2012-08-31 02:10:07 +08:00
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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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2017-01-19 02:58:48 +08:00
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library. To build it, enable GTSAM_INSTALL_MATLAB_TOOLBOX in CMake.
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2012-08-31 02:10:07 +08:00
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2017-01-19 03:13:25 +08:00
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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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2012-08-31 02:10:07 +08:00
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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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