More revising of INSTALL and README files
Richard Roberts
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bbb7586479
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48
INSTALL
48
INSTALL
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@ -7,54 +7,12 @@ Copyright (C) 1994, 1995, 1996, 1999, 2000, 2001, 2002, 2004, 2005,
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This file is free documentation; the Free Software Foundation gives
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unlimited permission to copy, distribute and modify it.
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Important Notes Specific to GTSAM
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==================
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1)
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GTSAM uses CCOLAMD to find good variable elimination orders. You can download
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it from Tim Davis's website: http://www.cise.ufl.edu/research/sparse/ccolamd/
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Then, pass the following arguments (paths are just examples) to ./configure:
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--with-ccolamd-inc=/usr/local/include
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--with-ccolamd-lib=/usr/local/lib
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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. We suggest testing your code
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with this symbol defined, as it will make problems much easier 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 this symbol. The MacPorts g++ compilers work fine with it
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though.
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3)
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Putting the above together, here are some sample ./configure commands for
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compiling gtsam:
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For Debugging (native Snow Leopard g++ compiler):
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./configure CXXFLAGS="-fno-inline -g -Wall" \
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LDFLAGS="-fno-inline -g -Wall" --enable-blas --enable-lapack \
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--with-toolbox=$HOME/toolbox/
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For Debugging (Linux or MacPorts g++ compilers):
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./configure CXXFLAGS="-fno-inline -g -Wall -D_GLIBCXX_DEBUG" \
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LDFLAGS="-fno-inline -g -Wall" --enable-blas --enable-lapack \
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--with-toolbox=$HOME/toolbox/
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For Performance:
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../configure CXXFLAGS="-DNDEBUG -O3" LDFLAGS="-O3" --enable-blas \
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--enable-lapack --with-toolbox=$HOME/toolbox/
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Basic Installation
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==================
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IMPORTANT NOTE: GTSAM has some special compilation requirements, see
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the README file.
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Briefly, the shell commands `./configure; make; make install' should
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configure, build, and install this package. The following
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more-detailed instructions are generic; see the `README' file for
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90
README
90
README
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@ -28,7 +28,7 @@ the more involved tests that test the entire library:
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Furthermore the MATLAB wrapper generator code is run as well
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wrap MATLAB wrapper generation code
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gtsam.h interface file for which wrappers will be generated
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gtsam.h interface file for which wrappers will be generated
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toolbox MATLAB proxy classes and wrappers generated
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matlab examples and tests of the above
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@ -39,54 +39,63 @@ Finally, there are some local libraries built needed in the rest of the code:
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doc documentation
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m4 local M4 macros
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Boost Dependencies:
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------------------
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The GTSAM library is based on the 'Boost C++ Libraries' which can be
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found here: http://www.boost.org/.
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Donwload the lates version and extract Boost in any place. To this
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place the compiler will be linking.
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- On Linux BOOST can also be installed with a packaged manager.
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- On Mac OS Mac Ports can be used.
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Important Installation Notes Specific to GTSAM
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----------------------------------------------
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For example the Boost path could be '/opt/local/include/' on a typical
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Mac system, where you should be able to find one of the header files:
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/opt/local/include/boost/config.hpp
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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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- BLAS, ATLAS, and LAPACK (libblas, libatlas, and liblapack in Debian/Ubuntu
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repositories, on Mac these should already installed
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with the OS)
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If your boost files are in a different place change the path according
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to your path.
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2)
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GTSAM uses CCOLAMD to find good variable elimination orders. You can download
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it from Tim Davis's website: http://www.cise.ufl.edu/research/sparse/ccolamd/
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Then, pass the following arguments (paths are just examples) to ./configure:
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--with-ccolamd-inc=/usr/local/include
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--with-ccolamd-lib=/usr/local/lib
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The path to the Boost files can be set as an environmental variable in
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the startup script. For a Bash shell the startup file is ~/.bashrc
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put the following command in this file:
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export BOOST_DIR=/opt/local/include/
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3)
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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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Installation:
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-------------
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To finally install the library go into the directory where you unpacked the
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GTSAM library. We recommend you do an out-of-source build, as described in the
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next section. However, this is not required:
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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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Standard Build:
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---------------
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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. We suggest testing your code
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with this symbol defined, as it will make problems much easier 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 this symbol. The MacPorts g++ compilers work fine with it
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though.
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run the command below to configure the library:
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4)
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Putting the above together, here are some sample ./configure commands for
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compiling gtsam:
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$] ./configure --with-toolbox=$HOME/toolbox/
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For Debugging (native Snow Leopard g++ compiler):
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./configure CXXFLAGS="-fno-inline -g -Wall" \
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LDFLAGS="-fno-inline -g -Wall" --enable-blas --enable-lapack \
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--with-toolbox=$HOME/toolbox/
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where the path after --with-toolbox should point to the directory you want to have the gtsam
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matlab scripts installed in. You have to set it to an existing directory.
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After successful installation there will be a gtsam directory with all Matlab GTSAM Toolbox files.
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For Debugging (Linux or MacPorts g++ compilers):
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./configure CXXFLAGS="-fno-inline -g -Wall -D_GLIBCXX_DEBUG" \
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LDFLAGS="-fno-inline -g -Wall" --enable-blas --enable-lapack \
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--with-toolbox=$HOME/toolbox/
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The configure script will attempt to find the Boost C++ library on your system. If you installed
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Boost in a non-standard place, you have to to specify an additional flag to the configure script:
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For Performance:
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./configure CXXFLAGS="-DNDEBUG -O3" LDFLAGS="-O3" --enable-blas \
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--enable-lapack --with-toolbox=$HOME/toolbox/
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$] ./configure --with-toolbox=$HOME/toolbox/ --with-boost=/path/to/boost/include/
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After that (this would be for an in-source build, see next for out-of-source):
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$ make
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$ make check (optional, runs unit tests)
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$ make install
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After configuring your makefile you have to compile the library
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Type:
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$] make
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$] make install
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Out-of-source build:
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--------------------
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@ -97,16 +106,18 @@ run it in sub-directory of choice, e.g., starting out in the main GTSAM folder:
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$] mkdir build
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$] cd build
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$] ../configure --with-toolbox=$HOME/toolbox/
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$] ../configure ..... (command as above)
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$] make install
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Built-in Unit Tests:
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----------------
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--------------------
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There is one more optional step in which you can invoke the unit tests included in the gtsam libraries.
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$] make check
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By verifying all the test results are positive, you can make sure that the functionalities of the GTSAM
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libraries are correct.
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Compile Matlab Toolbox:
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-----------------------
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1) Start Matlab
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@ -115,6 +126,7 @@ Compile Matlab Toolbox:
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3) Change your current directory to the GTSAM Matlab Toolbox
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4) Type 'make_gtsam' at the Command Window
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Run Matlab Unit Tests:
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-----------------------
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In the matlab command window, change directory to $gtsam/matlab and then type 'run_tests', which will
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