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.
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:
GTSAM 4.2 can be used from python using pip install gtsam
. All available wheels can be found on pypi.
Detailed changes below:
visitWith
for Pruned Tree by @varunagrawal in https://github.com/borglab/gtsam/pull/1135
op
with Assignment by @varunagrawal in https://github.com/borglab/gtsam/pull/1137
python-install
by @varunagrawal in https://github.com/borglab/gtsam/pull/1145
prune
method by @varunagrawal in https://github.com/borglab/gtsam/pull/1151
maxNrAssignment
scheme for pruning by @varunagrawal in https://github.com/borglab/gtsam/pull/1156
Rot3::quaternion
to deprecated block by @HViktorTsoi in https://github.com/borglab/gtsam/pull/1219
this->
to fix ROS compile issue by @varunagrawal in https://github.com/borglab/gtsam/pull/1230
MixtureFactor
continuous keys check by @varunagrawal in https://github.com/borglab/gtsam/pull/1289
NoiseModelFactor1
in with NoiseModelFactorN
in pre-made factors by @gchenfc in https://github.com/borglab/gtsam/pull/1344
NoiseModelFactor1-6
and move X1
and key1-6
shortcuts to NoiseModelFactorN
by @gchenfc in https://github.com/borglab/gtsam/pull/1370
filter
by @dellaert in https://github.com/borglab/gtsam/pull/1397
filter
by @dellaert in https://github.com/borglab/gtsam/pull/1402
Full Changelog: https://github.com/borglab/gtsam/compare/4.1.1...4.2
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:
NoiseModelFactor1
in with NoiseModelFactorN
in pre-made factors by @gchenfc in https://github.com/borglab/gtsam/pull/1344
NoiseModelFactor1-6
and move X1
and key1-6
shortcuts to NoiseModelFactorN
by @gchenfc in https://github.com/borglab/gtsam/pull/1370
filter
by @dellaert in https://github.com/borglab/gtsam/pull/1397
filter
by @dellaert in https://github.com/borglab/gtsam/pull/1402
Full Changelog: https://github.com/borglab/gtsam/compare/4.2a8...4.2a9
Thanks to our many new contributors!
Rot3::quaternion
to deprecated block by @HViktorTsoi in https://github.com/borglab/gtsam/pull/1219
this->
to fix ROS compile issue by @varunagrawal in https://github.com/borglab/gtsam/pull/1230
MixtureFactor
continuous keys check by @varunagrawal in https://github.com/borglab/gtsam/pull/1289
master
by @johnwlambert in https://github.com/borglab/gtsam/pull/1337
Full Changelog: https://github.com/borglab/gtsam/compare/4.2a7...4.2a8
Many new changes since April 08.
Many thanks to contributors @varunagrawal, @shteren1, @ProfFan, @d-vo, @magicbycalvin, @gchenfc, @jlblancoc, @johnwlambert, @senselessDev, @akshay-krishnan !!!!
prune
method by @varunagrawal in https://github.com/borglab/gtsam/pull/1151
maxNrAssignment
scheme for pruning by @varunagrawal in https://github.com/borglab/gtsam/pull/1156
Full Changelog: https://github.com/borglab/gtsam/compare/4.2a6...4.2a7
A bit of a bigger pre-release since development of book slowed a bit.
visitWith
for Pruned Tree by @varunagrawal in https://github.com/borglab/gtsam/pull/1135
op
with Assignment by @varunagrawal in https://github.com/borglab/gtsam/pull/1137
python-install
by @varunagrawal in https://github.com/borglab/gtsam/pull/1145
Full Changelog: https://github.com/borglab/gtsam/compare/4.2a5...4.2a6
Yet another pre-release to support rendering pretty graphs in roboticsbook.org
Quick pre-release, mainly changes needed for book in #1037 and #1039
Not too much changed, this pre-release was driven by the need for html rendering in colabs and jupyter-book.
Since v4.2a0:
Full Changelog Since 4.1.1: https://github.com/borglab/gtsam/compare/4.1.1...4.2a1