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GTSAM 4.0.3 Release
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@ProfFan ProfFan released this 22 Jul 16:40
4.0.3
6425000

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.

Important New Features & Bugfixes

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:

  • Robust noise model is ready for general usage
    • It can be used to replace RANSAC for some applications
    • For a gentle introduction, see this awesome tutorial by Varun Agrawal
  • CombinedImuFactor serialization is now fixed
  • The ISAM2 KITTI example has a C++ port, thanks Thomas Jespersen for the help!
  • Now you can choose arbitrary MATLAB install prefix for the toolbox build
  • Now you can make python-install to install the Python toolbox
  • Now you can use the Conjugate Gradient solver in Python
  • Now you can install GTSAM with pip if you only use the Python interface
  • Added FrobeniusFactor and FrobeniusWormholeFactor for robust SFM applications
  • Switched to in-place update of the diagonal Hessian in LM
    • expect a 3%-5% speedup, YMMV
  • The Cython wrapper now can be built on Windows :)
    • Kudos @tuwuhs for the help!
  • Fixed a few memory-related bugs detected by the LLVM sanitizer
    • Greatly improved stability
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