We are pleased to announce GTSAM 2.2.0!  Notable changes from 2.1.0 include:

• Orders-of-magnitude speedup in computing single-variable marginals.
• Reverted to basic method for computing multiple-variable joint marginals due to occasional information duplication problem.
• Revamp of the GTSAM timing library - code instrumentation and bookkeeping to produce outlines for timing and profiling.

Information and DownloadDetailed Changelist

We welcome your feedback and questions at gtsam@lists.gatech.edu.