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Merge remote-tracking branch 'origin/develop' into feature/tighteningTraits

release/4.3a0
dellaert 2014-12-03 19:57:16 +01:00
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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`)
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)
Additional Information Additional Information
---------------------- ----------------------
See the [`INSTALL`](https://bitbucket.org/gtborg/gtsam/src/develop/INSTALL) file for more detailed installation instructions. Read about important [`GTSAM-Concepts`] here.
GTSAM is open source under the BSD license, see the [`LICENSE`](https://bitbucket.org/gtborg/gtsam/src/develop/LICENSE) and [`LICENSE.BSD`](https://bitbucket.org/gtborg/gtsam/src/develop/LICENSE.BSD) files. See the [`INSTALL`] file for more detailed installation instructions.
Please see the [`examples/`](https://bitbucket.org/gtborg/gtsam/src/develop/examples) directory and the [`USAGE`](https://bitbucket.org/gtborg/gtsam/src/develop/USAGE) file for examples on how to use GTSAM. GTSAM is open source under the BSD license, see the [`LICENSE`](https://bitbucket.org/gtborg/gtsam/src/develop/LICENSE) and [`LICENSE.BSD`](https://bitbucket.org/gtborg/gtsam/src/develop/LICENSE.BSD) files.
Please see the [`examples/`](examples) directory and the [`USAGE`] file for examples on how to use GTSAM.