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BUILD_WINDOWS.md

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Build GTSAM and gtsam_gnss on Windows

Building GTSAM on Windows is a bit more complicated than on linux. In the environments I have tried, the computation speed is slower on Windows than on linux. Also, depending on the build environment, the mex file may output unknown errors. For this reason, I cannot guarantee that gtsam_gnss will work on Windows.

Test environments

  • Windows 11, 64bit
  • MATLAB 2024a

Requirement

Install pyparsing

pip install pyparsing

Install Boost

  1. Download Boost pre-built binaries from here
  2. Install Boost to any directory
  3. Add the following path to the Windows environment variable
    • BOOST_ROOT : path-to-install\boost_1_86_0

Build GTSAM

  1. Clone or download gtsam-4.3a

    • Due to the existence of build problems with the MATLAB wrapper, please use GTSAM from the above repository instead of the original GTSAM

  2. Launch x64 Native Tools Command Prompt for VS 2022 from the Windows start menu with administrative permissions.

cd path-to-install\gtsam-4.3a
cmake . -B build_windows -DGTSAM_BUILD_UNSTABLE=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DGTSAM_BUILD_TESTS=OFF -DGTSAM_INSTALL_MATLAB_TOOLBOX=ON -DGTSAM_WITH_TBB=OFF
cmake --build build_windows --config Release
cmake --install build_windows
  1. GTSAM and gtsam_toolbox is installed in C:\Program Files (x86)\GTSAM. Copy the DLL to the mex file (gtsam_wrapper.mexw64) directory.
copy "C:\Program Files (x86)\GTSAM\bin\*.dll" "C:\Program Files (x86)\GTSAM\gtsam_toolbox"

Build gtsam_gnss

  1. Clone or download gtsam_gnss
  2. Launch x64 Native Tools Command Prompt for VS 2022 from the Windows start menu with administrative permissions.
cd path-to-install\gtsam-gnss
cmake . -B build_windows
cmake --build build_windows --config Release
cmake --install build_windows
  1. gtsam_gnss is installed in C:\Program Files (x86)\GTSAM\gtsam_toolbox.
  2. Add the above path to your MATLAB search path.