GTSAM的Matlab Toolbox安装，遇到的问题及解决方案

系统：ubuntu22.04

matlab版本：R2024a

GTSAM版本： 4.2.0

1.流程及cmake选项

bash 复制代码

cd gtsam_ws/gtsam

mkdir build

cd build

cmake .. \
    -DGTSAM_INSTALL_MATLAB_TOOLBOX=ON \    
    -DGTSAM_USE_SYSTEM_EIGEN=ON \
    -DGTSAM_BUILD_UNSTABLE=OFF \
    -DGTSAM_BUILD_TESTS=OFF \
    -DCMAKE_BUILD_TYPE=Release \
    -DMatlab_ROOT_DIR=/usr/local/MATLAB/R2024a 

make -j6

sudo make install

中间有一些选项是为了加快编译速度/避免报错，可以不用，把最后的地址替换为自己MATLAB的安装目录即可。

2.加入到MATLAB路径

到这里已经获得了GTSAM的Matlab Toolbox，找到安装目录如 usr/local/gtsam_toolbox，在 MATLAB 文件浏览器中，右键点击该文件夹，点击"添加到路径 -> 此文件夹"（注意不要将子文件夹添加到路径中）。

3.简单测试

Matlab 复制代码

>> import gtsam.*
>> gtsam.Rot3.Ypr(0.1, 0.2, 0.3)

输出为：

Matlab 复制代码

R: [
	0.975170327, -0.0369570135, 0.218350663;
	0.097843395, 0.956425086, -0.275095847;
	-0.198669331, 0.289629478, 0.936293364
]

附：make中出现的问题

/usr/include/boost/smart_ptr/make_shared_object.hpp:256:5: error: no matching function for call to 'std::pair<gtsam::DiscreteConditional, gtsam::DecisionTreeFactor>::pair(std::pair<boost::shared_ptr<gtsam::DiscreteConditional>, boost::shared_ptr<gtsam::DecisionTreeFactor> >)'
256 | ::new( pv ) T( boost::detail::sp_forward<Args>( args )... );

| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

In file included from /usr/include/c++/11/bits/stl_algobase.h:64,

from /usr/include/c++/11/bits/char_traits.h:39,

from /usr/include/c++/11/string:40,

from /usr/include/c++/11/bits/locale_classes.h:40,

from /usr/include/c++/11/bits/ios_base.h:41,

from /usr/include/c++/11/streambuf:41,

from /usr/include/c++/11/bits/streambuf_iterator.h:35,

from /usr/include/c++/11/iterator:66,

from /usr/include/boost/concept_check.hpp:22,

from /usr/include/boost/range/concepts.hpp:19,

from /home/zcy/gtsam_ws/gtsam/gtsam/base/types.h:24,

from /home/zcy/gtsam_ws/gtsam/gtsam/global_includes.h:22,

from /home/zcy/gtsam_ws/gtsam/gtsam/base/Vector.h:28,

from /home/zcy/gtsam_ws/gtsam/wrap/matlab.h:25,

from /home/zcy/gtsam_ws/gtsam/build/wrap/gtsam/gtsam_wrapper.cpp:1:

开始直接问AI，半天解决不了，最后还是到github上找到了以前有人提过这个问题，链接如下：

https://github.com/borglab/gtsam/issues/1614

解决方法：

https://github.com/borglab/gtsam/pull/1631

按照flie changed找到相应文件gtsam/discrete/discrete.i对应行修改，之后重新编译。