GTSAM [1] packs a lot of functionality for robotics projects, including Kalman filters [2]. A product of GTech (Frank Dellaert), a pro is there are many cool pr

GTSAM [1] packs a lot of functionality for robotics projects, including Kalman filters [2]. A product of GTech (Frank Dellaert), a pro is there are many cool projects built on top of it [3], in C++ and Python. A con is GTSAM is not the cleanest, well-architected codebase (although far better than most products of academic labs). [1] https://bitbucket.org/gtborg/gtsam https://bitbucket.org/gtborg/gtsam [2] https://github.com/borglab/gtsam/tree/develop/examples#kalman-filter-exampleshttps://github.com/borglab/gtsam/tree/develop/examples#kalman-filter-examples https://github.com/borglab/gtsam/tree/develop/examples#kalma... [3] e.g., https://github.com/gtrll/piper https://github.com/gtrll/piper and https://github.com/gtrll/gpmp2 https://github.com/gtrll/gpmp2