cleaned up some more
Chris Beall
parent
5d538cbdc2
commit
00627604a2
83
README
83
README
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@ -11,7 +11,8 @@ $] cmake ..
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$] make check (optional, runs unit tests)
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$] make install
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What is GTSAM ?
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---------------------------------------------------
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What is GTSAM?
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GTSAM is a library of C++ classes that implement smoothing and
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mapping (SAM) in robotics and vision, using factor graphs and Bayes
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@ -21,10 +22,7 @@ What is GTSAM ?
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GTSAM is not (yet) open source: See COPYING & LICENSE
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Please see USAGE for an example on how to use GTSAM.
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The core GTSAM code within the folder gtsam, with source, headers, and
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unit tests. After building, this will generate a single library "libgtsam"
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The libgtsam code is organized according to the following directory structure:
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The library is organized according to the following directory structure:
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3rdparty local copies of third party libraries - Eigen3 and CCOLAMD
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base provides some base Math and data structures, as well as test-related utilities
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@ -34,12 +32,6 @@ The libgtsam code is organized according to the following directory structure:
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nonlinear non-linear factor graphs and non-linear optimization
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slam SLAM and visual SLAM application code
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Additionally, in the SVN development version of GTSAM, there is an area for
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unstable code directly under development in the folder gtsam_unstable, which contains
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a directory structuring mirroring the libgtsam structure as necessary. This section produces
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a single library "libgtsam_unstable". Building of gtsam_unstable is disabled by default, see
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CMake configuration options for information on enabling building.
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This library contains unchanged copies of two third party libraries, with documentation
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of licensing in LICENSE and as follows:
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- CCOLAMD 2.73: Tim Davis' constrained column approximate minimum degree ordering library
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@ -48,26 +40,19 @@ of licensing in LICENSE and as follows:
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- Eigen 3.0.5: General C++ matrix and linear algebra library
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- Licenced under LGPL v3, provided in gtsam/3rdparty/Eigen/COPYING.LGPL
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After this is built, you can also run the more involved tests, which test the entire library:
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tests More involved unit tests that depend on slam
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examples Demo applications as a tutorial for using gtsam
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cmake CMake scripts used within the library, as well as for finding GTSAM by dependent projects
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Finally, there are some local libraries built needed in the rest of the code:
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There are two supporting libraries:
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CppUnitLite unit test library customized for use with gtsam
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wrap code generation utility for the Matlab interface to gtsam
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Important Installation Notes Specific to GTSAM
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----------------------------------------------
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Important Installation Notes
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----------------------------
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1)
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GTSAM requires the following libraries to be installed on your system:
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- BOOST version 1.40 or greater (install through Linux repositories or MacPorts)
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GTSAM uses CMake (http://www.cmake.org/) for build automation
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- Installed cmake version must be 2.6 or higher
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- Cmake version 2.6 or higher
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Tested compilers
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- gcc
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@ -75,39 +60,20 @@ Tested compilers
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- OSX gcc
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2)
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GTSAM makes extensive use of debug assertions, even for checking input of
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the functions you will call. These assertions are disabled when NDEBUG is
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defined. Thus, we strongly recommend compiling GTSAM and your own code without
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this symbol during debugging.
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After debugging, GTSAM will run much faster when compiled with NDEBUG defined,
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so that debug checks are disabled.
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Another useful debugging symbol is _GLIBCXX_DEBUG, which enables debug checks
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and safe containers in the standard C++ library and makes problems much easier
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to find.
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NOTE: The native Snow Leopard g++ compiler/library contains a bug that makes
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it impossible to use _GLIBCXX_DEBUG. MacPorts g++ compilers do work with it though.
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NOTE: If _GLIBCXX_DEBUG is used to compile gtsam, anything that links against
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gtsam will need to be compiled with _GLIBCXX_DEBUG as well, due to the use of
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header-only Eigen.
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GTSAM makes extensive use of debug assertions, and we highly recommend you work
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in Debug mode while developing (enabled by default). Likewise, it is imperative
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that you switch to release mode when running finished code and for timing. GTSAM
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will run up to 10x faster in Release mode! See the end of this document for
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additional debugging tips.
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3)
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GTSAM has been written to support the creation of API documentation using
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doxygen. To create html documentation for GTSAM, run the the script
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GTSAM has Doxygen documentation. To generate, run the the script
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makedoc.sh.
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4)
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After installing prerequisites for building GTSAM, you can configure and build
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GTSAM using CMake with the default options with the quickstart options. For
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details on the full functionality of CMake, see the CMake documentation.
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- CMake Quickstart
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Installs to the default system install path and builds all components. From a terminal,
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starting in the root library folder, execute commands as follows for an out-of-source
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build:
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The instructions below install the library to the default system install path and
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build all components. From a terminal, starting in the root library folder,
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execute commands as follows for an out-of-source build:
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$] mkdir build
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$] cd build
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@ -118,7 +84,7 @@ $] make install
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This will build the library and unit tests, run all of the unit tests,
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and then install the library itself.
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- Additional CMake Options and Details
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- CMake Configuration Options and Details
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GTSAM has a number of options that can be configured, which is best done with
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one of the following:
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@ -126,7 +92,7 @@ one of the following:
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ccmake the curses GUI for cmake
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cmake-gui a real GUI for cmake
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Important CMake configuration options:
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Important Options:
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CMAKE_BUILD_TYPE: We support several build configurations for GTSAM (case insensitive)
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Debug (default) All error checking options on, no optimization. Use for development.
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@ -176,3 +142,16 @@ To run check on a particular module only, run "make check.[subfolder]", so to ru
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just the geometry tests, run "make check.geometry". Individual tests can be run by
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appending ".run" to the name of the test, for example, to run testMatrix, run
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"make testMatrix.run".
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Debugging tips:
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Another useful debugging symbol is _GLIBCXX_DEBUG, which enables debug checks
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and safe containers in the standard C++ library and makes problems much easier
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to find.
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NOTE: The native Snow Leopard g++ compiler/library contains a bug that makes
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it impossible to use _GLIBCXX_DEBUG. MacPorts g++ compilers do work with it though.
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NOTE: If _GLIBCXX_DEBUG is used to compile gtsam, anything that links against
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gtsam will need to be compiled with _GLIBCXX_DEBUG as well, due to the use of
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header-only Eigen.
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