Merge branch 'develop' into fix/imu-kitti-example-gps

.github/workflows/build-python.yml

@@ -32,7 +32,7 @@ jobs:
             ubuntu-20.04-gcc-9-tbb,
             ubuntu-20.04-clang-9,
             macOS-11-xcode-13.4.1,
-            windows-2019-msbuild,
+            windows-2022-msbuild,
           ]
 
         build_type: [Release]
@@ -59,8 +59,8 @@ jobs:
             compiler: xcode
             version: "13.4.1"
 
-          - name: windows-2019-msbuild
-            os: windows-2019
+          - name: windows-2022-msbuild
+            os: windows-2022
             platform: 64
 
     steps:
@@ -109,6 +109,12 @@ jobs:
         uses: ilammy/msvc-dev-cmd@v1
         with:
           arch: x${{matrix.platform}}
+          toolset: 14.38
+
+      - name: cl version (Windows)
+        if: runner.os == 'Windows'
+        shell: cmd
+        run: cl
 
       - name: Setup python (Windows)
         uses: actions/setup-python@v4

.github/workflows/build-windows.yml

@@ -27,7 +27,7 @@ jobs:
         # 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,
+            windows-2022-cl,
           ]
 
         build_type: [
@@ -37,12 +37,25 @@ jobs:
 
         build_unstable: [ON]
         include:
-          - name: windows-2019-cl
-            os: windows-2019
+          - name: windows-2022-cl
+            os: windows-2022
             compiler: cl
             platform: 64
 
     steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+
+      - name: Setup msbuild
+        uses: ilammy/msvc-dev-cmd@v1
+        with:
+          arch: x${{ matrix.platform }}
+          toolset: 14.38
+
+      - name: cl version
+        shell: cmd
+        run: cl
+
       - name: Install Dependencies
         shell: powershell
         run: |
@@ -91,14 +104,6 @@ jobs:
           # Set the BOOST_ROOT variable
           echo "BOOST_ROOT=$BOOST_PATH" >> $env:GITHUB_ENV
 
-      - name: Checkout
-        uses: actions/checkout@v3
-
-      - name: Setup msbuild
-        uses: ilammy/msvc-dev-cmd@v1
-        with:
-          arch: x${{ matrix.platform }}
-
       - name: Configuration
         shell: bash
         run: |

gtsam/geometry/CameraSet.h

@@ -327,12 +327,16 @@ class CameraSet : public std::vector<CAMERA, Eigen::aligned_allocator<CAMERA>> {
    * g = F' * (b - E * P * E' * b)
    * Fixed size version
    */
+#ifdef _WIN32
+#if _MSC_VER < 1937
   template <int N>  // N = 2 or 3
   static SymmetricBlockMatrix SchurComplement(
       const FBlocks& Fs, const Matrix& E, const Eigen::Matrix<double, N, N>& P,
       const Vector& b) {
     return SchurComplement<N, D>(Fs, E, P, b);
   }
+#endif
+#endif
 
   /// Computes Point Covariance P, with lambda parameter
   template <int N>  // N = 2 or 3 (point dimension)

gtsam/nonlinear/Values-inl.h

@@ -200,6 +200,7 @@ namespace gtsam {
 // Added this section for compile gtsam python on windows.
 // msvc don't deduct the template arguments correctly, due possible bug in msvc.
 #ifdef _WIN32
+#if _MSC_VER < 1937
    // Handle dynamic matrices
    template <int M, int N>
    struct handle_matrix<Eigen::Matrix<double, M, N, 0, M, N>, true> {
@@ -250,6 +251,7 @@ namespace gtsam {
                             (M == Eigen::Dynamic || N == Eigen::Dynamic)>()(j, pointer);
      }
    };
+#endif // #if _MSC_VER < 1937
 #endif // #ifdef _WIN32
 
    }  // internal