Trouble with Matlab Wrappers (Debug Assertion Failed)

[John Enright]

I have been trying to get the gtsam library built with particular interest in working with the Matlab wrappers. 

My environment:

Windows 10 Enterprise

MSVC 2022 (Community)

Matlab 2024a

Boost 1.85 (installed with VCPKG)

All of the toolbox tests run successfully, save for the testCal3Unified.m test. That one will crash Matlab with a "Debug Assertion Failed: Cannot Access Value of Empty Optional". In particular it's the call to 

params.getBodyPSensor()

that is problematic. The stack trace failed at (from Matlab's crash report)

<PATH ELIDED>\gtsam\out\install\x64-Debug\gtsam_toolboxDebug\gtsam_wrapper.mexw64+10763681 std::_Optional_construct_base<gtsam::Pose3>::operator*+00000081

FWIW, I've tried building the gtsam libraries with both C++14 and 17 dialects and get the same problem.

Any thoughts?

Thanks,

John