diff --git a/README.md b/README.md index 720517669..043ff863b 100644 --- a/README.md +++ b/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. diff --git a/package.xml b/package.xml index 5b50b5af9..e14e77f2a 100644 --- a/package.xml +++ b/package.xml @@ -1,7 +1,7 @@ gtsam - 3.2.1 + 4.0.0 gtsam Frank Dellaert