Go to file
dellaert 9460c13cd1 Checked in math 2015-02-11 14:59:59 +01:00
.settings add lp_solve and the gtsam LPSolver interface 2014-08-06 11:08:43 -04:00
CppUnitLite add macro TEST_DISABLED for disabling tests without commenting them out 2014-09-13 01:29:25 -04:00
cmake Fix warnings by latest CMake 3.1. Variables should be unquoted: Policy CMP0054 is not set: Only interpret if() arguments as variables or keywords when unquoted. 2015-01-16 09:33:02 -05:00
doc Checked in math 2015-02-11 14:59:59 +01:00
examples Fix for #204 2015-01-21 13:16:13 -05:00
gtsam Added Logmap test 2015-02-11 14:28:44 +01:00
gtsam_unstable again: overlooked Dim -> dimension because this factor has no unit test! 2015-01-28 16:48:12 -05:00
matlab add the scale of visualization for covariance matrix 2015-01-22 20:39:02 -05:00
package_scripts solve 'redefine MKL warning' 2014-11-13 20:59:45 -05:00
tests Add a unit test for GaussianFactorGraphSystem::multiply and getb 2015-01-31 03:33:19 -05:00
timing Moved include file 2014-12-28 16:44:32 +01:00
wrap Fixed subtle (imperative!) bug where a forward declaration was partially parsed as a class, only then as a forward declaration. 2014-12-19 16:19:02 +01:00
.cproject testQuaternion target 2015-02-10 19:03:21 +01:00
.gitignore closed-form formula of Pose2's expmap/logmap derivatives 2014-12-19 13:53:08 -05:00
.project Fixed build command 2014-11-23 10:43:00 +01:00
CMakeLists.txt Move warning suppression 2014-11-25 15:51:49 -05:00
DEVELOP Start a DEVELOP document and update INSTALL 2014-05-05 14:42:46 -04:00
GTSAM-Concepts.md Made group action "future concepts" 2014-12-28 13:21:54 +01:00
INSTALL Start a DEVELOP document and update INSTALL 2014-05-05 14:42:46 -04:00
LICENSE Final cleanup of text files - README.md, LICENSE*, USAGE, and INSTALL. 2014-01-30 14:42:23 -05:00
LICENSE.BSD Final cleanup of text files - README.md, LICENSE*, USAGE, and INSTALL. 2014-01-30 14:42:23 -05:00
README.md Fixed some top-level files 2014-12-03 20:15:19 +01:00
THANKS Mostly changes in THANKS 2014-12-04 01:12:18 +01:00
USAGE.md Fixed some top-level files 2014-12-03 20:15:19 +01:00
gtsam.h Wrapping Cal3Unified as a derived class of Cal3DS2_Base 2015-01-15 16:17:53 +01:00
gtsam_extra.cmake.in Some cleanup in compiling wrappers 2013-12-12 18:37:27 +00:00
makestats.sh Command line for generating svn stats, needs statsvn from statsvn.org 2012-06-11 14:31:32 +00:00
matlab.h Fixed issue with retract/between 2014-12-26 20:56:34 +01:00
package.xml Adding a minimal version of catkin compatibility 2014-10-02 16:51:29 +02:00

README.md

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:

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.

GTSAM was developed in the lab of Frank Dellaert at the Georgia Institute of Technology, with the help of many contributors over the years, see THANKS.