Get Started

Install GTSAM from Source

Quickstart

In the root library folder execute:

#!bash
$ mkdir build
$ cd build
$ cmake ..
$ make check (optional, runs unit tests)
$ make install

Prerequisites:

Boost >= 1.43 (Ubuntu: sudo apt-get install libboost-all-dev)
CMake >= 3.0 (Ubuntu: sudo apt-get install cmake)
A modern compiler, i.e., at least gcc 4.7.3 on Linux.

Optional prerequisites - used automatically if findable by CMake:

Intel Threaded Building Blocks (TBB) (Ubuntu: sudo apt-get install libtbb-dev)
Intel Math Kernel Library (MKL) (Ubuntu: installing using APT)
- See Build for more installation information
- Note that MKL may not provide a speedup in all cases. Make sure to benchmark your problem with and without MKL.

Install GTSAM from Ubuntu PPA

GTSAM can be installed on Ubuntu via these PPA repositories as well. At present (Nov 2020), packages for Xenial (u16.04), Bionic (u18.04), and Focal (u20.04) are published.

Add PPA for GTSAM nightly builds (develop branch)

# Add PPA
sudo add-apt-repository ppa:borglab/gtsam-develop
sudo apt update  # not necessary since Bionic
# Install:
sudo apt install libgtsam-dev libgtsam-unstable-dev

Add PPA for the latest GTSAM 4.x stable release

# Add PPA
sudo add-apt-repository ppa:borglab/gtsam-release-4.0
sudo apt update  # not necessary since Bionic
# Install:
sudo apt install libgtsam-dev libgtsam-unstable-dev

Install GTSAM from Arch Linux AUR

Note: Installing GTSAM on Arch Linux is not tested by the GTSAM developers.

GTSAM is available in the Arch User Repository (AUR) as gtsam.

Note you can manually install the package by following the instructions on the Arch Wiki or use an AUR helper like yay (recommended for ease of install).

It is also recommended to use the arch4edu repository. They are hosting many packages related to education and research, including robotics such as ROS. Adding a repository allows for you to install binaries of packages, instead of compiling them from source. This will greatly speed up your installation time. Visit here to add and use arch4edu.

Install GTSAM

yay -S gtsam

Install GTSAM with Intel Accelerations

yay -S gtsam-mkl

To discuss any issues related to this package refer to the comments section on the AUR page of gtsam here.