More revising of INSTALL and README files
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								INSTALL
								
								
								
								
							
							
						
						
									
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								INSTALL
								
								
								
								
							|  | @ -7,54 +7,12 @@ Copyright (C) 1994, 1995, 1996, 1999, 2000, 2001, 2002, 2004, 2005, | |||
| This file is free documentation; the Free Software Foundation gives | ||||
| unlimited permission to copy, distribute and modify it. | ||||
| 
 | ||||
| Important Notes Specific to GTSAM | ||||
| ================== | ||||
| 
 | ||||
| 1) | ||||
| GTSAM uses CCOLAMD to find good variable elimination orders.  You can download | ||||
| it from Tim Davis's website:  http://www.cise.ufl.edu/research/sparse/ccolamd/ | ||||
| Then, pass the following arguments (paths are just examples) to ./configure: | ||||
| --with-ccolamd-inc=/usr/local/include | ||||
| --with-ccolamd-lib=/usr/local/lib | ||||
| 
 | ||||
| 2) | ||||
| GTSAM makes extensive use of debug assertions, even for checking input of | ||||
| the functions you will call.  These assertions are disabled when NDEBUG is | ||||
| defined.  Thus, we strongly recommend compiling GTSAM and your own code without | ||||
| this symbol during debugging. | ||||
| 
 | ||||
| After debugging, GTSAM will run much faster when compiled with NDEBUG defined, | ||||
| so that debug checks are disabled. | ||||
| 
 | ||||
| Another useful debugging symbol is _GLIBCXX_DEBUG, which enables debug checks | ||||
| and safe containers in the standard C++ library.  We suggest testing your code | ||||
| with this symbol defined, as it will make problems much easier to find. | ||||
| NOTE:  The native Snow Leopard g++ compiler/library contains a bug that makes | ||||
| it impossible to use this symbol.  The MacPorts g++ compilers work fine with it | ||||
| though. | ||||
| 
 | ||||
| 3) | ||||
| Putting the above together, here are some sample ./configure commands for | ||||
| compiling gtsam: | ||||
| 
 | ||||
| For Debugging (native Snow Leopard g++ compiler): | ||||
| ./configure CXXFLAGS="-fno-inline -g -Wall" \ | ||||
|     LDFLAGS="-fno-inline -g -Wall" --enable-blas --enable-lapack \ | ||||
|     --with-toolbox=$HOME/toolbox/ | ||||
| 
 | ||||
| For Debugging (Linux or MacPorts g++ compilers): | ||||
| ./configure CXXFLAGS="-fno-inline -g -Wall -D_GLIBCXX_DEBUG" \ | ||||
|     LDFLAGS="-fno-inline -g -Wall" --enable-blas --enable-lapack \ | ||||
|     --with-toolbox=$HOME/toolbox/ | ||||
| 
 | ||||
| For Performance: | ||||
| ../configure CXXFLAGS="-DNDEBUG -O3" LDFLAGS="-O3" --enable-blas \ | ||||
|     --enable-lapack --with-toolbox=$HOME/toolbox/ | ||||
| 
 | ||||
| 
 | ||||
| Basic Installation | ||||
| ================== | ||||
| 
 | ||||
| IMPORTANT NOTE:  GTSAM has some special compilation requirements, see | ||||
| the README file. | ||||
| 
 | ||||
| Briefly, the shell commands `./configure; make; make install' should | ||||
| configure, build, and install this package.  The following | ||||
| more-detailed instructions are generic; see the `README' file for | ||||
|  |  | |||
							
								
								
									
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							|  | @ -28,7 +28,7 @@ the more involved tests that test the entire library: | |||
| Furthermore the MATLAB wrapper generator code is run as well | ||||
| 
 | ||||
|   wrap				MATLAB wrapper generation code | ||||
| 	gtsam.h			interface file for which wrappers will be generated | ||||
|   gtsam.h			interface file for which wrappers will be generated | ||||
|   toolbox			MATLAB proxy classes and wrappers generated | ||||
|   matlab			examples and tests of the above  		 | ||||
| 
 | ||||
|  | @ -39,54 +39,63 @@ Finally, there are some local libraries built needed in the rest of the code: | |||
|   doc					documentation | ||||
|   m4					local M4 macros | ||||
| 
 | ||||
| Boost Dependencies: | ||||
| ------------------ | ||||
| The GTSAM library is based on the 'Boost C++ Libraries' which can be | ||||
| found here: http://www.boost.org/.  | ||||
| Donwload the lates version and extract Boost in any place. To this | ||||
| place the compiler will be linking.  | ||||
| 
 | ||||
| - On Linux BOOST can also be installed with a packaged manager. | ||||
| - On Mac OS Mac Ports can be used. | ||||
| Important Installation Notes Specific to GTSAM | ||||
| ---------------------------------------------- | ||||
| 
 | ||||
| For example the Boost path could be '/opt/local/include/' on a typical | ||||
| Mac system, where you should be able to find one of the header files: | ||||
| /opt/local/include/boost/config.hpp  | ||||
| 1) | ||||
| GTSAM requires the following libraries to be installed on your system: | ||||
|  - BOOST version 1.40 or greater (install through Linux repositories or MacPorts) | ||||
|  - BLAS, ATLAS, and LAPACK (libblas, libatlas, and liblapack in Debian/Ubuntu | ||||
|                             repositories, on Mac these should already installed | ||||
|                             with the OS) | ||||
| 
 | ||||
| If your boost files are in a different place change the path according | ||||
| to your path. | ||||
| 2) | ||||
| GTSAM uses CCOLAMD to find good variable elimination orders.  You can download | ||||
| it from Tim Davis's website:  http://www.cise.ufl.edu/research/sparse/ccolamd/ | ||||
| Then, pass the following arguments (paths are just examples) to ./configure: | ||||
| --with-ccolamd-inc=/usr/local/include | ||||
| --with-ccolamd-lib=/usr/local/lib | ||||
| 
 | ||||
| The path to the Boost files can be set as an environmental variable in | ||||
| the startup script. For a Bash shell the startup file is ~/.bashrc | ||||
| put the following command in this file: | ||||
| export BOOST_DIR=/opt/local/include/  | ||||
| 3) | ||||
| GTSAM makes extensive use of debug assertions, even for checking input of | ||||
| the functions you will call.  These assertions are disabled when NDEBUG is | ||||
| defined.  Thus, we strongly recommend compiling GTSAM and your own code without | ||||
| this symbol during debugging. | ||||
| 
 | ||||
| Installation: | ||||
| ------------- | ||||
| To finally install the library go into the directory where you unpacked the  | ||||
| GTSAM library. We recommend you do an out-of-source build, as described in the | ||||
| next section. However, this is not required: | ||||
| After debugging, GTSAM will run much faster when compiled with NDEBUG defined, | ||||
| so that debug checks are disabled. | ||||
| 
 | ||||
| Standard Build: | ||||
| --------------- | ||||
| Another useful debugging symbol is _GLIBCXX_DEBUG, which enables debug checks | ||||
| and safe containers in the standard C++ library.  We suggest testing your code | ||||
| with this symbol defined, as it will make problems much easier to find. | ||||
| NOTE:  The native Snow Leopard g++ compiler/library contains a bug that makes | ||||
| it impossible to use this symbol.  The MacPorts g++ compilers work fine with it | ||||
| though. | ||||
| 
 | ||||
| run the command below to configure the library: | ||||
| 4) | ||||
| Putting the above together, here are some sample ./configure commands for | ||||
| compiling gtsam: | ||||
| 
 | ||||
| $] ./configure --with-toolbox=$HOME/toolbox/  | ||||
| For Debugging (native Snow Leopard g++ compiler): | ||||
| ./configure CXXFLAGS="-fno-inline -g -Wall" \ | ||||
|     LDFLAGS="-fno-inline -g -Wall" --enable-blas --enable-lapack \ | ||||
|     --with-toolbox=$HOME/toolbox/ | ||||
| 
 | ||||
| where the path after --with-toolbox should point to the directory you want to have the gtsam | ||||
| matlab scripts installed in. You have to set it to an existing directory.  | ||||
| After successful installation there will be a gtsam directory with all Matlab GTSAM Toolbox files. | ||||
| For Debugging (Linux or MacPorts g++ compilers): | ||||
| ./configure CXXFLAGS="-fno-inline -g -Wall -D_GLIBCXX_DEBUG" \ | ||||
|     LDFLAGS="-fno-inline -g -Wall" --enable-blas --enable-lapack \ | ||||
|     --with-toolbox=$HOME/toolbox/ | ||||
| 
 | ||||
| The configure script will attempt to find the Boost C++ library on your system. If you installed | ||||
|  Boost in a non-standard place, you have to to specify an additional flag to the configure script: | ||||
| For Performance: | ||||
| ./configure CXXFLAGS="-DNDEBUG -O3" LDFLAGS="-O3" --enable-blas \ | ||||
|     --enable-lapack --with-toolbox=$HOME/toolbox/ | ||||
| 
 | ||||
| $] ./configure --with-toolbox=$HOME/toolbox/ --with-boost=/path/to/boost/include/ | ||||
| After that (this would be for an in-source build, see next for out-of-source): | ||||
| $ make | ||||
| $ make check (optional, runs unit tests) | ||||
| $ make install | ||||
| 
 | ||||
| After configuring your makefile you have to compile the library | ||||
| Type: | ||||
| $] make | ||||
| $] make install | ||||
| 
 | ||||
| Out-of-source build: | ||||
| -------------------- | ||||
|  | @ -97,16 +106,18 @@ run it in sub-directory of choice, e.g., starting out in the main GTSAM folder: | |||
| 
 | ||||
| $] mkdir build | ||||
| $] cd build | ||||
| $] ../configure --with-toolbox=$HOME/toolbox/ | ||||
| $] ../configure ..... (command as above) | ||||
| $] make install | ||||
| 
 | ||||
| 
 | ||||
| Built-in Unit Tests: | ||||
| ---------------- | ||||
| -------------------- | ||||
| There is one more optional step in which you can invoke the unit tests included in the gtsam libraries.  | ||||
| $] make check | ||||
| By verifying all the test results are positive, you can make sure that the functionalities of the GTSAM | ||||
| libraries are correct. | ||||
| 
 | ||||
| 
 | ||||
| Compile Matlab Toolbox: | ||||
| ----------------------- | ||||
| 1) Start Matlab | ||||
|  | @ -115,6 +126,7 @@ Compile Matlab Toolbox: | |||
| 3) Change your current directory to the GTSAM Matlab Toolbox | ||||
| 4) Type 'make_gtsam' at the Command Window | ||||
| 
 | ||||
| 
 | ||||
| Run Matlab Unit Tests: | ||||
| ----------------------- | ||||
| In the matlab command window, change directory to $gtsam/matlab and then type 'run_tests', which will  | ||||
|  |  | |||
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