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

Fastest Start: Python Package

If you want the easiest way to try GTSAM, install the Python package:

pip install gtsam

For the newest development build:

pip install gtsam-develop

This works well in local Python environments and in Google Colab.

Build from Source

Clone the source from the GTSAM GitHub repository:

git clone https://github.com/borglab/gtsam.git
cd gtsam

Quickstart

In the root library folder execute:

cmake -S . -B build
cmake --build build --target check
cmake --build build --target install

The check target is optional, but recommended when validating a local build.

Requirements

  • A modern compiler:
    • Linux: at least clang-11 or gcc-9
    • macOS: at least Xcode 14.2
    • Windows: at least MSVC 14.2
  • CMake >= 3.10

Ubuntu package:

sudo apt-get install cmake

Optional Boost Dependency

Boost is now optional and only needed when either of these flags is enabled:

  • GTSAM_USE_BOOST_FEATURES
  • GTSAM_ENABLE_BOOST_SERIALIZATION

If you need Boost, install version 1.70 or newer:

  • Ubuntu: sudo apt-get install libboost-all-dev
  • macOS: brew install boost
  • Windows: prefer vcpkg

Optional Dependencies

For more build flags and platform notes, see the Build page.

Ubuntu Packages and PPAs

Ubuntu users can also use the BorgLab Launchpad archives:

For the most current configuration options, source builds are still the safest path.

Arch Linux

GTSAM is available in the AUR.

yay -S gtsam

For Intel-accelerated builds:

yay -S gtsam-mkl

Conda-forge

Community-maintained GTSAM packages are available from conda-forge for Linux, macOS, and Windows. These packages are not tested by the GTSAM developers.

Install the gtsam package with your preferred conda-compatible package manager:

conda install -c conda-forge gtsam
mamba install -c conda-forge gtsam
micromamba install -c conda-forge gtsam

If you need a package manager, see the micromamba installation guide. It recommends this installer for Linux, macOS, and Git Bash on Windows:

"${SHELL}" <(curl -L micro.mamba.pm/install.sh)

For Windows PowerShell, use:

Invoke-Expression ((Invoke-WebRequest -Uri https://micro.mamba.pm/install.ps1).Content)

Wrappers

GTSAM also ships with Python and MATLAB wrappers: