1.7 KiB
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 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.
Quickstart
In the root library folder execute:
#!bash
$ mkdir build
$ cd build
$ cmake ..
$ make check (optional, runs unit tests)
$ make install
Prerequisites:
- Boost >= 1.43 (Ubuntu:
sudo apt-get install libboost-all-dev) - CMake >= 2.6 (Ubuntu:
sudo apt-get install cmake)
Optional prerequisites - used automatically if findable by CMake:
- Intel Threaded Building Blocks (TBB) (Ubuntu:
sudo apt-get install libtbb-dev) - Intel Math Kernel Library (MKL)
Additional Information
Read about important [GTSAM-Concepts] here.
See the [INSTALL] file for more detailed installation instructions.
GTSAM is open source under the BSD license, see the LICENSE and LICENSE.BSD files.
Please see the examples/ directory and the [USAGE] file for examples on how to use GTSAM.