borglab/gtsam: 4.1.1

This is the last maintenance release before 4.2.0. It is cut now because #933 breaks the API for discrete.

• Basis functions #403
• Make mEstimator variable names consistent with math #188

• Refactor MakeATangentVector by using VectorValues and fix testcase failure by @jingwuOUO in https://github.com/borglab/gtsam/pull/495
• Linting and getAnchor wrap by @dellaert in https://github.com/borglab/gtsam/pull/494
• Added Jacobians for Rot3::RzRyRx and related named constructors by @Eskilade in https://github.com/borglab/gtsam/pull/499
• Example Datasets with Python Package by @varunagrawal in https://github.com/borglab/gtsam/pull/501
• General check for null pointer in saveGraph by @varunagrawal in https://github.com/borglab/gtsam/pull/503
• Update NavState Printing by @varunagrawal in https://github.com/borglab/gtsam/pull/502
• Fixed issue with Coriolis acceleration by @tsetterf in https://github.com/borglab/gtsam/pull/505
• New readBal function by @varunagrawal in https://github.com/borglab/gtsam/pull/506
• Update minimum Boost version required by @varunagrawal in https://github.com/borglab/gtsam/pull/509
• Wrap the DSFMap class so SFM can use them by @ProfFan in https://github.com/borglab/gtsam/pull/511
• Wrap translation averaging by @akshay-krishnan in https://github.com/borglab/gtsam/pull/513
• Fix typo in numerical derivative by @dellaert in https://github.com/borglab/gtsam/pull/516
• Wrapper fixes by @varunagrawal in https://github.com/borglab/gtsam/pull/510
• Added Jacobians for Rot3::xyz and related conversions to euler angles by @Eskilade in https://github.com/borglab/gtsam/pull/520
• Wrap upgrade by @varunagrawal in https://github.com/borglab/gtsam/pull/525
• TranslationRecovery Fixes by @varunagrawal in https://github.com/borglab/gtsam/pull/527
• Minor typo fix by @varunagrawal in https://github.com/borglab/gtsam/pull/529
• Minimum Feedback Arc Set (MFAS) for 1dsfm by @akshay-krishnan in https://github.com/borglab/gtsam/pull/387
• Replace outdated Cython reference in readme by @johnwlambert in https://github.com/borglab/gtsam/pull/534
• Adding logmap API which takes the object to the function argument by @ayushbaid in https://github.com/borglab/gtsam/pull/532
• Update cmake printing by @varunagrawal in https://github.com/borglab/gtsam/pull/531
• Automatically find Python3 version by @varunagrawal in https://github.com/borglab/gtsam/pull/526
• Expose 3d point attribute p of SfmTrack in wrapper by @johnwlambert in https://github.com/borglab/gtsam/pull/537
• Remove logmap function from LieVector and LieMatrix by @varunagrawal in https://github.com/borglab/gtsam/pull/538
• ImuFactorExample minor fixes by @varunagrawal in https://github.com/borglab/gtsam/pull/540
• correct coefficients of approximated SE3 Q_r by @JzHuai0108 in https://github.com/borglab/gtsam/pull/507
• Wrap update by @varunagrawal in https://github.com/borglab/gtsam/pull/541
• Add numericalDerivative Dimension Template Parameter by @varunagrawal in https://github.com/borglab/gtsam/pull/536
• Wrapper fixes by @varunagrawal in https://github.com/borglab/gtsam/pull/528
• Update Simitary3 with Align feature by @Alexma3312 in https://github.com/borglab/gtsam/pull/464
• ISAM2 Evaluate Nonlinear Error by @varunagrawal in https://github.com/borglab/gtsam/pull/518
• Point3 mean to throw an exception when input size=0 . by @Alexma3312 in https://github.com/borglab/gtsam/pull/542
• Add calibrate with jacobians for Cal3Bundler by @varunagrawal in https://github.com/borglab/gtsam/pull/539
• Minor fixes by @varunagrawal in https://github.com/borglab/gtsam/pull/545
• Rename mean to means + some refactoring by @dellaert in https://github.com/borglab/gtsam/pull/549
• Find python if using Default by @varunagrawal in https://github.com/borglab/gtsam/pull/553
• LP/QP Style Update by @dellaert in https://github.com/borglab/gtsam/pull/546
• Remove all Cython references by @varunagrawal in https://github.com/borglab/gtsam/pull/551
• Wrapping MFAS and 1dsfm python example by @akshay-krishnan in https://github.com/borglab/gtsam/pull/535
• Normalize rotations after composition by @varunagrawal in https://github.com/borglab/gtsam/pull/555
• Fix Python serialization by @ProfFan in https://github.com/borglab/gtsam/pull/558
• refactor cmake scripts into smaller files by @jlblancoc in https://github.com/borglab/gtsam/pull/557
• Fix LLVM repo keys by @ProfFan in https://github.com/borglab/gtsam/pull/560
• Fix inteminent sks keyserver failure by @ProfFan in https://github.com/borglab/gtsam/pull/567
• Add python equivalent for SFMExample_bal.cpp by @johnwlambert in https://github.com/borglab/gtsam/pull/556
• update list of C++ examples that have been ported to Python by @johnwlambert in https://github.com/borglab/gtsam/pull/571
• Add alternativeName() for symbols by @jlblancoc in https://github.com/borglab/gtsam/pull/572
• Fix warning on clang by @dellaert in https://github.com/borglab/gtsam/pull/563
• Homebrew latest boost has buggy boost.serialization by @ProfFan in https://github.com/borglab/gtsam/pull/577
• Consistent interface for pixel center by @varunagrawal in https://github.com/borglab/gtsam/pull/579
• adding additional Unit3 support in the wrapper: PriorFactorUnit3, Values::insert/update/at(Unit3) by @tmcg0 in https://github.com/borglab/gtsam/pull/576
• Minor typo fixes by @varunagrawal in https://github.com/borglab/gtsam/pull/583
• Avoid redundant calls to error() in NonLinearOptimizer by @jlblancoc in https://github.com/borglab/gtsam/pull/585
• Feature/wrap sfm data by @swarrier246 in https://github.com/borglab/gtsam/pull/569
• Fix python discovery for MATLAB wrapper by @varunagrawal in https://github.com/borglab/gtsam/pull/584
• Ubuntu+GCC9 CI stage by @varunagrawal in https://github.com/borglab/gtsam/pull/593
• Fix issues with maths in docs at gtsam.org by @martinvl in https://github.com/borglab/gtsam/pull/596
• Github Actions Environment Files by @varunagrawal in https://github.com/borglab/gtsam/pull/587
• Cayley Rot3 fixes by @varunagrawal in https://github.com/borglab/gtsam/pull/597
• New print assertions by @varunagrawal in https://github.com/borglab/gtsam/pull/601
• Use KeyVector for proper wrapping with TBB by @varunagrawal in https://github.com/borglab/gtsam/pull/603
• User-provided hook within the internal loop of non-linear optimizers by @jlblancoc in https://github.com/borglab/gtsam/pull/586
• Flag for relative error by @varunagrawal in https://github.com/borglab/gtsam/pull/580
• Enforce constant term in QP to be default 0 by @varunagrawal in https://github.com/borglab/gtsam/pull/607
• Publish GTSAM artifacts by @varunagrawal in https://github.com/borglab/gtsam/pull/602
• Check for MEX Compiler by @varunagrawal in https://github.com/borglab/gtsam/pull/554
• Deprecate SimpleCamera properly by @varunagrawal in https://github.com/borglab/gtsam/pull/622
• Miscellaneous fixes by @varunagrawal in https://github.com/borglab/gtsam/pull/616
• Mark Values::at return type as const by @varunagrawal in https://github.com/borglab/gtsam/pull/608
• Added test for subgraph preconditioner in shonan and refined error message by @jingwuOUO in https://github.com/borglab/gtsam/pull/611
• Jacobians for Camera models by @varunagrawal in https://github.com/borglab/gtsam/pull/623
• IMU Parameters Documentation by @varunagrawal in https://github.com/borglab/gtsam/pull/624
• Handling edges with pure rotation in translation averaging by @akshay-krishnan in https://github.com/borglab/gtsam/pull/619
• Cal3 Base Class by @varunagrawal in https://github.com/borglab/gtsam/pull/626
• SymbolGenerator: add chr() and made constexpr-capable by @jlblancoc in https://github.com/borglab/gtsam/pull/629
• Cal3_S2Stereo Calibrate and Uncalibrate by @varunagrawal in https://github.com/borglab/gtsam/pull/630
• vector of cameras and triangulation function wrapped by @swarrier246 in https://github.com/borglab/gtsam/pull/615
• NonlinearFactorGraph saveGraph by @varunagrawal in https://github.com/borglab/gtsam/pull/632
• Explicitly initialize Point3 by @varunagrawal in https://github.com/borglab/gtsam/pull/635
• Wrap Symbol class and methods by @varunagrawal in https://github.com/borglab/gtsam/pull/642
• Minor formatting by @varunagrawal in https://github.com/borglab/gtsam/pull/643
• Wrapping prior factor and general sfm factor or Cal3Bundler by @ayushbaid in https://github.com/borglab/gtsam/pull/644
• Adding BearingFactor3D to the wrapper definition. by @cttdev in https://github.com/borglab/gtsam/pull/646
• Pose3 interpolateRt method by @varunagrawal in https://github.com/borglab/gtsam/pull/647
• Remove Build Upload by @varunagrawal in https://github.com/borglab/gtsam/pull/651
• Gnc by @lucacarlone in https://github.com/borglab/gtsam/pull/617
• Adding serialization support to be used for GT-SFM by @ayushbaid in https://github.com/borglab/gtsam/pull/650
• Updates to use the new version of wrap by @varunagrawal in https://github.com/borglab/gtsam/pull/654
• Fix/warnings by @dellaert in https://github.com/borglab/gtsam/pull/656
• Fix warnings by @varunagrawal in https://github.com/borglab/gtsam/pull/657
• Adding default point color to SfmTrack to fix equality check by @ayushbaid in https://github.com/borglab/gtsam/pull/659
• CMake Install Destination by @varunagrawal in https://github.com/borglab/gtsam/pull/660
• Documentation for compiling on Windows by @varunagrawal in https://github.com/borglab/gtsam/pull/652
• Feature/robust shonan by @lucacarlone in https://github.com/borglab/gtsam/pull/547
• Update wrapper by @varunagrawal in https://github.com/borglab/gtsam/pull/664
• Update wrapper by @varunagrawal in https://github.com/borglab/gtsam/pull/665
• Add getters to Line3 by @dwisth in https://github.com/borglab/gtsam/pull/668
• add robust shonan updates to python wrapper by @johnwlambert in https://github.com/borglab/gtsam/pull/669
• Fix GTSAM_EXPORT by @RamadanAhmed in https://github.com/borglab/gtsam/pull/670
• FunctorizedFactor2 by @varunagrawal in https://github.com/borglab/gtsam/pull/671
• CMake scripts compatible with gtsam as git submodule by @jlblancoc in https://github.com/borglab/gtsam/pull/674
• Cleaning SmartStereoProjectionPoseFactor by @ToniRV in https://github.com/borglab/gtsam/pull/673
• changing robust noise model to Gaussian by @ayushbaid in https://github.com/borglab/gtsam/pull/675
• additional sparseJacobian functions (new) by @gchenfc in https://github.com/borglab/gtsam/pull/677
• Miscellaneous fixes by @varunagrawal in https://github.com/borglab/gtsam/pull/679
• Better printing by @varunagrawal in https://github.com/borglab/gtsam/pull/678
• Adds unit test for imu preintegration of a single step by @raabuchanan in https://github.com/borglab/gtsam/pull/633
• Added accelerated power method to compute eigenpair fast by @jingwuOUO in https://github.com/borglab/gtsam/pull/533
• Fix/plane factor dwisth by @dwisth in https://github.com/borglab/gtsam/pull/680
• Fix OrientedPlane3Factor jacobian by @dwisth in https://github.com/borglab/gtsam/pull/362
• Fix Pose2 print by @varunagrawal in https://github.com/borglab/gtsam/pull/685
• Improve sparseJacobianEigen() by @gchenfc in https://github.com/borglab/gtsam/pull/682
• typo in numericalGradient test hidden by duplicate test values by @ptrmu in https://github.com/borglab/gtsam/pull/687
• Known Issues Section by @varunagrawal in https://github.com/borglab/gtsam/pull/681
• Update CMake Variables and TBB build type by @varunagrawal in https://github.com/borglab/gtsam/pull/683
• Fix can be marked override warning by @ToniRV in https://github.com/borglab/gtsam/pull/688
• changed barcsq to a vector to allow each factor to have a different inlier threshold by @lucacarlone in https://github.com/borglab/gtsam/pull/684
• Fix/shonan averaging dense to sparse by @ToniRV in https://github.com/borglab/gtsam/pull/690
• Update LieGroups.lyx by @melhashash in https://github.com/borglab/gtsam/pull/693
• Fix GTSAM MATLAB Wrapper by @ProfFan in https://github.com/borglab/gtsam/pull/698
• Fix/plane factor by @dellaert in https://github.com/borglab/gtsam/pull/564
• Use brew's boost, instead of Fan's version by @johnwlambert in https://github.com/borglab/gtsam/pull/707
• Fixing translation averaging for the panorama case by @akshay-krishnan in https://github.com/borglab/gtsam/pull/706
• Avoid target collision if gtsam used as submodule by @jlblancoc in https://github.com/borglab/gtsam/pull/691
• Adding pickle support by using serialization by @ayushbaid in https://github.com/borglab/gtsam/pull/709
• Constant Velocity Constraint between NavStates by @asa in https://github.com/borglab/gtsam/pull/701
• temporarily turn off Python + tbb in CI because of OOM by @johnwlambert in https://github.com/borglab/gtsam/pull/712
• add Sim(3)-based alignment to the wrapper by @johnwlambert in https://github.com/borglab/gtsam/pull/702
• Fix/boost issue by @dellaert in https://github.com/borglab/gtsam/pull/713
• Use wrap to perform Matlab wrapping by @varunagrawal in https://github.com/borglab/gtsam/pull/711
• Fix the Similarity3 export declarations and wrapper by @varunagrawal in https://github.com/borglab/gtsam/pull/719
• Fix CI with separate boost install by @varunagrawal in https://github.com/borglab/gtsam/pull/720
• fix missing verbosityLMTranslator case by @jlblancoc in https://github.com/borglab/gtsam/pull/716
• Fix numpy deprecation warnings by @varunagrawal in https://github.com/borglab/gtsam/pull/726
• Wrapper Update by @varunagrawal in https://github.com/borglab/gtsam/pull/727
• Unit tests for Jacobian of PartialPriorFactor<Pose3> by @miloknowles in https://github.com/borglab/gtsam/pull/721
• Wrapper Update + Operator Overloading by @varunagrawal in https://github.com/borglab/gtsam/pull/729
• addPriorDouble by @dellaert in https://github.com/borglab/gtsam/pull/730
• Double + NavState in the wrapper by @varunagrawal in https://github.com/borglab/gtsam/pull/731
• Disable Wrapper CI for GCC 5 until we optimize the wrapper by @varunagrawal in https://github.com/borglab/gtsam/pull/734
• KeyFormatter - boost::function to std::function by @varunagrawal in https://github.com/borglab/gtsam/pull/735
• Bunch of minor fixes by @varunagrawal in https://github.com/borglab/gtsam/pull/736
• Fix/boost issue #713 again by @Alevs2R in https://github.com/borglab/gtsam/pull/732
• Wrapper update by @gchenfc in https://github.com/borglab/gtsam/pull/739
• fix: UnaryFactor Jacobian by @nmahabadi in https://github.com/borglab/gtsam/pull/724
• Wrapper update by @varunagrawal in https://github.com/borglab/gtsam/pull/743
• Remove unused body_P_sensor param by @asa in https://github.com/borglab/gtsam/pull/744
• Remove redundant stuff by @varunagrawal in https://github.com/borglab/gtsam/pull/745
• Wrapper Update by @varunagrawal in https://github.com/borglab/gtsam/pull/747
• Wrapper Update by @varunagrawal in https://github.com/borglab/gtsam/pull/749
• Wrapper Update by @varunagrawal in https://github.com/borglab/gtsam/pull/750
• Fix printing of preintegration params by @varunagrawal in https://github.com/borglab/gtsam/pull/754
• Avoid potential wrong memory access by @jlblancoc in https://github.com/borglab/gtsam/pull/758
• Update "print" function arguments by @gchenfc in https://github.com/borglab/gtsam/pull/738
• Override print methods by @varunagrawal in https://github.com/borglab/gtsam/pull/760
• Update boost download link by @varunagrawal in https://github.com/borglab/gtsam/pull/763
• Fix warnings by @varunagrawal in https://github.com/borglab/gtsam/pull/761
• Interface file updates by @varunagrawal in https://github.com/borglab/gtsam/pull/762
• Gnc enhancements by @lucacarlone in https://github.com/borglab/gtsam/pull/765
• smart factors with extrinsics calibration by @lucacarlone in https://github.com/borglab/gtsam/pull/696
• Fix rekey of LinearContainerFactor by @varunagrawal in https://github.com/borglab/gtsam/pull/777
• Added destructor for CameraSet to remove warning by @varunagrawal in https://github.com/borglab/gtsam/pull/779
• Add a MagPoseFactor for using magnetometer measurements with Pose2/Pose3 by @miloknowles in https://github.com/borglab/gtsam/pull/752
• Bugfix: correct SO(3) logmap when theta small by @tmcg0 in https://github.com/borglab/gtsam/pull/780
• Fix initial guess for Cal3Bundler calibrate by @varunagrawal in https://github.com/borglab/gtsam/pull/775
• Added Range to Point2 by @dellaert in https://github.com/borglab/gtsam/pull/783
• Custom Factors in Python by @ProfFan in https://github.com/borglab/gtsam/pull/767
• Fix bug in LinearContainerFactor and warnings about Point3 by @varunagrawal in https://github.com/borglab/gtsam/pull/785
• Move MagPoseFactor into gtsam by @miloknowles in https://github.com/borglab/gtsam/pull/788
• Basic Documentation for KF test by @danbarla in https://github.com/borglab/gtsam/pull/781
• Correct ImuFactorExamples frame description by @HMellor in https://github.com/borglab/gtsam/pull/771
• Fix docstrings for NonlinearEquality by @varunagrawal in https://github.com/borglab/gtsam/pull/774
• Add transformFrom() to wrapper, for Point3 in Similarity3 by @johnwlambert in https://github.com/borglab/gtsam/pull/791
• add expressions for cross() and dot() by @jlblancoc in https://github.com/borglab/gtsam/pull/793
• use size_t variable type by @acxz in https://github.com/borglab/gtsam/pull/795
• use size_t variable type by @acxz in https://github.com/borglab/gtsam/pull/798
• Remove separate function for double in wrapper by @varunagrawal in https://github.com/borglab/gtsam/pull/794
• Wrap Update by @varunagrawal in https://github.com/borglab/gtsam/pull/799
• update timeLago.cpp with newer Sampler interface by @acxz in https://github.com/borglab/gtsam/pull/797
• Adding factor which considers the essential matrix and camera calibration as variable by @ayushbaid in https://github.com/borglab/gtsam/pull/753
• Switching to squared sampson point-line error by @ayushbaid in https://github.com/borglab/gtsam/pull/792
• Update the pgp servers to get the LLVM GPG key by @varunagrawal in https://github.com/borglab/gtsam/pull/802
• replace deprecated tbb functionality by @acxz in https://github.com/borglab/gtsam/pull/800
• Add user-defined copy constructor for Rot2 by @jaelrod in https://github.com/borglab/gtsam/pull/806
• update boost::bind usage by @acxz in https://github.com/borglab/gtsam/pull/796
• Miscellaneous fixes by @varunagrawal in https://github.com/borglab/gtsam/pull/814
• Tests for BetweenFactor by @varunagrawal in https://github.com/borglab/gtsam/pull/813
• Improve docs about compiling without TBB by @johnwlambert in https://github.com/borglab/gtsam/pull/818
• Replace boost with std by @varunagrawal in https://github.com/borglab/gtsam/pull/819
• Add ShonanAveraging2 interface to wrapper with BetweenFactorPose2s, that does not require g2o files by @johnwlambert in https://github.com/borglab/gtsam/pull/817
• Python fisheye interface by @roderick-koehle in https://github.com/borglab/gtsam/pull/811
• Break interface file into multiple files by @varunagrawal in https://github.com/borglab/gtsam/pull/822
• Revert "replace deprecated tbb functionality" by @acxz in https://github.com/borglab/gtsam/pull/823
• Fix serialization of ISAM2 class by @ScottMcMichael in https://github.com/borglab/gtsam/pull/816
• refactor Expression tests and add comments by @yetongumich in https://github.com/borglab/gtsam/pull/766
• rolling shutter projection factor by @shteren1 in https://github.com/borglab/gtsam/pull/826
• ShonanAveraging Covariance fixes by @johnwlambert in https://github.com/borglab/gtsam/pull/829
• Wrap Update by @varunagrawal in https://github.com/borglab/gtsam/pull/830
• Wrapping triangulateNonlinear from triangulation.h by @akshay-krishnan in https://github.com/borglab/gtsam/pull/828
• Add Windows export symbols for PinholeCamera by @varunagrawal in https://github.com/borglab/gtsam/pull/835
• CI Speedup by @varunagrawal in https://github.com/borglab/gtsam/pull/839
• Add missing getter in ProjectionFactor by @jlblancoc in https://github.com/borglab/gtsam/pull/842
• Wrap GNC by @johnwlambert in https://github.com/borglab/gtsam/pull/843
• Add python type annotations to some older python files by @johnwlambert in https://github.com/borglab/gtsam/pull/844
• Fix utilities and add tests by @varunagrawal in https://github.com/borglab/gtsam/pull/851
• Expand DSF map unit tests by @johnwlambert in https://github.com/borglab/gtsam/pull/854
• Small clarification and md cleanup by @FranzEricSchneider in https://github.com/borglab/gtsam/pull/853
• clean up SFMdata python module by @johnwlambert in https://github.com/borglab/gtsam/pull/855
• Some Cleanup by @varunagrawal in https://github.com/borglab/gtsam/pull/850
• Wrap NonlinearEquality2 by @varunagrawal in https://github.com/borglab/gtsam/pull/856
• Add missing import of Pose3 by @varunagrawal in https://github.com/borglab/gtsam/pull/858
• Basis functions by @varunagrawal in https://github.com/borglab/gtsam/pull/403
• Feature/rolling shutter smart factors by @lucacarlone in https://github.com/borglab/gtsam/pull/827
• rolling shutter projection factor by @shteren1 in https://github.com/borglab/gtsam/pull/751
• Fix Python Tests Cmake by @varunagrawal in https://github.com/borglab/gtsam/pull/863
• Basis - Python unit test by @gchenfc in https://github.com/borglab/gtsam/pull/860
• Docs and formatting by @dellaert in https://github.com/borglab/gtsam/pull/865
• add Pose2.align() to wrapper by @johnwlambert in https://github.com/borglab/gtsam/pull/866
• ImuFactor Fixes by @varunagrawal in https://github.com/borglab/gtsam/pull/869
• Add section about Boost version requirement by @varunagrawal in https://github.com/borglab/gtsam/pull/857
• Added virtual destructor and re-formatted constructors by @dellaert in https://github.com/borglab/gtsam/pull/870
• Docker update -> borglab by @dellaert in https://github.com/borglab/gtsam/pull/871
• Jacobian Factor Wrapping by @varunagrawal in https://github.com/borglab/gtsam/pull/873
• Use METIS system library if so selected by @jlblancoc in https://github.com/borglab/gtsam/pull/570
• Start wrapping the verbosity options for GNC by @johnwlambert in https://github.com/borglab/gtsam/pull/845
• Fix bug in HandleTBB.cmake by @varunagrawal in https://github.com/borglab/gtsam/pull/877
• Better Error message for TBB handling with versions greater than 2021.1 on OS X by @akashsharma02 in https://github.com/borglab/gtsam/pull/876
• Wrapper Update by @varunagrawal in https://github.com/borglab/gtsam/pull/880
• Add constructor for OptionalJacobian by @gchenfc in https://github.com/borglab/gtsam/pull/884
• Run tests for C++ CI by @varunagrawal in https://github.com/borglab/gtsam/pull/888
• add failing unit test on axisAngle for Rot3 in c++ by @johnwlambert in https://github.com/borglab/gtsam/pull/887
• Add unit tests where angle of (axis,angle) repr. exceeds 180 degrees by <0.5 deg by @johnwlambert in https://github.com/borglab/gtsam/pull/892
• Clean up the init by @varunagrawal in https://github.com/borglab/gtsam/pull/893
• Feature/logmap expression by @yetongumich in https://github.com/borglab/gtsam/pull/898
• BetweenFactor Jacobian CMake flag by @varunagrawal in https://github.com/borglab/gtsam/pull/867
• Fix dangling reference in static allocation. by @iwanders in https://github.com/borglab/gtsam/pull/900
• IMUKittiExampleGPS Python Example by @varunagrawal in https://github.com/borglab/gtsam/pull/836
• add LAGO (for Pose2) to python wrapper by @johnwlambert in https://github.com/borglab/gtsam/pull/899
• Fixup Python Examples by @varunagrawal in https://github.com/borglab/gtsam/pull/903
• Wrap VectorValues constructor by @varunagrawal in https://github.com/borglab/gtsam/pull/905
• Generate GTSAM_UNSTABLE CMake exports by @varunagrawal in https://github.com/borglab/gtsam/pull/906
• Wrap Update by @varunagrawal in https://github.com/borglab/gtsam/pull/909
• Add tests for Lie::interpolate jacobians by @varunagrawal in https://github.com/borglab/gtsam/pull/910
• Revert @acxz's TBB revert by @ProfFan in https://github.com/borglab/gtsam/pull/901
• Pose SLAM Python examples using iSAM2 by @jerredchen in https://github.com/borglab/gtsam/pull/891
• Imu Examples Refactor by @varunagrawal in https://github.com/borglab/gtsam/pull/872
• Pose3::Adjoint(xi) Jacobians by @gchenfc in https://github.com/borglab/gtsam/pull/885
• enable expression double multiply by @yetongumich in https://github.com/borglab/gtsam/pull/913
• Add printErrors method to GaussianFactorGraph by @varunagrawal in https://github.com/borglab/gtsam/pull/916
• Use Eigen expressions more effectively and kill & in code. by @dellaert in https://github.com/borglab/gtsam/pull/917
• Smart Factors for arbitrary cameras by @lucacarlone in https://github.com/borglab/gtsam/pull/862
• Fix warnings raised by GCC -Wpedactic by @jlblancoc in https://github.com/borglab/gtsam/pull/915
• Fix minor stuff by @varunagrawal in https://github.com/borglab/gtsam/pull/920
• CMake fix for Python Tests by @varunagrawal in https://github.com/borglab/gtsam/pull/921
• Add Jacobian of second argument to adjoint and adjointTranpsose by @gchenfc in https://github.com/borglab/gtsam/pull/922
• Proper Deprecation of Eliminate Methods by @varunagrawal in https://github.com/borglab/gtsam/pull/925
• Add namespace to ambiguous placeholders by @duembgen in https://github.com/borglab/gtsam/pull/929
• Formatting with Google style by @dellaert in https://github.com/borglab/gtsam/pull/930
• Wrap KeyVector methods by @varunagrawal in https://github.com/borglab/gtsam/pull/932
• Use FastDefaultAllocator for Values to adhere allocation compile flags by @beetleskin in https://github.com/borglab/gtsam/pull/936
• Add deprecations by @ProfFan in https://github.com/borglab/gtsam/pull/934
• Fix cal3 fisheye jacobian by @roderick-koehle in https://github.com/borglab/gtsam/pull/902
• Enable pickling by @varunagrawal in https://github.com/borglab/gtsam/pull/942
• Fix deprecations by @varunagrawal in https://github.com/borglab/gtsam/pull/943
• Eigen Serialization Fix by @varunagrawal in https://github.com/borglab/gtsam/pull/944
• Wrap additional ISAM2 methods by @varunagrawal in https://github.com/borglab/gtsam/pull/941
• Minor fixes to fix some warnings by @bricerebsamen in https://github.com/borglab/gtsam/pull/945
• Make mEstimator variable names consistent with math by @michaelbosse in https://github.com/borglab/gtsam/pull/188

• @Ellon made their first contribution in https://github.com/borglab/gtsam/pull/130
• @jingwuOUO made their first contribution in https://github.com/borglab/gtsam/pull/495
• @Eskilade made their first contribution in https://github.com/borglab/gtsam/pull/499
• @tsetterf made their first contribution in https://github.com/borglab/gtsam/pull/505
• @johnwlambert made their first contribution in https://github.com/borglab/gtsam/pull/534
• @JzHuai0108 made their first contribution in https://github.com/borglab/gtsam/pull/507
• @tmcg0 made their first contribution in https://github.com/borglab/gtsam/pull/576
• @swarrier246 made their first contribution in https://github.com/borglab/gtsam/pull/569
• @RamadanAhmed made their first contribution in https://github.com/borglab/gtsam/pull/670
• @raabuchanan made their first contribution in https://github.com/borglab/gtsam/pull/633
• @melhashash made their first contribution in https://github.com/borglab/gtsam/pull/693
• @asa made their first contribution in https://github.com/borglab/gtsam/pull/701
• @miloknowles made their first contribution in https://github.com/borglab/gtsam/pull/721
• @Alevs2R made their first contribution in https://github.com/borglab/gtsam/pull/732
• @nmahabadi made their first contribution in https://github.com/borglab/gtsam/pull/724
• @danbarla made their first contribution in https://github.com/borglab/gtsam/pull/781
• @HMellor made their first contribution in https://github.com/borglab/gtsam/pull/771
• @jaelrod made their first contribution in https://github.com/borglab/gtsam/pull/806
• @roderick-koehle made their first contribution in https://github.com/borglab/gtsam/pull/811
• @ScottMcMichael made their first contribution in https://github.com/borglab/gtsam/pull/816
• @shteren1 made their first contribution in https://github.com/borglab/gtsam/pull/826
• @FranzEricSchneider made their first contribution in https://github.com/borglab/gtsam/pull/853
• @akashsharma02 made their first contribution in https://github.com/borglab/gtsam/pull/876
• @iwanders made their first contribution in https://github.com/borglab/gtsam/pull/900
• @jerredchen made their first contribution in https://github.com/borglab/gtsam/pull/891
• @duembgen made their first contribution in https://github.com/borglab/gtsam/pull/929
• @beetleskin made their first contribution in https://github.com/borglab/gtsam/pull/936

Full Changelog: https://github.com/borglab/gtsam/compare/4.1.0...4.1.1