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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

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.