https://github.com/maxmsun/gtsam
gtsam branch for compiling "https://github.com/CogRob/distributed-mapper"
https://github.com/maxmsun/gtsam
Last synced: 3 months ago
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gtsam branch for compiling "https://github.com/CogRob/distributed-mapper"
- Host: GitHub
- URL: https://github.com/maxmsun/gtsam
- Owner: MaxMSun
- License: other
- Created: 2019-12-29T20:37:49.000Z (over 5 years ago)
- Default Branch: master
- Last Pushed: 2019-12-29T20:46:47.000Z (over 5 years ago)
- Last Synced: 2024-12-25T12:13:19.419Z (5 months ago)
- Language: C++
- Size: 15.4 MB
- Stars: 0
- Watchers: 2
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
README - Georgia Tech Smoothing and Mapping library
===================================================
This version is for the [distributed-mapper](https://github.com/CogRob/distributed-mapper) library. It's modified based on:
~~~
$ git clone https://bitbucket.org/gtborg/gtsam
$ git checkout b7c695fa71efd43b40972eec154df265617fc07d -b dist-mapper
~~~
***
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)
GTSAM 4 Compatibility
---------------------
GTSAM 4 will introduce several new features, most notably Expressions and a python toolbox. We will also deprecate some legacy functionality and wrongly named methods, but by default the flag GTSAM_ALLOW_DEPRECATED_SINCE_V4 is enabled, allowing anyone to just pull V4 and compile. To build the python toolbox, however, you will have to explicitly disable that flag.
Also, GTSAM 4 introduces traits, a C++ technique that allows optimizing with non-GTSAM types. That opens the door to retiring geometric types such as Point2 and Point3 to pure Eigen types, which we will also do. A significant change which will not trigger a compile error is that zero-initializing of Point2 and Point3 will be deprecated, so please be aware that this might render functions using their default constructor incorrect.
The Preintegrated IMU Factor
----------------------------
GTSAM includes a state of the art IMU handling scheme based on
- Todd Lupton and Salah Sukkarieh, "Visual-Inertial-Aided Navigation for High-Dynamic Motion in Built Environments Without Initial Conditions", TRO, 28(1):61-76, 2012.
Our implementation improves on this using integration on the manifold, as detailed in
- Luca Carlone, Zsolt Kira, Chris Beall, Vadim Indelman, and Frank Dellaert, "Eliminating conditionally independent sets in factor graphs: a unifying perspective based on smart factors", Int. Conf. on Robotics and Automation (ICRA), 2014.
- Christian Forster, Luca Carlone, Frank Dellaert, and Davide Scaramuzza, "IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation", Robotics: Science and Systems (RSS), 2015.
If you are using the factor in academic work, please cite the publications above.
In GTSAM 4 a new and more efficient implementation, based on integrating on the NavState tangent space and detailed in docs/ImuFactor.pdf, is enabled by default. To switch to the RSS 2015 version, set the flag **GTSAM_TANGENT_PREINTEGRATION** to OFF.
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).