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Fixing 4.3.1-ros gtsam compatibility (#1783)

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* Fixing 4.3.1-ros gtsam compatibility

* javobian fix in SwitchVariable

* Fix GTSAM scalar switch traits, Jacobians and attitude API detection

* Separate sigmoid factor correction from GTSAM compatibility

* Correct sigmoid switch Jacobian and add focused factor regression

* combined gtsam tests in same file

* cmake refactor

---------

Co-authored-by: Frank Dellaert <[email protected]>
This commit is contained in:
matlabbe
2026-09-30 21:03:04 -07:00
committed by GitHub
co-authored by Frank Dellaert
parent 0f98c63e9d
commit 0156bc22ed
8 changed files with 352 additions and 74 deletions
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corelib/src/optimizer/OptimizerGTSAM.cpp
+1 -3
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@@ -504,9 +504,7 @@ std::map<int, Transform> OptimizerGTSAM::optimize(
gtsam::Unit3 nZ(0,0,1);
gtsam::Unit3 bGMeas = nRbMeas.unrotate(nZ);
gtsam::SharedNoiseModel model = gtsam::noiseModel::Isotropic::Sigma(2, gravitySigma());
#if GTSAM_VERSION_NUMERIC <= 40300
// Note: till 40301 is officially released, version 40300 with "4.3a1" would fail here.
// Just replace "<=" above by "<" to use AttitudeFactor<Pose3> below.
#ifndef RTABMAP_GTSAM_HAS_ATTITUDE_FACTOR_TEMPLATE
graph.add(gtsam::Pose3AttitudeFactor(iter->first, nZ, model, bGMeas));
#else
graph.add(gtsam::AttitudeFactor<gtsam::Pose3>(iter->first, nZ, model, bGMeas));