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Merge pull request #221 from borglab/readme-update 

Updates
release/4.3a0
Frank Dellaert 2020-02-08 12:37:55 -05:00 committed by GitHub
parent 56ca889913 4c6d5600b3
commit dfc0529dce
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2 changed files with 23 additions and 14 deletions
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8
CMakeLists.txt
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@ -73,7 +73,7 @@ option(GTSAM_ENABLE_CONSISTENCY_CHECKS "Enable/Disable expensive consistency c
option(GTSAM_WITH_TBB "Use Intel Threaded Building Blocks (TBB) if available" ON)
option(GTSAM_WITH_EIGEN_MKL "Eigen will use Intel MKL if available" OFF)
option(GTSAM_WITH_EIGEN_MKL_OPENMP "Eigen, when using Intel MKL, will also use OpenMP for multithreading if available" OFF)
option(GTSAM_THROW_CHEIRALITY_EXCEPTION "Throw exception when a triangulated point is behind a camera" ON)
option(GTSAM_THROW_CHEIRALITY_EXCEPTION "Throw exception when a triangulated point is behind a camera" ON)
option(GTSAM_ALLOW_DEPRECATED_SINCE_V4 "Allow use of methods/functions deprecated in GTSAM 4" ON)
option(GTSAM_TYPEDEF_POINTS_TO_VECTORS "Typedef Point2 and Point3 to Eigen::Vector equivalents" OFF)
option(GTSAM_SUPPORT_NESTED_DISSECTION "Support Metis-based nested dissection" ON)
@ -556,6 +556,12 @@ else()
endif()
message(STATUS " Default allocator : ${GTSAM_DEFAULT_ALLOCATOR}")
if(GTSAM_THROW_CHEIRALITY_EXCEPTION)
message(STATUS " Cheirality exceptions enabled : YES")
else()
message(STATUS " Cheirality exceptions enabled : NO")
endif()
if(NOT MSVC AND NOT XCODE_VERSION)
if(CCACHE_FOUND AND GTSAM_BUILD_WITH_CCACHE)
message(STATUS " Build with ccache : Yes")

29
README.md
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@ -1,17 +1,20 @@
gcc/clang: [![Build Status](https://travis-ci.com/borglab/gtsam.svg?branch=develop)](https://travis-ci.com/borglab/gtsam/) MSVC: [![Build status](https://ci.appveyor.com/api/projects/status/3enllitj52jsxwfg/branch/develop?svg=true)](https://ci.appveyor.com/project/dellaert/gtsam)
# README - Georgia Tech Smoothing and Mapping library
# README - Georgia Tech Smoothing and Mapping Library
## 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
networks as the underlying computing paradigm rather than sparse
GTSAM is a C++ library that implements smoothing and
mapping (SAM) in robotics and vision, using Factor Graphs and Bayes
Networks as the underlying computing paradigm rather than sparse
matrices.
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.
| Platform | Build Status |
|:---------:|:-------------:|
| gcc/clang | [![Build Status](https://travis-ci.com/borglab/gtsam.svg?branch=develop)](https://travis-ci.com/borglab/gtsam/) |
| MSVC | [![Build status](https://ci.appveyor.com/api/projects/status/3enllitj52jsxwfg/branch/develop?svg=true)](https://ci.appveyor.com/project/dellaert/gtsam) |
On top of the C++ library, GTSAM includes [wrappers for MATLAB & Python](##Wrappers).
## Quickstart
@ -41,9 +44,9 @@ Optional prerequisites - used automatically if findable by CMake:
## 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.
GTSAM 4 introduces several new features, most notably Expressions and a Python toolbox. We 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.
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 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.
## Wrappers
@ -62,7 +65,7 @@ Our implementation improves on this using integration on the manifold, as detail
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.
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.
## Additional Information
@ -79,4 +82,4 @@ GTSAM is open source under the BSD license, see the [`LICENSE`](LICENSE) and [`L
Please see the [`examples/`](examples) directory and the [`USAGE`](USAGE.md) file for examples on how to use GTSAM.
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).
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).