AI-1118: Update Falkor Dependencies to Latest Versions - Rebase to GTSAM 4.3a1 with OpenSpace Compatibility Patches#6
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ali-younis-openspace merged 4004 commits intoFeb 24, 2026
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Remove outdated brew tap (was required for boost versions)
Update README.md: fix minimum cmake version
…aphiclib Remove metis and geographiclib ports from vcpkg ci
# Conflicts: # examples/NavStateImuExample.cpp
Fix CI on merge
Add Gal3 wrapping
NavState + IMU EKF
Fix building of python wheels
…re/more_translated_python_examples
Include /permissive- notice and fix up a few other things
…ated_python_examples 6 More Python Examples + Standardized Notebook Format
…ompliance Enable and propagate /permissive- on MSVC
This reverts commit 0c00fc0.
Add back eigen3 to vcpkg
Remove temporary eigen3
Remove cephes dllexport.h from cmake
Fix timing with TBB and a minor GCC bug
This commit reapplies only the OpenSpace-specific behavior and wrapper compatibility changes on top of upstream 4.3a1, while keeping upstream implementations where functionality already exists. Essential matrix behavior: - Port custom EssentialMatrixConstraint::evaluateError residual and Jacobian logic (rotation local-coordinates + translation basis projection). - Add non-zero-error derivative regression test for EssentialMatrixConstraint. Similarity2 compatibility: - Add Jacobian-capable Similarity2::transformFrom(Point2, Hpose, Hpoint). - Add Similarity2::transformFrom(Matrix) for 2xN batch point transforms. - Expose Similarity2.transformFrom(Matrix) and Similarity2.AdjointMap() in geometry.i for Python wrapping. ReferenceFrameFactor wrapper/API compatibility: - Update slam.i bindings to expose generic ReferenceFrameFactor template. - Preserve OpenSpace symbol aliases: PointReferenceFrameFactorPose2 and PointReferenceFrameFactorSim2. - Preserve upstream symbol alias: ReferenceFrameFactorPoint3Pose3. - Add Sim2 reference-frame regression test (testReferenceFrameFactorSim). Serialization compatibility: - Add Similarity2/Similarity3 PriorFactor exports in gtsam_unstable serialization.cpp while retaining 4.3 additions (e.g., SL4). Wrapper build fix: - Make ReferenceFrameFactor default constructor public for serialization/__setstate__ paths generated by pybind wrappers.
…onflict resolution)
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… with bias priors
RachitB11
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Feb 24, 2026
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LGTM! I just had questions regarding the LegacyBiasInitCovand the assertNoCombinedImuLegacyBiasInitPriorConflicts. The rest look good to me. Excellent job getting this to work. It built fine on my machine.
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What this PR does
4.3a1line.os-updates.os-updatesintocodex/rebase-4.3a1-os-compatto resolve prior merge conflicts and provide a clean merge path.Why this change
Scope of compatibility carry-forward (high-level)
codex/rebase-4.3a1-os-compatAPI shape (not legacyos-updatessignatures).Validation
os-updatesinto the rebased branch.testSimilarity2testEssentialMatrixConstrainttestReferenceFrameFactorSimNote
Medium Risk
Broad changes to build configuration, dependency discovery, and CI/packaging across all platforms could cause build or release regressions despite limited impact on core library runtime behavior.
Overview
Updates the project baseline to
4.3a1and modernizes CMake: raises minimum CMake/C++ standard, introduces new build options (e.g. Boost features vs. serialization toggles, GeographicLib enablement, shared/static forcing, sanitizer flags), adds bundledcepheshandling, and adjusts exported config to onlyfind_dependency(Boost)/TBBwhen enabled.Overhauls CI and build scripts to prefer Ninja +
cmake --build, adds new workflows forcibuildwheelwheel builds (develop + release), cache cleanup, GitHub Pages deploy, and a cross-platformvcpkgbuild, while updating Linux/macOS/Windows matrices, concurrency, and conditional Boost/GeographicLib coverage.Reduces Boost reliance in
CppUnitLite(dropsboost::lexical_castusage) and refreshes developer/docs guidance (INSTALL.md,DEVELOP.md, README badges/requirements) to match the new build and wrapper conventions.Written by Cursor Bugbot for commit 8ff5ca7. Configure here.