From b0404aa109eb463c0764b4edded82fd3ab8f513a Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 20 Jun 2023 14:36:45 -0400
Subject: [PATCH 01/29] small improvements

---
 gtsam_unstable/linear/LPInitSolver.cpp | 4 +---
 gtsam_unstable/linear/LPInitSolver.h   | 3 ++-
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/gtsam_unstable/linear/LPInitSolver.cpp b/gtsam_unstable/linear/LPInitSolver.cpp
index 9f12d670e9..3d24f784b3 100644
--- a/gtsam_unstable/linear/LPInitSolver.cpp
+++ b/gtsam_unstable/linear/LPInitSolver.cpp
@@ -65,9 +65,7 @@ GaussianFactorGraph::shared_ptr LPInitSolver::buildInitOfInitGraph() const {
       new GaussianFactorGraph(lp_.equalities));
 
   // create factor ||x||^2 and add to the graph
-  const KeyDimMap& constrainedKeyDim = lp_.constrainedKeyDimMap();
-  for (const auto& [key, _] : constrainedKeyDim) {
-    size_t dim = constrainedKeyDim.at(key);
+  for (const auto& [key, dim] : lp_.constrainedKeyDimMap()) {
     initGraph->push_back(
         JacobianFactor(key, Matrix::Identity(dim, dim), Vector::Zero(dim)));
   }
diff --git a/gtsam_unstable/linear/LPInitSolver.h b/gtsam_unstable/linear/LPInitSolver.h
index 7e326117b3..9db2a34f09 100644
--- a/gtsam_unstable/linear/LPInitSolver.h
+++ b/gtsam_unstable/linear/LPInitSolver.h
@@ -19,6 +19,7 @@
 
 #pragma once
 
+#include <gtsam_unstable/dllexport.h>
 #include <gtsam_unstable/linear/LP.h>
 #include <gtsam/linear/GaussianFactorGraph.h>
 
@@ -49,7 +50,7 @@ namespace gtsam {
  * inequality constraint, we can't conclude that the problem is infeasible.
  * However, whether it is infeasible or unbounded, we don't have a unique solution anyway.
  */
-class LPInitSolver {
+class GTSAM_UNSTABLE_EXPORT LPInitSolver {
 private:
   const LP& lp_;
 

From 254e3128e6d199508215ec71cb8626fdadafc45f Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 20 Jun 2023 17:28:01 -0400
Subject: [PATCH 02/29] fix for multiply defined symbol error in LPInitSolver

---
 gtsam_unstable/linear/LP.h | 20 +++++++++++++++++---
 1 file changed, 17 insertions(+), 3 deletions(-)

diff --git a/gtsam_unstable/linear/LP.h b/gtsam_unstable/linear/LP.h
index dbb744d3ef..50065b2dda 100644
--- a/gtsam_unstable/linear/LP.h
+++ b/gtsam_unstable/linear/LP.h
@@ -81,9 +81,23 @@ struct LP {
     if (!cachedConstrainedKeyDimMap_.empty())
       return cachedConstrainedKeyDimMap_;
     // Collect key-dim map of all variables in the constraints
-    cachedConstrainedKeyDimMap_ = collectKeyDim(equalities);
-    KeyDimMap keysDim2 = collectKeyDim(inequalities);
-    cachedConstrainedKeyDimMap_.insert(keysDim2.begin(), keysDim2.end());
+    //TODO(Varun) seems like the templated function is causing the multiple symbols error on Windows
+    // cachedConstrainedKeyDimMap_ = collectKeyDim(equalities);
+    // KeyDimMap keysDim2 = collectKeyDim(inequalities);
+    // cachedConstrainedKeyDimMap_.insert(keysDim2.begin(), keysDim2.end());
+    cachedConstrainedKeyDimMap_.clear();
+    for (auto&& factor : equalities) {
+      if (!factor) continue;
+      for (Key key : factor->keys()) {
+        cachedConstrainedKeyDimMap_[key] = factor->getDim(factor->find(key));
+      }
+    }
+    for (auto&& factor : inequalities) {
+      if (!factor) continue;
+      for (Key key : factor->keys()) {
+        cachedConstrainedKeyDimMap_[key] = factor->getDim(factor->find(key));
+      }
+    }
     return cachedConstrainedKeyDimMap_;
   }
 

From 62fe1a937979968d3b8f4349e0a39aa445d13358 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 20 Jun 2023 17:31:49 -0400
Subject: [PATCH 03/29] add todo for error in SmartStereoProjectionFactorPP.h

---
 .../slam/SmartStereoProjectionFactorPP.h      | 44 ++++++++++---------
 1 file changed, 23 insertions(+), 21 deletions(-)

diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h b/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h
index f9db909533..b022ce16f3 100644
--- a/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h
+++ b/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h
@@ -201,10 +201,9 @@ class GTSAM_UNSTABLE_EXPORT SmartStereoProjectionFactorPP
   }
 
   /// linearize and return a Hessianfactor that is an approximation of error(p)
-  std::shared_ptr<RegularHessianFactor<DimPose> > createHessianFactor(
-      const Values& values, const double lambda = 0.0, bool diagonalDamping =
-          false) const {
-
+  std::shared_ptr<RegularHessianFactor<DimPose>> createHessianFactor(
+      const Values& values, const double lambda = 0.0,
+      bool diagonalDamping = false) const {
     // we may have multiple cameras sharing the same extrinsic cals, hence the number
     // of keys may be smaller than 2 * nrMeasurements (which is the upper bound where we
     // have a body key and an extrinsic calibration key for each measurement)
@@ -212,23 +211,22 @@ class GTSAM_UNSTABLE_EXPORT SmartStereoProjectionFactorPP
 
     // Create structures for Hessian Factors
     KeyVector js;
-    std::vector < Matrix > Gs(nrUniqueKeys * (nrUniqueKeys + 1) / 2);
+    std::vector<Matrix> Gs(nrUniqueKeys * (nrUniqueKeys + 1) / 2);
     std::vector<Vector> gs(nrUniqueKeys);
 
     if (this->measured_.size() != cameras(values).size())
       throw std::runtime_error("SmartStereoProjectionHessianFactor: this->"
-                               "measured_.size() inconsistent with input");
+          "measured_.size() inconsistent with input");
 
     // triangulate 3D point at given linearization point
     triangulateSafe(cameras(values));
 
-    if (!result_) { // failed: return "empty/zero" Hessian
-      for (Matrix& m : Gs)
-        m = Matrix::Zero(DimPose, DimPose);
-      for (Vector& v : gs)
-        v = Vector::Zero(DimPose);
-      return std::make_shared < RegularHessianFactor<DimPose>
-          > (keys_, Gs, gs, 0.0);
+    // failed: return "empty/zero" Hessian
+    if (!result_) {
+      for (Matrix& m : Gs) m = Matrix::Zero(DimPose, DimPose);
+      for (Vector& v : gs) v = Vector::Zero(DimPose);
+      return std::make_shared<RegularHessianFactor<DimPose>>(keys_, Gs, gs,
+                                                             0.0);
     }
 
     // compute Jacobian given triangulated 3D Point
@@ -239,12 +237,13 @@ class GTSAM_UNSTABLE_EXPORT SmartStereoProjectionFactorPP
 
     // Whiten using noise model
     noiseModel_->WhitenSystem(E, b);
-    for (size_t i = 0; i < Fs.size(); i++)
+    for (size_t i = 0; i < Fs.size(); i++) {
       Fs[i] = noiseModel_->Whiten(Fs[i]);
+    }
 
     // build augmented Hessian (with last row/column being the information vector)
     Matrix3 P;
-    Cameras::ComputePointCovariance <3> (P, E, lambda, diagonalDamping);
+    Cameras::ComputePointCovariance<3>(P, E, lambda, diagonalDamping);
 
     // these are the keys that correspond to the blocks in augmentedHessian (output of SchurComplement)
     KeyVector nonuniqueKeys;
@@ -253,12 +252,15 @@ class GTSAM_UNSTABLE_EXPORT SmartStereoProjectionFactorPP
       nonuniqueKeys.push_back(body_P_cam_keys_.at(i));
     }
     // but we need to get the augumented hessian wrt the unique keys in key_
-    SymmetricBlockMatrix augmentedHessianUniqueKeys =
-        Cameras::SchurComplementAndRearrangeBlocks<3,DimBlock,DimPose>(Fs,E,P,b,
-                  nonuniqueKeys, keys_);
-
-    return std::make_shared < RegularHessianFactor<DimPose>
-        > (keys_, augmentedHessianUniqueKeys);
+    //TODO(Varun) SchurComplementAndRearrangeBlocks is causing the multiply defined symbol error
+    // SymmetricBlockMatrix augmentedHessianUniqueKeys =
+    //     Base::Cameras::template SchurComplementAndRearrangeBlocks<3, DimBlock,
+    //                                                               DimPose>(
+    //         Fs, E, P, b, nonuniqueKeys, keys_);
+
+    // return std::make_shared<RegularHessianFactor<DimPose>>(
+    //     keys_, augmentedHessianUniqueKeys);
+    return nullptr;
   }
 
   /**

From fbf155d91e4ccbf0590fe2f693f50c7da6e528a3 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 21 Jun 2023 09:55:52 -0400
Subject: [PATCH 04/29] undo changes

---
 gtsam_unstable/linear/LP.h                    | 20 +++----------------
 .../slam/SmartStereoProjectionFactorPP.h      | 16 +++++++--------
 2 files changed, 10 insertions(+), 26 deletions(-)

diff --git a/gtsam_unstable/linear/LP.h b/gtsam_unstable/linear/LP.h
index 50065b2dda..dbb744d3ef 100644
--- a/gtsam_unstable/linear/LP.h
+++ b/gtsam_unstable/linear/LP.h
@@ -81,23 +81,9 @@ struct LP {
     if (!cachedConstrainedKeyDimMap_.empty())
       return cachedConstrainedKeyDimMap_;
     // Collect key-dim map of all variables in the constraints
-    //TODO(Varun) seems like the templated function is causing the multiple symbols error on Windows
-    // cachedConstrainedKeyDimMap_ = collectKeyDim(equalities);
-    // KeyDimMap keysDim2 = collectKeyDim(inequalities);
-    // cachedConstrainedKeyDimMap_.insert(keysDim2.begin(), keysDim2.end());
-    cachedConstrainedKeyDimMap_.clear();
-    for (auto&& factor : equalities) {
-      if (!factor) continue;
-      for (Key key : factor->keys()) {
-        cachedConstrainedKeyDimMap_[key] = factor->getDim(factor->find(key));
-      }
-    }
-    for (auto&& factor : inequalities) {
-      if (!factor) continue;
-      for (Key key : factor->keys()) {
-        cachedConstrainedKeyDimMap_[key] = factor->getDim(factor->find(key));
-      }
-    }
+    cachedConstrainedKeyDimMap_ = collectKeyDim(equalities);
+    KeyDimMap keysDim2 = collectKeyDim(inequalities);
+    cachedConstrainedKeyDimMap_.insert(keysDim2.begin(), keysDim2.end());
     return cachedConstrainedKeyDimMap_;
   }
 
diff --git a/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h b/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h
index b022ce16f3..189c501bb3 100644
--- a/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h
+++ b/gtsam_unstable/slam/SmartStereoProjectionFactorPP.h
@@ -252,15 +252,13 @@ class GTSAM_UNSTABLE_EXPORT SmartStereoProjectionFactorPP
       nonuniqueKeys.push_back(body_P_cam_keys_.at(i));
     }
     // but we need to get the augumented hessian wrt the unique keys in key_
-    //TODO(Varun) SchurComplementAndRearrangeBlocks is causing the multiply defined symbol error
-    // SymmetricBlockMatrix augmentedHessianUniqueKeys =
-    //     Base::Cameras::template SchurComplementAndRearrangeBlocks<3, DimBlock,
-    //                                                               DimPose>(
-    //         Fs, E, P, b, nonuniqueKeys, keys_);
-
-    // return std::make_shared<RegularHessianFactor<DimPose>>(
-    //     keys_, augmentedHessianUniqueKeys);
-    return nullptr;
+    SymmetricBlockMatrix augmentedHessianUniqueKeys =
+        Base::Cameras::template SchurComplementAndRearrangeBlocks<3, DimBlock,
+                                                                  DimPose>(
+            Fs, E, P, b, nonuniqueKeys, keys_);
+
+    return std::make_shared<RegularHessianFactor<DimPose>>(
+        keys_, augmentedHessianUniqueKeys);
   }
 
   /**

From 57311281fbea70ab639a5ad754484c55c0063a4b Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 21 Jun 2023 09:56:16 -0400
Subject: [PATCH 05/29] use std::map<Key, uint32_t> for Key-Dim maps

---
 gtsam/geometry/CameraSet.h | 2 +-
 gtsam_unstable/linear/LP.h | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/gtsam/geometry/CameraSet.h b/gtsam/geometry/CameraSet.h
index 23a4b467ef..5f77ebf58f 100644
--- a/gtsam/geometry/CameraSet.h
+++ b/gtsam/geometry/CameraSet.h
@@ -270,7 +270,7 @@ class CameraSet : public std::vector<CAMERA, Eigen::aligned_allocator<CAMERA>> {
 
       // Get map from key to location in the new augmented Hessian matrix (the
       // one including only unique keys).
-      std::map<Key, size_t> keyToSlotMap;
+      std::map<Key, uint32_t> keyToSlotMap;
       for (size_t k = 0; k < nrUniqueKeys; k++) {
         keyToSlotMap[hessianKeys[k]] = k;
       }
diff --git a/gtsam_unstable/linear/LP.h b/gtsam_unstable/linear/LP.h
index dbb744d3ef..53247be4c1 100644
--- a/gtsam_unstable/linear/LP.h
+++ b/gtsam_unstable/linear/LP.h
@@ -29,7 +29,7 @@ namespace gtsam {
 using namespace std;
 
 /// Mapping between variable's key and its corresponding dimensionality
-using KeyDimMap = std::map<Key, size_t>;
+using KeyDimMap = std::map<Key, uint32_t>;
 /*
  * Iterates through every factor in a linear graph and generates a
  * mapping between every factor key and it's corresponding dimensionality.

From 429d5de601db382f3a5f025dc84a03ccc4e9b505 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 21 Jun 2023 12:30:56 -0400
Subject: [PATCH 06/29] Actions file formatting

---
 .github/workflows/build-windows.yml | 30 ++++++++++++++---------------
 1 file changed, 15 insertions(+), 15 deletions(-)

diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index 0434577c10..339f10a0a7 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -96,23 +96,23 @@ jobs:
         run: |
           # Since Visual Studio is a multi-generator, we need to use --config
           # https://stackoverflow.com/a/24470998/1236990
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target gtsam
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target gtsam_unstable
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target wrap
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target gtsam
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target gtsam_unstable
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target wrap
 
           # Run GTSAM tests
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.base
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.basis
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.discrete
-          #cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.geometry
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.inference
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.linear
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.navigation
-          #cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.nonlinear
-          #cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.sam
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.sfm
-          #cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.slam
-          cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.symbolic
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.base
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.basis
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.discrete
+          #cmake --build build -j4 --config ${{ matrix.build_type }} --target check.geometry
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.inference
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.linear
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.navigation
+          #cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.sam
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.sfm
+          #cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.symbolic
 
           # Run GTSAM_UNSTABLE tests
           #cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.base_unstable

From f65414d7efc9c8a2a7cf45d1a877815e9184983f Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 21 Jun 2023 13:03:54 -0400
Subject: [PATCH 07/29] add GTSAM_EXPORT to additional Ordering methods

---
 gtsam/inference/Ordering.h | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/gtsam/inference/Ordering.h b/gtsam/inference/Ordering.h
index 884a93f0d8..0a3b254419 100644
--- a/gtsam/inference/Ordering.h
+++ b/gtsam/inference/Ordering.h
@@ -77,9 +77,11 @@ class Ordering: public KeyVector {
    * @param keys The key vector to append to this ordering.
    * @return The ordering variable with appended keys.
    */
+  GTSAM_EXPORT
   This& operator+=(KeyVector& keys);
 
   /// Check if key exists in ordering.
+  GTSAM_EXPORT
   bool contains(const Key& key) const;
 
   /**

From 43a9fbf461ee29ec9478d21b4362d35498ee3550 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 21 Jun 2023 13:29:10 -0400
Subject: [PATCH 08/29] mark Pose2 as GTSAM_EXPORT at the class level

---
 gtsam/geometry/Pose2.h | 38 +++++++++++++++++++-------------------
 1 file changed, 19 insertions(+), 19 deletions(-)

diff --git a/gtsam/geometry/Pose2.h b/gtsam/geometry/Pose2.h
index f1b38c5a6f..1a62fa9381 100644
--- a/gtsam/geometry/Pose2.h
+++ b/gtsam/geometry/Pose2.h
@@ -36,7 +36,7 @@ namespace gtsam {
  * @ingroup geometry
  * \nosubgrouping
  */
-class Pose2: public LieGroup<Pose2, 3> {
+class GTSAM_EXPORT Pose2: public LieGroup<Pose2, 3> {
 
 public:
 
@@ -112,10 +112,10 @@ class Pose2: public LieGroup<Pose2, 3> {
   /// @{
 
   /** print with optional string */
-  GTSAM_EXPORT void print(const std::string& s = "") const;
+  void print(const std::string& s = "") const;
 
   /** assert equality up to a tolerance */
-  GTSAM_EXPORT bool equals(const Pose2& pose, double tol = 1e-9) const;
+  bool equals(const Pose2& pose, double tol = 1e-9) const;
 
   /// @}
   /// @name Group
@@ -125,7 +125,7 @@ class Pose2: public LieGroup<Pose2, 3> {
   inline static Pose2 Identity() { return Pose2(); }
 
   /// inverse
-  GTSAM_EXPORT Pose2 inverse() const;
+  Pose2 inverse() const;
 
   /// compose syntactic sugar
   inline Pose2 operator*(const Pose2& p2) const {
@@ -137,16 +137,16 @@ class Pose2: public LieGroup<Pose2, 3> {
   /// @{
 
   ///Exponential map at identity - create a rotation from canonical coordinates \f$ [T_x,T_y,\theta] \f$
-  GTSAM_EXPORT static Pose2 Expmap(const Vector3& xi, ChartJacobian H = {});
+  static Pose2 Expmap(const Vector3& xi, ChartJacobian H = {});
 
   ///Log map at identity - return the canonical coordinates \f$ [T_x,T_y,\theta] \f$ of this rotation
-  GTSAM_EXPORT static Vector3 Logmap(const Pose2& p, ChartJacobian H = {});
+  static Vector3 Logmap(const Pose2& p, ChartJacobian H = {});
 
   /**
    * Calculate Adjoint map
    * Ad_pose is 3*3 matrix that when applied to twist xi \f$ [T_x,T_y,\theta] \f$, returns Ad_pose(xi)
    */
-  GTSAM_EXPORT Matrix3 AdjointMap() const;
+  Matrix3 AdjointMap() const;
 
   /// Apply AdjointMap to twist xi
   inline Vector3 Adjoint(const Vector3& xi) const {
@@ -156,7 +156,7 @@ class Pose2: public LieGroup<Pose2, 3> {
   /**
    * Compute the [ad(w,v)] operator for SE2 as in [Kobilarov09siggraph], pg 19
    */
-  GTSAM_EXPORT static Matrix3 adjointMap(const Vector3& v);
+  static Matrix3 adjointMap(const Vector3& v);
 
   /**
    * Action of the adjointMap on a Lie-algebra vector y, with optional derivatives
@@ -192,15 +192,15 @@ class Pose2: public LieGroup<Pose2, 3> {
   }
 
   /// Derivative of Expmap
-  GTSAM_EXPORT static Matrix3 ExpmapDerivative(const Vector3& v);
+  static Matrix3 ExpmapDerivative(const Vector3& v);
 
   /// Derivative of Logmap
-  GTSAM_EXPORT static Matrix3 LogmapDerivative(const Pose2& v);
+  static Matrix3 LogmapDerivative(const Pose2& v);
 
   // Chart at origin, depends on compile-time flag SLOW_BUT_CORRECT_EXPMAP
   struct ChartAtOrigin {
-	GTSAM_EXPORT static Pose2 Retract(const Vector3& v, ChartJacobian H = {});
-	GTSAM_EXPORT static Vector3 Local(const Pose2& r, ChartJacobian H = {});
+	static Pose2 Retract(const Vector3& v, ChartJacobian H = {});
+	static Vector3 Local(const Pose2& r, ChartJacobian H = {});
   };
 
   using LieGroup<Pose2, 3>::inverse; // version with derivative
@@ -210,7 +210,7 @@ class Pose2: public LieGroup<Pose2, 3> {
   /// @{
 
   /** Return point coordinates in pose coordinate frame */
-  GTSAM_EXPORT Point2 transformTo(const Point2& point,
+  Point2 transformTo(const Point2& point,
       OptionalJacobian<2, 3> Dpose = {},
       OptionalJacobian<2, 2> Dpoint = {}) const;
 
@@ -222,7 +222,7 @@ class Pose2: public LieGroup<Pose2, 3> {
   Matrix transformTo(const Matrix& points) const;
 
   /** Return point coordinates in global frame */
-  GTSAM_EXPORT Point2 transformFrom(const Point2& point,
+  Point2 transformFrom(const Point2& point,
       OptionalJacobian<2, 3> Dpose = {},
       OptionalJacobian<2, 2> Dpoint = {}) const;
 
@@ -273,14 +273,14 @@ class Pose2: public LieGroup<Pose2, 3> {
   }
 
   //// return transformation matrix
-  GTSAM_EXPORT Matrix3 matrix() const;
+  Matrix3 matrix() const;
 
   /**
    * Calculate bearing to a landmark
    * @param point 2D location of landmark
    * @return 2D rotation \f$ \in SO(2) \f$
    */
-  GTSAM_EXPORT Rot2 bearing(const Point2& point,
+  Rot2 bearing(const Point2& point,
                OptionalJacobian<1, 3> H1={}, OptionalJacobian<1, 2> H2={}) const;
 
   /**
@@ -288,7 +288,7 @@ class Pose2: public LieGroup<Pose2, 3> {
    * @param point SO(2) location of other pose
    * @return 2D rotation \f$ \in SO(2) \f$
    */
-  GTSAM_EXPORT Rot2 bearing(const Pose2& pose,
+  Rot2 bearing(const Pose2& pose,
                OptionalJacobian<1, 3> H1={}, OptionalJacobian<1, 3> H2={}) const;
 
   /**
@@ -296,7 +296,7 @@ class Pose2: public LieGroup<Pose2, 3> {
    * @param point 2D location of landmark
    * @return range (double)
    */
-  GTSAM_EXPORT double range(const Point2& point,
+  double range(const Point2& point,
       OptionalJacobian<1, 3> H1={},
       OptionalJacobian<1, 2> H2={}) const;
 
@@ -305,7 +305,7 @@ class Pose2: public LieGroup<Pose2, 3> {
    * @param point 2D location of other pose
    * @return range (double)
    */
-  GTSAM_EXPORT double range(const Pose2& point,
+  double range(const Pose2& point,
       OptionalJacobian<1, 3> H1={},
       OptionalJacobian<1, 3> H2={}) const;
 

From c9397c34fcd9c287c905fa091dc254a5d0f054ac Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 21 Jun 2023 13:29:32 -0400
Subject: [PATCH 09/29] CameraSet::project2 SFINAE to resolve overload
 ambiguity

---
 gtsam/geometry/CameraSet.h | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/gtsam/geometry/CameraSet.h b/gtsam/geometry/CameraSet.h
index 5f77ebf58f..8621d77ad2 100644
--- a/gtsam/geometry/CameraSet.h
+++ b/gtsam/geometry/CameraSet.h
@@ -131,12 +131,15 @@ class CameraSet : public std::vector<CAMERA, Eigen::aligned_allocator<CAMERA>> {
     return z;
   }
 
-  /** An overload o the project2 function to accept
+  /** An overload of the project2 function to accept
    * full matrices and vectors and pass it to the pointer
-   * version of the function
+   * version of the function.
+   *
+   * Use SFINAE to resolve overload ambiguity.
    */
   template <class POINT, class... OptArgs>
-  ZVector project2(const POINT& point, OptArgs&... args) const {
+  typename std::enable_if<(sizeof...(OptArgs) != 0), ZVector>::type project2(
+      const POINT& point, OptArgs&... args) const {
     // pass it to the pointer version of the function
     return project2(point, (&args)...);
   }

From 5fa889b035c238b95c84de1e7e04cc50a275edcb Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 21 Jun 2023 17:32:26 -0400
Subject: [PATCH 10/29] add GTSAM_EXPORT tags

---
 gtsam/discrete/SignatureParser.h  | 2 +-
 gtsam_unstable/linear/QPSParser.h | 3 ++-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/gtsam/discrete/SignatureParser.h b/gtsam/discrete/SignatureParser.h
index e6b402e440..e005da14a7 100644
--- a/gtsam/discrete/SignatureParser.h
+++ b/gtsam/discrete/SignatureParser.h
@@ -47,7 +47,7 @@ namespace gtsam {
  *
  * Also fails if the rows are not of the same size.
  */
-struct SignatureParser {
+struct GTSAM_EXPORT SignatureParser {
   using Row = std::vector<double>;
   using Table = std::vector<Row>;
 
diff --git a/gtsam_unstable/linear/QPSParser.h b/gtsam_unstable/linear/QPSParser.h
index bd4254d0f7..e751f34d27 100644
--- a/gtsam_unstable/linear/QPSParser.h
+++ b/gtsam_unstable/linear/QPSParser.h
@@ -18,12 +18,13 @@
 
 #pragma once
 
+#include <gtsam_unstable/dllexport.h>
 #include <gtsam_unstable/linear/QP.h>
 #include <fstream>
 
 namespace gtsam {
 
-class QPSParser {
+class GTSAM_UNSTABLE_EXPORT QPSParser {
 
 private:
   std::string fileName_;

From c954e546ef4fb6614344d417a76ad922df45af29 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 21 Jun 2023 17:33:14 -0400
Subject: [PATCH 11/29] enable more Windows tests

---
 .github/workflows/build-windows.yml | 16 ++++++++++++----
 1 file changed, 12 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index 339f10a0a7..e85064d08f 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -104,15 +104,23 @@ jobs:
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.base
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.basis
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.discrete
-          #cmake --build build -j4 --config ${{ matrix.build_type }} --target check.geometry
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.geometry
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.inference
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.linear
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.navigation
-          #cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.sam
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.sfm
-          #cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.symbolic
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.hybrid
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam
 
           # Run GTSAM_UNSTABLE tests
-          #cmake --build build -j 4 --config ${{ matrix.build_type }} --target check.base_unstable
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.base_unstable
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.geometry_unstable
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.linear_unstable
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.discrete_unstable
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.dynamics_unstable
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear_unstable
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam_unstable
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.partition

From 0bc08b88bc7598eb5d8f6554a113235d3dd8a012 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 21 Jun 2023 17:49:15 -0400
Subject: [PATCH 12/29] remove GTSAM_EXPORT from SignatureParser struct

---
 gtsam/discrete/SignatureParser.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/discrete/SignatureParser.h b/gtsam/discrete/SignatureParser.h
index e005da14a7..e6b402e440 100644
--- a/gtsam/discrete/SignatureParser.h
+++ b/gtsam/discrete/SignatureParser.h
@@ -47,7 +47,7 @@ namespace gtsam {
  *
  * Also fails if the rows are not of the same size.
  */
-struct GTSAM_EXPORT SignatureParser {
+struct SignatureParser {
   using Row = std::vector<double>;
   using Table = std::vector<Row>;
 

From 2168d0f0867640b7eb2610e8a294a9bb4a04fa45 Mon Sep 17 00:00:00 2001
From: Tal Regev <tal.regev@gmail.com>
Date: Fri, 30 Jun 2023 19:43:34 +0300
Subject: [PATCH 13/29] Compile with ninja

---
 .github/workflows/build-windows.yml | 31 +++++++++++++++++------------
 1 file changed, 18 insertions(+), 13 deletions(-)

diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index 0434577c10..9326a81b0a 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -2,6 +2,10 @@ name: Windows CI
 
 on: [pull_request]
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
+  cancel-in-progress: true
+
 jobs:
   build:
     name: ${{ matrix.name }} ${{ matrix.build_type }}
@@ -16,19 +20,15 @@ jobs:
       BOOST_EXE: boost_1_72_0-msvc-14.2
 
     strategy:
-      fail-fast: true
+      fail-fast: false
       matrix:
-        # Github Actions requires a single row to be added to the build matrix.
-        # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
-        name: [
-            windows-2019-cl,
-          ]
-
-        build_type: [
-            Debug,
-            Release
-          ]
-        build_unstable: [ON]
+        build_type: 
+          - Debug
+          # - Release
+          
+        build_unstable: 
+          - ON
+          # - OFF 
         include:
           - name: windows-2019-cl
             os: windows-2019
@@ -87,10 +87,15 @@ jobs:
       - name: Checkout
         uses: actions/checkout@v3
 
+      - name: Setup msbuild
+        uses: ilammy/msvc-dev-cmd@v1
+        with:
+          arch: x${{ matrix.platform }}
+
       - name: Configuration
         run: |
           cmake -E remove_directory build
-          cmake -B build -S . -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DBOOST_ROOT="${env:BOOST_ROOT}" -DBOOST_INCLUDEDIR="${env:BOOST_ROOT}\boost\include" -DBOOST_LIBRARYDIR="${env:BOOST_ROOT}\lib"
+          cmake -G Ninja -B build -S . -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DBOOST_ROOT="${env:BOOST_ROOT}" -DBOOST_INCLUDEDIR="${env:BOOST_ROOT}\boost\include" -DBOOST_LIBRARYDIR="${env:BOOST_ROOT}\lib"
 
       - name: Build
         run: |

From 92de2273a86bd316205b018d425449d1ca4d4a0e Mon Sep 17 00:00:00 2001
From: Tal Regev <tal.regev@gmail.com>
Date: Fri, 30 Jun 2023 20:21:11 +0300
Subject: [PATCH 14/29] Fix linkage errors: unresolved external symbol

---
 gtsam/basis/Basis.h              | 2 +-
 gtsam/discrete/SignatureParser.h | 2 +-
 gtsam/geometry/Pose2.h           | 6 +++---
 gtsam/geometry/Pose3.h           | 2 +-
 4 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/gtsam/basis/Basis.h b/gtsam/basis/Basis.h
index 41cdeeaaa0..0b2b3606b3 100644
--- a/gtsam/basis/Basis.h
+++ b/gtsam/basis/Basis.h
@@ -80,7 +80,7 @@ using Weights = Eigen::Matrix<double, 1, -1>; /* 1xN vector */
  *
  * @ingroup basis
  */
-Matrix kroneckerProductIdentity(size_t M, const Weights& w);
+Matrix GTSAM_EXPORT kroneckerProductIdentity(size_t M, const Weights& w);
 
 /**
  * CRTP Base class for function bases
diff --git a/gtsam/discrete/SignatureParser.h b/gtsam/discrete/SignatureParser.h
index e6b402e440..e005da14a7 100644
--- a/gtsam/discrete/SignatureParser.h
+++ b/gtsam/discrete/SignatureParser.h
@@ -47,7 +47,7 @@ namespace gtsam {
  *
  * Also fails if the rows are not of the same size.
  */
-struct SignatureParser {
+struct GTSAM_EXPORT SignatureParser {
   using Row = std::vector<double>;
   using Table = std::vector<Row>;
 
diff --git a/gtsam/geometry/Pose2.h b/gtsam/geometry/Pose2.h
index f1b38c5a6f..b455a81c31 100644
--- a/gtsam/geometry/Pose2.h
+++ b/gtsam/geometry/Pose2.h
@@ -198,9 +198,9 @@ class Pose2: public LieGroup<Pose2, 3> {
   GTSAM_EXPORT static Matrix3 LogmapDerivative(const Pose2& v);
 
   // Chart at origin, depends on compile-time flag SLOW_BUT_CORRECT_EXPMAP
-  struct ChartAtOrigin {
-	GTSAM_EXPORT static Pose2 Retract(const Vector3& v, ChartJacobian H = {});
-	GTSAM_EXPORT static Vector3 Local(const Pose2& r, ChartJacobian H = {});
+  struct GTSAM_EXPORT ChartAtOrigin {
+    static Pose2 Retract(const Vector3& v, ChartJacobian H = {});
+    static Vector3 Local(const Pose2& r, ChartJacobian H = {});
   };
 
   using LieGroup<Pose2, 3>::inverse; // version with derivative
diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h
index 6c91d74686..8a807cc23b 100644
--- a/gtsam/geometry/Pose3.h
+++ b/gtsam/geometry/Pose3.h
@@ -204,7 +204,7 @@ class GTSAM_EXPORT Pose3: public LieGroup<Pose3, 6> {
   static Matrix6 LogmapDerivative(const Pose3& xi);
 
   // Chart at origin, depends on compile-time flag GTSAM_POSE3_EXPMAP
-  struct ChartAtOrigin {
+  struct GTSAM_EXPORT ChartAtOrigin {
     static Pose3 Retract(const Vector6& xi, ChartJacobian Hxi = {});
     static Vector6 Local(const Pose3& pose, ChartJacobian Hpose = {});
   };

From a499855eafe945f5559d4712054bd48289c3699d Mon Sep 17 00:00:00 2001
From: Tal Regev <tal.regev@gmail.com>
Date: Fri, 30 Jun 2023 21:56:24 +0300
Subject: [PATCH 15/29] Add release to windows tests

---
 .github/workflows/build-windows.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index 9326a81b0a..dabdff7f90 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -24,7 +24,7 @@ jobs:
       matrix:
         build_type: 
           - Debug
-          # - Release
+          - Release
           
         build_unstable: 
           - ON

From 9aa67b5235f8cb11a6bad8ab08f422f6fe78a7c4 Mon Sep 17 00:00:00 2001
From: Tal Regev <tal.regev@gmail.com>
Date: Fri, 30 Jun 2023 22:14:43 +0300
Subject: [PATCH 16/29] Add #include <gtsam/dllexport.h>

---
 gtsam/discrete/SignatureParser.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/gtsam/discrete/SignatureParser.h b/gtsam/discrete/SignatureParser.h
index e005da14a7..fec3b9af29 100644
--- a/gtsam/discrete/SignatureParser.h
+++ b/gtsam/discrete/SignatureParser.h
@@ -21,6 +21,7 @@
 #include <optional>
 #include <string>
 #include <vector>
+#include <gtsam/dllexport.h>
 
 namespace gtsam {
 /**

From 7f46117666cfb35f7a4e90a8ef6cf72b14f0b17c Mon Sep 17 00:00:00 2001
From: Tal Regev <tal.regev@gmail.com>
Date: Fri, 30 Jun 2023 22:37:43 +0300
Subject: [PATCH 17/29] Add non concurrency to all workflows

---
 .github/workflows/build-linux.yml   | 6 ++++++
 .github/workflows/build-macos.yml   | 6 ++++++
 .github/workflows/build-python.yml  | 6 ++++++
 .github/workflows/build-special.yml | 6 ++++++
 .github/workflows/build-windows.yml | 2 ++
 5 files changed, 26 insertions(+)

diff --git a/.github/workflows/build-linux.yml b/.github/workflows/build-linux.yml
index 129b5aaafa..e4937ce065 100644
--- a/.github/workflows/build-linux.yml
+++ b/.github/workflows/build-linux.yml
@@ -2,6 +2,12 @@ name: Linux CI
 
 on: [pull_request]
 
+# Every time you make a push to your PR, it cancel immediately the previous checks, 
+# and start a new one. The other runner will be available more quickly to your PR. 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
+  cancel-in-progress: true
+
 jobs:
   build:
     name: ${{ matrix.name }} ${{ matrix.build_type }}
diff --git a/.github/workflows/build-macos.yml b/.github/workflows/build-macos.yml
index 3fa3c15dde..5417018365 100644
--- a/.github/workflows/build-macos.yml
+++ b/.github/workflows/build-macos.yml
@@ -2,6 +2,12 @@ name: macOS CI
 
 on: [pull_request]
 
+# Every time you make a push to your PR, it cancel immediately the previous checks, 
+# and start a new one. The other runner will be available more quickly to your PR. 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
+  cancel-in-progress: true
+
 jobs:
   build:
     name: ${{ matrix.name }} ${{ matrix.build_type }}
diff --git a/.github/workflows/build-python.yml b/.github/workflows/build-python.yml
index f09d589dcf..ca4645a77d 100644
--- a/.github/workflows/build-python.yml
+++ b/.github/workflows/build-python.yml
@@ -2,6 +2,12 @@ name: Python CI
 
 on: [pull_request]
 
+# Every time you make a push to your PR, it cancel immediately the previous checks, 
+# and start a new one. The other runner will be available more quickly to your PR. 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
+  cancel-in-progress: true
+
 jobs:
   build:
     name: ${{ matrix.name }} ${{ matrix.build_type }} Python ${{ matrix.python_version }}
diff --git a/.github/workflows/build-special.yml b/.github/workflows/build-special.yml
index f72dadbae0..72466ffd68 100644
--- a/.github/workflows/build-special.yml
+++ b/.github/workflows/build-special.yml
@@ -2,6 +2,12 @@ name: Special Cases CI
 
 on: [pull_request]
 
+# Every time you make a push to your PR, it cancel immediately the previous checks, 
+# and start a new one. The other runner will be available more quickly to your PR. 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
+  cancel-in-progress: true
+
 jobs:
   build:
     name: ${{ matrix.name }} ${{ matrix.build_type }}
diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index 99b654b3a4..5d5342f3f3 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -2,6 +2,8 @@ name: Windows CI
 
 on: [pull_request]
 
+# Every time you make a push to your PR, it cancel immediately the previous checks, 
+# and start a new one. The other runner will be available more quickly to your PR. 
 concurrency:
   group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
   cancel-in-progress: true

From d1bd76a0aadb06da0ff258e8091b1e8ba9c7b10d Mon Sep 17 00:00:00 2001
From: Tal Regev <tal.regev@gmail.com>
Date: Sat, 1 Jul 2023 17:02:03 +0300
Subject: [PATCH 18/29] Check more tests

---
 .github/workflows/build-windows.yml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index 5d5342f3f3..7f8c56558d 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -118,9 +118,9 @@ jobs:
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.sam
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.sfm
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.symbolic
-          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.hybrid
-          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear
-          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.hybrid
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam
 
           # Run GTSAM_UNSTABLE tests
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.base_unstable

From ac86415032ff54a3b1b488e4dc7060796675baf3 Mon Sep 17 00:00:00 2001
From: Tal Regev <tal.regev@gmail.com>
Date: Sat, 1 Jul 2023 21:20:56 +0300
Subject: [PATCH 19/29] Fix tests

---
 .github/workflows/build-windows.yml                | 14 +++++++-------
 gtsam/hybrid/HybridFactorGraph.h                   |  2 +-
 gtsam/hybrid/HybridSmoother.h                      |  2 +-
 .../hybrid/tests/testHybridGaussianFactorGraph.cpp |  1 +
 4 files changed, 10 insertions(+), 9 deletions(-)

diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index 7f8c56558d..e0f56aad22 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -123,11 +123,11 @@ jobs:
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam
 
           # Run GTSAM_UNSTABLE tests
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.geometry_unstable
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.linear_unstable
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.discrete_unstable
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.dynamics_unstable
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear_unstable
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam_unstable
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.partition
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.base_unstable
-          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.geometry_unstable
-          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.linear_unstable
-          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.discrete_unstable
-          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.dynamics_unstable
-          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear_unstable
-          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam_unstable
-          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.partition
diff --git a/gtsam/hybrid/HybridFactorGraph.h b/gtsam/hybrid/HybridFactorGraph.h
index b8e7ff5885..8b59fd4f93 100644
--- a/gtsam/hybrid/HybridFactorGraph.h
+++ b/gtsam/hybrid/HybridFactorGraph.h
@@ -35,7 +35,7 @@ using SharedFactor = std::shared_ptr<Factor>;
  * Hybrid Factor Graph
  * Factor graph with utilities for hybrid factors.
  */
-class HybridFactorGraph : public FactorGraph<Factor> {
+class GTSAM_EXPORT HybridFactorGraph : public FactorGraph<Factor> {
  public:
   using Base = FactorGraph<Factor>;
   using This = HybridFactorGraph;              ///< this class
diff --git a/gtsam/hybrid/HybridSmoother.h b/gtsam/hybrid/HybridSmoother.h
index 0767da12ff..5c2e4f546d 100644
--- a/gtsam/hybrid/HybridSmoother.h
+++ b/gtsam/hybrid/HybridSmoother.h
@@ -24,7 +24,7 @@
 
 namespace gtsam {
 
-class HybridSmoother {
+class GTSAM_EXPORT HybridSmoother {
  private:
   HybridBayesNet hybridBayesNet_;
   HybridGaussianFactorGraph remainingFactorGraph_;
diff --git a/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp b/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp
index 8276264ae0..073f49c041 100644
--- a/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/tests/testHybridGaussianFactorGraph.cpp
@@ -43,6 +43,7 @@
 #include <iostream>
 #include <iterator>
 #include <vector>
+#include <numeric>
 
 #include "Switching.h"
 #include "TinyHybridExample.h"

From e00e1236b5799c63d9c8a756d3e742a3c47caa67 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 3 Jul 2023 08:56:08 -0400
Subject: [PATCH 20/29] reorganize CI workflow file

---
 .github/workflows/build-windows.yml | 23 ++++++++++++++---------
 1 file changed, 14 insertions(+), 9 deletions(-)

diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index e0f56aad22..7123d6eeaa 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -22,15 +22,20 @@ jobs:
       BOOST_EXE: boost_1_72_0-msvc-14.2
 
     strategy:
-      fail-fast: false
+      fail-fast: true
       matrix:
-        build_type: 
-          - Debug
-          - Release
-          
-        build_unstable: 
-          - ON
-          # - OFF 
+        # Github Actions requires a single row to be added to the build matrix.
+        # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
+        name: [
+            windows-2019-cl,
+          ]
+
+        build_type: [
+            Debug,
+            Release
+          ]
+
+        build_unstable: [ON]
         include:
           - name: windows-2019-cl
             os: windows-2019
@@ -123,6 +128,7 @@ jobs:
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam
 
           # Run GTSAM_UNSTABLE tests
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.base_unstable
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.geometry_unstable
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.linear_unstable
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.discrete_unstable
@@ -130,4 +136,3 @@ jobs:
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear_unstable
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam_unstable
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.partition
-          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.base_unstable

From 38e52810bc288ccf070cc308fd74e618267e1a98 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 27 Jul 2023 14:45:08 -0400
Subject: [PATCH 21/29] remove extra GTSAM_EXPORTs from Ordering.h

---
 gtsam/inference/Ordering.h | 2 --
 1 file changed, 2 deletions(-)

diff --git a/gtsam/inference/Ordering.h b/gtsam/inference/Ordering.h
index 5202a27491..c3df1b8a08 100644
--- a/gtsam/inference/Ordering.h
+++ b/gtsam/inference/Ordering.h
@@ -70,11 +70,9 @@ class GTSAM_EXPORT Ordering: public KeyVector {
    * @param keys The key vector to append to this ordering.
    * @return The ordering variable with appended keys.
    */
-  GTSAM_EXPORT
   This& operator+=(KeyVector& keys);
 
   /// Check if key exists in ordering.
-  GTSAM_EXPORT
   bool contains(const Key& key) const;
 
   /**

From e562d708a3db88e68341b1a0c17ce811ddbe4a8f Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 30 Jul 2023 10:16:15 -0400
Subject: [PATCH 22/29] enable more tests

---
 .github/workflows/build-windows.yml | 13 +++----------
 1 file changed, 3 insertions(+), 10 deletions(-)

diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index af629c7be4..9b54cb94b4 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -102,7 +102,7 @@ jobs:
       - name: Configuration
         run: |
           cmake -E remove_directory build
-          cmake -G Ninja -B build -S . -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DBOOST_ROOT="${env:BOOST_ROOT}" -DBOOST_INCLUDEDIR="${env:BOOST_ROOT}\boost\include" -DBOOST_LIBRARYDIR="${env:BOOST_ROOT}\lib"
+          cmake -G Ninja -B build -S . -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DGTSAM_ALLOW_DEPRECATED_SINCE_V43=OFF -DBOOST_ROOT="${env:BOOST_ROOT}" -DBOOST_INCLUDEDIR="${env:BOOST_ROOT}\boost\include" -DBOOST_LIBRARYDIR="${env:BOOST_ROOT}\lib"
 
       - name: Build
         shell: bash
@@ -112,9 +112,6 @@ jobs:
           cmake --build build -j4 --config ${{ matrix.build_type }} --target gtsam
           cmake --build build -j4 --config ${{ matrix.build_type }} --target gtsam_unstable
 
-          # Target doesn't exist
-          # cmake --build build -j4 --config ${{ matrix.build_type }} --target wrap
-
       - name: Test
         shell: bash
         run: |
@@ -122,19 +119,15 @@ jobs:
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.base
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.basis
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.discrete
-          # Compilation error
-          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.geometry
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.geometry
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.inference
-          # Compile. Fail with exception
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.linear
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.navigation
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.sam
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.sfm
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.symbolic
-          # Compile. Fail with exception
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.hybrid
-          # Compile. Fail with exception
-          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear
           # Compilation error
           # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam
 

From 67b49d6a5cc57eec93b827a752522b349122b331 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 30 Jul 2023 13:57:00 -0400
Subject: [PATCH 23/29] fix tests in testValues

---
 gtsam/nonlinear/tests/testValues.cpp | 14 +++++++++++---
 1 file changed, 11 insertions(+), 3 deletions(-)

diff --git a/gtsam/nonlinear/tests/testValues.cpp b/gtsam/nonlinear/tests/testValues.cpp
index 2a7bede307..a2b265a56f 100644
--- a/gtsam/nonlinear/tests/testValues.cpp
+++ b/gtsam/nonlinear/tests/testValues.cpp
@@ -581,7 +581,7 @@ TEST(Values, std_move) {
 TEST(Values, VectorDynamicInsertFixedRead) {
   Values values;
   Vector v(3); v << 5.0, 6.0, 7.0;
-  values.insert(key1, v);
+  values.insert<Vector3>(key1, v);
   Vector3 expected(5.0, 6.0, 7.0);
   Vector3 actual = values.at<Vector3>(key1);
   CHECK(assert_equal(expected, actual));
@@ -629,7 +629,7 @@ TEST(Values, VectorFixedInsertFixedRead) {
 TEST(Values, MatrixDynamicInsertFixedRead) {
   Values values;
   Matrix v(1,3); v << 5.0, 6.0, 7.0;
-  values.insert(key1, v);
+  values.insert<Matrix13>(key1, v);
   Vector3 expected(5.0, 6.0, 7.0);
   CHECK(assert_equal((Vector)expected, values.at<Matrix13>(key1)));
   CHECK_EXCEPTION(values.at<Matrix23>(key1), exception);
@@ -639,7 +639,15 @@ TEST(Values, Demangle) {
   Values values;
   Matrix13 v; v << 5.0, 6.0, 7.0;
   values.insert(key1, v);
-  string expected = "Values with 1 values:\nValue v1: (Eigen::Matrix<double, 1, 3, 1, 1, 3>)\n[\n	5, 6, 7\n]\n\n";
+#ifdef __GNUG__
+  string expected =
+      "Values with 1 values:\nValue v1: (Eigen::Matrix<double, 1, 3, 1, 1, "
+      "3>)\n[\n	5, 6, 7\n]\n\n";
+#elif _WIN32
+  string expected =
+      "Values with 1 values:\nValue v1: "
+      "(class Eigen::Matrix<double,1,3,1,1,3>)\n[\n	5, 6, 7\n]\n\n";
+#endif
 
   EXPECT(assert_print_equal(expected, values));
 }

From df3899e2e8bfc9e98dad4e493409ae11e17d1989 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 30 Jul 2023 14:11:05 -0400
Subject: [PATCH 24/29] comment out nonlinear check

---
 .github/workflows/build-windows.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index 9b54cb94b4..3a2d3816a1 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -127,8 +127,8 @@ jobs:
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.sfm
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.symbolic
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.hybrid
-          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear
-          # Compilation error
+          # Compilation error or test failure
+          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear
           # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam
 
           # Run GTSAM_UNSTABLE tests

From ddef6445699835557f269a5c52b700d1269d095d Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 31 Jul 2023 16:58:06 -0400
Subject: [PATCH 25/29] fix nonlinear tests

---
 .github/workflows/build-windows.yml                  | 2 +-
 gtsam/nonlinear/ISAM2.h                              | 2 +-
 gtsam/nonlinear/tests/testSerializationNonlinear.cpp | 4 ++--
 3 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index 3a2d3816a1..357c4ca089 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -127,8 +127,8 @@ jobs:
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.sfm
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.symbolic
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.hybrid
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear
           # Compilation error or test failure
-          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear
           # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam
 
           # Run GTSAM_UNSTABLE tests
diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h
index 50c5058c2b..d3abd95fd2 100644
--- a/gtsam/nonlinear/ISAM2.h
+++ b/gtsam/nonlinear/ISAM2.h
@@ -345,7 +345,7 @@ class GTSAM_EXPORT ISAM2 : public BayesTree<ISAM2Clique> {
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
-      ar & boost::serialization::base_object<BayesTree<ISAM2Clique> >(*this);
+      ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Base);
       ar & BOOST_SERIALIZATION_NVP(theta_);
       ar & BOOST_SERIALIZATION_NVP(variableIndex_);
       ar & BOOST_SERIALIZATION_NVP(delta_);
diff --git a/gtsam/nonlinear/tests/testSerializationNonlinear.cpp b/gtsam/nonlinear/tests/testSerializationNonlinear.cpp
index f402656c12..d6f693a23f 100644
--- a/gtsam/nonlinear/tests/testSerializationNonlinear.cpp
+++ b/gtsam/nonlinear/tests/testSerializationNonlinear.cpp
@@ -183,7 +183,7 @@ TEST(Serialization, ISAM2) {
 
   std::string binaryPath = "saved_solver.dat";
   try {
-    std::ofstream outputStream(binaryPath);
+    std::ofstream outputStream(binaryPath, std::ios::out | std::ios::binary);
     boost::archive::binary_oarchive outputArchive(outputStream);
     outputArchive << solver;
   } catch(...) {
@@ -192,7 +192,7 @@ TEST(Serialization, ISAM2) {
 
   gtsam::ISAM2 solverFromDisk;
   try {
-    std::ifstream ifs(binaryPath);
+    std::ifstream ifs(binaryPath, std::ios::in | std::ios::binary);
     boost::archive::binary_iarchive inputArchive(ifs);
     inputArchive >> solverFromDisk;
   } catch(...) {

From ced6c53e06e291618a80d039710f234d34593288 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 31 Jul 2023 23:06:11 -0400
Subject: [PATCH 26/29] add GTSAM_EXPORT to various ostream operator overloads

---
 gtsam/geometry/PinholePose.h   | 3 ++-
 gtsam/geometry/Similarity2.h   | 3 ++-
 gtsam/geometry/Similarity3.h   | 3 ++-
 gtsam/geometry/Unit3.h         | 3 ++-
 gtsam/geometry/triangulation.h | 4 ++--
 gtsam/linear/IterativeSolver.h | 4 ++--
 6 files changed, 12 insertions(+), 8 deletions(-)

diff --git a/gtsam/geometry/PinholePose.h b/gtsam/geometry/PinholePose.h
index 5cad3b6e72..df6ec5c08a 100644
--- a/gtsam/geometry/PinholePose.h
+++ b/gtsam/geometry/PinholePose.h
@@ -332,7 +332,8 @@ class PinholePose: public PinholeBaseK<CALIBRATION> {
   }
 
   /// stream operator
-  friend std::ostream& operator<<(std::ostream &os, const PinholePose& camera) {
+  GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os,
+                                               const PinholePose& camera) {
     os << "{R: " << camera.pose().rotation().rpy().transpose();
     os << ", t: " << camera.pose().translation().transpose();
     if (!camera.K_) os << ", K: none";
diff --git a/gtsam/geometry/Similarity2.h b/gtsam/geometry/Similarity2.h
index 47281b3839..3e04aa3a10 100644
--- a/gtsam/geometry/Similarity2.h
+++ b/gtsam/geometry/Similarity2.h
@@ -76,7 +76,8 @@ class GTSAM_EXPORT Similarity2 : public LieGroup<Similarity2, 4> {
   /// Print with optional string
   void print(const std::string& s) const;
 
-  friend std::ostream& operator<<(std::ostream& os, const Similarity2& p);
+  GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os,
+                                               const Similarity2& p);
 
   /// @}
   /// @name Group
diff --git a/gtsam/geometry/Similarity3.h b/gtsam/geometry/Similarity3.h
index aa0f3a62a1..69b4016208 100644
--- a/gtsam/geometry/Similarity3.h
+++ b/gtsam/geometry/Similarity3.h
@@ -77,7 +77,8 @@ class GTSAM_EXPORT Similarity3 : public LieGroup<Similarity3, 7> {
   /// Print with optional string
   void print(const std::string& s) const;
 
-  friend std::ostream& operator<<(std::ostream& os, const Similarity3& p);
+  GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os,
+                                               const Similarity3& p);
 
   /// @}
   /// @name Group
diff --git a/gtsam/geometry/Unit3.h b/gtsam/geometry/Unit3.h
index 72dd49c291..18bc5d9f04 100644
--- a/gtsam/geometry/Unit3.h
+++ b/gtsam/geometry/Unit3.h
@@ -105,7 +105,8 @@ class GTSAM_EXPORT Unit3 {
   /// @name Testable
   /// @{
 
-  friend std::ostream& operator<<(std::ostream& os, const Unit3& pair);
+  GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os,
+                                               const Unit3& pair);
 
   /// The print fuction
   void print(const std::string& s = std::string()) const;
diff --git a/gtsam/geometry/triangulation.h b/gtsam/geometry/triangulation.h
index 3a8398804d..68795a6464 100644
--- a/gtsam/geometry/triangulation.h
+++ b/gtsam/geometry/triangulation.h
@@ -665,8 +665,8 @@ class TriangulationResult : public std::optional<Point3> {
     return value();
   }
   // stream to output
-  friend std::ostream& operator<<(std::ostream& os,
-                                  const TriangulationResult& result) {
+  GTSAM_EXPORT friend std::ostream& operator<<(
+      std::ostream& os, const TriangulationResult& result) {
     if (result)
       os << "point = " << *result << std::endl;
     else
diff --git a/gtsam/linear/IterativeSolver.h b/gtsam/linear/IterativeSolver.h
index c4a7194366..0441cd9da3 100644
--- a/gtsam/linear/IterativeSolver.h
+++ b/gtsam/linear/IterativeSolver.h
@@ -72,8 +72,8 @@ class IterativeOptimizationParameters {
   GTSAM_EXPORT virtual void print(std::ostream &os) const;
 
   /* for serialization */
-  friend std::ostream& operator<<(std::ostream &os,
-      const IterativeOptimizationParameters &p);
+  GTSAM_EXPORT friend std::ostream &operator<<(
+      std::ostream &os, const IterativeOptimizationParameters &p);
 
   GTSAM_EXPORT static Verbosity verbosityTranslator(const std::string &s);
   GTSAM_EXPORT static std::string verbosityTranslator(Verbosity v);

From c8184eb109877e40a503f09d842d88732896014c Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 1 Aug 2023 09:55:00 -0400
Subject: [PATCH 27/29] fix SphericalCamera traits definition

---
 gtsam/geometry/SphericalCamera.h | 4 ++--
 gtsam/slam/SmartFactorBase.h     | 3 ++-
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/gtsam/geometry/SphericalCamera.h b/gtsam/geometry/SphericalCamera.h
index a9c38cd696..ef20aa7fe7 100644
--- a/gtsam/geometry/SphericalCamera.h
+++ b/gtsam/geometry/SphericalCamera.h
@@ -238,9 +238,9 @@ class GTSAM_EXPORT SphericalCamera {
 // end of class SphericalCamera
 
 template <>
-struct traits<SphericalCamera> : public internal::LieGroup<Pose3> {};
+struct traits<SphericalCamera> : public internal::Manifold<SphericalCamera> {};
 
 template <>
-struct traits<const SphericalCamera> : public internal::LieGroup<Pose3> {};
+struct traits<const SphericalCamera> : public internal::Manifold<SphericalCamera> {};
 
 }  // namespace gtsam
diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h
index e0540cc41a..5d6ec44457 100644
--- a/gtsam/slam/SmartFactorBase.h
+++ b/gtsam/slam/SmartFactorBase.h
@@ -162,8 +162,9 @@ class SmartFactorBase: public NonlinearFactor {
   /// Collect all cameras: important that in key order.
   virtual Cameras cameras(const Values& values) const {
     Cameras cameras;
-    for(const Key& k: this->keys_)
+    for(const Key& k: this->keys_) {
       cameras.push_back(values.at<CAMERA>(k));
+    }
     return cameras;
   }
 

From 2c569c1fdd58492d4afbab91abc34dc555d530b6 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 1 Aug 2023 09:59:43 -0400
Subject: [PATCH 28/29] enable slam tests

---
 .github/workflows/build-windows.yml | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index 357c4ca089..670d87b3f1 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -128,8 +128,7 @@ jobs:
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.symbolic
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.hybrid
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.nonlinear
-          # Compilation error or test failure
-          # cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam
+          cmake --build build -j4 --config ${{ matrix.build_type }} --target check.slam
 
           # Run GTSAM_UNSTABLE tests
           cmake --build build -j4 --config ${{ matrix.build_type }} --target check.base_unstable

From 8b4fbb1d7bdfd1b6e5c09c061f66e850d065bc0e Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 1 Aug 2023 10:54:48 -0400
Subject: [PATCH 29/29] address PR comments

---
 gtsam/discrete/SignatureParser.h | 1 -
 gtsam/geometry/CameraSet.h       | 2 +-
 2 files changed, 1 insertion(+), 2 deletions(-)

diff --git a/gtsam/discrete/SignatureParser.h b/gtsam/discrete/SignatureParser.h
index 5de8b9a507..ddc548fc66 100644
--- a/gtsam/discrete/SignatureParser.h
+++ b/gtsam/discrete/SignatureParser.h
@@ -21,7 +21,6 @@
 #include <optional>
 #include <string>
 #include <vector>
-#include <gtsam/dllexport.h>
 
 #include <gtsam/dllexport.h>
 
diff --git a/gtsam/geometry/CameraSet.h b/gtsam/geometry/CameraSet.h
index 8621d77ad2..9507471025 100644
--- a/gtsam/geometry/CameraSet.h
+++ b/gtsam/geometry/CameraSet.h
@@ -273,7 +273,7 @@ class CameraSet : public std::vector<CAMERA, Eigen::aligned_allocator<CAMERA>> {
 
       // Get map from key to location in the new augmented Hessian matrix (the
       // one including only unique keys).
-      std::map<Key, uint32_t> keyToSlotMap;
+      std::map<Key, size_t> keyToSlotMap;
       for (size_t k = 0; k < nrUniqueKeys; k++) {
         keyToSlotMap[hessianKeys[k]] = k;
       }