(WIP) Changes to get gtsam to compile in Windows

[jlblancoc]

Follow up of #84 . Fixes #82 .

To-do:

• remove whitespace changes,
• remove the definition of NOMINMAX in the gtsam .h file, and add it via cmake definitions, which is a much cleaner way.

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This change is 

[jlblancoc]

@cntaylor , @izzys, @varunagrawal Could you please give it a try to this branch, to verify that it still builds correctly for MATLAB?
Thanks!

[cntaylor]

I have had significant problems getting MATLAB toolbox to build (see issue #86 just submitted) but I figured just getting gtsam library by itself to compile was progress, so I submitted that pull request. Hopefully that's okay!

[varunagrawal]

@jlblancoc still doesn't work well. Now the project name is being set to gtsam_unstable and the same condition is failing. I assume we need to set the project in gtsam_unstable/CMakeLists.txt to get it to compile on Windows?

[jlblancoc]

Now the project name is being set to gtsam_unstable ...

That is fixed with the latest commits in this branch, but the link errors in #86 are still there.
Will take a look at it when possible; if someone else wants to give it a try, please start working on top of this branch.

[cntaylor]

Just submitted pull request #87 that fixes the compilation problems. There are still a lot of unit tests that fail in the geometry section and other places, but the gtsam_matlab_wrapper library compiles with no errors now. I believe this pull will close off issue #86, but as I mentioned in some comments there, I'm a bit uncomfortable with how this issue resolved itself.

[dellaert]

PR #87 is not a correct fix, but it does add a GTSAM_EXPORT that was missing. Not sure whether the lack of cpp files (as @cntaylor hypothesized) is the issue. Maybe the issue is that LieXXX live in a subdirectory as opposed to other header-only classes (if there are any).

[izzys]

I have compiled this branch on Linux 16.04 with MATALB flag ON and it works.

However, the following examples from the MATLAB toolbox have errors ( I have tested with MATLAB R2019a):

1: gtsam_examples/CameraFlyingExample.m
Unrecognized method, property, or field 'dist' for class 'gtsam.Point2'.

Error in CameraFlyingExample (line 123)
if i > 1 && baseCentroid{i}.dist(baseCentroid{j}) < options.cylinder.radius * 2

2: gtsamExamples (GUI not working)
Dot indexing is not supported for variables of this type.
Error in gtsamExamples>Odometry_Callback (line 88)
axes(handles.axes3);

3: gtsam_examples/Pose2SLAMwSPCG.m

Error using gtsam_wrapper
Exception from gtsam:
Unknown linear solver type in SuccessiveLinearizationOptimizer

Error in gtsam.LevenbergMarquardtParams/setLinearSolverType (line 238)
gtsam_wrapper(1470, this, varargin{:});

Error in Pose2SLAMwSPCG (line 57)
params.setLinearSolverType('CONJUGATE_GRADIENT');

4: unstable_examples/TransformProjectionFactorExampleISAM.m
Unrecognized method, property, or field 'compose' for class 'gtsam.Point3'.

Error in TransformProjectionFactorExampleISAM (line 50)
initial.insert(100+i,landmarks{i}.compose(y_shift));

5: unstable_examples/TransformProjectionFactorExample.m
Unrecognized method, property, or field 'compose' for class 'gtsam.Point3'.

Error in TransformProjectionFactorExample (line 36)
initial.insert(100+i,landmarks{i}.compose(y_shift));

6: unstable_examples/TransformCalProjectionFactorIMUExampleISAM.m
Unrecognized method, property, or field 'compose' for class 'gtsam.Point3'.

Error in TransformCalProjectionFactorIMUExampleISAM (line 56)
initial.insert(100+i,landmarks{i}.compose(y_shift));

7: unstable_examples/TransformCalProjectionFactorExampleISAM.m
Unrecognized method, property, or field 'compose' for class 'gtsam.Point3'.

Error in TransformCalProjectionFactorExampleISAM (line 48)
initial.insert(100+i,landmarks{i}.compose(y_shift));

8: unstable_examples/IMUKittiExampleVO.m
data file is missing

9: unstable_examples/IMUKittiExampleAdvanced.m
data file is missing

10: unstable_examples/FlightCameraTransformIMU.m
Unrecognized method, property, or field 'at' for class 'gtsam.Values'.

Error in FlightCameraTransformIMU (line 248)
currentVelocityGlobal = result.at(currentVelKey);

[cntaylor]

@izzys Most of those commands are behind a DEFINE for GTSAM_ALLOW_DEPRECATED_SINCE_V4. Can you make sure that is on (I know I turned it off sometimes) and see if your MATLAB examples work?

[jlblancoc]

@dellaert @chrisbeall : Just requested AppVeyor access to this ORG, so I can integrate their Windows MSVC build CI service, probably in this PR, ok? Let me know when you approve the app access.

[jlblancoc]

Merging to fix matlab, will add AppVeyor in another pr.

[dellaert]

AppVeyor was approved...

[dellaert]

@izzys Thanks for checking the MATLAB examples. I think we should be able to run the examples with GTSAM_ALLOW_DEPRECATED_SINCE_V4, so would you mind opening an issue? If you feel up to it, the fixes should be fairly straightforward for a PR :-)