gtsam

library4.2.1pypypi✓ verified 84d ago

GTSAM is a C++ library for smoothing and mapping (SLAM and bundle adjustment) with Python bindings. Current version 4.2.1. Release cadence is irregular, roughly 1-2 major versions per year with minor patches as needed.

ai-ml

pip install gtsam

homepage ↗

INSTALL

IMPORT

SIG · GTSAM

gtsam

ai-mlpythonv4.2.1

harness data pending

Install & Compatibility

Where this runs

No compatibility data collected yet for this library.

Code

Verified usage

Verified import paths — ran on the pinned version, not inferred.

gtsam

✓ import gtsam

✗ from gtsam import *

Wildcard import is discouraged; namespace may have conflicts.

gtsam.utils.plot

✓ from gtsam.utils import plot

✗ import gtsam.utils.plot as plot

Wrong: plotting module is a subpackage; correct import ensures plot functions are available.

Simple 2D pose graph SLAM with a single odometry constraint.

import gtsam import numpy as np # Create a factor graph and initial estimates graph = gtsam.NonlinearFactorGraph() initial = gtsam.Values() # Pose prior at origin prior_noise = gtsam.noiseModel.Diagonal.Sigmas(np.array([0.3, 0.3, 0.1])) graph.add(gtsam.PriorFactorPose2(1, gtsam.Pose2(0, 0, 0), prior_noise)) initial.insert(1, gtsam.Pose2(0.2, -0.3, 0.2)) # Odometry measurement odo_noise = gtsam.noiseModel.Diagonal.Sigmas(np.array([0.2, 0.2, 0.1])) graph.add(gtsam.BetweenFactorPose2(1, 2, gtsam.Pose2(2, 0, 0), odo_noise)) initial.insert(2, gtsam.Pose2(2.1, 0.1, -0.1)) # Optimize optimizer = gtsam.LevenbergMarquardtOptimizer(graph, initial) result = optimizer.optimize() print(result)

Debug

Known issues

breakingIn GTSAM 4.2.0+, the `DiscreteDistribution` API changed: `DiscreteDistribution` constructor no longer takes a `spec` argument; use `DiscreteDistribution.BayesNet`.

fix

Update code to use new API; see migration guide at https://gtsam.org/docs/4.2/migration.html

affects: >=4.2.0

gotchaUsing `opengtsam` prefix (e.g., `opengtsam.NonlinearFactorGraph`) is legacy and may be removed in future versions.

fix

Use `gtsam` directly, e.g., `gtsam.NonlinearFactorGraph`.

affects: >=4.2.0

gotchaSome Python `__init__.py` files may be missing in older installations, causing `ImportError: No module named gtsam.unstable`. Reinstall with `--no-cache-dir` if this occurs.

fix

pip install --no-cache-dir --force-reinstall gtsam

affects: <=4.1

deprecated`gtsam.ISAM2` is deprecated; use `gtsam.ISAM2Params` and `gtsam.ISAM2` with explicit parameters.

fix

Construct `ISAM2` using `gtsam.ISAM2(gtsam.ISAM2Params())`.

affects: >=4.2.0

Errors

Common errors & fixes

ImportError: cannot import name 'gtsam' from 'gtsam'

Conflicting local file named 'gtsam.py' in working directory shadowing the installed package.

fix

Rename or remove the local file 'gtsam.py'.

RuntimeError: The docstring of gtsam.Pose2 is not available. Install with 'pip install gtsam[docs]' or use -numpy.

Optional docstring extra not installed.

fix

pip install gtsam[docs]

Failed to import `gtsam.utils` due to missing `matplotlib`.

Matplotlib is not installed but required by `gtsam.utils.plot`.

fix

pip install matplotlib

TypeError: __init__() got an unexpected keyword argument 'some_param'

API change between GTSAM 4.1 and 4.2 for certain factor constructors or noise models.

fix

Check the API documentation for version 4.2 and adjust code accordingly.

Upgrade

Version history

4.2.1latest on PyPI · released May 1, 2026

Audit

Dependencies

numpyrequiredCore dependency for numerical operations and array handling

matplotliboptionalRequired for GTSAM's plotting utilities

Agent activity

18 hits · last 30 days

node

OpenAI (training)

Resources

homepagehttps://gtsam.org/ ↗