GTSAM  4.0.2
C++ library for smoothing and mapping (SAM)
Modules
Here is a list of all modules:
[detail level 12]
 Solving of sparse linear systems with least-squares
 Solving by multifrontal variable elimination (QR and Cholesky)
 Solving by sequential variable elimination (QR and Cholesky)
 BaseBinary tree
 GeometryThe most common 5DOF 3D->2D calibration
 Navigation
 SLAM
 ISAM2
 SAM
 SFM