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.

4.2a0

2 years ago

Major changes:

  • API additions for discrete
  • wrapper for discrete inference
  • markdown and graphviz visualization in notebooks

Community additions:

New Contributors

PR list

Full Changelog: https://github.com/borglab/gtsam/compare/4.1.1...4.2a0

4.1.1

2 years ago

Release 4.1.1

Why this release

This is the last maintenance release before 4.2.0. It is cut now because #933 breaks the API for discrete.

Some Notable Changes

  • Basis functions #403
  • Make mEstimator variable names consistent with math #188

Super Contributors:

Major internal contributor is @varunagrawal. Thanks Varun! Besides him, here are some super-contributors below:

@jlblancoc

@lucacarlone

@acxz

Community Additions:

New Contributors

Detailed PR list (this was a massive release!)

Full Changelog: https://github.com/borglab/gtsam/compare/4.1.0...4.1.1

4.1rc

3 years ago

Hello all,

This is the release candidate for the upcoming GTSAM 4.1 release!

Major Changes

  • New pybind11 based Python wrapper
    • No more dynamic_cast_xxxs, so operations on noise models and etc should be more intuitive
    • Also allows the user to wrap their own projects with our wrap submodule, details will come later
    • It is also live on pypi, so install now with pip3 install gtsam!
  • Shonan Averaging is now in GTSAM!
  • MATLAB wrapper is now refreshed: Point2 and Point3 are removed and replaced by native MATLAB vectors.
    • Thus, now you can build the MATLAB wrapper and the Python wrapper at the same time, so great news for packagers!
  • All goodies in 4.0.3 are also included :)

Please enjoy testing this pre-release and report the issues you encounter to our bug tracker!

Cheers, The GTSAM Team

4.1.0

3 years ago

Hello all,

This is the GTSAM 4.1 release!

Reason for This Release

This is originally the 4.1rc release candidate. We are releasing this as 4.1 because at the same date 4.1rc was tagged, we release PyPI versions with this 4.1.0 version number. This was a mistake but we are now normalizing it.

Major Changes

  • New pybind11 based Python wrapper
    • No more dynamic_cast_xxxs, so operations on noise models and etc should be more intuitive
    • Also allows the user to wrap their own projects with our wrap submodule, details will come later
    • It is also live on pypi, so install now with pip3 install gtsam!
  • Shonan Averaging is now in GTSAM!
  • MATLAB wrapper is now refreshed: Point2 and Point3 are removed and replaced by native MATLAB vectors.
    • Thus, now you can build the MATLAB wrapper and the Python wrapper at the same time, so great news for packagers!
  • All goodies in 4.0.3 are also included :)

Please enjoy testing this pre-release and report the issues you encounter to our bug tracker!

Cheers, The GTSAM Team

4.0.3

3 years ago

Here we present you the latest release of GTSAM, GTSAM 4.0.3.

GTSAM will now default to using the full SE(3) exponential map, instead of using the Cayley map, which should give better convergence for most problems without performance impact.

For details, please see the blog post.

Important New Features & Bugfixes

In addition to the change in default Pose3 retract, which will now be the full exponential map, GTSAM has seen a steady stream of commits since the last release, 4.0.2, which has been there for more than 6 months. A summary of the most important issues and features is below:

  • Robust noise model is ready for general usage
    • It can be used to replace RANSAC for some applications
    • For a gentle introduction, see this awesome tutorial by Varun Agrawal
  • CombinedImuFactor serialization is now fixed
  • The ISAM2 KITTI example has a C++ port, thanks Thomas Jespersen for the help!
  • Now you can choose arbitrary MATLAB install prefix for the toolbox build
  • Now you can make python-install to install the Python toolbox
  • Now you can use the Conjugate Gradient solver in Python
  • Now you can install GTSAM with pip if you only use the Python interface
  • Added FrobeniusFactor and FrobeniusWormholeFactor for robust SFM applications
  • Switched to in-place update of the diagonal Hessian in LM
    • expect a 3%-5% speedup, YMMV
  • The Cython wrapper now can be built on Windows :)
    • Kudos @tuwuhs for the help!
  • Fixed a few memory-related bugs detected by the LLVM sanitizer
    • Greatly improved stability

4.0.2

3 years ago
  • Fixes Huber Robust Noise Model.
  • Improvements for compiling on Windows
  • Improve CI system efficiency and coverage.

3.2.3

4 years ago
  • Added travis CI
  • Updated some documentation
  • Fixed many compilation issues/warnings with newer compilers.