For a hands-on mathematical introduction, start with Factor Graphs and GTSAM: A Hands-on Introduction.

For a broader treatment of factor graphs in robotics, see Factor graphs for robot perception by Frank Dellaert and Michael Kaess.

The current stable release is 4.2. The active development line is pre-4.3 and recent alpha releases follow that branch.

API and Wrapper Documentation

Detailed API documentation is available through:

• C++ API docs
• Python API docs

GTSAM also ships with Python and MATLAB wrappers. For build and packaging details, see the upstream wrapper READMEs:

• Python wrapper README
• MATLAB wrapper README

Notes on GTSAM

• GTSAM Concepts: manifolds, groups, Lie groups, vector spaces, and traits
• The Preintegrated IMU Factor: overview of GTSAM’s IMU handling scheme
• Migrating from GTSAM 3: highlights of the major GTSAM 4 changes
• Contributing to GTSAM: contribution workflow, review expectations, and coding conventions

Additional Information

There is a GTSAM users Google group for general discussion.