX_TRACKXYZ 3 10 -10 10
+VERTEX_TRACKXYZ 4 10 10 -10
+VERTEX_TRACKXYZ 5 -10 10 -10
+VERTEX_TRACKXYZ 6 -10 -10 -10
+VERTEX_TRACKXYZ 7 10 -10 -10
--- a/gtsam/base/GenericValue.h
+++ b/gtsam/base/GenericValue.h
@ -30,6 +30,14 @@
 #include <iostream>
 #include <typeinfo> // operator typeid

+#ifdef _WIN32
+#define GENERICVALUE_VISIBILITY
+#else
+// This will trigger a LNKxxxx on MSVC, so disable for MSVC build
+// Please refer to https://github.com/borglab/gtsam/blob/develop/Using-GTSAM-EXPORT.md
+#define GENERICVALUE_VISIBILITY GTSAM_EXPORT
+#endif
+
 namespace gtsam {

 /**
--- a/gtsam/nonlinear/Values.h
+++ b/gtsam/nonlinear/Values.h
@ -397,7 +397,7 @@ namespace gtsam {
    template<class ValueType>
    size_t count() const {
      size_t i = 0;
-      for (const auto& key_value : *this) {
+      for (const auto key_value : *this) {
        if (dynamic_cast<const GenericValue<ValueType>*>(&key_value.value))
          ++i;
      }
--- a/gtsam/sam/BearingRangeFactor.h
+++ b/gtsam/sam/BearingRangeFactor.h
@ -42,14 +42,21 @@ class BearingRangeFactor
 public:
  typedef boost::shared_ptr<This> shared_ptr;

-  /// default constructor
+  /// Default constructor
  BearingRangeFactor() {}

-  /// primary constructor
-  BearingRangeFactor(Key key1, Key key2, const B& measuredBearing,
-                     const R& measuredRange, const SharedNoiseModel& model)
-      : Base({key1, key2}, model, T(measuredBearing, measuredRange)) {
-    this->initialize(expression({key1, key2}));
+  /// Construct from BearingRange instance
+  BearingRangeFactor(Key key1, Key key2, const T &bearingRange,
+                     const SharedNoiseModel &model)
+      : Base({{key1, key2}}, model, T(bearingRange)) {
+    this->initialize(expression({{key1, key2}}));
+  }
+
+  /// Construct from separate bearing and range
+  BearingRangeFactor(Key key1, Key key2, const B &measuredBearing,
+                     const R &measuredRange, const SharedNoiseModel &model)
+      : Base({{key1, key2}}, model, T(measuredBearing, measuredRange)) {
+    this->initialize(expression({{key1, key2}}));
  }

  virtual ~BearingRangeFactor() {}
--- a/gtsam/sfm/BinaryMeasurement.h
+++ b/gtsam/sfm/BinaryMeasurement.h
@ -15,78 +15,69 @@
 * @file BinaryMeasurement.h
 * @author Akshay Krishnan
 * @date July 2020
- * @brief Binary measurement represents a measurement between two keys in a graph.
- * A binary measurement is similar to a BetweenFactor, except that it does not contain 
- * an error function. It is a measurement (along with a noise model) from one key to 
- * another. Note that the direction is important. A measurement from key1 to key2 is not
- * the same as the same measurement from key2 to key1. 
+ * @brief Binary measurement represents a measurement between two keys in a
+ * graph. A binary measurement is similar to a BetweenFactor, except that it
+ * does not contain an error function. It is a measurement (along with a noise
+ * model) from one key to another. Note that the direction is important. A
+ * measurement from key1 to key2 is not the same as the same measurement from
+ * key2 to key1.
 */

-#include <ostream>
-
 #include <gtsam/base/Testable.h>
-#include <gtsam/base/Lie.h>
-#include <gtsam/nonlinear/NonlinearFactor.h>
-
+#include <gtsam/inference/Factor.h>
 #include <gtsam/inference/Key.h>
 #include <gtsam/linear/NoiseModel.h>

+#include <iostream>
+#include <vector>
+
 namespace gtsam {

-template<class VALUE>
-class BinaryMeasurement {
-  // Check that VALUE type is testable
-  BOOST_CONCEPT_ASSERT((IsTestable<VALUE>));
-
- public:
-  typedef VALUE T;
+template <class T> class BinaryMeasurement : public Factor {
+  // Check that T type is testable
+  BOOST_CONCEPT_ASSERT((IsTestable<T>));

+public:
  // shorthand for a smart pointer to a measurement
-  typedef typename boost::shared_ptr<BinaryMeasurement> shared_ptr;
+  using shared_ptr = typename boost::shared_ptr<BinaryMeasurement>;

- private:
-  Key key1_, key2_;   /** Keys */
+private:
+  T measured_;                  ///< The measurement
+  SharedNoiseModel noiseModel_; ///< Noise model

-  VALUE measured_; /** The measurement */
+public:
+  BinaryMeasurement(Key key1, Key key2, const T &measured,
+                    const SharedNoiseModel &model = nullptr)
+      : Factor(std::vector<Key>({key1, key2})), measured_(measured),
+        noiseModel_(model) {}

-  SharedNoiseModel noiseModel_; /** Noise model */
-
- public:
-  /** Constructor */
-  BinaryMeasurement(Key key1, Key key2, const VALUE &measured,
-                    const SharedNoiseModel &model = nullptr) :
-      key1_(key1), key2_(key2), measured_(measured), noiseModel_(model) {
-  }
-
-  Key key1() const { return key1_; }
-
-  Key key2() const { return key2_; }
+  /// @name Standard Interface
+  /// @{

+  Key key1() const { return keys_[0]; }
+  Key key2() const { return keys_[1]; }
+  const T &measured() const { return measured_; }
  const SharedNoiseModel &noiseModel() const { return noiseModel_; }

-  /** implement functions needed for Testable */
+  /// @}
+  /// @name Testable
+  /// @{

-  /** print */
-  void print(const std::string &s, const KeyFormatter &keyFormatter = DefaultKeyFormatter) const {
-    std::cout << s << "BinaryMeasurement("
-              << keyFormatter(this->key1()) << ","
+  void print(const std::string &s,
+             const KeyFormatter &keyFormatter = DefaultKeyFormatter) const {
+    std::cout << s << "BinaryMeasurement(" << keyFormatter(this->key1()) << ","
              << keyFormatter(this->key2()) << ")\n";
    traits<T>::Print(measured_, "  measured: ");
    this->noiseModel_->print("  noise model: ");
  }

-  /** equals */
  bool equals(const BinaryMeasurement &expected, double tol = 1e-9) const {
-    const BinaryMeasurement<VALUE> *e = dynamic_cast<const BinaryMeasurement<VALUE> *> (&expected);
-    return e != nullptr && key1_ == e->key1_ &&
-        key2_ == e->key2_
-        && traits<VALUE>::Equals(this->measured_, e->measured_, tol) &&
-        noiseModel_->equals(*expected.noiseModel());
+    const BinaryMeasurement<T> *e =
+        dynamic_cast<const BinaryMeasurement<T> *>(&expected);
+    return e != nullptr && Factor::equals(*e) &&
+           traits<T>::Equals(this->measured_, e->measured_, tol) &&
+           noiseModel_->equals(*expected.noiseModel());
  }
-
-  /** return the measured value */
-  VALUE measured() const {
-    return measured_;
-  }
-}; // \class BetweenMeasurement
-}
+  /// @}
+};
+} // namespace gtsam
--- a/gtsam/slam/BetweenFactor.h
+++ b/gtsam/slam/BetweenFactor.h
@ -21,6 +21,14 @@
 #include <gtsam/base/Lie.h>
 #include <gtsam/nonlinear/NonlinearFactor.h>

+#ifdef _WIN32
+#define BETWEENFACTOR_VISIBILITY
+#else
+// This will trigger a LNKxxxx on MSVC, so disable for MSVC build
+// Please refer to https://github.com/borglab/gtsam/blob/develop/Using-GTSAM-EXPORT.md
+#define BETWEENFACTOR_VISIBILITY GTSAM_EXPORT
+#endif
+
 namespace gtsam {

  /**
--- a/gtsam/slam/dataset.cpp
+++ b/gtsam/slam/dataset.cpp
--- a/gtsam/slam/dataset.h
+++ b/gtsam/slam/dataset.h
@ -20,13 +20,12 @@

 #pragma once

+#include <gtsam/sfm/BinaryMeasurement.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/geometry/Cal3Bundler.h>
 #include <gtsam/geometry/PinholeCamera.h>
-#include <gtsam/geometry/Point2.h>
-#include <gtsam/geometry/Point3.h>
+#include <gtsam/geometry/Pose2.h>
 #include <gtsam/geometry/Pose3.h>
-#include <gtsam/geometry/Rot3.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/Values.h>
 #include <gtsam/linear/NoiseModel.h>
@ -74,20 +73,42 @@ enum KernelFunctionType {
  KernelFunctionTypeNONE, KernelFunctionTypeHUBER, KernelFunctionTypeTUKEY
 };

-/// Return type for auxiliary functions
-typedef std::pair<Key, Pose2> IndexedPose;
-typedef std::pair<Key, Point2> IndexedLandmark;
-typedef std::pair<std::pair<Key, Key>, Pose2> IndexedEdge;
-
-#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V41
 /**
- * Parse TORO/G2O vertex "id x y yaw"
- * @param is input stream
- * @param tag string parsed from input stream, will only parse if vertex type
+ * Parse variables in a line-based text format (like g2o) into a map.
+ * Instantiated in .cpp Pose2, Point2, Pose3, and Point3.
+ * Note the map keys are integer indices, *not* gtsam::Keys. This is is
+ * different below where landmarks will use L(index) symbols.
 */
-GTSAM_EXPORT boost::optional<IndexedPose> parseVertex(std::istream& is,
-    const std::string& tag);
-#endif
+template <typename T>
+GTSAM_EXPORT std::map<size_t, T> parseVariables(const std::string &filename,
+                                                size_t maxIndex = 0);
+
+/**
+ * Parse binary measurements in a line-based text format (like g2o) into a
+ * vector. Instantiated in .cpp for Pose2, Rot2, Pose3, and Rot3. The rotation
+ * versions parse poses and extract only the rotation part, using the marginal
+ * covariance as noise model.
+ */
+template <typename T>
+GTSAM_EXPORT std::vector<BinaryMeasurement<T>>
+parseMeasurements(const std::string &filename,
+                  const noiseModel::Diagonal::shared_ptr &model = nullptr,
+                  size_t maxIndex = 0);
+
+/**
+ * Parse BetweenFactors in a line-based text format (like g2o) into a vector of
+ * shared pointers. Instantiated in .cpp T equal to Pose2 and Pose3.
+ */
+template <typename T>
+GTSAM_EXPORT std::vector<typename BetweenFactor<T>::shared_ptr>
+parseFactors(const std::string &filename,
+             const noiseModel::Diagonal::shared_ptr &model = nullptr,
+             size_t maxIndex = 0);
+
+/// Return type for auxiliary functions
+typedef std::pair<size_t, Pose2> IndexedPose;
+typedef std::pair<size_t, Point2> IndexedLandmark;
+typedef std::pair<std::pair<size_t, size_t>, Pose2> IndexedEdge;

 /**
 * Parse TORO/G2O vertex "id x y yaw"
@ -102,7 +123,6 @@ GTSAM_EXPORT boost::optional<IndexedPose> parseVertexPose(std::istream& is,
 * @param is input stream
 * @param tag string parsed from input stream, will only parse if vertex type
 */
-
 GTSAM_EXPORT boost::optional<IndexedLandmark> parseVertexLandmark(std::istream& is,
    const std::string& tag);

@ -114,18 +134,21 @@ GTSAM_EXPORT boost::optional<IndexedLandmark> parseVertexLandmark(std::istream&
 GTSAM_EXPORT boost::optional<IndexedEdge> parseEdge(std::istream& is,
    const std::string& tag);

-/// Return type for load functions
-typedef std::pair<NonlinearFactorGraph::shared_ptr, Values::shared_ptr> GraphAndValues;
+/// Return type for load functions, which return a graph and initial values. For
+/// landmarks, the gtsam::Symbol L(index) is used to insert into the Values.
+/// Bearing-range measurements also refer to landmarks with L(index).
+using GraphAndValues =
+    std::pair<NonlinearFactorGraph::shared_ptr, Values::shared_ptr>;

 /**
 * Load TORO 2D Graph
 * @param dataset/model pair as constructed by [dataset]
- * @param maxID if non-zero cut out vertices >= maxID
+ * @param maxIndex if non-zero cut out vertices >= maxIndex
 * @param addNoise add noise to the edges
 * @param smart try to reduce complexity of covariance to cheapest model
 */
 GTSAM_EXPORT GraphAndValues load2D(
-    std::pair<std::string, SharedNoiseModel> dataset, int maxID = 0,
+    std::pair<std::string, SharedNoiseModel> dataset, size_t maxIndex = 0,
    bool addNoise = false,
    bool smart = true, //
    NoiseFormat noiseFormat = NoiseFormatAUTO,
@ -135,7 +158,7 @@ GTSAM_EXPORT GraphAndValues load2D(
 * Load TORO/G2O style graph files
 * @param filename
 * @param model optional noise model to use instead of one specified by file
- * @param maxID if non-zero cut out vertices >= maxID
+ * @param maxIndex if non-zero cut out vertices >= maxIndex
 * @param addNoise add noise to the edges
 * @param smart try to reduce complexity of covariance to cheapest model
 * @param noiseFormat how noise parameters are stored
@ -143,13 +166,13 @@ GTSAM_EXPORT GraphAndValues load2D(
 * @return graph and initial values
 */
 GTSAM_EXPORT GraphAndValues load2D(const std::string& filename,
-    SharedNoiseModel model = SharedNoiseModel(), Key maxID = 0, bool addNoise =
+    SharedNoiseModel model = SharedNoiseModel(), size_t maxIndex = 0, bool addNoise =
        false, bool smart = true, NoiseFormat noiseFormat = NoiseFormatAUTO, //
    KernelFunctionType kernelFunctionType = KernelFunctionTypeNONE);

 /// @deprecated load2D now allows for arbitrary models and wrapping a robust kernel
 GTSAM_EXPORT GraphAndValues load2D_robust(const std::string& filename,
-    noiseModel::Base::shared_ptr& model, int maxID = 0);
+    noiseModel::Base::shared_ptr& model, size_t maxIndex = 0);

 /** save 2d graph */
 GTSAM_EXPORT void save2D(const NonlinearFactorGraph& graph,
@ -173,21 +196,15 @@ GTSAM_EXPORT GraphAndValues readG2o(const std::string& g2oFile, const bool is3D
 * @param filename The name of the g2o file to write
 * @param graph NonlinearFactor graph storing the measurements
 * @param estimate Values
+ *
+ * Note:behavior change in PR #471: to be consistent with load2D and load3D, we
+ * write the *indices* to file and not the full Keys. This change really only
+ * affects landmarks, which get read as indices but stored in values with the
+ * symbol L(index).
 */
 GTSAM_EXPORT void writeG2o(const NonlinearFactorGraph& graph,
    const Values& estimate, const std::string& filename);

-/// Parse edges in 3D TORO graph file into a set of BetweenFactors.
-using BetweenFactorPose3s = std::vector<gtsam::BetweenFactor<Pose3>::shared_ptr>;
-GTSAM_EXPORT BetweenFactorPose3s parse3DFactors(const std::string& filename, 
-    const noiseModel::Diagonal::shared_ptr& corruptingNoise=nullptr);
-
-/// Parse vertices in 3D TORO/g2o graph file into a map of Pose3s.
-GTSAM_EXPORT std::map<Key, Pose3> parse3DPoses(const std::string& filename);
-
-/// Parse landmarks in 3D g2o graph file into a map of Point3s.
-GTSAM_EXPORT std::map<Key, Point3> parse3DLandmarks(const string& filename);
-
 /// Load TORO 3D Graph
 GTSAM_EXPORT GraphAndValues load3D(const std::string& filename);

@ -324,4 +341,24 @@ GTSAM_EXPORT Values initialCamerasEstimate(const SfmData& db);
 */
 GTSAM_EXPORT Values initialCamerasAndPointsEstimate(const SfmData& db);

+// To be deprecated when pybind wrapper is merged:
+using BetweenFactorPose3s = std::vector<BetweenFactor<Pose3>::shared_ptr>;
+GTSAM_EXPORT BetweenFactorPose3s
+parse3DFactors(const std::string &filename,
+               const noiseModel::Diagonal::shared_ptr &model = nullptr,
+               size_t maxIndex = 0);
+
+#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V41
+inline boost::optional<IndexedPose> parseVertex(std::istream &is,
+                                                const std::string &tag) {
+  return parseVertexPose(is, tag);
+}
+
+GTSAM_EXPORT std::map<size_t, Pose3> parse3DPoses(const std::string &filename,
+                                                  size_t maxIndex = 0);
+
+GTSAM_EXPORT std::map<size_t, Point3>
+parse3DLandmarks(const std::string &filename, size_t maxIndex = 0);
+
+#endif
 }  // namespace gtsam
--- a/gtsam/slam/tests/testDataset.cpp
+++ b/gtsam/slam/tests/testDataset.cpp
@ -82,38 +82,73 @@ TEST( dataSet, parseEdge)
  const auto actual = parseEdge(is, tag);
  EXPECT(actual);
  if (actual) {
-    pair<Key, Key> expected(0, 1);
+    pair<size_t, size_t> expected(0, 1);
    EXPECT(expected == actual->first);
    EXPECT(assert_equal(Pose2(2, 3, 4), actual->second));
  }
 }

 /* ************************************************************************* */
-TEST( dataSet, load2D)
-{
+TEST(dataSet, load2D) {
  ///< The structure where we will save the SfM data
  const string filename = findExampleDataFile("w100.graph");
  NonlinearFactorGraph::shared_ptr graph;
  Values::shared_ptr initial;
  boost::tie(graph, initial) = load2D(filename);
-  EXPECT_LONGS_EQUAL(300,graph->size());
-  EXPECT_LONGS_EQUAL(100,initial->size());
-  noiseModel::Unit::shared_ptr model = noiseModel::Unit::Create(3);
-  BetweenFactor<Pose2> expected(1, 0, Pose2(-0.99879,0.0417574,-0.00818381), model);
-  BetweenFactor<Pose2>::shared_ptr actual = boost::dynamic_pointer_cast<
-      BetweenFactor<Pose2> >(graph->at(0));
+  EXPECT_LONGS_EQUAL(300, graph->size());
+  EXPECT_LONGS_EQUAL(100, initial->size());
+  auto model = noiseModel::Unit::Create(3);
+  BetweenFactor<Pose2> expected(1, 0, Pose2(-0.99879, 0.0417574, -0.00818381),
+                                model);
+  BetweenFactor<Pose2>::shared_ptr actual =
+      boost::dynamic_pointer_cast<BetweenFactor<Pose2>>(graph->at(0));
  EXPECT(assert_equal(expected, *actual));
+
+  // Check binary measurements, Pose2
+  size_t maxIndex = 5;
+  auto measurements = parseMeasurements<Pose2>(filename, nullptr, maxIndex);
+  EXPECT_LONGS_EQUAL(5, measurements.size());
+
+  // Check binary measurements, Rot2
+  auto measurements2 = parseMeasurements<Rot2>(filename);
+  EXPECT_LONGS_EQUAL(300, measurements2.size());
+
+  // // Check factor parsing
+  const auto actualFactors = parseFactors<Pose2>(filename);
+  for (size_t i : {0, 1, 2, 3, 4, 5}) {
+    EXPECT(assert_equal(
+        *boost::dynamic_pointer_cast<BetweenFactor<Pose2>>(graph->at(i)),
+        *actualFactors[i], 1e-5));
+  }
+
+  // Check pose parsing
+  const auto actualPoses = parseVariables<Pose2>(filename);
+  for (size_t j : {0, 1, 2, 3, 4}) {
+    EXPECT(assert_equal(initial->at<Pose2>(j), actualPoses.at(j), 1e-5));
+  }
+
+  // Check landmark parsing
+  const auto actualLandmarks = parseVariables<Point2>(filename);
+  EXPECT_LONGS_EQUAL(0, actualLandmarks.size());
 }

 /* ************************************************************************* */
-TEST( dataSet, load2DVictoriaPark)
-{
+TEST(dataSet, load2DVictoriaPark) {
  const string filename = findExampleDataFile("victoria_park.txt");
  NonlinearFactorGraph::shared_ptr graph;
  Values::shared_ptr initial;
+
+  // Load all
  boost::tie(graph, initial) = load2D(filename);
-  EXPECT_LONGS_EQUAL(10608,graph->size());
-  EXPECT_LONGS_EQUAL(7120,initial->size());
+  EXPECT_LONGS_EQUAL(10608, graph->size());
+  EXPECT_LONGS_EQUAL(7120, initial->size());
+
+  // Restrict keys
+  size_t maxIndex = 5;
+  boost::tie(graph, initial) = load2D(filename, nullptr, maxIndex);
+  EXPECT_LONGS_EQUAL(5, graph->size());
+  EXPECT_LONGS_EQUAL(6, initial->size()); // file has 0 as well
+  EXPECT_LONGS_EQUAL(L(5), graph->at(4)->keys()[1]);
 }

 /* ************************************************************************* */
@ -184,7 +219,7 @@ TEST(dataSet, readG2o3D) {
  }

  // Check factor parsing
-  const auto actualFactors = parse3DFactors(g2oFile);
+  const auto actualFactors = parseFactors<Pose3>(g2oFile);
  for (size_t i : {0, 1, 2, 3, 4, 5}) {
    EXPECT(assert_equal(
        *boost::dynamic_pointer_cast<BetweenFactor<Pose3>>(expectedGraph[i]),
@ -192,13 +227,13 @@ TEST(dataSet, readG2o3D) {
  }

  // Check pose parsing
-  const auto actualPoses = parse3DPoses(g2oFile);
+  const auto actualPoses = parseVariables<Pose3>(g2oFile);
  for (size_t j : {0, 1, 2, 3, 4}) {
    EXPECT(assert_equal(poses[j], actualPoses.at(j), 1e-5));
  }

  // Check landmark parsing
-  const auto actualLandmarks = parse3DLandmarks(g2oFile);
+  const auto actualLandmarks = parseVariables<Point3>(g2oFile);
  for (size_t j : {0, 1, 2, 3, 4}) {
    EXPECT(assert_equal(poses[j], actualPoses.at(j), 1e-5));
  }
@ -259,7 +294,7 @@ TEST(dataSet, readG2oCheckDeterminants) {
  const string g2oFile = findExampleDataFile("toyExample.g2o");

  // Check determinants in factors
-  auto factors = parse3DFactors(g2oFile);
+  auto factors = parseFactors<Pose3>(g2oFile);
  EXPECT_LONGS_EQUAL(6, factors.size());
  for (const auto& factor : factors) {
    const Rot3 R = factor->measured().rotation();
@ -267,13 +302,13 @@ TEST(dataSet, readG2oCheckDeterminants) {
  }

  // Check determinants in initial values
-  const map<Key, Pose3> poses = parse3DPoses(g2oFile);
+  const map<size_t, Pose3> poses = parseVariables<Pose3>(g2oFile);
  EXPECT_LONGS_EQUAL(5, poses.size());
  for (const auto& key_value : poses) {
    const Rot3 R = key_value.second.rotation();
    EXPECT_DOUBLES_EQUAL(1.0, R.matrix().determinant(), 1e-9);
  }
-  const map<Key, Point3> landmarks = parse3DLandmarks(g2oFile);
+  const map<size_t, Point3> landmarks = parseVariables<Point3>(g2oFile);
  EXPECT_LONGS_EQUAL(0, landmarks.size());
 }

@ -282,10 +317,13 @@ TEST(dataSet, readG2oLandmarks) {
  const string g2oFile = findExampleDataFile("example_with_vertices.g2o");

  // Check number of poses and landmarks. Should be 8 each.
-  const map<Key, Pose3> poses = parse3DPoses(g2oFile);
+  const map<size_t, Pose3> poses = parseVariables<Pose3>(g2oFile);
  EXPECT_LONGS_EQUAL(8, poses.size());
-  const map<Key, Point3> landmarks = parse3DLandmarks(g2oFile);
+  const map<size_t, Point3> landmarks = parseVariables<Point3>(g2oFile);
  EXPECT_LONGS_EQUAL(8, landmarks.size());
+
+  auto graphAndValues = load3D(g2oFile);
+  EXPECT(graphAndValues.second->exists(L(0)));
 }

 /* ************************************************************************* */
@ -538,14 +576,12 @@ TEST( dataSet, writeBALfromValues_Dubrovnik){

  Values value;
  for(size_t i=0; i < readData.number_cameras(); i++){ // for each camera
-    Key poseKey = symbol('x',i);
    Pose3 pose = poseChange.compose(readData.cameras[i].pose());
-    value.insert(poseKey, pose);
+    value.insert(X(i), pose);
  }
  for(size_t j=0; j < readData.number_tracks(); j++){ // for each point
-    Key pointKey = P(j);
    Point3 point = poseChange.transformFrom( readData.tracks[j].p );
-    value.insert(pointKey, point);
+    value.insert(P(j), point);
  }

  // Write values and readData to a file
@ -570,13 +606,11 @@ TEST( dataSet, writeBALfromValues_Dubrovnik){
  EXPECT(assert_equal(expected,actual,12));

  Pose3 expectedPose = camera0.pose();
-  Key poseKey = symbol('x',0);
-  Pose3 actualPose = value.at<Pose3>(poseKey);
+  Pose3 actualPose = value.at<Pose3>(X(0));
  EXPECT(assert_equal(expectedPose,actualPose, 1e-7));

  Point3 expectedPoint = track0.p;
-  Key pointKey = P(0);
-  Point3 actualPoint = value.at<Point3>(pointKey);
+  Point3 actualPoint = value.at<Point3>(P(0));
  EXPECT(assert_equal(expectedPoint,actualPoint, 1e-6));
 }

--- a/tests/testNonlinearISAM.cpp
+++ b/tests/testNonlinearISAM.cpp
@ -308,7 +308,7 @@ TEST(testNonlinearISAM, loop_closures ) {
    // check if edge
    const auto betweenPose = parseEdge(is, tag);
    if (betweenPose) {
-      Key id1, id2;
+      size_t id1, id2;
      tie(id1, id2) = betweenPose->first;
      graph.emplace_shared<BetweenFactor<Pose2> >(Symbol('x', id2),
          Symbol('x', id1), betweenPose->second, model);
--- a/timing/timeFrobeniusFactor.cpp
+++ b/timing/timeFrobeniusFactor.cpp
@ -57,8 +57,8 @@ int main(int argc, char* argv[]) {
  }

  // Read G2O file
-  const auto factors = parse3DFactors(g2oFile);
-  const auto poses = parse3DPoses(g2oFile);
+  const auto measurements = parseMeasurements<Rot3>(g2oFile);
+  const auto poses = parseVariables<Pose3>(g2oFile);

  // Build graph
  NonlinearFactorGraph graph;
@ -66,12 +66,12 @@ int main(int argc, char* argv[]) {
  auto priorModel = noiseModel::Isotropic::Sigma(6, 10000);
  graph.add(PriorFactor<SOn>(0, SOn::identity(4), priorModel));
  auto G = boost::make_shared<Matrix>(SOn::VectorizedGenerators(4));
-  for (const auto& factor : factors) {
-    const auto& keys = factor->keys();
-    const auto& Tij = factor->measured();
-    const auto& model = factor->noiseModel();
+  for (const auto &m : measurements) {
+    const auto &keys = m.keys();
+    const Rot3 &Rij = m.measured();
+    const auto &model = m.noiseModel();
    graph.emplace_shared<FrobeniusWormholeFactor>(
-        keys[0], keys[1], Rot3(Tij.rotation().matrix()), 4, model, G);
+        keys[0], keys[1], Rij, 4, model, G);
  }

  std::mt19937 rng(42);