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dellaert a9e3545a29 Merge remote-tracking branch 'origin/release/3.2.0' into feature/quadratic_programming 
This should make merging in develop easier, and it also helps me understand what changed.
I mostly avoided conflicts by keeping Duy's versions of:

Conflicts:
	gtsam/3rdparty/metis-5.1.0/CMakeLists.txt
	gtsam/linear/JacobianFactor-inl.h
	gtsam/linear/NoiseModel.cpp
	gtsam/nonlinear/NonlinearFactor.h

and a number of other files. In particular, I did not upgrade Eigen or remove metis.

The following unit tests fail in this branch:

The following tests FAILED:
	  2 - testWrap (Failed)
	 85 - testGeneralSFMFactor (SEGFAULT)
	142 - testIMUSystem (Failed)
	178 - testTSAMFactors (Failed)
 		2014-11-22 15:18:09 +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 Merge remote-tracking branch 'origin/release/3.2.0' into feature/quadratic_programming 2014-11-22 15:18:09 +01:00
doc Moved coordinate frames document into GTSAM 2014-02-21 15:47:51 -05:00
examples Remove intermediate file for dataset I/O test 2014-10-25 20:18:55 -04:00
gtsam Merge remote-tracking branch 'origin/release/3.2.0' into feature/quadratic_programming 2014-11-22 15:18:09 +01:00
gtsam_unstable Merge remote-tracking branch 'origin/release/3.2.0' into feature/quadratic_programming 2014-11-22 15:18:09 +01:00
matlab documentation and minor cleanup 2014-07-25 17:11:28 -04:00
package_scripts Merge branch 'origin/feature/mex_static_module_revive' 2014-05-28 22:51:23 -04:00
tests Merge remote-tracking branch 'origin/release/3.2.0' into feature/quadratic_programming 2014-11-22 15:18:09 +01:00
timing Now in nanoseconds, and added timing of localCoordinates. 2014-10-12 18:21:17 +02:00
wrap fix warnings on Windows. No need to create variable in catch statement if you're not going to use it. It generates unreferenced variable warnings. 2014-06-01 11:30:04 -04:00
.cproject Merge remote-tracking branch 'origin/release/3.2.0' into feature/quadratic_programming 2014-11-22 15:18:09 +01:00
.gitignore Merge remote-tracking branch 'origin/release/3.2.0' into feature/quadratic_programming 2014-11-22 15:18:09 +01:00
.project Adding faster compilation options for distribution in CMake 2012-02-14 18:03:29 +00:00
CMakeLists.txt Merge remote-tracking branch 'origin/release/3.2.0' into feature/quadratic_programming 2014-11-22 15:18:09 +01:00
DEVELOP Start a DEVELOP document and update INSTALL 2014-05-05 14:42:46 -04:00
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 Version info 2014-11-03 08:51:27 -05:00
THANKS adding people 2010-10-21 14:00:49 +00:00
USAGE Final cleanup of text files - README.md, LICENSE*, USAGE, and INSTALL. 2014-01-30 14:42:23 -05:00
gtsam.h wrap keys for GaussianFactor 2014-10-19 00:35:18 -04:00
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 utilities.localToWorld 2014-05-27 00:42:03 -04:00
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

Version: Pre-Release 3.2.0

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.