Gtsam Versions Save

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.

4.2

7 months ago

This is the long-awaited release 4.2. Develop has been in pre-4.3 for a while now, but 4.2 kept evolving alongside it (mostly with cherry-picks) as roboticsbook.org uses it and we wanted to wait another semester of teaching it to make sure it was very stable.

The biggest changes are:

  • hybrid factor graph inference
  • much more extensive python and Matlab wrappers
  • Shonan averaging

GTSAM 4.2 can be used from python using pip install gtsam. All available wheels can be found on pypi.

Detailed changes below:

What's Changed (Since 4.1.1)

What's Changed (Since 4.2a1)

What's Changed (Since 4.2a2)

What's Changed (Since 4.2a3)

What's Changed (Since 4.2a4)

What's Changed (Since 4.2a5)

What's Changed (Since 4.2a6)

What's Changed (Since 4.2a7)

What's Changed (Since 4.2a8)

What's Changed (Since 4.2a9)

New Contributors

Full Changelog: https://github.com/borglab/gtsam/compare/4.1.1...4.2

4.2a9

1 year ago

This is hopefully the last 4.2 pre-release. I had planned to cut 4.2 this weekend but there were still apparently some issues with the wrapper when used in Georgia tech's CS 3630 course (325 students using GTSAM) and so I'd rather wait another week for these things to settle down. In the meantime, though, we needed a pre-release so %pip install gtbook works on Google Colab and installs 4.2a9 in the process. All works now, as evidenced at roboticsbook.org.

The biggest changes are:

  • moved away from boost utilities to c++ initializers in all tests and examples.
  • a cleaned up and correctly working hybrid inference framework. Thanks @varunagrawal and @ProfFan !
  • template-magical NoiseModelFactorN which allows an arbitrary number of variables connected to factors. Thanks @gchenfc !
  • several important bug-fixes and edits, by many new contributors, listed below:

New Contributors

Detailed Changes

Full Changelog: https://github.com/borglab/gtsam/compare/4.2a8...4.2a9

4.2a8

1 year ago

What's Changed

  • Lots of development in hybrid, still WIP
  • some changes for GTSFM
  • Lots of bug fixes, esp. in MATLAB wrapper
  • Work on IMU factor

New Contributors

Thanks to our many new contributors!

Detailed Changes

Full Changelog: https://github.com/borglab/gtsam/compare/4.2a7...4.2a8

4.2a7

1 year ago

Many new changes since April 08.

Many thanks to contributors @varunagrawal, @shteren1, @ProfFan, @d-vo, @magicbycalvin, @gchenfc, @jlblancoc, @johnwlambert, @senselessDev, @akshay-krishnan !!!!

What's Changed

New Contributors

Full Changelog: https://github.com/borglab/gtsam/compare/4.2a6...4.2a7

4.2a6

2 years ago

A bit of a bigger pre-release since development of book slowed a bit.

What's Changed

New Contributors

Full Changelog: https://github.com/borglab/gtsam/compare/4.2a5...4.2a6

4.2a5

2 years ago

Major changes since 4.2a4

  • inference module in wrapper
  • moved SfmData classes from dataset.* to sfm folder
  • lots of plotting/html/wrapping support for roboticsbook.org

Detailed PR list

4.2a4

2 years ago

Yet another pre-release to support rendering pretty graphs in roboticsbook.org

Major changes:

  • a pretty big big-fix: DiscreteFactorGraph::optimize now does MPE! #1050
  • @dellaert also changed API (breaking!) of Subgraph Preconditioners to include fewer shared_ptrs. #1010
  • @lucacarlone landed robust triangulation, great for GTSFM as well!

New Contributors

What's Changed since 4.2a3

4.2a3

2 years ago

Quick pre-release, mainly changes needed for book in #1037 and #1039

Changes since 4.2a2

  • Rename DiscretePrior -> DiscreteDistribution by @dellaert in #1039
  • Better DiscreteConditional by @dellaert in #1037
  • Fix probPrime by @varunagrawal in https://github.com/borglab/gtsam/pull/1034
  • Get Error From Hessians by @varunagrawal #1033
  • Add python unit test for triangulation with robust noise model by @johnwlambert #1031
  • FG print(): fix empty lines on nullptr; avoid endl by @jlblancoc in https://github.com/borglab/gtsam/pull/1030

4.2a2

2 years ago

Changes since 4.2a1:

Not too much changed, this pre-release was driven by the need for html rendering in colabs and jupyter-book.

  • #1022 html rendering in discrete
  • #1017 fail fast in CI
  • #1013 remove (useless) Potentials class

4.2a1

2 years ago

Major changes

Since v4.2a0:

  • More rendering improvements in discrete
  • Improvements to DecisionTree code to support hybrid branch
  • Deprecated (old) Lie{Scalar|Vector|Matrix} classes
  • Moved many deprecated functions inside ifdefs

List of PRs

Full Changelog Since 4.1.1: https://github.com/borglab/gtsam/compare/4.1.1...4.2a1