52 lines
1.9 KiB
Markdown
52 lines
1.9 KiB
Markdown
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](http://www.boost.org/users/download/) >= 1.43 (Ubuntu: `sudo apt-get install libboost-all-dev`)
|
|
- [CMake](http://www.cmake.org/cmake/resources/software.html) >= 2.6 (Ubuntu: `sudo apt-get install cmake`)
|
|
- A modern compiler, i.e., at least gcc 4.7.3 on Linux.
|
|
|
|
Optional prerequisites - used automatically if findable by CMake:
|
|
|
|
- [Intel Threaded Building Blocks (TBB)](http://www.threadingbuildingblocks.org/) (Ubuntu: `sudo apt-get install libtbb-dev`)
|
|
- [Intel Math Kernel Library (MKL)](http://software.intel.com/en-us/intel-mkl)
|
|
|
|
Additional Information
|
|
----------------------
|
|
|
|
Read about important [`GTSAM-Concepts`](GTSAM-Concepts.md) here.
|
|
|
|
See the [`INSTALL`](INSTALL) file for more detailed installation instructions.
|
|
|
|
GTSAM is open source under the BSD license, see the [`LICENSE`](LICENSE) and [`LICENSE.BSD`](LICENSE.BSD) files.
|
|
|
|
Please see the [`examples/`](examples) directory and the [`USAGE`](USAGE.md) file for examples on how to use GTSAM.
|
|
|
|
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). |