That opens the door to retiring geometric types such as Point2 and Point3 to pure Eigen types, which we also do. It also introduces traits, a C++ technique that allows optimizing with non-GTSAM types. GTSAM 4 introduces several new features, most notably Expressions and a Python toolbox. Make sure to benchmark your problem with and without MKL.
Jing dong georgia tech install#
Boost >= 1.65 (Ubuntu: sudo apt-get install libboost-all-dev).On top of the C++ library, GTSAM includes wrappers for MATLAB & Python. Networks as the underlying computing paradigm rather than sparse Mapping (SAM) in robotics and vision, using Factor Graphs and Bayes GTSAM is a C++ library that implements smoothing and However, most (not all, unfortunately) are easily converted and can be tracked down (in 4.1.1) by disabling the cmake flag GTSAM_ALLOW_DEPRECATED_SINCE_V42. Please use the last 4.1.1 release if you need those features. In addition, features deprecated in 4.1 will be removed.
A great new feature we will be adding in 4.2 is hybrid inference a la DCSLAM (Kevin Doherty et al) and we envision several API-breaking changes will happen in the discrete folder.
README - Georgia Tech Smoothing and Mapping LibraryĪs of Dec 2021, the develop branch is officially in "Pre 4.2" mode.
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