update to gtsam 4.2a8

CMakeLists.txt

@@ -1,12 +1,12 @@
-cmake_minimum_required(VERSION 3.10)
+cmake_minimum_required(VERSION 3.15)
 project(dcsam_examples)
 
 # Set some compilation options.
 set(CMAKE_CXX_STANDARD 17)
 add_compile_options(-Wall -Wpedantic -Wextra)
 
 # External package dependencies.
-find_package(GTSAM 4.1 REQUIRED)
+find_package(GTSAM 4.2 REQUIRED)
 find_package(Eigen3 3.3 REQUIRED)
 find_package(dcsam REQUIRED)
 

README.md

@@ -12,19 +12,18 @@ introducing inlier/outlier discrete hypotheses for untrusted loop closure edges.
 To build the ICP and robust PGO examples:
 
 ```bash
-~/$ mkdir build
-~/$ cd build
-~/build$ cmake ..
-~/build$ make -j
+~ $ mkdir build
+~ $ cd build
+~/build $ cmake ..
+~/build $ make -j
 ```
 
 To run the ICP example:
 ```bash
-~/build/examples$ ./icp (path to source cloud) (path to target cloud)
+~/build/examples $ ./icp (path to source cloud) (path to target cloud)
 ```
 
 To run the robust pose-graph optimization example:
 ```bash
-
-~/build/examples$ ./robust_pgo_mc [.g2o file] [outlier rate (int >= 0; default 0)] [is3D (0/1; default 1)] [num trials (default 1)]
+~/build/examples $ ./robust_pgo_mc [.g2o file] [outlier rate (int >= 0; default 0)] [is3D (0/1; default 1)] [num trials (default 1)]
 ```

examples/icp.cpp

@@ -91,7 +91,7 @@ int main(int argc, char** argv) {
   for (size_t i = 0; i < source.size(); i++) {
     initial_discrete[gtsam::Symbol('d', i)] = 0;
   }
-  initial_values.insert(poseKey[0], gtsam::Pose3::identity());
+  initial_values.insert(poseKey[0], gtsam::Pose3::Identity());
 
   // Compute the first iterate.
   dcsam.update(hfg, initial_values, initial_discrete);

examples/robust_pgo_mc.cpp

@@ -61,7 +61,7 @@ void run_experiment3D(const gtsam::NonlinearFactorGraph& graph,
 
   // Keep track of known inliers (odometry) for GNC.
   size_t known_inlier_idx = 0;
-  std::vector<size_t> knownInliers;
+  gtsam::GncParams<gtsam::LevenbergMarquardtParams>::IndexVector knownInliers;
 
   // Add all good measurements.
   for (const auto& factor : graphWithOutliers) {
@@ -433,7 +433,7 @@ void run_experiment2D(const gtsam::NonlinearFactorGraph& graph,
 
   // Keep track of known inliers (odometry) for GNC.
   size_t known_inlier_idx = 0;
-  std::vector<size_t> knownInliers;
+  gtsam::GncParams<gtsam::LevenbergMarquardtParams>::IndexVector knownInliers;
 
   // Add all good measurements.
   for (const auto& factor : graphWithOutliers) {