From 6fc75200892351ab54deb3558d437d912b03d8bd Mon Sep 17 00:00:00 2001
From: Parker Lusk <parkerclusk@gmail.com>
Date: Sun, 29 Jan 2023 16:47:29 -0500
Subject: [PATCH] update to gtsam 4.2a8

---
 CMakeLists.txt             |  4 ++--
 README.md                  | 13 ++++++-------
 examples/icp.cpp           |  2 +-
 examples/robust_pgo_mc.cpp |  4 ++--
 4 files changed, 11 insertions(+), 12 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 380da1b..e64c943 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.10)
+cmake_minimum_required(VERSION 3.15)
 project(dcsam_examples)
 
 # Set some compilation options.
@@ -6,7 +6,7 @@ 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)
 
diff --git a/README.md b/README.md
index 5e4a3a1..686b8a3 100644
--- a/README.md
+++ b/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)]
 ```
diff --git a/examples/icp.cpp b/examples/icp.cpp
index 552268c..964ad28 100644
--- a/examples/icp.cpp
+++ b/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);
diff --git a/examples/robust_pgo_mc.cpp b/examples/robust_pgo_mc.cpp
index 4a302e5..f102525 100644
--- a/examples/robust_pgo_mc.cpp
+++ b/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) {