Install GTSAM from Source
In the root library folder execute:
#!bash $ mkdir build $ cd build $ cmake .. $ make check (optional, runs unit tests) $ make install
- 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
Note you can manually install the package by following the instructions on the
or use an AUR helper like
(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.
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