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CppUnitLite | ||
cmake | ||
doc | ||
examples | ||
gtsam | ||
gtsam_unstable | ||
matlab | ||
package_scripts | ||
tests | ||
timing | ||
wrap | ||
.cproject | ||
.gitignore | ||
.project | ||
CMakeLists.txt | ||
DEVELOP | ||
INSTALL | ||
LICENSE | ||
LICENSE.BSD | ||
README.md | ||
THANKS | ||
USAGE | ||
gtsam.h | ||
gtsam_extra.cmake.in | ||
makestats.sh | ||
matlab.h | ||
package.xml |
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:
- 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.