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More revising of INSTALL and README files

release/4.3a0
Richard Roberts 2010-10-23 16:03:08 +00:00
parent bbb7586479
commit 17246fc76f
2 changed files with 54 additions and 84 deletions
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48
INSTALL
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@ -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 This file is free documentation; the Free Software Foundation gives
unlimited permission to copy, distribute and modify it. 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 Basic Installation
================== ==================
IMPORTANT NOTE: GTSAM has some special compilation requirements, see
the README file.
Briefly, the shell commands `./configure; make; make install' should Briefly, the shell commands `./configure; make; make install' should
configure, build, and install this package. The following configure, build, and install this package. The following
more-detailed instructions are generic; see the `README' file for more-detailed instructions are generic; see the `README' file for

90
README
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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 Furthermore the MATLAB wrapper generator code is run as well
wrap MATLAB wrapper generation code 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 toolbox MATLAB proxy classes and wrappers generated
matlab examples and tests of the above 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 doc documentation
m4 local M4 macros 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. Important Installation Notes Specific to GTSAM
- On Mac OS Mac Ports can be used. ----------------------------------------------
For example the Boost path could be '/opt/local/include/' on a typical 1)
Mac system, where you should be able to find one of the header files: GTSAM requires the following libraries to be installed on your system:
/opt/local/include/boost/config.hpp - 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 2)
to your path. 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 3)
the startup script. For a Bash shell the startup file is ~/.bashrc GTSAM makes extensive use of debug assertions, even for checking input of
put the following command in this file: the functions you will call. These assertions are disabled when NDEBUG is
export BOOST_DIR=/opt/local/include/ defined. Thus, we strongly recommend compiling GTSAM and your own code without
this symbol during debugging.
Installation: After debugging, GTSAM will run much faster when compiled with NDEBUG defined,
------------- so that debug checks are disabled.
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:
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=$HOME/toolbox/
where the path after --with-toolbox should point to the directory you want to have the gtsam For Debugging (Linux or MacPorts g++ compilers):
matlab scripts installed in. You have to set it to an existing directory. ./configure CXXFLAGS="-fno-inline -g -Wall -D_GLIBCXX_DEBUG" \
After successful installation there will be a gtsam directory with all Matlab GTSAM Toolbox files. LDFLAGS="-fno-inline -g -Wall" --enable-blas --enable-lapack \
--with-toolbox=$HOME/toolbox/
The configure script will attempt to find the Boost C++ library on your system. If you installed For Performance:
Boost in a non-standard place, you have to to specify an additional flag to the configure script: ./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: 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 $] mkdir build
$] cd build $] cd build
$] ../configure --with-toolbox=$HOME/toolbox/ $] ../configure ..... (command as above)
$] make install $] make install
Built-in Unit Tests: Built-in Unit Tests:
---------------- --------------------
There is one more optional step in which you can invoke the unit tests included in the gtsam libraries. There is one more optional step in which you can invoke the unit tests included in the gtsam libraries.
$] make check $] make check
By verifying all the test results are positive, you can make sure that the functionalities of the GTSAM By verifying all the test results are positive, you can make sure that the functionalities of the GTSAM
libraries are correct. libraries are correct.
Compile Matlab Toolbox: Compile Matlab Toolbox:
----------------------- -----------------------
1) Start Matlab 1) Start Matlab
@ -115,6 +126,7 @@ Compile Matlab Toolbox:
3) Change your current directory to the GTSAM Matlab Toolbox 3) Change your current directory to the GTSAM Matlab Toolbox
4) Type 'make_gtsam' at the Command Window 4) Type 'make_gtsam' at the Command Window
Run Matlab Unit Tests: Run Matlab Unit Tests:
----------------------- -----------------------
In the matlab command window, change directory to $gtsam/matlab and then type 'run_tests', which will In the matlab command window, change directory to $gtsam/matlab and then type 'run_tests', which will