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Sparse Bayes (#1748)

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* Sparse Bayes

* updated perf test

* improved tests with real data

* Making sparse works in incremental mapping

* bookkeeping optimization

* small opt

* refactoring

* splitting dense and sparse in different classes to make the code more lisible

* cleanup comments

* fixing CI

* Making all Bayes tests testing both dense and sparse

* Added multisession_3it integration test (test memory management, multisession and dense/sparse bayes in that settings)

* optimized sparse when transfer/retrieval happens (was slower than dense for that case)

* Testing retrieval param variants

* Updated multisession_3it integration tests to compare loop closure hypotheses

* bump version

* Fixed ui sum of prediction

* adding g2o gtsam to linux ci

* cleanup

* added debug crash log for ci

* Simplified Bayes/SparsePrediction description

* Dont show too dense for sparse on small maps (e.g., when we just started a new map)

* fixing amd64v3 issue with gtsam on ci ubuntu 26

* Dot not auto switch to dense based on map size.

* updating test range

* added coverage tests

* Adressing coverage

* ignore one line in coverage for purpose
This commit is contained in:
matlabbe
2026-08-23 13:21:46 -07:00
committed by GitHub
parent f647014f54
commit 9c1e117384
32 changed files with 82886 additions and 769 deletions
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42
patches/gtsam_4_3a0-ros.patch
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@@ -1,5 +1,5 @@
diff --git a/cmake/Config.cmake.in b/cmake/Config.cmake.in
index 338ff8500..0b738ea3c 100644
index 338ff85..0b738ea 100644
--- a/cmake/Config.cmake.in
+++ b/cmake/Config.cmake.in
@@ -28,7 +28,7 @@ if(@GTSAM_USE_TBB@)
@@ -11,3 +11,43 @@ index 338ff8500..0b738ea3c 100644
endif()
# Load exports
diff --git a/cmake/GtsamBuildTypes.cmake b/cmake/GtsamBuildTypes.cmake
index cf0dfdf..75c390e 100644
--- a/cmake/GtsamBuildTypes.cmake
+++ b/cmake/GtsamBuildTypes.cmake
@@ -131,7 +131,7 @@ else()
endif()
set(GTSAM_COMPILE_OPTIONS_PRIVATE_COMMON
- -Werror # Enable warnings as errors
+ #-Werror # Enable warnings as errors
-Wall # Enable common warnings
-Wpedantic # Enable pedantic warnings
$<$<COMPILE_LANGUAGE:CXX>:-Wextra -Wno-unused-parameter> # Enable extra warnings, but ignore no-unused-parameter (as we ifdef out chunks of code)
diff --git a/cmake/HandleBoost.cmake b/cmake/HandleBoost.cmake
index 0325112..f6a73f5 100644
--- a/cmake/HandleBoost.cmake
+++ b/cmake/HandleBoost.cmake
@@ -23,12 +23,12 @@ endif()
# Store these in variables so they are automatically replicated in GTSAMConfig.cmake and such.
set(BOOST_FIND_MINIMUM_VERSION 1.65)
-set(BOOST_FIND_MINIMUM_COMPONENTS serialization system filesystem thread program_options date_time timer chrono regex)
+set(BOOST_FIND_MINIMUM_COMPONENTS serialization filesystem thread program_options date_time timer chrono regex)
find_package(Boost ${BOOST_FIND_MINIMUM_VERSION} COMPONENTS ${BOOST_FIND_MINIMUM_COMPONENTS} REQUIRED)
# Required components
-if(NOT Boost_SERIALIZATION_LIBRARY OR NOT Boost_SYSTEM_LIBRARY OR NOT Boost_FILESYSTEM_LIBRARY OR
+if(NOT Boost_SERIALIZATION_LIBRARY OR NOT Boost_FILESYSTEM_LIBRARY OR
NOT Boost_THREAD_LIBRARY OR NOT Boost_DATE_TIME_LIBRARY)
message(FATAL_ERROR "Missing required Boost components >= v1.65, please install/upgrade Boost or configure your search paths.")
endif()
@@ -37,7 +37,6 @@ option(GTSAM_DISABLE_NEW_TIMERS "Disables using Boost.chrono for timing" OFF)
# Allow for not using the timer libraries on boost < 1.48 (GTSAM timing code falls back to old timer library)
set(GTSAM_BOOST_LIBRARIES
Boost::serialization
- Boost::system
Boost::filesystem
Boost::thread
Boost::date_time