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Richard Roberts cace005651 When calling find_package(GTSAMCMakeTools), set the variable GTSAM_CMAKE_TOOLS_DIR so that files installed from there can be configured in projects and not only in GTSAM, e.g. dllexport.h.in		2014-06-01 18:59:03 -04:00
CppUnitLite	Swiched from isnan() check to isfinite() check for DOUBLES_EQUAL - also handles infinite case	2013-08-02 19:04:52 +00:00
cmake	When calling find_package(GTSAMCMakeTools), set the variable GTSAM_CMAKE_TOOLS_DIR so that files installed from there can be configured in projects and not only in GTSAM, e.g. dllexport.h.in	2014-06-01 18:59:03 -04:00
doc	Moved coordinate frames document into GTSAM	2014-02-21 15:47:51 -05:00
examples	Moved LAGO to slam	2014-06-01 12:25:23 -04:00
gtsam	Missed before: Frank's typedef fix actually needs another include on Linux	2014-06-01 16:02:24 -04:00
gtsam_unstable	Move smart projection factor	2014-05-31 15:33:19 -04:00
matlab	utilities.localToWorld	2014-05-27 00:42:03 -04:00
package_scripts	Merge branch 'origin/feature/mex_static_module_revive'	2014-05-28 22:51:23 -04:00
tests	Merge branch 'develop'	2014-05-28 18:59:04 -04:00
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	moved targets	2014-05-31 18:07:55 -04:00
.gitignore	unit test now works	2014-05-31 15:53:41 -04:00
.project	Adding faster compilation options for distribution in CMake	2012-02-14 18:03:29 +00:00
CMakeLists.txt	version number	2014-05-31 13:13:48 -04:00
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
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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	Sanitized G2o I/O interface to conform to what we had before. No sense in having many different styles, and this works better for MATLAB (now wrapped, as well).	2014-06-01 11:46:23 -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

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

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.