borglab · varunagrawal · Jan 5, 2021 · Jan 5, 2021 · Jan 5, 2021 · Jan 5, 2021
diff --git a/gtsam/3rdparty/metis/CMakeLists.txt b/gtsam/3rdparty/metis/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8)
+cmake_minimum_required(VERSION 3.0)
 project(METIS)
 
 # Add flags for currect directory and below

diff --git a/gtsam/3rdparty/metis/libmetis/CMakeLists.txt b/gtsam/3rdparty/metis/libmetis/CMakeLists.txt
@@ -12,6 +12,7 @@ endif()
 if(WIN32)
 		set_target_properties(metis-gtsam PROPERTIES
 			PREFIX ""
+			COMPILE_FLAGS /w
 			RUNTIME_OUTPUT_DIRECTORY "${PROJECT_BINARY_DIR}/../../../bin")
 endif()
 

diff --git a/gtsam/geometry/Pose3.cpp b/gtsam/geometry/Pose3.cpp
@@ -106,8 +106,8 @@ Vector6 Pose3::adjointTranspose(const Vector6& xi, const Vector6& y,
 }
 
 /* ************************************************************************* */
-void Pose3::print(const string& s) const {
-  cout << (s.empty() ? s : s + " ") << *this << endl;
+void Pose3::print(const std::string& s) const {
+  std::cout << (s.empty() ? s : s + " ") << *this << std::endl;
 }
 
 /* ************************************************************************* */

diff --git a/gtsam/geometry/SOn-inl.h b/gtsam/geometry/SOn-inl.h
@@ -22,8 +22,6 @@
 
 #include <iostream>
 
-using namespace std;
-
 namespace gtsam {
 
 // Implementation for N>=5 just uses dynamic version
@@ -108,7 +106,7 @@ typename SO<N>::VectorN2 SO<N>::vec(
 
 template <int N>
 void SO<N>::print(const std::string& s) const {
-    cout << s << matrix_ << endl;
+    std::cout << s << matrix_ << std::endl;
 }
 
 }  // namespace gtsam
diff --git a/gtsam/nonlinear/tests/testValues.cpp b/gtsam/nonlinear/tests/testValues.cpp
@@ -175,10 +175,11 @@ TEST(Values, basic_functions)
 {
   Values values;
   const Values& values_c = values;
-  values.insert(2, Vector3());
-  values.insert(4, Vector3());
-  values.insert(6, Matrix23());
-  values.insert(8, Matrix23());
+  Matrix23 M1 = Matrix23::Zero(), M2 = Matrix23::Zero();
+  values.insert(2, Vector3(0, 0, 0));
+  values.insert(4, Vector3(0, 0, 0));
+  values.insert(6, M1);
+  values.insert(8, M2);
 
   // find
   EXPECT_LONGS_EQUAL(4, values.find(4)->key);

diff --git a/gtsam/sfm/ShonanAveraging.h b/gtsam/sfm/ShonanAveraging.h
@@ -354,15 +354,15 @@ class ShonanAveraging2 : public ShonanAveraging<2> {
  public:
   ShonanAveraging2(const Measurements &measurements,
                    const Parameters &parameters = Parameters());
-  explicit ShonanAveraging2(string g2oFile,
+  explicit ShonanAveraging2(std::string g2oFile,
                             const Parameters &parameters = Parameters());
 };
 
 class ShonanAveraging3 : public ShonanAveraging<3> {
  public:
   ShonanAveraging3(const Measurements &measurements,
                    const Parameters &parameters = Parameters());
-  explicit ShonanAveraging3(string g2oFile,
+  explicit ShonanAveraging3(std::string g2oFile,
                             const Parameters &parameters = Parameters());
 
   // TODO(frank): Deprecate after we land pybind wrapper

diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h
@@ -86,12 +86,15 @@ class GeneralSFMFactor: public NoiseModelFactor2<CAMERA, LANDMARK> {
    * @param cameraKey is the index of the camera
    * @param landmarkKey is the index of the landmark
    */
-  GeneralSFMFactor(const Point2& measured, const SharedNoiseModel& model, Key cameraKey, Key landmarkKey) :
-  Base(model, cameraKey, landmarkKey), measured_(measured) {}
+  GeneralSFMFactor(const Point2& measured, const SharedNoiseModel& model,
+                   Key cameraKey, Key landmarkKey)
+      : Base(model, cameraKey, landmarkKey), measured_(measured) {}
 
-  GeneralSFMFactor():measured_(0.0,0.0) {} ///< default constructor
-  GeneralSFMFactor(const Point2 & p):measured_(p) {} ///< constructor that takes a Point2
-  GeneralSFMFactor(double x, double y):measured_(x,y) {} ///< constructor that takes doubles x,y to make a Point2
+  GeneralSFMFactor() : measured_(0.0, 0.0) {}  ///< default constructor
+  ///< constructor that takes a Point2
+  GeneralSFMFactor(const Point2& p) : measured_(p) {}
+  ///< constructor that takes doubles x,y to make a Point2
+  GeneralSFMFactor(double x, double y) : measured_(x, y) {}
 
   virtual ~GeneralSFMFactor() {} ///< destructor
 
@@ -127,7 +130,7 @@ class GeneralSFMFactor: public NoiseModelFactor2<CAMERA, LANDMARK> {
     catch( CheiralityException& e) {
       if (H1) *H1 = JacobianC::Zero();
       if (H2) *H2 = JacobianL::Zero();
-      // TODO warn if verbose output asked for
+      //TODO Print the exception via logging
       return Z_2x1;
     }
   }
@@ -149,7 +152,7 @@ class GeneralSFMFactor: public NoiseModelFactor2<CAMERA, LANDMARK> {
       H1.setZero();
       H2.setZero();
       b.setZero();
-      // TODO warn if verbose output asked for
+      //TODO Print the exception via logging
     }
 
     // Whiten the system if needed

diff --git a/gtsam/slam/dataset.h b/gtsam/slam/dataset.h
@@ -303,8 +303,8 @@ struct SfmTrack {
 
   /// print
   void print(const std::string& s = "") const {
-    cout << "Track with " << measurements.size();
-    cout << " measurements of point " << p << "\n";
+    std::cout << "Track with " << measurements.size();
+    std::cout << " measurements of point " << p << std::endl;
   }
 };
 
@@ -385,8 +385,8 @@ struct SfmData {
 
   /// print
   void print(const std::string& s = "") const {
-    cout << "Number of cameras = " << number_cameras() << "\n";
-    cout << "Number of tracks = " << number_tracks() << "\n";
+    std::cout << "Number of cameras = " << number_cameras() << std::endl;
+    std::cout << "Number of tracks = " << number_tracks() << std::endl;
   }
 };
 

diff --git a/gtsam_unstable/examples/SmartRangeExample_plaza1.cpp b/gtsam_unstable/examples/SmartRangeExample_plaza1.cpp
@@ -188,7 +188,8 @@ int main(int argc, char** argv) {
             smartFactors[j]->addRange(i, range);
             printf("adding range %g for %d",range,(int)j);
           } catch (const invalid_argument& e) {
-            printf("warning: omitting duplicate range %g for %d",range,(int)j);
+            printf("warning: omitting duplicate range %g for %d: %s", range,
+                   (int)j, e.what());
           }
           cout << endl;
         }