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Added ImuFactor things in readme

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dellaert 2016-06-05 11:02:54 -07:00
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README - Georgia Tech Smoothing and Mapping library README - Georgia Tech Smoothing and Mapping library
=================================================== ===================================================
What is GTSAM? What is GTSAM?
-------------- --------------
GTSAM is a library of C++ classes that implement smoothing and GTSAM is a library of C++ classes that implement smoothing and
mapping (SAM) in robotics and vision, using factor graphs and Bayes mapping (SAM) in robotics and vision, using factor graphs and Bayes
networks as the underlying computing paradigm rather than sparse networks as the underlying computing paradigm rather than sparse
matrices. matrices.
On top of the C++ library, GTSAM includes a MATLAB interface (enable On top of the C++ library, GTSAM includes a MATLAB interface (enable
GTSAM_INSTALL_MATLAB_TOOLBOX in CMake to build it). A Python interface GTSAM_INSTALL_MATLAB_TOOLBOX in CMake to build it). A Python interface
is under development. is under development.
Quickstart Quickstart
---------- ----------
In the root library folder execute: In the root library folder execute:
``` ```
#!bash #!bash
$ mkdir build $ mkdir build
$ cd build $ cd build
$ cmake .. $ cmake ..
$ make check (optional, runs unit tests) $ make check (optional, runs unit tests)
$ make install $ make install
``` ```
Prerequisites: Prerequisites:
- [Boost](http://www.boost.org/users/download/) >= 1.43 (Ubuntu: `sudo apt-get install libboost-all-dev`) - [Boost](http://www.boost.org/users/download/) >= 1.43 (Ubuntu: `sudo apt-get install libboost-all-dev`)
- [CMake](http://www.cmake.org/cmake/resources/software.html) >= 2.6 (Ubuntu: `sudo apt-get install cmake`) - [CMake](http://www.cmake.org/cmake/resources/software.html) >= 2.6 (Ubuntu: `sudo apt-get install cmake`)
- A modern compiler, i.e., at least gcc 4.7.3 on Linux. - A modern compiler, i.e., at least gcc 4.7.3 on Linux.
Optional prerequisites - used automatically if findable by CMake: Optional prerequisites - used automatically if findable by CMake:
- [Intel Threaded Building Blocks (TBB)](http://www.threadingbuildingblocks.org/) (Ubuntu: `sudo apt-get install libtbb-dev`) - [Intel Threaded Building Blocks (TBB)](http://www.threadingbuildingblocks.org/) (Ubuntu: `sudo apt-get install libtbb-dev`)
- [Intel Math Kernel Library (MKL)](http://software.intel.com/en-us/intel-mkl) - [Intel Math Kernel Library (MKL)](http://software.intel.com/en-us/intel-mkl)
GTSAM 4 Compatibility GTSAM 4 Compatibility
--------------------- ---------------------
GTSAM 4 will introduce several new features, most notably Expressions and a python toolbox. We will also deprecate some legacy functionality and wrongly named methods, but by default the flag GTSAM_ALLOW_DEPRECATED_SINCE_V4 is enabled, allowing anyone to just pull V4 and compile. To build the python toolbox, however, you will have to explicitly disable that flag. GTSAM 4 will introduce several new features, most notably Expressions and a python toolbox. We will also deprecate some legacy functionality and wrongly named methods, but by default the flag GTSAM_ALLOW_DEPRECATED_SINCE_V4 is enabled, allowing anyone to just pull V4 and compile. To build the python toolbox, however, you will have to explicitly disable that flag.
Also, GTSAM 4 introduces traits, a C++ technique that allows optimizing with non-GTSAM types. That opens the door to retiring geometric types such as Point2 and Point3 to pure Eigen types, which we will also do. A significant change which will not trigger a compile error is that zero-initializing of Point2 and Point3 will be deprecated, so please be aware that this might render functions using their default constructor incorrect. Also, GTSAM 4 introduces traits, a C++ technique that allows optimizing with non-GTSAM types. That opens the door to retiring geometric types such as Point2 and Point3 to pure Eigen types, which we will also do. A significant change which will not trigger a compile error is that zero-initializing of Point2 and Point3 will be deprecated, so please be aware that this might render functions using their default constructor incorrect.
Additional Information The Preintegrated IMU Factor
---------------------- ----------------------------
Read about important [`GTSAM-Concepts`](GTSAM-Concepts.md) here. GTSAM includes a state of the art IMU handling scheme based on
See the [`INSTALL`](INSTALL) file for more detailed installation instructions. - Todd Lupton and Salah Sukkarieh, "Visual-Inertial-Aided Navigation for High-Dynamic Motion in Built Environments Without Initial Conditions", TRO, 28(1):61-76, 2012.
GTSAM is open source under the BSD license, see the [`LICENSE`](LICENSE) and [`LICENSE.BSD`](LICENSE.BSD) files. Our implementation improves on this using integration on the manifold, as detailed in
Please see the [`examples/`](examples) directory and the [`USAGE`](USAGE.md) file for examples on how to use GTSAM. - Luca Carlone, Zsolt Kira, Chris Beall, Vadim Indelman, and Frank Dellaert, "Eliminating conditionally independent sets in factor graphs: a unifying perspective based on smart factors", Int. Conf. on Robotics and Automation (ICRA), 2014.
- Christian Forster, Luca Carlone, Frank Dellaert, and Davide Scaramuzza, "IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation", Robotics: Science and Systems (RSS), 2015.
If you are using the factor in academic work, please cite the publications above.
In GTSAM 4 a new and more efficient implementation, based on integrating on the NavState tangent space and detailed in docs/ImuFactor.pdf, is enabled by default. To switch to the RSS 2015 version, set the flag **GTSAM_TANGENT_PREINTEGRATION** to OFF.
Additional Information
----------------------
Read about important [`GTSAM-Concepts`](GTSAM-Concepts.md) here.
See the [`INSTALL`](INSTALL) file for more detailed installation instructions.
GTSAM is open source under the BSD license, see the [`LICENSE`](LICENSE) and [`LICENSE.BSD`](LICENSE.BSD) files.
Please see the [`examples/`](examples) directory and the [`USAGE`](USAGE.md) file for examples on how to use GTSAM.
GTSAM was developed in the lab of [Frank Dellaert](http://www.cc.gatech.edu/~dellaert) at the [Georgia Institute of Technology](http://www.gatech.edu), with the help of many contributors over the years, see [THANKS](THANKS). GTSAM was developed in the lab of [Frank Dellaert](http://www.cc.gatech.edu/~dellaert) at the [Georgia Institute of Technology](http://www.gatech.edu), with the help of many contributors over the years, see [THANKS](THANKS).