51 lines
1.8 KiB
Markdown
51 lines
1.8 KiB
Markdown
README - Georgia Tech Smoothing and Mapping library
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===================================================
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What is GTSAM?
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--------------
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GTSAM is a library of C++ classes that implement smoothing and
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mapping (SAM) in robotics and vision, using factor graphs and Bayes
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networks as the underlying computing paradigm rather than sparse
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matrices.
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On top of the C++ library, GTSAM includes a MATLAB interface (enable
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GTSAM_INSTALL_MATLAB_TOOLBOX in CMake to build it). A Python interface
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is under development.
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Quickstart
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----------
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In the root library folder execute:
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```
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#!bash
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$ mkdir build
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$ cd build
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$ cmake ..
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$ make check (optional, runs unit tests)
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$ make install
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```
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Prerequisites:
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- [Boost](http://www.boost.org/users/download/) >= 1.43 (Ubuntu: `sudo apt-get install libboost-all-dev`)
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- [CMake](http://www.cmake.org/cmake/resources/software.html) >= 2.6 (Ubuntu: `sudo apt-get install cmake`)
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Optional prerequisites - used automatically if findable by CMake:
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- [Intel Threaded Building Blocks (TBB)](http://www.threadingbuildingblocks.org/) (Ubuntu: `sudo apt-get install libtbb-dev`)
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- [Intel Math Kernel Library (MKL)](http://software.intel.com/en-us/intel-mkl)
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Additional Information
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----------------------
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Read about important [`GTSAM-Concepts`](GTSAM-Concepts.md) here.
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See the [`INSTALL`](INSTALL) file for more detailed installation instructions.
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GTSAM is open source under the BSD license, see the [`LICENSE`](LICENSE) and [`LICENSE.BSD`](LICENSE.BSD) files.
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Please see the [`examples/`](examples) directory and the [`USAGE`](USAGE.md) file for examples on how to use GTSAM.
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GTSAM was developed in the lab of [Frank Dellaert](http://www.cc.gatech.edu/~dellaert) at the [Georgia Institute of Technology](http://www.gatech.edu), with the help of many contributors over the years, see [THANKS](THANKS). |