This repository contains code for a lightweight graph optimization library developed by GraphOptimization (Beijing), Inc..

Thanks for the gtsam's authors. We only keep the core functions and classes in gtsam.

1. Use templates as few as possible.
2. No boost libraries are used.
3. No traits.
4. No smart pointers.

1. gcc compiler version:5.4.0 20160609 (Ubuntu 5.4.0-6ubuntu1~16.04.11)

2. Cmake above version 2.6

3. eigen3

1. Clone the project to your local.

   git clone https://github.com/shaolinbit/minisam_lib.git

2. run the commands:

  cd minisam_lib
  mkdir build
  cd build
  cmake ..
  sudo make install

Only Ubuntu is supported. For other platforms, you can contact with us.

If you have any demands, propose an issue at github or email to [email protected].

Phone Number: +86-138-1060-7681

Wechat Number: shaolin_bit