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Some formatting and reference to USAGE

release/4.3a0
Frank Dellaert 2011-01-30 16:21:09 +00:00
parent e4cda1b360
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@ -6,39 +6,39 @@ 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. A set of MATLAB mex wrappers is included. matrices. A set of MATLAB mex wrappers is also included.
GTSAM is not (yet) open source: See COPYING & LICENSE GTSAM is not (yet) open source: See COPYING & LICENSE
Please see USAGE for an example on how to use GTSAM.
The code is organized according to the following directory structure: The code is organized according to the following directory structure:
base provides some base Math and data structures, as well as test-related utilities base provides some base Math and data structures, as well as test-related utilities
geometry points, poses, tensors, etc geometry points, poses, tensors, etc
inference core graphical model inference such as factor graphs, junction trees, Bayes nets, Bayes trees inference core graphical model inference such as factor graphs, junction trees, Bayes nets, Bayes trees
linear inference specialized to Gaussian linear case, GaussianFactorGraph etc... linear inference specialized to Gaussian linear case, GaussianFactorGraph etc...
nonlinear non-linear factor graphs and non-linear optimization nonlinear non-linear factor graphs and non-linear optimization
slam SLAM and visual SLAM application code slam SLAM and visual SLAM application code
All of the above contain code and tests, and build local shared libraries that are then All of the above contain code and tests, and build local shared libraries that are then
bundled in a top-level shared library libgtsam.la. After this is built, you can also run bundled in a top-level shared library libgtsam.la. After this is built, you can also run
the more involved tests that test the entire library: the more involved tests, which test the entire library:
tests more involved tests that depend on slam tests more involved tests that depend on slam
Furthermore the MATLAB wrapper generator code is run as well Furthermore the MATLAB wrapper generator code is run as well
wrap MATLAB wrapper generation code wrap MATLAB wrapper generation code
gtsam.h interface file for which wrappers will be generated gtsam.h interface file for which wrappers will be generated
toolbox MATLAB proxy classes and wrappers generated toolbox MATLAB proxy classes and wrappers generated
matlab examples and tests of the above matlab examples and tests of the above
Finally, there are some local libraries built needed in the rest of the code: Finally, there are some local libraries built needed in the rest of the code:
colamd COLAMD and CCOLAMD by Tim Davis needed for re-ordering colamd COLAMD and CCOLAMD by Tim Davis needed for re-ordering
CppUnitLite unit test library CppUnitLite unit test library
doc documentation doc documentation
m4 local M4 macros m4 local M4 macros
Important Installation Notes Specific to GTSAM Important Installation Notes Specific to GTSAM
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