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GTSAM - Georgia Tech Smoothing and Mapping Library

MATLAB wrapper

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.


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Note about newer Ubuntu versions unsupported by MATLAB (later than 10.04)
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If you have a newer Ubuntu system, 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:

	/usr/local/MATLAB/[version]/sys/os/[system]/ 
	/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' 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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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:

>> cd /Users/yourname/toolbox  % Change to wherever you installed the toolbox
>> cd gtsam_examples           % Change to the examples directory
>> gtsamExamples               % Run the GTSAM examples GUI


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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:

>> cd /Users/yourname/toolbox  % Change to wherever you installed the toolbox
>> cd gtsam_tests              % Change to the examples directory
>> test_gtsam                  % Run the unit tests
Starting: testJacobianFactor
Starting: testKalmanFilter
Starting: testLocalizationExample
Starting: testOdometryExample
Starting: testPlanarSLAMExample
Starting: testPose2SLAMExample
Starting: testPose3SLAMExample
Starting: testSFMExample
Starting: testStereoVOExample
Starting: testVisualISAMExample
Tests complete!


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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.