Merged in feature/matlab-instructions (pull request #401)
Updated MATLAB instructions to help with potential linker issuesrelease/4.3a0
Varun Agrawal
Frank Dellaert
commit
94225862f8
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# GTSAM - Georgia Tech Smoothing and Mapping Library
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## MATLAB wrapper
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http://borg.cc.gatech.edu/projects/gtsam
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This is the GTSAM MATLAB toolbox, a MATLAB wrapper around the GTSAM C++ library. To build it, enable `GTSAM_INSTALL_MATLAB_TOOLBOX=ON` in CMake.
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The interface to the toolbox is generated automatically by the wrap
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tool which directly parses C++ header files. The tool generates matlab proxy objects together with all the native functions for wrapping and unwrapping scalar and non scalar types and objects. The interface generated by the wrap tool also redirects the standard output stream (cout) to matlab's console.
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## Ubuntu
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If you have a newer Ubuntu system (later than 10.04), you must make a small modification to your MATLAB installation, due to MATLAB being distributed with an old version of the C++ standard library. Delete or rename all files starting with `libstdc++` in your MATLAB installation directory, in paths:
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/usr/local/MATLAB/[version]/sys/os/[system]/
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/usr/local/MATLAB/[version]/bin/[system]/
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## Adding the toolbox to your MATLAB path
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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**).
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## Final setup on Linux
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MATLAB needs to know where the GTSAM shared object file (`libgtsam.so.4`) is so that it can link to it correctly.
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### System-wide
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If you installed GTSAM system-wide (e.g. with `sudo make install`), then simply run `sudo ldconfig`.
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### Custom Install
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If you have a custom install location, denoted by `<install-path>`, you need to update your `LD_LIBRARY_PATH` environment variable.
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```sh
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export LD_LIBRARY_PATH=<install-path>/gtsam:$LD_LIBRARY_PATH
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```
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### Linker issues
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If you compile the MATLAB toolbox and everything compiles smoothly, but when you run any MATLAB script, you get following error messages in MATLAB
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```
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Invalid MEX-file '/usr/local/gtsam_toolbox/gtsam_wrapper.mexa64':
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Missing symbol 'mexAtExit' required by '/usr/local/gtsam_toolbox/gtsam_wrapper.mexa64'
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Missing symbol 'mexCallMATLABWithObject' required by '/usr/local/gtsam_toolbox/gtsam_wrapper.mexa64'
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...
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```
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run following shell line
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```sh
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export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libstdc++.so.6
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```
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before you run MATLAB from the same shell.
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This mainly happens if you have GCC >= 5 and newer version MATLAB like R2017a.
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## Trying out the examples
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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:
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```matlab
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>> cd /Users/yourname/toolbox % Change to wherever you installed the toolbox
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>> cd gtsam_examples % Change to the examples directory
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>> gtsamExamples % Run the GTSAM examples GUI
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```
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## Running the unit tests
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The GTSAM MATLAB toolbox also has a small set of unit tests located in the gtsam_tests directory. Example:
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```matlab
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>> cd /Users/yourname/toolbox % Change to wherever you installed the toolbox
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>> cd gtsam_tests % Change to the examples directory
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>> test_gtsam % Run the unit tests
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Starting: testJacobianFactor
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Starting: testKalmanFilter
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Starting: testLocalizationExample
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Starting: testOdometryExample
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Starting: testPlanarSLAMExample
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Starting: testPose2SLAMExample
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Starting: testPose3SLAMExample
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Starting: testSFMExample
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Starting: testStereoVOExample
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Starting: testVisualISAMExample
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Tests complete!
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```
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## Writing your own code
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Coding for the GTSAM MATLAB toolbox is straightforward and very fast once you understand a few basic concepts! Please see the manual to get started.
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@ -1,82 +0,0 @@
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================================================================================
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GTSAM - Georgia Tech Smoothing and Mapping Library
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MATLAB wrapper
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http://borg.cc.gatech.edu/projects/gtsam
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================================================================================
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This is the GTSAM MATLAB toolbox, a MATLAB wrapper around the GTSAM C++
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library. To build it, enable GTSAM_INSTALL_MATLAB_TOOLBOX in CMake.
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The interface to the toolbox is generated automatically by the wrap
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tool which directly parses C++ header files. The tool generates matlab
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proxy objects together with all the native functions for wrapping and
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unwrapping scalar and non scalar types and objects. The interface
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generated by the wrap tool also redirects the standard output stream
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(cout) to matlab's console.
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----------------------------------------
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Note about newer Ubuntu versions unsupported by MATLAB (later than 10.04)
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----------------------------------------
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If you have a newer Ubuntu system, you must make a small modification to your
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MATLAB installation, due to MATLAB being distributed with an old version of
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the C++ standard library. Delete or rename all files starting with
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'libstdc++' in your MATLAB installation directory, in paths:
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/usr/local/MATLAB/[version]/sys/os/[system]/
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/usr/local/MATLAB/[version]/bin/[system]/
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----------------------------------------
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Adding the toolbox to your MATLAB path
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----------------------------------------
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To get started, first add the 'toolbox' folder to your MATLAB path - in the
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MATLAB file browser, right-click on the folder and click 'Add to path -> This
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folder' (do not add the subfolders to your path).
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----------------------------------------
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Trying out the examples
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----------------------------------------
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The examples are located in the 'gtsam_examples' subfolder. You may either
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run them individually at the MATLAB command line, or open the GTSAM example
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GUI by running 'gtsamExamples'. Example:
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>> cd /Users/yourname/toolbox % Change to wherever you installed the toolbox
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>> cd gtsam_examples % Change to the examples directory
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>> gtsamExamples % Run the GTSAM examples GUI
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----------------------------------------
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Running the unit tests
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----------------------------------------
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The GTSAM MATLAB toolbox also has a small set of unit tests located in the
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gtsam_tests directory. Example:
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>> cd /Users/yourname/toolbox % Change to wherever you installed the toolbox
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>> cd gtsam_tests % Change to the examples directory
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>> test_gtsam % Run the unit tests
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Starting: testJacobianFactor
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Starting: testKalmanFilter
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Starting: testLocalizationExample
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Starting: testOdometryExample
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Starting: testPlanarSLAMExample
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Starting: testPose2SLAMExample
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Starting: testPose3SLAMExample
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Starting: testSFMExample
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Starting: testStereoVOExample
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Starting: testVisualISAMExample
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Tests complete!
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----------------------------------------
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Writing your own code
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----------------------------------------
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Coding for the GTSAM MATLAB toolbox is straightforward and very fast once you
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understand a few basic concepts! Please see the manual to get started.
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