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.
Full Changelog: https://github.com/borglab/gtsam/compare/4.1.1...4.2a0
This is the last maintenance release before 4.2.0
. It is cut now because #933 breaks the API for discrete
.
Major internal contributor is @varunagrawal. Thanks Varun! Besides him, here are some super-contributors below:
SfmTrack
to fix equality check by @ayushbaid in https://github.com/borglab/gtsam/pull/659
sparseJacobian
functions (new) by @gchenfc in https://github.com/borglab/gtsam/pull/677
sparseJacobianEigen()
by @gchenfc in https://github.com/borglab/gtsam/pull/682
CameraSet
to remove warning by @varunagrawal in https://github.com/borglab/gtsam/pull/779
calibrate
by @varunagrawal in https://github.com/borglab/gtsam/pull/775
Pose3::Adjoint(xi)
Jacobians by @gchenfc in https://github.com/borglab/gtsam/pull/885
adjoint
and adjointTranpsose
by @gchenfc in https://github.com/borglab/gtsam/pull/922
Full Changelog: https://github.com/borglab/gtsam/compare/4.1.0...4.1.1
Hello all,
This is the release candidate for the upcoming GTSAM 4.1 release!
pybind11
based Python wrapper
dynamic_cast_xxx
s, so operations on noise models and etc should be more intuitivewrap
submodule, details will come laterpip3 install gtsam
!Please enjoy testing this pre-release and report the issues you encounter to our bug tracker!
Cheers, The GTSAM Team
Hello all,
This is the GTSAM 4.1 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.
pybind11
based Python wrapper
dynamic_cast_xxx
s, so operations on noise models and etc should be more intuitivewrap
submodule, details will come laterpip3 install gtsam
!Please enjoy testing this pre-release and report the issues you encounter to our bug tracker!
Cheers, The GTSAM Team
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.
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:
CombinedImuFactor
serialization is now fixedmake python-install
to install the Python toolboxpip
if you only use the Python interfaceFrobeniusFactor
and FrobeniusWormholeFactor
for robust SFM applications@tuwuhs
for the help!