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README niceness #37

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May 31, 2019
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README niceness #37

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26 changes: 10 additions & 16 deletions README.md
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README - Georgia Tech Smoothing and Mapping library
===================================================
# README - Georgia Tech Smoothing and Mapping library

What is GTSAM?
--------------
## What is GTSAM?

GTSAM is a library of C++ classes that implement smoothing and
mapping (SAM) in robotics and vision, using factor graphs and Bayes
Expand All @@ -13,12 +11,11 @@ On top of the C++ library, GTSAM includes a MATLAB interface (enable
GTSAM_INSTALL_MATLAB_TOOLBOX in CMake to build it). A Python interface
is under development.

Quickstart
----------
## Quickstart

In the root library folder execute:

```
```sh
#!bash
$ mkdir build
$ cd build
Expand All @@ -40,32 +37,29 @@ Optional prerequisites - used automatically if findable by CMake:
- See [INSTALL.md](INSTALL.md) for more installation information
- Note that MKL may not provide a speedup in all cases. Make sure to benchmark your problem with and without MKL.

GTSAM 4 Compatibility
---------------------
## GTSAM 4 Compatibility

GTSAM 4 will introduce several new features, most notably Expressions and a python toolbox. We will also deprecate some legacy functionality and wrongly named methods, but by default the flag GTSAM_ALLOW_DEPRECATED_SINCE_V4 is enabled, allowing anyone to just pull V4 and compile. To build the python toolbox, however, you will have to explicitly disable that flag.

Also, GTSAM 4 introduces traits, a C++ technique that allows optimizing with non-GTSAM types. That opens the door to retiring geometric types such as Point2 and Point3 to pure Eigen types, which we will also do. A significant change which will not trigger a compile error is that zero-initializing of Point2 and Point3 will be deprecated, so please be aware that this might render functions using their default constructor incorrect.

The Preintegrated IMU Factor
----------------------------
## The Preintegrated IMU Factor

GTSAM includes a state of the art IMU handling scheme based on

- Todd Lupton and Salah Sukkarieh, "Visual-Inertial-Aided Navigation for High-Dynamic Motion in Built Environments Without Initial Conditions", TRO, 28(1):61-76, 2012.
- Todd Lupton and Salah Sukkarieh, "Visual-Inertial-Aided Navigation for High-Dynamic Motion in Built Environments Without Initial Conditions", TRO, 28(1):61-76, 2012. [[link]](https://ieeexplore.ieee.org/document/6092505)

Our implementation improves on this using integration on the manifold, as detailed in

- Luca Carlone, Zsolt Kira, Chris Beall, Vadim Indelman, and Frank Dellaert, "Eliminating conditionally independent sets in factor graphs: a unifying perspective based on smart factors", Int. Conf. on Robotics and Automation (ICRA), 2014.
- Christian Forster, Luca Carlone, Frank Dellaert, and Davide Scaramuzza, "IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation", Robotics: Science and Systems (RSS), 2015.
- Luca Carlone, Zsolt Kira, Chris Beall, Vadim Indelman, and Frank Dellaert, "Eliminating conditionally independent sets in factor graphs: a unifying perspective based on smart factors", Int. Conf. on Robotics and Automation (ICRA), 2014. [[link]](https://ieeexplore.ieee.org/abstract/document/6907483)
- Christian Forster, Luca Carlone, Frank Dellaert, and Davide Scaramuzza, "IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation", Robotics: Science and Systems (RSS), 2015. [[link]](http://www.roboticsproceedings.org/rss11/p06.pdf)

If you are using the factor in academic work, please cite the publications above.

In GTSAM 4 a new and more efficient implementation, based on integrating on the NavState tangent space and detailed in docs/ImuFactor.pdf, is enabled by default. To switch to the RSS 2015 version, set the flag **GTSAM_TANGENT_PREINTEGRATION** to OFF.


Additional Information
----------------------
## Additional Information

There is a [`GTSAM users Google group`](https://groups.google.com/forum/#!forum/gtsam-users) for general discussion.

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2 changes: 1 addition & 1 deletion package.xml
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<?xml version="1.0"?>
<package format="2">
<name>gtsam</name>
<version>3.2.1</version>
<version>4.0.0</version>
<description>gtsam</description>

<maintainer email="[email protected]">Frank Dellaert</maintainer>
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