Added references to README
Nithya
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README.md
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README.md
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**Important Note**
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As of August 1 2020, the `develop` branch is officially in "Pre 4.1" mode, and features deprecated in 4.0 have been removed. Please use the last [4.0.3 release](https://github.com/borglab/gtsam/releases/tag/4.0.3) if you need those features.
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As of Dec 2021, the `develop` branch is officially in "Pre 4.2" mode. A great new feature we will be adding in 4.2 is *hybrid inference* a la DCSLAM (Kevin Doherty et al) and we envision several API-breaking changes will happen in the discrete folder.
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However, most are easily converted and can be tracked down (in 4.0.3) by disabling the cmake flag `GTSAM_ALLOW_DEPRECATED_SINCE_V4`.
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In addition, features deprecated in 4.1 will be removed. Please use the last [4.1.1 release](https://github.com/borglab/gtsam/releases/tag/4.1.1) if you need those features. However, most (not all, unfortunately) are easily converted and can be tracked down (in 4.1.1) by disabling the cmake flag `GTSAM_ALLOW_DEPRECATED_SINCE_V42`.
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## What is GTSAM?
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@ -40,7 +40,7 @@ $ make install
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Prerequisites:
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- [Boost](http://www.boost.org/users/download/) >= 1.58 (Ubuntu: `sudo apt-get install libboost-all-dev`)
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- [Boost](http://www.boost.org/users/download/) >= 1.65 (Ubuntu: `sudo apt-get install libboost-all-dev`)
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- [CMake](http://www.cmake.org/cmake/resources/software.html) >= 3.0 (Ubuntu: `sudo apt-get install cmake`)
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- A modern compiler, i.e., at least gcc 4.7.3 on Linux.
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@ -55,29 +55,79 @@ Optional prerequisites - used automatically if findable by CMake:
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GTSAM 4 introduces several new features, most notably Expressions and a Python toolbox. It also 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 also do. A significant change which will not trigger a compile error is that zero-initializing of Point2 and Point3 is deprecated, so please be aware that this might render functions using their default constructor incorrect.
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GTSAM 4 also deprecated some legacy functionality and wrongly named methods. If you are on a 4.0.X release, you can define the flag GTSAM_ALLOW_DEPRECATED_SINCE_V4 to use the deprecated methods.
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GTSAM 4 also deprecated some legacy functionality and wrongly named methods. If you are on a 4.0.X release, you can define the flag `GTSAM_ALLOW_DEPRECATED_SINCE_V4` to use the deprecated methods.
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GTSAM 4.1 added a new pybind wrapper, and **removed** the deprecated functionality. There is a flag GTSAM_ALLOW_DEPRECATED_SINCE_V41 for newly deprecated methods since the 4.1 release, which is on by default, allowing anyone to just pull version 4.1 and compile.
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GTSAM 4.1 added a new pybind wrapper, and **removed** the deprecated functionality. There is a flag `GTSAM_ALLOW_DEPRECATED_SINCE_V42` for newly deprecated methods since the 4.1 release, which is on by default, allowing anyone to just pull version 4.1 and compile.
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## Wrappers
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We provide support for [MATLAB](matlab/README.md) and [Python](python/README.md) wrappers for GTSAM. Please refer to the linked documents for more details.
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## Citation
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If you are using GTSAM for academic work, please use the following citation:
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```
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@software{gtsam,
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author = {Frank Dellaert and Richard Roberts and Varun Agrawal and Alex Cunningham and Chris Beall and Duy-Nguyen Ta and Fan Jiang and lucacarlone and nikai and Jose Luis Blanco-Claraco and Stephen Williams and ydjian and John Lambert and Andy Melim and Zhaoyang Lv and Akshay Krishnan and Jing Dong and Gerry Chen and Krunal Chande and balderdash-devil and DiffDecisionTrees and Sungtae An and mpaluri and Ellon Paiva Mendes and Mike Bosse and Akash Patel and Ayush Baid and Paul Furgale and matthewbroadwaynavenio and roderick-koehle},
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title = {borglab/gtsam},
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month = may,
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year = 2022,
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publisher = {Zenodo},
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version = {4.2a7},
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doi = {10.5281/zenodo.5794541},
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url = {https://doi.org/10.5281/zenodo.5794541}
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}
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```
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You can also get the latest citation available from Zenodo below:
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[](https://doi.org/10.5281/zenodo.5794541)
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Specific formats are available in the bottom-right corner of the Zenodo page.
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Citation for IMU preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation:
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```
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@book{imu_preintegration,
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author={Christian Forster and Luca Carlone and Frank Dellaert and Davide Scaramuzza},
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title={IMU preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation},
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year={2015}
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}
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```
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Citation for Factor Graphs for Robot Perception:
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```
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@book{factor_graphs_for_robot_perception,
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author={Frank Dellaert and Michael Kaess},
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year={2017},
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title={Factor Graphs for Robot Perception},
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publisher={Foundations and Trends in Robotics, Vol. 6},
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url={http://www.cs.cmu.edu/~kaess/pub/Dellaert17fnt.pdf}
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}
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```
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## The Preintegrated IMU Factor
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GTSAM includes a state of the art IMU handling scheme based on
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- 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)
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- 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)
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Our implementation improves on this using integration on the manifold, as detailed in
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- 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)
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- 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)
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- 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)
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- 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)
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If you are using the factor in academic work, please cite the publications above.
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In GTSAM 4 a new and more efficient implementation, based on integrating on the NavState tangent space and detailed in [this document](doc/ImuFactor.pdf), is enabled by default. To switch to the RSS 2015 version, set the flag **GTSAM_TANGENT_PREINTEGRATION** to OFF.
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In GTSAM 4 a new and more efficient implementation, based on integrating on the NavState tangent space and detailed in [this document](doc/ImuFactor.pdf), is enabled by default. To switch to the RSS 2015 version, set the flag `GTSAM_TANGENT_PREINTEGRATION` to OFF.
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## Additional Information
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@ -95,5 +145,3 @@ GTSAM is open source under the BSD license, see the [`LICENSE`](LICENSE) and [`L
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Please see the [`examples/`](examples) directory and the [`USAGE`](USAGE.md) file for examples on how to use GTSAM.
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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.md).
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@ -1,24 +0,0 @@
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@misc{gtsam,
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author = {{Borg Lab}},
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title = {{GTSAM}},
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month = jul,
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year = 2020,
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version = {4.0.3},
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url = {https://github.com/borglab/gtsam}
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}
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@article{imu-preintegration,
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author = {{Christian Forster and Luca Carlone and Frank Dellaert and Davide Scaramuzza}},
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title = {{IMU preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation}},
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year = 2015
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}
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@techreport{factorgraphs,
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author = {Frank Dellaert},
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title = {{Factor Graphs and GTSAM: A Hands-On Introduction}},
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number = {GT-RIM-CP\&R-2012-002},
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month = jul,
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year = 2012
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}
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