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GTSAM Tutorial Examples

This repo is a collection of GTSAM tutorial examples for GTSAM starters by Jing Dong. Checkout GTSAM tutorial slides for more explanations and infomation.

Prerequisites

• CMake >= 2.6 (Ubuntu: sudo apt-get install cmake), compilation configuration tool.
• Boost >= 1.50 (Ubuntu: sudo apt-get install libboost-all-dev), portable C++ source libraries.
• GTSAM >= 4.0 alpha.

Compilation & Installation

In the library folder excute:

$ mkdir build
$ cd build
$ cmake ..
$ make

Matlab Toolbox

An optional Matlab toolbox is provided to use our library in Matlab. To enable Matlab toolbox during compilation:

$ cmake -DEXAMPLES_BUILD_MATLAB_TOOLBOX:OPTION=ON -DGTSAM_TOOLBOX_INSTALL_PATH:PATH=/path/install/toolbox ..
$ make install

After you install the Matlab toolbox, don't forget to add /path/install/toolbox to your Matlab path.

Tested Compatibility

The gpmp2 library is designed to be cross-platform, however it's only tested on Ubuntu Linux for now.

• Compilers: GCC 4.8, 4.9, 5.3
• Boost version: 1.50 - 1.60