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GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networks as the underlying computing paradigm rather than sparse matrices.
| Date | Stars |
|---|---|
| 2026-07-24 | 3585 |
| 2026-07-25 | 3584 |
| 2026-07-28 | 3584 |
| 2026-07-30 | 3584 |
| 2026-08-06 | 3584 |
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# GTSAM: Georgia Tech Smoothing and Mapping Library
[](https://gtsam.org/doxygen/)
[](https://borglab.github.io/gtsam/)
<p align="center">
<picture>
<source media="(prefers-color-scheme: dark)" srcset="doc/images/gtsam-manifold-optimization-dark.png">
<source media="(prefers-color-scheme: light)" srcset="doc/images/gtsam-manifold-optimization-light.png">
<img alt="GTSAM is a manifold optimization library" src="doc/images/gtsam-manifold-optimization-light.png" width="100%">
</picture>
</p>
**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](https://github.com/borglab/gtsam/releases/tag/4.2) 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.
<!-- Main CI Badges (develop branch) -->
| CI Status | Platform | Compiler |
|:----------|:---------|:---------|
| [](https://github.com/borglab/gtsam/actions/workflows/build-python.yml?query=branch%3Adevelop) | Ubuntu 22.04, MacOS 13-14, Windows | gcc/clang,MSVC |
| [](https://github.com/borglab/gtsam/actions/workflows/vcpkg.yml?query=branch%3Adevelop) | Latest Windows/Ubuntu/Mac | - |
| [](https://github.com/borglab/gtsam/actions/workflows/build-cibw.yml?query=branch%3Adevelop) | See [pypi files](https://pypi.org/project/gtsam-develop/#files); no Windows| - |
On top of the C++ library, GTSAM includes [wrappers for MATLAB & Python](#wrappers).
## Documentation
- **C++ API Docs:** [https://gtsam.org/doxygen/](https://gtsam.org/doxygen/)
- **Python API Docs:** [https://borglab.github.io/gtsam/](https://borglab.github.io/gtsam/)
<!-- TODO: Perhaps include links to source code as well? But the wrappers doesn't really help too much understanding the source code.
C++: https://github.com/borglab/gtsam/tree/develop/gtsam
Matlab wrapper: https://github.com/borglab/gtsam/blob/develop/matlab/README.md
Python wrapper https://github.com/borglab/gtsam/blob/develop/python/README.md
-->
## Quickstart
In the root library folder execute:
```sh
#!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](http://www.cmake.org/cmake/resources/software.html) >= 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](http://www.boost.org/users/download/) >= 1.70
- Mac: `brew install boost`
- Ubuntu: `sudo apt-get install libboost-all-dev`
- Windows: We highly recommend using the [vcpkg](https://github.com/microsoft/vcpkg) package manager. For other installation methods or troubleshooting, please see the guidance in the [cmake/HandleBExcerpt of 8,956 characters
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matched fp:67a0e4ec4d283f2d, topic:robotics, desc:robotics, readme:robotics