made leaner
Chris Beall
parent
8b6382664b
commit
5d538cbdc2
92
README
92
README
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@ -100,11 +100,6 @@ doxygen. To create html documentation for GTSAM, run the the script
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makedoc.sh.
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4)
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For developers, we primarily use the Eclipse IDE for development, and provide
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an Eclipse project file with a variety of make targets to build and debug
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from within Eclipse.
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5)
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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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@ -120,47 +115,33 @@ $] cmake ..
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$] make check (optional, runs unit tests)
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$] make install
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This will build the library and unit tests, run all of the unit tests, and then install
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the library itself, as well as the Matlab toolbox.
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This will build the library and unit tests, run all of the unit tests,
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and then install the library itself.
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- Additional CMake Options and Details
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The cmake scripts force a out-of-source build, so inside gtsam,
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create a new folder called "build", and run cmake. From the command line:
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GTSAM has a number of options that can be configured, which is best done with
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one of the following:
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$] mkdir build
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$] cd build
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$] cmake ..
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Note the ".." after the cmake command - it tells cmake to look for the
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root CMakeLists.txt file in the root gtsam folder instead of in the build folder.
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This is a necessary argument for starting cmake in all of its variations.
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There a few ways of actually doing the configuration to make adjusting options easier.
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cmake the regular command-line version of cmake, allows configuration with scripts
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ccmake the curses GUI for cmake, which lets you see the various options, change them, and run configuration.
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cmake-gui a real GUI for cmake, which has a similar interface to ccmake, but with easier controls.
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Note that during configuration, the settings get cached so if you rerun cmake later,
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it will keep your previous settings. In particular, you can use the "cmake" build target
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within the Eclipse project to update the configuration, which will be necessary
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when file structures change.
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While it is possible to use command-line arguments to cmake to change configuration
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options, it is usually easier to use cmake-gui or ccmake to set parameters and use the other flags.
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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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CMAKE_INSTALL_PREFIX: this is the folder where installed files will go, and for
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our development purposes, should be set to the home folder, like so
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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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Timing Adds ENABLE_TIMING flag to provide statistics on operation
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Profiling Standard configuration for use during profiling
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RelWithDebInfo Same as Release, but with the -g flag for debug symbols
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CMAKE_INSTALL_PREFIX: The install folder. The default is typically /usr/local/
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To configure to install to your home directory, you could execute:
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$] cmake -DCMAKE_INSTALL_PREFIX:PATH=$HOME ..
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GTSAM_TOOLBOX_INSTALL_PATH: When the library is installed with "make install",
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the generated matlab toolbox code (created by wrap) gets installed as well in
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this path. For example, use "/home/username/borg/toolbox" to install the
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toolbox in your borg/toolbox folder. The matlab toolbox will get installed
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into borg/toolbox/gtsam.
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$] cmake -DGTSAM_TOOLBOX_INSTALL_PATH:PATH=$HOME/borg/toolbox ..
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GTSAM_TOOLBOX_INSTALL_PATH: The Matlab toolbox will be installed in a subdirectory
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of this folder, called 'gtsam'.
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$] cmake -DGTSAM_TOOLBOX_INSTALL_PATH:PATH=$HOME/toolbox ..
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GTSAM_BUILD_CONVENIENCE_LIBRARIES: This is a build option to allow for tests in
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subfolders to be linked against convenience libraries rather than the full libgtsam.
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@ -186,35 +167,12 @@ $] cmake -DGTSAM_BUILD_UNSTABLE:OPTION=ON ..
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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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Timing Adds ENABLE_TIMING flag to provide statistics on operation
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Profiling Standard configuration for use during profiling
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RelWithDebInfo Same as Release, but with the -g flag for debug symbols
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Build and Install
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After configuring, you use make just as you normally would, and the all, check and
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install targets work as in autotools. Note that all targets are at the root level
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of the build folder. You can also build any of the subfolders individually as
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individual targets, such as "make geometry slam" to build both geometry and slam.
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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. 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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by the install target for the library. To change the install folder for the toolbox,
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choose a different setting during cmake settings for the toolbox install path.
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"make check" will build and run all of the tests. Note that the tests will only be
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built when using the "check" targets, to prevent "make install" from building the tests
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unnecessarily. You can also run "make timing" to build all of the timing scripts.
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To run check on a particular module only, run "make check.[subfolder]", so to run
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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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