h2jaafar/gtsam-tutorial

GTSAM hands on session based on the official tutorial

GTSAM-tutorial

GTSAM hands on session based on the official tutorial

Installation

Requirements: Boost (sudo apt-get install libboost-all-dev) CMake (sudo apt-get install cmake)

GTSAM from Ubuntu PPA:

# Add PPA
sudo add-apt-repository ppa:borglab/gtsam-develop
sudo apt update  # not necessary since Bionic
# Install:
sudo apt install libgtsam-dev libgtsam-unstable-dev

Or install from source (not recommended atm, takes ~20-30mins) GTSAM from Source

cd ~/
git clone https://github.com/borglab/gtsam.git
cd gtsam
mkdir build && cd build

If you have ROS:

cmake -DGTSAM_USE_SYSTEM_EIGEN=ON .. 
sudo make install

If you don't have ROS

cmake ..
sudo make install

Building GTSAM-tutorial

mkdir -p ~/projects/hands-on/
cd ~/projects/hands-on/
git clone https://github.com/husseinalijaafar/GTSAM-tutorial.git
mkdir build && cd build
cmake ..
make

Problems

If you encounter Eigen problems (although you probably wont) Try installing Eigen separately sudo apt install libeigen3-dev

References

This tutorial is basically a modified implementation of the GTSAM documentation tutorial, with added information and explanation. Please see the tutorial for the original content Factor Graphs and GTSAM