Build error with GTSAM 4.3a0 + gtsam_points v1.1.0: shared_ptr type mismatch in Jetson Orin

[mahmood-ul-hasan]

Hi, thank you for the great work on GLIM!

I'm trying to build GLIM from source on Jetson Orin (Ubuntu 22.04 + CUDA 12.5), following the [installation instructions](https://github.com/koide3/glim#install-from-source). I made sure to use:

• GTSAM 4.3a0 (git describe --tags → 4.3a0)
• gtsam_points v1.1.0 (git describe --tags → v1.1.0-28-g814bd1e)

However, the build fails with the following error:

/home/nano/ws/src/glim/src/glim/odometry/odometry_estimation_imu.cpp:316:43: error: cannot convert ‘gtsam::ImuFactor::shared_ptr’ {aka ‘std::shared_ptr<gtsam::ImuFactor>’} to ‘const boost::shared_ptr<gtsam::ImuFactor>&’
  316 |   new_factors.add(create_factors(current, imu_factor, new_values));
      |                                           ^~~~~~~~~~
      |                                           |
      |                                           gtsam::ImuFactor::shared_ptr {aka std::shared_ptr<gtsam::ImuFactor>}

From the function signature:

virtual gtsam::NonlinearFactorGraph create_factors(
    const int current,
    const boost::shared_ptr<gtsam::ImuFactor>& imu_factor,
    gtsam::Values& new_values) = 0;

…it seems the code still expects boost::shared_ptr, but GTSAM 4.3a0 uses std::shared_ptr by default.

Could you confirm:

• Should GLIM now be fully compatible with GTSAM using std::shared_ptr?
• If yes, are there pending updates to GLIM that switch from boost::shared_ptr to std::shared_ptr in its interfaces?
• If not, should I downgrade to an older version of GTSAM that still uses Boost?

Let me know if I can help test anything. Thanks again!

[koide3]

• We recently adopted the recent version of GTSAM 4.3a0 that introduced some API changes including switching from std::shared_ptr to boost::shared_ptr. gtsam_points v.1.2.0 in the latest main branch is fully compatible GTSAM 4.3a0.
• GLIM has also been updated accordingly. It is now compatible with GTSAM 4.3a0.

Note if you want to downgrade to the previous GTSAM 4.2a9, please checkout v1.1.0 tags of gtsam_points and GLIM.

[edgarcamilocamacho]

Hello @koide3 .

There is not a v.1.2.0 tag in gtsam_points repo:

Do you mean just taking the last commit of master branch? Or some specific commit you'd suggest?