install

sudo add-apt-repository ppa:borglab/gtsam-release-4.0
sudo apt install libgtsam-dev libgtsam-unstable-dev

qa

  1. 遇到错误
Thrown when a linear system is ill-posed. The most common cause for this erro is having underconstrained varible.

可能的错误原因

  • 检查key的格式,递增是否正确
  • 检查noise model是否设置正确
  • pose发生了很大变化,一般是位姿设置正确造成的