borglab/gtsam: Release 4.2

This is the long-awaited release 4.2. Develop has been in pre-4.3 for a while now, but 4.2 kept evolving alongside it (mostly with cherry-picks) as roboticsbook.org uses it and we wanted to wait another semester of teaching it to make sure it was very stable.

The biggest changes are:

• hybrid factor graph inference
• much more extensive python and Matlab wrappers
• Shonan averaging

GTSAM 4.2 can be used from python using pip install gtsam. All available wheels can be found on pypi.

Detailed changes below:

What's Changed (Since 4.1.1)

• API improvements for discrete by @dellaert in https://github.com/borglab/gtsam/pull/990
• Finish release branch by @dellaert in https://github.com/borglab/gtsam/pull/992
• Two small fixes by @dellaert in https://github.com/borglab/gtsam/pull/996
• Force nonnegative scale for Sim(3) by @johnwlambert in https://github.com/borglab/gtsam/pull/997
• Moved empty to Factor base class. by @dellaert in https://github.com/borglab/gtsam/pull/998
• Fix documentation on ProjectionFactorPPPC by @dwisth in https://github.com/borglab/gtsam/pull/1004
• Minor changes to LocalPlaneFactor by @dwisth in https://github.com/borglab/gtsam/pull/1003
• DecisionTree Improvements by @varunagrawal in https://github.com/borglab/gtsam/pull/1002
• Spring cleaning: deprecate -> 4.2 by @dellaert in https://github.com/borglab/gtsam/pull/999
• DecisionTree refactor by @dellaert in https://github.com/borglab/gtsam/pull/1000
• render values in markdown by @dellaert in https://github.com/borglab/gtsam/pull/1001
• More DecisionTree improvements by @dellaert in https://github.com/borglab/gtsam/pull/1005

What's Changed (Since 4.2a1)

• Remove Potentials by @ProfFan in https://github.com/borglab/gtsam/pull/1013
• fail fast in linux matrix by @dellaert in https://github.com/borglab/gtsam/pull/1017
• html renderers in discrete by @dellaert in https://github.com/borglab/gtsam/pull/1022

What's Changed (Since 4.2a2)

• FG print(): fix empty lines on nullptr; avoid endl by @jlblancoc in https://github.com/borglab/gtsam/pull/1030
• Fix probPrime by @varunagrawal in https://github.com/borglab/gtsam/pull/1034
• Add python unit test for triangulation with robust noise model by @johnwlambert in https://github.com/borglab/gtsam/pull/1031
• Better DiscreteConditional by @dellaert in https://github.com/borglab/gtsam/pull/1037
• Rename DiscretePrior -> DiscreteDistribution by @dellaert in https://github.com/borglab/gtsam/pull/1039

What's Changed (Since 4.2a3)

• Robust triangulation by @lucacarlone in https://github.com/borglab/gtsam/pull/1020
• DiscreteBayesNet sample/optimize variants by @dellaert in https://github.com/borglab/gtsam/pull/1043
• Added a convenience function for plotting 2D points. by @magicbycalvin in https://github.com/borglab/gtsam/pull/1042
• Some discrete improvements by @dellaert in https://github.com/borglab/gtsam/pull/1045
• Subgraph API change by @dellaert in https://github.com/borglab/gtsam/pull/1010
• Update python install in CI by @varunagrawal in https://github.com/borglab/gtsam/pull/1054
• Fix DiscreteFactorGraph::optimize to return MPE by @dellaert in https://github.com/borglab/gtsam/pull/1050
• Changes in gtsam to support hybrid branches by @dellaert in https://github.com/borglab/gtsam/pull/1055
• Threshold Example + linting by @dellaert in https://github.com/borglab/gtsam/pull/1056
• Expose GraphvizFormatting and test in python by @senselessDev in https://github.com/borglab/gtsam/pull/1059
• Add position to Point2 nodes in GraphViz by @senselessDev in https://github.com/borglab/gtsam/pull/1058
• Fix docs by @dellaert in https://github.com/borglab/gtsam/pull/1064
• Added sumProduct as a convenient alias by @dellaert in https://github.com/borglab/gtsam/pull/1066
• Added inference module by @dellaert in https://github.com/borglab/gtsam/pull/1068
• Added support for positioning in BayesNet plotting by @dellaert in https://github.com/borglab/gtsam/pull/1070

What's Changed (Since 4.2a4)

• Wrap FindKarcherMean for Rot3 by @johnwlambert in https://github.com/borglab/gtsam/pull/1069
• Wrapped more things by @dellaert in https://github.com/borglab/gtsam/pull/1077
• Moved Sfm classes to their own files by @dellaert in https://github.com/borglab/gtsam/pull/1078
• Expose some iSAM2/FixedLagSmoothing functionality for the bindings by @senselessDev in https://github.com/borglab/gtsam/pull/1053
• Cleaned up loading SfmData by @dellaert in https://github.com/borglab/gtsam/pull/1082
• Fixes to get matlab wrapper working properly by @varunagrawal in https://github.com/borglab/gtsam/pull/1083
• Wrapper Update by @varunagrawal in https://github.com/borglab/gtsam/pull/1084
• Add default constructor to PoseRotationPrior to fix serialization by @ScottMcMichael in https://github.com/borglab/gtsam/pull/1086
• Add shared_ptr definition for remainder of camera objects by @dwisth in https://github.com/borglab/gtsam/pull/1088
• Fix DotWriter wrapping by @dellaert in https://github.com/borglab/gtsam/pull/1089
• Get Sim2 working by @varunagrawal in https://github.com/borglab/gtsam/pull/1090
• Improvements in linear by @dellaert in https://github.com/borglab/gtsam/pull/1091
• Frobenius Factor Eigen Fix by @varunagrawal in https://github.com/borglab/gtsam/pull/1096
• New functionality in linear by @dellaert in https://github.com/borglab/gtsam/pull/1095
• EXPORT statements to help Windows build. In Constraint.h, there was a… by @mikesheffler in https://github.com/borglab/gtsam/pull/1097

What's Changed (Since 4.2a5)

• Fix MSVC / Windows Build of GTSAM_UNSTABLE by @mikesheffler in https://github.com/borglab/gtsam/pull/1102
• Fix issues with grouped tests by @dellaert in https://github.com/borglab/gtsam/pull/1107
• Header discipline in base by @dellaert in https://github.com/borglab/gtsam/pull/1108
• fix: typo by @andre-nguyen in https://github.com/borglab/gtsam/pull/1111
• correctly parse optimizer params for base optimizer in gnc by @yunzc in https://github.com/borglab/gtsam/pull/1085
• Add missing header for timing target by @dellaert in https://github.com/borglab/gtsam/pull/1112
• replace ifndefs with pragma once by @acxz in https://github.com/borglab/gtsam/pull/1113
• CMake Warning Fixes by @varunagrawal in https://github.com/borglab/gtsam/pull/1115
• Windows Tests by @varunagrawal in https://github.com/borglab/gtsam/pull/1109
• Include guards by @acxz in https://github.com/borglab/gtsam/pull/1116
• filename in repo is w10000 not w10000-odom by @acxz in https://github.com/borglab/gtsam/pull/1123
• Added more tests for basis by @dellaert in https://github.com/borglab/gtsam/pull/1121
• Using a random number generator in translation averaging by @akshay-krishnan in https://github.com/borglab/gtsam/pull/1120
• A bunch of minor fixes by @varunagrawal in https://github.com/borglab/gtsam/pull/1132
• fix triangulatePoint3 for calibrations with distortion by @thomassm in https://github.com/borglab/gtsam/pull/1128
• Fix visitWith for Pruned Tree by @varunagrawal in https://github.com/borglab/gtsam/pull/1135
• Wrap ParameterMatrix as argument for Values by @varunagrawal in https://github.com/borglab/gtsam/pull/1136
• Apply DecisionTree op with Assignment by @varunagrawal in https://github.com/borglab/gtsam/pull/1137
• Various Fixes by @varunagrawal in https://github.com/borglab/gtsam/pull/1138
• Fix initialization in range iSAM example by @dellaert in https://github.com/borglab/gtsam/pull/1131
• Fix Matlab Wrapper by @varunagrawal in https://github.com/borglab/gtsam/pull/1140
• Print parents when printing GaussianConditional by @varunagrawal in https://github.com/borglab/gtsam/pull/1143
• DecisionTree Improvements by @varunagrawal in https://github.com/borglab/gtsam/pull/1144
• Fixed custom factors in doc/gtsam.lyx/pdf by @dellaert in https://github.com/borglab/gtsam/pull/1139
• Fix python-install by @varunagrawal in https://github.com/borglab/gtsam/pull/1145
• Wrapping Updates by @varunagrawal in https://github.com/borglab/gtsam/pull/1146
• Allow more functionality through system METIS by @acxz in https://github.com/borglab/gtsam/pull/1117
• Pose3 improvements by @dellaert in https://github.com/borglab/gtsam/pull/1148
• DecisionTreeFactor prune method by @varunagrawal in https://github.com/borglab/gtsam/pull/1151
• Update Wrapper by @varunagrawal in https://github.com/borglab/gtsam/pull/1149
• Improve Gaussian Conditional printing by @varunagrawal in https://github.com/borglab/gtsam/pull/1147
• Pose2::Align by @dellaert in https://github.com/borglab/gtsam/pull/1150
• Record number of assignments for each leaf by @varunagrawal in https://github.com/borglab/gtsam/pull/1154
• added wrapper for ProjectionFactorRollingShutter by @shteren1 in https://github.com/borglab/gtsam/pull/1159
• Fix the race! by @ProfFan in https://github.com/borglab/gtsam/pull/1158
• InvDepthFactor3: Fix wrong derivative H3 by @d-vo in https://github.com/borglab/gtsam/pull/1157
• Updated scaling factors for proper geometric representation of uncertainty ellipses by @magicbycalvin in https://github.com/borglab/gtsam/pull/1067

What's Changed (Since 4.2a6)

• DecisionTree Refactor by @varunagrawal in https://github.com/borglab/gtsam/pull/1155
• New maxNrAssignment scheme for pruning by @varunagrawal in https://github.com/borglab/gtsam/pull/1156
• Fix slow dynamic cast for Point3 and Point2 by @ProfFan in https://github.com/borglab/gtsam/pull/1168
• Fix robust deserialization by @ProfFan in https://github.com/borglab/gtsam/pull/1169
• Add camera and Calibration Jacobians in Python by @ProfFan in https://github.com/borglab/gtsam/pull/1171
• Regenerate python utils files upon edit by @gchenfc in https://github.com/borglab/gtsam/pull/1176
• noise models: Add getters for all model parameters by @jlblancoc in https://github.com/borglab/gtsam/pull/1175
• Add Similarity(2) support in gtsam/geometry by @johnwlambert in https://github.com/borglab/gtsam/pull/918
• Fix warnings and docs by @varunagrawal in https://github.com/borglab/gtsam/pull/1181
• Added some utilities for better using the SfM parts of GTSAM in Python by @ProfFan in https://github.com/borglab/gtsam/pull/1185
• Some fixes by @varunagrawal in https://github.com/borglab/gtsam/pull/1187
• Fix uncertainty ellipses in python helpers by @senselessDev in https://github.com/borglab/gtsam/pull/1177
• Adding options to translation averaging to support betweenfactor translation priors by @akshay-krishnan in https://github.com/borglab/gtsam/pull/1190
• All uncertainty ellipses now contain 95% by @dellaert in https://github.com/borglab/gtsam/pull/1193
• Remove user flag for pip install by @varunagrawal in https://github.com/borglab/gtsam/pull/1195
• Wrap triangulateSafe by @dellaert in https://github.com/borglab/gtsam/pull/1194
• Python optimizer iteration hook by @gchenfc in https://github.com/borglab/gtsam/pull/1127

What's Changed (Since 4.2a7)

• fix typo issue in comment by @huanglilong in https://github.com/borglab/gtsam/pull/1206
• Fix templated type declaration in geometry.i by @varunagrawal in https://github.com/borglab/gtsam/pull/1205
• Hybrid Factor Graph Implementation by @ProfFan in https://github.com/borglab/gtsam/pull/1203
• Fix / Move Rot3::quaternion to deprecated block by @HViktorTsoi in https://github.com/borglab/gtsam/pull/1219
• Add various tests for Hybrid by @varunagrawal in https://github.com/borglab/gtsam/pull/1220
• Address matplotlib deprecation warnings for fig.gca() and window.set_title() by @vik748 in https://github.com/borglab/gtsam/pull/1225
• Fix the failure in TA when adding betweenTranslations without any measurements. by @akshay-krishnan in https://github.com/borglab/gtsam/pull/1224
• Improvements by @varunagrawal in https://github.com/borglab/gtsam/pull/1217
• FIX: Robust loss error calculation by @ProfFan in https://github.com/borglab/gtsam/pull/1161
• Add this-> to fix ROS compile issue by @varunagrawal in https://github.com/borglab/gtsam/pull/1230
• Replace boost::function with std::function by @varunagrawal in https://github.com/borglab/gtsam/pull/1232
• Fix CombinedImuFactor by @varunagrawal in https://github.com/borglab/gtsam/pull/882
• Wrapper Update by @varunagrawal in https://github.com/borglab/gtsam/pull/1235
• added jacobians for all pose3 methods in python wrappers by @shteren1 in https://github.com/borglab/gtsam/pull/1234
• Fix/gnc optimizer by @lucacarlone in https://github.com/borglab/gtsam/pull/1035
• Wrap BearingRange Factors by @varunagrawal in https://github.com/borglab/gtsam/pull/1240
• Implementation of the LOST triangulation algorithm by @akshay-krishnan in https://github.com/borglab/gtsam/pull/1241
• Clear ConcurrentMap before loading archive data by @ScottMcMichael in https://github.com/borglab/gtsam/pull/1248
• Fix Preintegration Covariance of CombinedImuFactor by @varunagrawal in https://github.com/borglab/gtsam/pull/879
• Fix Python CI: More swap space by @gchenfc in https://github.com/borglab/gtsam/pull/1250
• Update macos CI env by @varunagrawal in https://github.com/borglab/gtsam/pull/1251
• replace addtogroup with ingroup for the SLAM group by @agilemapper in https://github.com/borglab/gtsam/pull/1252
• Break up Python CI steps so reading logs is easier by @varunagrawal in https://github.com/borglab/gtsam/pull/1254
• Expose GNC params to python by @amadoantonini in https://github.com/borglab/gtsam/pull/1239
• Fix exports on Windows by @Tobias-Fischer in https://github.com/borglab/gtsam/pull/1257
• Delete FindBoost.cmake by @Tobias-Fischer in https://github.com/borglab/gtsam/pull/1260
• Link to interface library in case system metis is used by @Tobias-Fischer in https://github.com/borglab/gtsam/pull/1258
• Fix matlab toolbox compilation by @varunagrawal in https://github.com/borglab/gtsam/pull/1262
• Add Zenodo for citations by @varunagrawal in https://github.com/borglab/gtsam/pull/1265
• Hybrid Incremental Inference by @varunagrawal in https://github.com/borglab/gtsam/pull/1267
• Update README.md by @pglira in https://github.com/borglab/gtsam/pull/1268
• Capitalize Identity trait by @varunagrawal in https://github.com/borglab/gtsam/pull/1238
• Nonlinear Hybrid by @varunagrawal in https://github.com/borglab/gtsam/pull/1263
• Jose's updates by @varunagrawal in https://github.com/borglab/gtsam/pull/1237
• CombinedImuFactor: Add bias effect on position jacobian by @varunagrawal in https://github.com/borglab/gtsam/pull/874
• Linear HybridBayesNet optimization by @xsj01 in https://github.com/borglab/gtsam/pull/1270
• Hybrid Incremental by @varunagrawal in https://github.com/borglab/gtsam/pull/1271
• Hybrid ISAM by @varunagrawal in https://github.com/borglab/gtsam/pull/1273
• Upgrade from ubuntu 18.04 to 20.04 by @varunagrawal in https://github.com/borglab/gtsam/pull/1276
• Additional Nonlinear Hybrid by @varunagrawal in https://github.com/borglab/gtsam/pull/1277
• Hybrid Pruning by @varunagrawal in https://github.com/borglab/gtsam/pull/1215
• HybridFactorGraph base class and other niceties by @varunagrawal in https://github.com/borglab/gtsam/pull/1221
• Add wrapping for hybrid nonlinear by @ProfFan in https://github.com/borglab/gtsam/pull/1281
• Hybrid Bayes Net/Tree Optimize by @varunagrawal in https://github.com/borglab/gtsam/pull/1280
• Hybrid Bayes Tree Optimize by @varunagrawal in https://github.com/borglab/gtsam/pull/1282
• Various updates for Hybrid by @varunagrawal in https://github.com/borglab/gtsam/pull/1284
• Hybrid Serialization by @varunagrawal in https://github.com/borglab/gtsam/pull/1286
• Rewrap KeyVector for Matlab wrapper by @varunagrawal in https://github.com/borglab/gtsam/pull/1285
• Fix HybridBayesTree Optimize by @varunagrawal in https://github.com/borglab/gtsam/pull/1287
• Various Fixes by @varunagrawal in https://github.com/borglab/gtsam/pull/1288
• MixtureFactor continuous keys check by @varunagrawal in https://github.com/borglab/gtsam/pull/1289
• Hybrid Improvements - II by @varunagrawal in https://github.com/borglab/gtsam/pull/1294
• Hybrid Improvements by @varunagrawal in https://github.com/borglab/gtsam/pull/1290
• Hybrid Bayes Net pruning by @varunagrawal in https://github.com/borglab/gtsam/pull/1300
• Hybrid Gaussian Conditional Elimination by @varunagrawal in https://github.com/borglab/gtsam/pull/1301
• Improved BayesTree pruning by @varunagrawal in https://github.com/borglab/gtsam/pull/1293
• Hybrid Updates by @varunagrawal in https://github.com/borglab/gtsam/pull/1306
• Dsf-gtsfm-refactor by @dellaert in https://github.com/borglab/gtsam/pull/1312
• Use eigen3 config.cmake by @OznOg in https://github.com/borglab/gtsam/pull/1304
• Fix CMake so that Eigen discovery and linking is consistent by @varunagrawal in https://github.com/borglab/gtsam/pull/1314
• Hybrid ISAM GetOrdering method by @varunagrawal in https://github.com/borglab/gtsam/pull/1315
• Doxygen Updates by @varunagrawal in https://github.com/borglab/gtsam/pull/1255
• fix typo in g2o file format parsing for the information matrix by @mauricefallon in https://github.com/borglab/gtsam/pull/1310
• Fix for matlab wrapper in sfm.i by @akshay-krishnan in https://github.com/borglab/gtsam/pull/1316
• Wrapper Update by @varunagrawal in https://github.com/borglab/gtsam/pull/1317
• Update Switching fixture to be 0 indexed by @varunagrawal in https://github.com/borglab/gtsam/pull/1311
• Hybrid Pruning by @varunagrawal in https://github.com/borglab/gtsam/pull/1309
• Housekeeping Updates by @varunagrawal in https://github.com/borglab/gtsam/pull/1321
• Remove unnecessary functions in ImuFactorsExample.cpp by @Taeyoung96 in https://github.com/borglab/gtsam/pull/1324
• Fix GaussianBayesTree logDeterminant bug by @varunagrawal in https://github.com/borglab/gtsam/pull/1327
• add workflow to trigger ubuntu packaging by @berndpfrommer in https://github.com/borglab/gtsam/pull/1328

What's Changed (Since 4.2a8)

• Add an expression for normalize() by @nkhedekar in https://github.com/borglab/gtsam/pull/1330
• Update README.md by @MigVega in https://github.com/borglab/gtsam/pull/1331
• Hybrid Elimination by @varunagrawal in https://github.com/borglab/gtsam/pull/1339
• Fixed Jacobian in python CustomFactorExample by @ulterzlw in https://github.com/borglab/gtsam/pull/1340
• Hybrid Mixture Error by @varunagrawal in https://github.com/borglab/gtsam/pull/1318
• Hybrid Multifrontal by @varunagrawal in https://github.com/borglab/gtsam/pull/1323
• NoiseModelFactorN - fixed-number of variables >6 by @gchenfc in https://github.com/borglab/gtsam/pull/947
• GaussianConditional logDeterminant by @varunagrawal in https://github.com/borglab/gtsam/pull/1345
• Replace NoiseModelFactor1 in with NoiseModelFactorN in pre-made factors by @gchenfc in https://github.com/borglab/gtsam/pull/1344
• Hybrid Bayes Net sampling by @varunagrawal in https://github.com/borglab/gtsam/pull/1347
• Fix wrapper warnings by @varunagrawal in https://github.com/borglab/gtsam/pull/1348
• Update geometry.i : wrap multiplication of Rot3 and Unit3 by @akshay-krishnan in https://github.com/borglab/gtsam/pull/1302
• Sampling test for Hybrid Posterior by @varunagrawal in https://github.com/borglab/gtsam/pull/1346
• Some refactoring and new test by @dellaert in https://github.com/borglab/gtsam/pull/1349
• Add logDensity and evaluate to GaussianBN and HybridBN by @dellaert in https://github.com/borglab/gtsam/pull/1352
• Added convenience constructors and python wrappers by @dellaert in https://github.com/borglab/gtsam/pull/1353
• Wrap constructors for PreintegratedAhrsMeasurements by @varunagrawal in https://github.com/borglab/gtsam/pull/1354
• HybridValues specify continuous then discrete by @varunagrawal in https://github.com/borglab/gtsam/pull/1355
• Likelihoods and other improvements by @dellaert in https://github.com/borglab/gtsam/pull/1356
• Proper Hybrid Elimination by @varunagrawal in https://github.com/borglab/gtsam/pull/1319
• Test on ratio by @dellaert in https://github.com/borglab/gtsam/pull/1357
• Hybrid Improvements by @varunagrawal in https://github.com/borglab/gtsam/pull/1343
• Fix HybridGaussianFactorGraph error by @varunagrawal in https://github.com/borglab/gtsam/pull/1358
• Initializer list and insert/update chaining by @dellaert in https://github.com/borglab/gtsam/pull/1359
• Slightly expand Python API by @jrpowers in https://github.com/borglab/gtsam/pull/1361
• Check for native architecture and set GTSAM_COMPILE_OPTIONS_PUBLIC accordingly by @stefangachter in https://github.com/borglab/gtsam/pull/1296
• Fix hybrid tests by @varunagrawal in https://github.com/borglab/gtsam/pull/1363
• Fixed a few small issues... by @dellaert in https://github.com/borglab/gtsam/pull/1367
• Switch to EliminateDiscrete for max-product by @dellaert in https://github.com/borglab/gtsam/pull/1362
• Hybrid Serialization by @varunagrawal in https://github.com/borglab/gtsam/pull/1368
• Various fixes for Hybrid by @varunagrawal in https://github.com/borglab/gtsam/pull/1369
• Hybrid Elimination with Normalization Constant by @varunagrawal in https://github.com/borglab/gtsam/pull/1360
• Added *.bib file and started adding citations to README.md by @njayakumar3 in https://github.com/borglab/gtsam/pull/789
• Un-deprecate NoiseModelFactor1-6 and move X1 and key1-6 shortcuts to NoiseModelFactorN by @gchenfc in https://github.com/borglab/gtsam/pull/1370
• Two new tests, one with 5 modes by @dellaert in https://github.com/borglab/gtsam/pull/1371
• Simplified AP for HybridBayesNet by @dellaert in https://github.com/borglab/gtsam/pull/1372
• DefaultOrderingFunc in EliminationTraits by @varunagrawal in https://github.com/borglab/gtsam/pull/1373
• Big Re-"Factor" of Hybrid by @dellaert in https://github.com/borglab/gtsam/pull/1374
• More Expression wrappers by @BrettRD in https://github.com/borglab/gtsam/pull/1376
• Get rid of boost::assign by @dellaert in https://github.com/borglab/gtsam/pull/1375
• replace list_of with initializer list in TimeTBB.cpp by @kartikarcot in https://github.com/borglab/gtsam/pull/1379
• Harmonized error/logProbability in entire Factor/Conditional hierarchy by @dellaert in https://github.com/borglab/gtsam/pull/1380
• BatchFixedLagSmoother: add ability to limit warning debug prints by @acowley in https://github.com/borglab/gtsam/pull/1381
• Test and fix all conditionals by @dellaert in https://github.com/borglab/gtsam/pull/1386
• Some Hybrid Improvements by @varunagrawal in https://github.com/borglab/gtsam/pull/1387
• Hybrid/simplify by @dellaert in https://github.com/borglab/gtsam/pull/1388
• Correction to docs and lambdas by @varunagrawal in https://github.com/borglab/gtsam/pull/1390
• Switch pruning test to probabilities. by @dellaert in https://github.com/borglab/gtsam/pull/1394
• Deprecate filter by @dellaert in https://github.com/borglab/gtsam/pull/1397
• Fix examples that were using filter by @dellaert in https://github.com/borglab/gtsam/pull/1402
• Deprecated boost transform_iterators by @dellaert in https://github.com/borglab/gtsam/pull/1407
• Iterator for 4.2 by @dellaert in https://github.com/borglab/gtsam/pull/1417
• Fix (issue #1336) dangling pointer access violation. by @oicchris in https://github.com/borglab/gtsam/pull/1423
• Fix version... by @dellaert in https://github.com/borglab/gtsam/pull/1424
• 4.2 fixes by @varunagrawal in https://github.com/borglab/gtsam/pull/1425
• Patch ros package (branch: release/4.2) by @jlblancoc in https://github.com/borglab/gtsam/pull/1427
• Add missing header to fix gtbook by @dellaert in https://github.com/borglab/gtsam/pull/1429

What's Changed (Since 4.2a9)

• Better Hybrid support by @varunagrawal in https://github.com/borglab/gtsam/pull/1466
• 4.2: Fix an invalid include, restore C++11 compatibility by @valgur in https://github.com/borglab/gtsam/pull/1545
• Improved documentation, wrapper, and tests by @dellaert in https://github.com/borglab/gtsam/pull/1574
• Cherrypick commits for release/4.2, that include transitivity fix for DsfTrackGenerator by @johnwlambert in https://github.com/borglab/gtsam/pull/1616

New Contributors

• @magicbycalvin made their first contribution in https://github.com/borglab/gtsam/pull/1042
• @senselessDev made their first contribution in https://github.com/borglab/gtsam/pull/1059
• @andre-nguyen made their first contribution in https://github.com/borglab/gtsam/pull/1111
• @yunzc made their first contribution in https://github.com/borglab/gtsam/pull/1085
• @thomassm made their first contribution in https://github.com/borglab/gtsam/pull/1128
• @d-vo made their first contribution in https://github.com/borglab/gtsam/pull/1157
• @huanglilong made their first contribution in https://github.com/borglab/gtsam/pull/1206
• @HViktorTsoi made their first contribution in https://github.com/borglab/gtsam/pull/1219
• @vik748 made their first contribution in https://github.com/borglab/gtsam/pull/1225
• @agilemapper made their first contribution in https://github.com/borglab/gtsam/pull/1252
• @amadoantonini made their first contribution in https://github.com/borglab/gtsam/pull/1239
• @Tobias-Fischer made their first contribution in https://github.com/borglab/gtsam/pull/1257
• @pglira made their first contribution in https://github.com/borglab/gtsam/pull/1268
• @xsj01 made their first contribution in https://github.com/borglab/gtsam/pull/1270
• @OznOg made their first contribution in https://github.com/borglab/gtsam/pull/1304
• @mauricefallon made their first contribution in https://github.com/borglab/gtsam/pull/1310
• @Taeyoung96 made their first contribution in https://github.com/borglab/gtsam/pull/1324
• @nkhedekar made their first contribution in https://github.com/borglab/gtsam/pull/1330
• @MigVega made their first contribution in https://github.com/borglab/gtsam/pull/1331
• @ulterzlw made their first contribution in https://github.com/borglab/gtsam/pull/1340
• @jrpowers made their first contribution in https://github.com/borglab/gtsam/pull/1361
• @stefangachter made their first contribution in https://github.com/borglab/gtsam/pull/1296
• @njayakumar3 made their first contribution in https://github.com/borglab/gtsam/pull/789
• @BrettRD made their first contribution in https://github.com/borglab/gtsam/pull/1376
• @acowley made their first contribution in https://github.com/borglab/gtsam/pull/1381
• @valgur made their first contribution in https://github.com/borglab/gtsam/pull/1545

Full Changelog: https://github.com/borglab/gtsam/compare/4.1.1...4.2