Currently GTSAM but the goal is to work on the cmake so each individual estimators' dependencies won't mix (An EKF estimator doesn't need to rely on GTSAM)
we are using a fork of the develop branch of gtsam currently because it is what we got to work.
git clone https://github.gatech.edu/icarus/gtsam.git
cd gtsam
mkdir build && cd build
cmake ..
make -j8 # the -j command refers to how many CPU cores to use while compiling
mkdir build
cd build
cmake ..
make -j8 # the -j command refers to how many CPU cores to use while compiling