As of August 1 2020, the
develop branch is officially in "Pre 4.1" mode, and features deprecated in 4.0 have been removed. Please use the last 4.0.3 release if you need those features.
However, most are easily converted and can be tracked down (in 4.0.3) by disabling the cmake flag
GTSAM is a C++ library that implements smoothing and mapping (SAM) in robotics and vision, using Factor Graphs and Bayes Networks as the underlying computing paradigm rather than sparse matrices.
The current support matrix is:
On top of the C++ library, GTSAM includes wrappers for MATLAB & Python.
In the root library folder execute:
#!bash $ mkdir build $ cd build $ cmake .. $ make check (optional, runs unit tests) $ make install
sudo apt-get install libboost-all-dev)
sudo apt-get install cmake)
Optional prerequisites - used automatically if findable by CMake:
sudo apt-get install libtbb-dev)
GTSAM 4 introduces several new features, most notably Expressions and a Python toolbox. It also 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 also do. A significant change which will not trigger a compile error is that zero-initializing of Point2 and Point3 is deprecated, so please be aware that this might render functions using their default constructor incorrect.
GTSAM 4 also deprecated some legacy functionality and wrongly named methods. If you are on a 4.0.X release, you can define the flag GTSAM_ALLOW_DEPRECATED_SINCE_V4 to use the deprecated methods.
GTSAM 4.1 added a new pybind wrapper, and removed the deprecated functionality. There is a flag GTSAM_ALLOW_DEPRECATED_SINCE_V41 for newly deprecated methods since the 4.1 release, which is on by default, allowing anyone to just pull version 4.1 and compile.
GTSAM includes a state of the art IMU handling scheme based on
Our implementation improves on this using integration on the manifold, as detailed in
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 this document, is enabled by default. To switch to the RSS 2015 version, set the flag GTSAM_TANGENT_PREINTEGRATION to OFF.
There is a
GTSAM users Google group for general discussion.
INSTALL file for more detailed installation instructions.