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added instructions for performing linker setup to find libgtsam.so correctly

release/4.3a0
Varun Agrawal 2019-03-20 15:35:49 -04:00
parent 214b1208b1
commit 366bf54f45
1 changed files with 32 additions and 0 deletions
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matlab/README-gtsam-toolbox.md
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@ -21,6 +21,38 @@ If you have a newer Ubuntu system, you must make a small modification to your MA
To get started, first add the `toolbox` (or `gtsam_toolbox`) folder to your MATLAB path - in the MATLAB file browser, right-click on the folder and click 'Add to path -> This folder' (**do not add the subfolders to your path**).
## Final setup on Linux
MATLAB needs to know where the GTSAM shared object file (`libgtsam.so.4`) is so that it can link to it correctly.
### System-wide
If you installed GTSAM system-wide (e.g. with `sudo make install`), then simply run `sudo ldconfig`.
### Custom Install
If you have a custom install location, denoted by `<install-path>`, you need to update your `LD_LIBRARY_PATH` environment variable.
```sh
export LD_LIBRARY_PATH=<install-path>/gtsam:$LD_LIBRARY_PATH
```
### Linker issues
If you compile the Matlab toolbox and everything compiles smoothly, but when you run any Matlab script, you get following error messages in Matlab
```
Invalid MEX-file '/usr/local/gtsam_toolbox/gtsam_wrapper.mexa64':
Missing symbol 'mexAtExit' required by '/usr/local/gtsam_toolbox/gtsam_wrapper.mexa64'
Missing symbol 'mexCallMATLABWithObject' required by '/usr/local/gtsam_toolbox/gtsam_wrapper.mexa64'
...
```
run following shell line
```sh
export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libstdc++.so.6:/usr/lib/x86_64-linux-gnu/libprotobuf.so.9
```
before you run Matlab, or write this line in your `$HOME/.bashrc` so you don't have to type everytime before start Matlab. This mainly happens if you have GCC >= 5 and newer version Matlab like R2017a.
## Trying out the examples
The examples are located in the 'gtsam_examples' subfolder. You may either run them individually at the MATLAB command line, or open the GTSAM example GUI by running 'gtsamExamples'. Example: