Updated README with info about gtsam_unstable, merged cmake files
Alex Cunningham
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README
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README
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@ -11,7 +11,10 @@ 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 code is organized according to the following directory structure:
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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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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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@ -20,7 +23,13 @@ The code is organized according to the following directory structure:
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linear inference specialized to Gaussian linear case, GaussianFactorGraph etc...
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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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@ -28,11 +37,10 @@ of licensing in LICENSE and as follows:
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- Licenced under LGPL v2.1, provided in gtsam/3rdparty/CCOLAMD/Doc/lesser.txt
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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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All of the above contain code and tests, and produce a single library libgtsam.
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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 tests that depend on slam
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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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@ -158,6 +166,16 @@ $] cmake -DGTSAM_BUILD_CONVENIENCE_LIBRARIES:OPTION=ON ..
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link all of the tests at once. This option is best for users of GTSAM,
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as it avoids rebuilding the entirety of gtsam an extra time.
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GTSAM_BUILD_UNSTABLE: Enable build and install for libgtsam_unstable library.
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Set with the command line as follows:
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$] cmake -DGTSAM_BUILD_UNSTABLE:OPTION=ON ..
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ON When enabled, libgtsam_unstable will be built and installed with the
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same options as libgtsam. In addition, if tests are enabled, the
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unit tests will be built as well. The Matlab toolbox will also
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be generated if the matlab toolbox is enabled, installing into a
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folder called "gtsam_unstable".
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OFF (Default) If disabled, no gtsam_unstable code will be included in build or install.
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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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Release Optimizations turned on, no debug symbols.
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@ -176,12 +194,13 @@ Running "make install" will install the library to the prefix location.
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Check
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As with autotools, "make check" will build and run all of the tests. You can also
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run "make timing" to build all of the timing scripts. To run check on a particular
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subsection, there is a convention of "make check.[subfolder]", so to run just the
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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,
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run "make testMatrix.run".
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As with autotools, "make check" will build and run all of the tests. Note that the
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tests will only be built when using the "check" targets, to prevent "make install" from
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building the tests unnecessarily. You can also run "make timing" to build all of
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the timing scripts. To run check on a particular subsection, there is a convention
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of "make check.[subfolder]", so to run just the geometry tests,
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run "make check.geometry". Individual tests can be run by appending ".run" to the
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name of the test, for example, to run testMatrix, run "make testMatrix.run".
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The make target "wrap" will build the wrap binary, and the "wrap_gtsam" target will
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generate code for the toolbox. By default, the toolbox will be created and installed
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@ -31,11 +31,6 @@ set(gtsam_unstable_srcs
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option (GTSAM_UNSTABLE_BUILD_SHARED_LIBRARY "Enable/Disable building of a shared version of gtsam_unstable" ON)
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# Wrap version for gtsam_unstable
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if (GTSAM_BUILD_WRAP)
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add_subdirectory(wrap)
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endif(GTSAM_BUILD_WRAP)
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# Versions - same as core gtsam library
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set(gtsam_unstable_version ${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH})
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set(gtsam_unstable_soversion ${GTSAM_VERSION_MAJOR})
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@ -63,3 +58,36 @@ if (GTSAM_UNSTABLE_BUILD_SHARED_LIBRARY)
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install(TARGETS gtsam_unstable-shared LIBRARY DESTINATION lib )
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endif(GTSAM_UNSTABLE_BUILD_SHARED_LIBRARY)
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# Wrap version for gtsam_unstable
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if (GTSAM_BUILD_WRAP)
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# Set up codegen
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include(GtsamMatlabWrap)
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# Wrap codegen
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#usage: wrap mexExtension interfacePath moduleName toolboxPath
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# mexExtension : OS/CPU-dependent extension for MEX binaries
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# interfacePath : *absolute* path to directory of module interface file
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# moduleName : the name of the module, interface file must be called moduleName.h
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# toolboxPath : the directory in which to generate the wrappers
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# [mexFlags] : extra flags for the mex command
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# TODO: generate these includes programmatically
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set(mexFlags "-I${Boost_INCLUDE_DIR} -I${Wrap_INCLUDE_DIR} -I${CMAKE_INSTALL_PREFIX}/include/gtsam_unstable -I${CMAKE_INSTALL_PREFIX}/include/gtsam_unstable/dynamics -I${CMAKE_INSTALL_PREFIX}/include/gtsam_unstable/discrete -L${CMAKE_INSTALL_PREFIX}/lib -lgtsam -lgtsam_unstable")
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set(toolbox_path ${CMAKE_BINARY_DIR}/wrap/gtsam_unstable)
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set(moduleName gtsam_unstable)
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find_mexextension()
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# Code generation command
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add_custom_target(wrap_gtsam_unstable ALL COMMAND
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${CMAKE_BINARY_DIR}/wrap/wrap ${GTSAM_MEX_BIN_EXTENSION} ${CMAKE_CURRENT_SOURCE_DIR} ${moduleName} ${toolbox_path} "${mexFlags}"
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DEPENDS wrap)
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if (GTSAM_INSTALL_MATLAB_TOOLBOX)
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# Primary toolbox files
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message(STATUS "Installing Matlab Toolbox to ${GTSAM_TOOLBOX_INSTALL_PATH}")
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install(DIRECTORY DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}) # make an empty folder
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# exploit need for trailing slash to specify a full folder, rather than just its contents to copy
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install(DIRECTORY ${toolbox_path} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH})
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endif (GTSAM_INSTALL_MATLAB_TOOLBOX)
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endif(GTSAM_BUILD_WRAP)
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@ -1,31 +0,0 @@
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# Set up codegen
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include(GtsamMatlabWrap)
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# Wrap codegen
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#usage: wrap mexExtension interfacePath moduleName toolboxPath
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# mexExtension : OS/CPU-dependent extension for MEX binaries
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# interfacePath : *absolute* path to directory of module interface file
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# moduleName : the name of the module, interface file must be called moduleName.h
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# toolboxPath : the directory in which to generate the wrappers
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# [mexFlags] : extra flags for the mex command
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# TODO: generate these includes programmatically
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set(mexFlags "-I${Boost_INCLUDE_DIR} -I${Wrap_INCLUDE_DIR} -I${CMAKE_INSTALL_PREFIX}/include/gtsam_unstable -I${CMAKE_INSTALL_PREFIX}/include/gtsam_unstable/dynamics -I${CMAKE_INSTALL_PREFIX}/include/gtsam_unstable/discrete -L${CMAKE_INSTALL_PREFIX}/lib -lgtsam -lgtsam_unstable")
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set(toolbox_path ${CMAKE_BINARY_DIR}/wrap/gtsam_unstable)
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set(moduleName gtsam_unstable)
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find_mexextension()
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# Code generation command
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add_custom_target(wrap_gtsam_unstable ALL COMMAND
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${CMAKE_BINARY_DIR}/wrap/wrap ${GTSAM_MEX_BIN_EXTENSION} ${CMAKE_CURRENT_SOURCE_DIR} ${moduleName} ${toolbox_path} "${mexFlags}"
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DEPENDS wrap)
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if (GTSAM_INSTALL_MATLAB_TOOLBOX)
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# Primary toolbox files
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message(STATUS "Installing Matlab Toolbox to ${GTSAM_TOOLBOX_INSTALL_PATH}")
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install(DIRECTORY DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}) # make an empty folder
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# exploit need for trailing slash to specify a full folder, rather than just its contents to copy
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install(DIRECTORY ${toolbox_path} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH})
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endif (GTSAM_INSTALL_MATLAB_TOOLBOX)
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