Pre-release

This release is a pre-release and may not be stable for production use.

GTSAM: Georgia Tech Smoothing and Mapping Library

C++ API Docs

GTSAM manifold optimization workflow: build a factor graph, linearize and solve in tangent spaces, retract to manifolds, and iterate to convergence.

Important Note

The develop branch is officially in "Pre 4.3" mode. We envision several API-breaking changes as we switch to C++17 and away from boost.

In addition, features deprecated in 4.2 will be removed. Please use the stable 4.2 release if you need those features. However, most are easily converted and can be tracked down (in 4.2) by disabling the cmake flag GTSAM_ALLOW_DEPRECATED_SINCE_V42.

What is GTSAM?

GTSAM is a C++ library that implements smoothing and mapping (SAM) in robotics and vision, using Factor Graphs and Bayes Networks as the underlying computing paradigm rather than sparse matrices.

CI Status Platform Compiler
Python CI Ubuntu 22.04, MacOS 13-14, Windows gcc/clang,MSVC
vcpkg Latest Windows/Ubuntu/Mac -
Build Wheels for Develop See pypi files; no Windows -

On top of the C++ library, GTSAM includes wrappers for MATLAB & Python.

Documentation

Quickstart

In the root library folder execute:

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

Prerequisites:

  • A modern compiler:
    • Mac: at least xcode-14.2
    • Linux: at least clang-11 or gcc-9
    • Windows: at least msvc-14.2
  • CMake >= 3.16
    • Ubuntu: sudo apt-get install cmake

Optional Boost prerequisite:

Boost is now optional. Two cmake flags govern its behavior:

  • GTSAM_USE_BOOST_FEATURES = ON|OFF: some of our timers and concept checking in the tests still depend on boost.
  • GTSAM_ENABLE_BOOST_SERIALIZATION = ON|OFF: serialization of factor graphs, factors, etc still is done using boost

If one or both of these flags are ON, you need to install Boost >= 1.70 - Mac: brew install boost - Ubuntu: sudo apt-get install libboost-all-dev - Windows: We highly recommend using the vcpkg package manager. For other installation methods or troubleshooting, please see the guidance in the cmake/HandleBoost.cmake script.

Optional prerequisites - used automatically if findable by CMake:

GTSAM 4 Compatibility

GTSAM 4 introduces several new features, most notably Expressions and a Python toolbox. It also introduces traits, a C++ technique that allows optimizing with non-GTSAM types. That opens the door to retiring geometric types such as Point2 and Point3 to pure Eigen types, which we also do. A significant change which will not trigger a compile error is that zero-initializing of Point2 and Point3 is deprecated, so please be aware that this might render functions using their default constructor incorrect.

There is a flag GTSAM_ALLOW_DEPRECATED_SINCE_V43 for newly deprecated methods since the 4.3 release, which is on by default, allowing anyone to just pull version 4.3 and compile.

Wrappers

We provide support for MATLAB and Python wrappers for GTSAM. Please refer to the linked documents for more details.

Citation

If you are using GTSAM for academic work, please use the following citation:

@software{gtsam,
  author       = {Frank Dellaert and GTSAM Contributors},
  title        = {borglab/gtsam},
  month        = May,
  year         = 2022,
  publisher    = {Georgia Tech Borg Lab},
  version      = {4.2a8},
  doi          = {10.5281/zenodo.5794541},
  url          = {https://github.com/borglab/gtsam)}}
}

To cite the Factor Graphs for Robot Perception book, please use:

@book{factor_graphs_for_robot_perception,
    author={Frank Dellaert and Michael Kaess},
    year={2017},
    title={Factor Graphs for Robot Perception},
    publisher={Foundations and Trends in Robotics, Vol. 6},
    url={http://www.cs.cmu.edu/~kaess/pub/Dellaert17fnt.pdf}
}

If you are using the IMU preintegration scheme, please cite:

@book{imu_preintegration,
    author={Christian Forster and Luca Carlone and Frank Dellaert and Davide Scaramuzza},
    title={IMU preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation},
    year={2015}
}

The Preintegrated IMU Factor

GTSAM includes a state of the art IMU handling scheme based on

  • Todd Lupton and Salah Sukkarieh, "Visual-Inertial-Aided Navigation for High-Dynamic Motion in Built Environments Without Initial Conditions", TRO, 28(1):61-76, 2012. [link]

Our implementation improves on this using integration on the manifold, as detailed in

  • Luca Carlone, Zsolt Kira, Chris Beall, Vadim Indelman, and Frank Dellaert, "Eliminating conditionally independent sets in factor graphs: a unifying perspective based on smart factors", Int. Conf. on Robotics and Automation (ICRA), 2014. [link]
  • Christian Forster, Luca Carlone, Frank Dellaert, and Davide Scaramuzza, "IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation", Robotics: Science and Systems (RSS), 2015. [link]

If you are using the factor in academic work, please cite the publications above.

In GTSAM 4 a new and more efficient implementation, based on integrating on the NavState tangent space and detailed in this document, is enabled by default. To switch to the RSS 2015 version, set the flag GTSAM_TANGENT_PREINTEGRATION to OFF.

Additional Information

There is a GTSAM users Google group for general discussion.

Read about important GTSAM-Concepts here. A primer on GTSAM Expressions, which support (superfast) automatic differentiation, can be found on the GTSAM wiki on BitBucket.

See the INSTALL file for more detailed installation instructions. Our CI/CD process is detailed in workflows.md.

GTSAM is open source under the BSD license, see the LICENSE and LICENSE.BSD files.

Please see the examples/ directory and the USAGE file for examples on how to use GTSAM.

GTSAM was developed in the lab of Frank Dellaert at the Georgia Institute of Technology, with the help of many contributors over the years, see THANKS.

Project links

Key dates

PyPI data
Data sourced directly from PyPI's database.
  • Released:
Newer release available (4.3a2.dev202608161900)

3 maintainers

PyPI data
Data sourced directly from PyPI's database.
Avatar for dellaert from gravatar.com dellaert Avatar for gtsam-cleanup from gravatar.com gtsam-cleanup Avatar for yambati3 from gravatar.com yambati3

Credits

Author: Frank Dellaert et. al.

License

BSD License (Simplified BSD license)

Tags

slam sam robotics localization mapping optimization

Classifiers

Report project as malware

Download files

Download the file for your platform. If you're not sure which to choose, learn more about installing packages.

Source Distributions

No source distribution files available for this release.See tutorial on generating distribution archives.

Built Distributions

If you're not sure about the file name format, learn more about wheel file names.

gtsam_develop-4.3a2.dev202608141208-cp314-cp314-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl (33.7 MB view details)

Uploaded CPython 3.14manylinux: glibc 2.27+ x86-64manylinux: glibc 2.28+ x86-64

gtsam_develop-4.3a2.dev202608141208-cp314-cp314-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl (32.4 MB view details)

Uploaded CPython 3.14manylinux: glibc 2.27+ ARM64manylinux: glibc 2.28+ ARM64

gtsam_develop-4.3a2.dev202608141208-cp314-cp314-macosx_10_15_universal2.whl (45.8 MB view details)

Uploaded CPython 3.14macOS 10.15+ universal2 (ARM64, x86-64)

gtsam_develop-4.3a2.dev202608141208-cp313-cp313-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl (33.7 MB view details)

Uploaded CPython 3.13manylinux: glibc 2.27+ x86-64manylinux: glibc 2.28+ x86-64

gtsam_develop-4.3a2.dev202608141208-cp313-cp313-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl (32.4 MB view details)

Uploaded CPython 3.13manylinux: glibc 2.27+ ARM64manylinux: glibc 2.28+ ARM64

gtsam_develop-4.3a2.dev202608141208-cp313-cp313-macosx_10_15_universal2.whl (45.8 MB view details)

Uploaded CPython 3.13macOS 10.15+ universal2 (ARM64, x86-64)

gtsam_develop-4.3a2.dev202608141208-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl (33.7 MB view details)

Uploaded CPython 3.12manylinux: glibc 2.27+ x86-64manylinux: glibc 2.28+ x86-64

gtsam_develop-4.3a2.dev202608141208-cp312-cp312-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl (32.4 MB view details)

Uploaded CPython 3.12manylinux: glibc 2.27+ ARM64manylinux: glibc 2.28+ ARM64

gtsam_develop-4.3a2.dev202608141208-cp312-cp312-macosx_10_15_universal2.whl (45.8 MB view details)

Uploaded CPython 3.12macOS 10.15+ universal2 (ARM64, x86-64)

gtsam_develop-4.3a2.dev202608141208-cp311-cp311-manylinux2014_x86_64.manylinux_2_17_x86_64.whl (33.6 MB view details)

Uploaded CPython 3.11manylinux: glibc 2.17+ x86-64

gtsam_develop-4.3a2.dev202608141208-cp311-cp311-manylinux2014_aarch64.manylinux_2_17_aarch64.whl (31.9 MB view details)

Uploaded CPython 3.11manylinux: glibc 2.17+ ARM64

gtsam_develop-4.3a2.dev202608141208-cp311-cp311-macosx_10_15_universal2.whl (45.6 MB view details)

Uploaded CPython 3.11macOS 10.15+ universal2 (ARM64, x86-64)

File details

Details for the file gtsam_develop-4.3a2.dev202608141208-cp314-cp314-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl.

File metadata

File hashes

Hashes for gtsam_develop-4.3a2.dev202608141208-cp314-cp314-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
Algorithm Hash digest
SHA256 538f656be33f088d189ee2509015e2cac2f91c9f6208cab95fed2f07f6b950ea
MD5 37dcf18d14a61903de49fbd0266b1ab2
BLAKE2b-256 f04e5600ce7e8a9e52b457d8e5fa78a1739cb7834ed903810b235e75d4655078

See more details on using hashes here.

Provenance

The following attestation bundles were made for gtsam_develop-4.3a2.dev202608141208-cp314-cp314-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl:

Publisher: build-cibw.yml on borglab/gtsam

Attestations: Values shown here reflect the state when the release was signed and may no longer be current.

File details

Details for the file gtsam_develop-4.3a2.dev202608141208-cp314-cp314-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl.

File metadata

File hashes

Hashes for gtsam_develop-4.3a2.dev202608141208-cp314-cp314-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl
Algorithm Hash digest
SHA256 fdb55f928bcf432b213c83154d5a02120ea0ebbeb31b1576e845c4894eb65518
MD5 6e77103b01e3a9ef0f2649ba60be5c7b
BLAKE2b-256 c11eae983a9becc5b195d837eaee6db4d843123e675cafbbdf7db671560c0bdb

See more details on using hashes here.

Provenance

The following attestation bundles were made for gtsam_develop-4.3a2.dev202608141208-cp314-cp314-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl:

Publisher: build-cibw.yml on borglab/gtsam

Attestations: Values shown here reflect the state when the release was signed and may no longer be current.

File details

Details for the file gtsam_develop-4.3a2.dev202608141208-cp314-cp314-macosx_10_15_universal2.whl.

File metadata

File hashes

Hashes for gtsam_develop-4.3a2.dev202608141208-cp314-cp314-macosx_10_15_universal2.whl
Algorithm Hash digest
SHA256 72c7ef46ec118cc55e885f62d37d9f57b05b30935c4852413cd4fecc60dc5520
MD5 b7a59c4a8a505c8b7b0edb6275b6f3d3
BLAKE2b-256 c2b6f4e1865569e39bed88117cef4147eff07ad3510beff37bbd7e06033672cb

See more details on using hashes here.

Provenance

The following attestation bundles were made for gtsam_develop-4.3a2.dev202608141208-cp314-cp314-macosx_10_15_universal2.whl:

Publisher: build-cibw.yml on borglab/gtsam

Attestations: Values shown here reflect the state when the release was signed and may no longer be current.

File details

Details for the file gtsam_develop-4.3a2.dev202608141208-cp313-cp313-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl.

File metadata

File hashes

Hashes for gtsam_develop-4.3a2.dev202608141208-cp313-cp313-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
Algorithm Hash digest
SHA256 e37aefb7e76841688fdc46c8ec32e774681bfd5282373993e7926420d88db708
MD5 a548e76163c595f152e880decf8c0556
BLAKE2b-256 845041d5af676e1ba82a89ce40e4601b4e5cbc0d003bbe21a9f25088cda3c7a6

See more details on using hashes here.

Provenance

The following attestation bundles were made for gtsam_develop-4.3a2.dev202608141208-cp313-cp313-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl:

Publisher: build-cibw.yml on borglab/gtsam

Attestations: Values shown here reflect the state when the release was signed and may no longer be current.

File details

Details for the file gtsam_develop-4.3a2.dev202608141208-cp313-cp313-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl.

File metadata

File hashes

Hashes for gtsam_develop-4.3a2.dev202608141208-cp313-cp313-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl
Algorithm Hash digest
SHA256 0a6c8c518048e2217f65e03f4c64450b0060fd919ecf9a785730b1fff6884ae5
MD5 74f0c5c797e3bc50906f60c212ea58d2
BLAKE2b-256 fb4142f41dfef692c02f31e7869f5345d23d220b1d7e2f2602f227e250191107

See more details on using hashes here.

Provenance

The following attestation bundles were made for gtsam_develop-4.3a2.dev202608141208-cp313-cp313-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl:

Publisher: build-cibw.yml on borglab/gtsam

Attestations: Values shown here reflect the state when the release was signed and may no longer be current.

File details

Details for the file gtsam_develop-4.3a2.dev202608141208-cp313-cp313-macosx_10_15_universal2.whl.

File metadata

File hashes

Hashes for gtsam_develop-4.3a2.dev202608141208-cp313-cp313-macosx_10_15_universal2.whl
Algorithm Hash digest
SHA256 e59f1aefc3871ee55de7ec8f046241045470201ec13d281ceeced01ca8d2edc0
MD5 0b1423ef0d3191c4fa22f0ed61991e44
BLAKE2b-256 6b5afe087e92631df187a88fbed13b47496bba8eb831568b14a6512edd549457

See more details on using hashes here.

Provenance

The following attestation bundles were made for gtsam_develop-4.3a2.dev202608141208-cp313-cp313-macosx_10_15_universal2.whl:

Publisher: build-cibw.yml on borglab/gtsam

Attestations: Values shown here reflect the state when the release was signed and may no longer be current.

File details

Details for the file gtsam_develop-4.3a2.dev202608141208-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl.

File metadata

File hashes

Hashes for gtsam_develop-4.3a2.dev202608141208-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
Algorithm Hash digest
SHA256 9411a75ed8197525f07f167628e643794da37a91fd89e4b790d44f228f2ab470
MD5 891e449fd58332e8025d3a44549d945b
BLAKE2b-256 b0cf98e00cfeb5d55a00585894726d6abbb7eca2bad7c4dca493ccd6cda0fe40

See more details on using hashes here.

Provenance

The following attestation bundles were made for gtsam_develop-4.3a2.dev202608141208-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl:

Publisher: build-cibw.yml on borglab/gtsam

Attestations: Values shown here reflect the state when the release was signed and may no longer be current.

File details

Details for the file gtsam_develop-4.3a2.dev202608141208-cp312-cp312-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl.

File metadata

File hashes

Hashes for gtsam_develop-4.3a2.dev202608141208-cp312-cp312-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl
Algorithm Hash digest
SHA256 07cc8c41f425c4a708aed8a10dafb0a16b07f90fe7ca6d5ddde6a6e5dc727802
MD5 3f9274aead23e654a0354b045b8fc224
BLAKE2b-256 859adfe88a1641a4cc162119b961932bf74b76520452b1cfd391ae32bd4c1fae

See more details on using hashes here.

Provenance

The following attestation bundles were made for gtsam_develop-4.3a2.dev202608141208-cp312-cp312-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl:

Publisher: build-cibw.yml on borglab/gtsam

Attestations: Values shown here reflect the state when the release was signed and may no longer be current.

File details

Details for the file gtsam_develop-4.3a2.dev202608141208-cp312-cp312-macosx_10_15_universal2.whl.

File metadata

File hashes

Hashes for gtsam_develop-4.3a2.dev202608141208-cp312-cp312-macosx_10_15_universal2.whl
Algorithm Hash digest
SHA256 c3275ebbf82c6c4826a9f41d657b934934cbe45383e7273ea56ed58d42aa04cf
MD5 17dd5661b6483f96fa2cdf06e8ce8be2
BLAKE2b-256 c21fe2cc267af554d9fed58f269482ffd178f743968e3f931e041a4c3c9019be

See more details on using hashes here.

Provenance

The following attestation bundles were made for gtsam_develop-4.3a2.dev202608141208-cp312-cp312-macosx_10_15_universal2.whl:

Publisher: build-cibw.yml on borglab/gtsam

Attestations: Values shown here reflect the state when the release was signed and may no longer be current.

File details

Details for the file gtsam_develop-4.3a2.dev202608141208-cp311-cp311-manylinux2014_x86_64.manylinux_2_17_x86_64.whl.

File metadata

File hashes

Hashes for gtsam_develop-4.3a2.dev202608141208-cp311-cp311-manylinux2014_x86_64.manylinux_2_17_x86_64.whl
Algorithm Hash digest
SHA256 3beede46f32c8d1e217688e7ea211300bf549b14eb8ba9b7e9693f07b4414268
MD5 2635653c5da31e3105cdc70c257fc343
BLAKE2b-256 87689e08abbc09f8649a9c0f8526c3480463372b5c7ae00d3eb19684789036ca

See more details on using hashes here.

Provenance

The following attestation bundles were made for gtsam_develop-4.3a2.dev202608141208-cp311-cp311-manylinux2014_x86_64.manylinux_2_17_x86_64.whl:

Publisher: build-cibw.yml on borglab/gtsam

Attestations: Values shown here reflect the state when the release was signed and may no longer be current.

File details

Details for the file gtsam_develop-4.3a2.dev202608141208-cp311-cp311-manylinux2014_aarch64.manylinux_2_17_aarch64.whl.

File metadata

File hashes

Hashes for gtsam_develop-4.3a2.dev202608141208-cp311-cp311-manylinux2014_aarch64.manylinux_2_17_aarch64.whl
Algorithm Hash digest
SHA256 26a2041635a125fe7f0ccab1ee6d0d163f3394c98b7a2754dd60888c84aeb00f
MD5 83795b5adf194c0812d9ad7fa7331f55
BLAKE2b-256 4afe122589f7058413b351484802ba27e4f6028d3c0d6462076565655d1f399e

See more details on using hashes here.

Provenance

The following attestation bundles were made for gtsam_develop-4.3a2.dev202608141208-cp311-cp311-manylinux2014_aarch64.manylinux_2_17_aarch64.whl:

Publisher: build-cibw.yml on borglab/gtsam

Attestations: Values shown here reflect the state when the release was signed and may no longer be current.

File details

Details for the file gtsam_develop-4.3a2.dev202608141208-cp311-cp311-macosx_10_15_universal2.whl.

File metadata

File hashes

Hashes for gtsam_develop-4.3a2.dev202608141208-cp311-cp311-macosx_10_15_universal2.whl
Algorithm Hash digest
SHA256 e67e40eef683f043c6b1222905c1125a66ebfabcc0671e331a62cd8623f6458a
MD5 90df4f9f2f517d67b6b6dfc9424b4e0c
BLAKE2b-256 cfae91fbd35cde196a8732df1277b31f5497e8b308d073166b5a7e7ebf4d1bfc

See more details on using hashes here.

Provenance

The following attestation bundles were made for gtsam_develop-4.3a2.dev202608141208-cp311-cp311-macosx_10_15_universal2.whl:

Publisher: build-cibw.yml on borglab/gtsam

Attestations: Values shown here reflect the state when the release was signed and may no longer be current.

Supported by

AWS Cloud computing and Security Sponsor Datadog Monitoring Depot Continuous Integration Fastly CDN Google Download Analytics Sentry Error logging StatusPage Status page