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Published January 30, 2023 | Version 4.2a9
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borglab/gtsam: Release 4.2a9


This is hopefully the last 4.2 pre-release. I had planned to cut 4.2 this weekend but there were still apparently some issues with the wrapper when used in Georgia tech's CS 3630 course (325 students using GTSAM) and so I'd rather wait another week for these things to settle down. In the meantime, though, we needed a pre-release so %pip install gtbook works on Google Colab and installs 4.2a9 in the process. All works now, as evidenced at

The biggest changes are:

  • moved away from boost utilities to c++ initializers in all tests and examples.
  • a cleaned up and correctly working hybrid inference framework. Thanks @varunagrawal and @ProfFan !
  • template-magical NoiseModelFactorN which allows an arbitrary number of variables connected to factors. Thanks @gchenfc !
  • several important bug-fixes and edits, by many new contributors, listed below:
New Contributors Detailed Changes

Full Changelog:



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