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								README.md
								
								
								
								
							|  | @ -1,8 +1,6 @@ | |||
| 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 | ||||
| mapping (SAM) in robotics and vision, using factor graphs and Bayes | ||||
|  | @ -13,12 +11,11 @@ On top of the C++ library, GTSAM includes a MATLAB interface (enable | |||
| GTSAM_INSTALL_MATLAB_TOOLBOX in CMake to build it). A Python interface | ||||
| is under development. | ||||
| 
 | ||||
| Quickstart | ||||
| ---------- | ||||
| ## Quickstart | ||||
| 
 | ||||
| In the root library folder execute: | ||||
| 
 | ||||
| ``` | ||||
| ```sh | ||||
| #!bash | ||||
| $ mkdir build | ||||
| $ cd build | ||||
|  | @ -40,32 +37,29 @@ Optional prerequisites - used automatically if findable by CMake: | |||
|     - See [INSTALL.md](INSTALL.md) for more installation information | ||||
|     - Note that MKL may not provide a speedup in all cases. Make sure to benchmark your problem with and without 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. | ||||
| 
 | ||||
| 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. | ||||
| 
 | ||||
| The Preintegrated IMU Factor | ||||
| ---------------------------- | ||||
| ## The Preintegrated IMU Factor | ||||
| 
 | ||||
| GTSAM includes a state of the art IMU handling scheme based on | ||||
| 
 | ||||
| - 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. | ||||
| - 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. [[link]](https://ieeexplore.ieee.org/document/6092505) | ||||
| 
 | ||||
| Our implementation improves on this using integration on the manifold, as detailed in | ||||
| 
 | ||||
| - 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. | ||||
| - 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. [[link]](https://ieeexplore.ieee.org/abstract/document/6907483) | ||||
| - 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. [[link]](http://www.roboticsproceedings.org/rss11/p06.pdf) | ||||
| 
 | ||||
| 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 | ||||
| ---------------------- | ||||
| ## Additional Information | ||||
| 
 | ||||
| There is a [`GTSAM users Google group`](https://groups.google.com/forum/#!forum/gtsam-users) for general discussion. | ||||
| 
 | ||||
|  |  | |||
|  | @ -1,7 +1,7 @@ | |||
| <?xml version="1.0"?> | ||||
| <package format="2"> | ||||
|   <name>gtsam</name> | ||||
|   <version>3.2.1</version> | ||||
|   <version>4.0.0</version> | ||||
|   <description>gtsam</description> | ||||
| 
 | ||||
|   <maintainer email="gtsam@lists.gatech.edu">Frank Dellaert</maintainer> | ||||
|  |  | |||
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