diff --git a/INSTALL b/INSTALL deleted file mode 100644 index 603e2f2bf..000000000 --- a/INSTALL +++ /dev/null @@ -1,237 +0,0 @@ -Installation Instructions -************************* - -Copyright (C) 1994, 1995, 1996, 1999, 2000, 2001, 2002, 2004, 2005, -2006 Free Software Foundation, Inc. - -This file is free documentation; the Free Software Foundation gives -unlimited permission to copy, distribute and modify it. - -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 -instructions specific to this package. - - The `configure' shell script attempts to guess correct values for -various system-dependent variables used during compilation. It uses -those values to create a `Makefile' in each directory of the package. -It may also create one or more `.h' files containing system-dependent -definitions. Finally, it creates a shell script `config.status' that -you can run in the future to recreate the current configuration, and a -file `config.log' containing compiler output (useful mainly for -debugging `configure'). - - It can also use an optional file (typically called `config.cache' -and enabled with `--cache-file=config.cache' or simply `-C') that saves -the results of its tests to speed up reconfiguring. Caching is -disabled by default to prevent problems with accidental use of stale -cache files. - - If you need to do unusual things to compile the package, please try -to figure out how `configure' could check whether to do them, and mail -diffs or instructions to the address given in the `README' so they can -be considered for the next release. If you are using the cache, and at -some point `config.cache' contains results you don't want to keep, you -may remove or edit it. - - The file `configure.ac' (or `configure.in') is used to create -`configure' by a program called `autoconf'. You need `configure.ac' if -you want to change it or regenerate `configure' using a newer version -of `autoconf'. - -The simplest way to compile this package is: - - 1. `cd' to the directory containing the package's source code and type - `./configure' to configure the package for your system. - - Running `configure' might take a while. While running, it prints - some messages telling which features it is checking for. - - 2. Type `make' to compile the package. - - 3. Optionally, type `make check' to run any self-tests that come with - the package. - - 4. Type `make install' to install the programs and any data files and - documentation. - - 5. You can remove the program binaries and object files from the - source code directory by typing `make clean'. To also remove the - files that `configure' created (so you can compile the package for - a different kind of computer), type `make distclean'. There is - also a `make maintainer-clean' target, but that is intended mainly - for the package's developers. If you use it, you may have to get - all sorts of other programs in order to regenerate files that came - with the distribution. - -Compilers and Options -===================== - -Some systems require unusual options for compilation or linking that the -`configure' script does not know about. Run `./configure --help' for -details on some of the pertinent environment variables. - - You can give `configure' initial values for configuration parameters -by setting variables in the command line or in the environment. Here -is an example: - - ./configure CC=c99 CFLAGS=-g LIBS=-lposix - - *Note Defining Variables::, for more details. - -Compiling For Multiple Architectures -==================================== - -You can compile the package for more than one kind of computer at the -same time, by placing the object files for each architecture in their -own directory. To do this, you can use GNU `make'. `cd' to the -directory where you want the object files and executables to go and run -the `configure' script. `configure' automatically checks for the -source code in the directory that `configure' is in and in `..'. - - With a non-GNU `make', it is safer to compile the package for one -architecture at a time in the source code directory. After you have -installed the package for one architecture, use `make distclean' before -reconfiguring for another architecture. - -Installation Names -================== - -By default, `make install' installs the package's commands under -`/usr/local/bin', include files under `/usr/local/include', etc. You -can specify an installation prefix other than `/usr/local' by giving -`configure' the option `--prefix=PREFIX'. - - You can specify separate installation prefixes for -architecture-specific files and architecture-independent files. If you -pass the option `--exec-prefix=PREFIX' to `configure', the package uses -PREFIX as the prefix for installing programs and libraries. -Documentation and other data files still use the regular prefix. - - In addition, if you use an unusual directory layout you can give -options like `--bindir=DIR' to specify different values for particular -kinds of files. Run `configure --help' for a list of the directories -you can set and what kinds of files go in them. - - If the package supports it, you can cause programs to be installed -with an extra prefix or suffix on their names by giving `configure' the -option `--program-prefix=PREFIX' or `--program-suffix=SUFFIX'. - -Optional Features -================= - -Some packages pay attention to `--enable-FEATURE' options to -`configure', where FEATURE indicates an optional part of the package. -They may also pay attention to `--with-PACKAGE' options, where PACKAGE -is something like `gnu-as' or `x' (for the X Window System). The -`README' should mention any `--enable-' and `--with-' options that the -package recognizes. - - For packages that use the X Window System, `configure' can usually -find the X include and library files automatically, but if it doesn't, -you can use the `configure' options `--x-includes=DIR' and -`--x-libraries=DIR' to specify their locations. - -Specifying the System Type -========================== - -There may be some features `configure' cannot figure out automatically, -but needs to determine by the type of machine the package will run on. -Usually, assuming the package is built to be run on the _same_ -architectures, `configure' can figure that out, but if it prints a -message saying it cannot guess the machine type, give it the -`--build=TYPE' option. TYPE can either be a short name for the system -type, such as `sun4', or a canonical name which has the form: - - CPU-COMPANY-SYSTEM - -where SYSTEM can have one of these forms: - - OS KERNEL-OS - - See the file `config.sub' for the possible values of each field. If -`config.sub' isn't included in this package, then this package doesn't -need to know the machine type. - - If you are _building_ compiler tools for cross-compiling, you should -use the option `--target=TYPE' to select the type of system they will -produce code for. - - If you want to _use_ a cross compiler, that generates code for a -platform different from the build platform, you should specify the -"host" platform (i.e., that on which the generated programs will -eventually be run) with `--host=TYPE'. - -Sharing Defaults -================ - -If you want to set default values for `configure' scripts to share, you -can create a site shell script called `config.site' that gives default -values for variables like `CC', `cache_file', and `prefix'. -`configure' looks for `PREFIX/share/config.site' if it exists, then -`PREFIX/etc/config.site' if it exists. Or, you can set the -`CONFIG_SITE' environment variable to the location of the site script. -A warning: not all `configure' scripts look for a site script. - -Defining Variables -================== - -Variables not defined in a site shell script can be set in the -environment passed to `configure'. However, some packages may run -configure again during the build, and the customized values of these -variables may be lost. In order to avoid this problem, you should set -them in the `configure' command line, using `VAR=value'. For example: - - ./configure CC=/usr/local2/bin/gcc - -causes the specified `gcc' to be used as the C compiler (unless it is -overridden in the site shell script). - -Unfortunately, this technique does not work for `CONFIG_SHELL' due to -an Autoconf bug. Until the bug is fixed you can use this workaround: - - CONFIG_SHELL=/bin/bash /bin/bash ./configure CONFIG_SHELL=/bin/bash - -`configure' Invocation -====================== - -`configure' recognizes the following options to control how it operates. - -`--help' -`-h' - Print a summary of the options to `configure', and exit. - -`--version' -`-V' - Print the version of Autoconf used to generate the `configure' - script, and exit. - -`--cache-file=FILE' - Enable the cache: use and save the results of the tests in FILE, - traditionally `config.cache'. FILE defaults to `/dev/null' to - disable caching. - -`--config-cache' -`-C' - Alias for `--cache-file=config.cache'. - -`--quiet' -`--silent' -`-q' - Do not print messages saying which checks are being made. To - suppress all normal output, redirect it to `/dev/null' (any error - messages will still be shown). - -`--srcdir=DIR' - Look for the package's source code in directory DIR. Usually - `configure' can determine that directory automatically. - -`configure' also accepts some other, not widely useful, options. Run -`configure --help' for more details. - diff --git a/README b/README index b92c672d8..4a72ead08 100644 --- a/README +++ b/README @@ -13,33 +13,33 @@ Please see USAGE for an example on how to use GTSAM. The code is organized according to the following directory structure: - 3rdparty local copies of third party libraries - Eigen3 and CCOLAMD - base provides some base Math and data structures, as well as test-related utilities - geometry points, poses, tensors, etc - inference core graphical model inference such as factor graphs, junction trees, Bayes nets, Bayes trees - linear inference specialized to Gaussian linear case, GaussianFactorGraph etc... - nonlinear non-linear factor graphs and non-linear optimization - slam SLAM and visual SLAM application code + 3rdparty local copies of third party libraries - Eigen3 and CCOLAMD + base provides some base Math and data structures, as well as test-related utilities + geometry points, poses, tensors, etc + inference core graphical model inference such as factor graphs, junction trees, Bayes nets, Bayes trees + linear inference specialized to Gaussian linear case, GaussianFactorGraph etc... + nonlinear non-linear factor graphs and non-linear optimization + slam SLAM and visual SLAM application code This library contains unchanged copies of two third party libraries, with documentation of licensing in LICENSE and as follows: - CCOLAMD 2.73: Tim Davis' constrained column approximate minimum degree ordering library - http://www.cise.ufl.edu/research/sparse - Licenced under LGPL v2.1, provided in gtsam/3rdparty/CCOLAMD/Doc/lesser.txt - - Eigen 3.0.3: General C++ matrix and linear algebra library + - Eigen 3.0.5: General C++ matrix and linear algebra library - Licenced under LGPL v3, provided in gtsam/3rdparty/Eigen/COPYING.LGPL -All of the above contain code and tests, and build local shared libraries that are then -bundled in a top-level shared library libgtsam.la. After this is built, you can also run -the more involved tests, which test the entire library: +All of the above contain code and tests, and produce a single library libgtsam. +After this is built, you can also run the more involved tests, which test the entire library: - tests more involved tests that depend on slam - examples Demo applications as a tutorial for using gtsam + tests more involved tests that depend on slam + examples Demo applications as a tutorial for using gtsam + cmake CMake scripts used within the library, as well as for finding GTSAM by dependent projects Finally, there are some local libraries built needed in the rest of the code: - CppUnitLite unit test library - m4 local M4 macros + CppUnitLite unit test library customized for use with gtsam + wrap code generation utility for the Matlab interface to gtsam Important Installation Notes Specific to GTSAM ---------------------------------------------- @@ -47,8 +47,14 @@ Important Installation Notes Specific to GTSAM 1) GTSAM requires the following libraries to be installed on your system: - BOOST version 1.40 or greater (install through Linux repositories or MacPorts) - - Automake - - libtool + +GTSAM uses CMake (http://www.cmake.org/) for build automation + - Installed cmake version must be 2.6 or higher + +Tested compilers + - gcc + - clang + - OSX gcc 2) GTSAM makes extensive use of debug assertions, even for checking input of @@ -71,54 +77,109 @@ gtsam will need to be compiled with _GLIBCXX_DEBUG as well, due to the use of header-only Eigen. 3) -Putting the above together, here are some sample ./configure commands for -compiling gtsam: +GTSAM has been written to support the creation of API documentation using +doxygen. To create html documentation for GTSAM, run the the script +makedoc.sh. -NOTE: If checked out from SVN, before attempting to compile run the command ./autogen.sh +4) +For developers, we primarily use the Eclipse IDE for development, and provide +an Eclipse project file with a variety of make targets to build and debug +from within Eclipse. -For Debugging (native Snow Leopard g++ compiler): -./configure CXXFLAGS="-fno-inline -g -Wall" \ - LDFLAGS="-fno-inline -g -Wall" +5) +After installing prerequisites for building GTSAM, you can configure and build +GTSAM using CMake with the default options with the quickstart options. For +details on the full functionality of CMake, see the CMake documentation. -For Debugging (Linux or MacPorts g++ compilers): -./configure CXXFLAGS="-fno-inline -g -Wall -D_GLIBCXX_DEBUG" \ - LDFLAGS="-fno-inline -g -Wall" - -For Performance: -./configure CXXFLAGS="-DNDEBUG -O3" LDFLAGS="-O3" - -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 - - -Out-of-source build: --------------------- -The above will put object files and executables in the source directories. If you like, it is -very easy to configure the libraries to put all these in a parallel build tree so they do not -clutter the source tree. To do this, instead of running configure in the gtsam directory itself, -run it in sub-directory of choice, e.g., starting out in the main GTSAM folder: +- CMake Quickstart +Installs to the default system install path and builds all components. From a terminal, +starting in the root library folder, execute commands as follows for an out-of-source +build: $] mkdir build $] cd build - -if you want to install: - -$] ../configure ..... (command as above) +$] cmake .. +$] make check (optional, runs unit tests) $] make install -or if you dont want to install then you can: +This will build the library and unit tests, run all of the unit tests, and then install +the library itself, as well as the Matlab toolbox. -$] ../configure ..... (command as above) -$] ../configure --disable-shared -$] make (or make check) +- Additional CMake Options and Details -Built-in Unit Tests: --------------------- -There is one more optional step in which you can invoke the unit tests included in the gtsam libraries. -$] make check -By verifying all the test results are positive, you can make sure that the functionalities of the GTSAM -libraries are correct. +The cmake scripts force a out-of-source build, so inside gtsam, +create a new folder called "build", and run cmake. From the command line: + +$] mkdir build +$] cd build +$] cmake .. + +Note the ".." after the cmake command - it tells cmake to look for the +root CMakeLists.txt file in the root gtsam folder instead of in the build folder. +This is a necessary argument for starting cmake in all of its variations. +There a few ways of actually doing the configuration to make adjusting options easier. + + cmake the regular command-line version of cmake, allows configuration with scripts + ccmake the curses GUI for cmake, which lets you see the various options, change them, and run configuration. + cmake-gui a real GUI for cmake, which has a similar interface to ccmake, but with easier controls. + +Note that during configuration, the settings get cached so if you rerun cmake later, +it will keep your previous settings. In particular, you can use the "cmake" build target +within the Eclipse project to update the configuration, which will be necessary +when file structures change. + +While it is possible to use command-line arguments to cmake to change configuration +options, it is usually easier to use cmake-gui or ccmake to set parameters and use the other flags. + +Important CMake configuration options: + +CMAKE_INSTALL_PREFIX: this is the folder where installed files will go, and for +our development purposes, should be set to the home folder, like so +$] cmake -DCMAKE_INSTALL_PREFIX:PATH=$HOME .. + +GTSAM_TOOLBOX_INSTALL_PATH: When the library is installed with "make install", +the generated matlab toolbox code (created by wrap) gets installed as well in +this path. For example, use "/home/username/borg/toolbox" to install the +toolbox in your borg/toolbox folder. The matlab toolbox will get installed +into borg/toolbox/gtsam. +$] cmake -DGTSAM_TOOLBOX_INSTALL_PATH:PATH=$HOME/borg/toolbox .. + +GTSAM_BUILD_CONVENIENCE_LIBRARIES: This is a build option to allow for tests in +subfolders to be linked against convenience libraries rather than the full libgtsam. +Set with the command line as follows: +$] cmake -DGTSAM_BUILD_CONVENIENCE_LIBRARIES:OPTION=ON .. + ON (Default) This builds convenience libraries and links tests against them. This + option is suggested for gtsam developers, as it is possible to build + and run tests without first building the rest of the library, and + speeds up compilation for a single test. The downside of this option + is that it will build the entire library again to build the full + libgtsam library, so build/install will be slower. + OFF This will build all of libgtsam before any of the tests, and then + link all of the tests at once. This option is best for users of GTSAM, + as it avoids rebuilding the entirety of gtsam an extra time. + + + +Build and Install + +After configuring, you use make just as you normally would, and the all, check and +install targets work as in autotools. Note that all targets are at the root level +of the build folder. You can also build any of the subfolders individually as +individual targets, such as "make geometry slam" to build both geometry and slam. +Running "make install" will install the library to the prefix location. + +Check + +As with autotools, "make check" will build and run all of the tests. You can also +run "make timing" to build all of the timing scripts. To run check on a particular +subsection, there is a convention of "make check.[subfolder]", so to run just the +geometry tests, run "make check.geometry". Individual tests can be run by +appending ".run" to the name of the test, for example, to run testMatrix, +run "make testMatrix.run". + +The make target "wrap" will build the wrap binary, and the "wrap_gtsam" target will +generate code for the toolbox. By default, the toolbox will be created and installed +by the install target for the library. To change the install folder for the toolbox, +choose a different setting during cmake settings for the toolbox install path.