Jeffrey Powers comments

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                                            Jeffrey Powers

AttributeError: 'gtsam.gtsam.GaussianFactorGraph' object has no attribute 'optimizeDensely'

This PR may address it all for you, can you check if it works? https://github.com/ToniRV/NeRF-SLAM/issues/12

"pyparsing.exceptions.ParseException: Expected string_end, found 'namespace' (at char 1249), (line:46, col:1) python/CMakeFiles/pybind_wrap_gtsam_unstable.dir/build.make:82: recipe for target 'python/gtsam_unstable.cpp' failed"

I had issues as well (but can't recall if they were the exact same). I worked around them in this PR, could you guys check if this PR works for...

Build problem about gtsam

Maybe you installed gtsam to another python environment? Also, I made a bunch the changes to adopt to new gtsam in this PR, in case it helps: https://github.com/ToniRV/NeRF-SLAM/issues/12

Restore no-SLAM, fix replica import, CUDA 11.7, etc

Looks like the gtsam guys may accept the minimal PR, then we could update to use the plain develop branch. https://github.com/borglab/gtsam/pull/1361