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Richard Roberts 2014-01-04 03:15:25 -05:00
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@ -10,10 +10,33 @@ In the root library folder execute:
$ mkdir build $ mkdir build
$ cd build $ cd build
$ cmake .. $ cmake ..
$ make!check (optional, runs unit tests) $ make check (optional, runs unit tests)
$ make install $ make install
``` ```
Prerequisites:
- [Boost](http://www.boost.org/users/download/) >= 1.43 (Ubuntu: `sudo apt-get install libboost-all-dev`)
- [CMake](http://www.cmake.org/cmake/resources/software.html) >= 2.6 (Ubuntu: `sudo apt-get install cmake`)
Optional prerequisites - used automatically if findable by CMake:
- [Intel Threaded Building Blocks (TBB)](http://www.threadingbuildingblocks.org/) (Ubuntu: `sudo apt-get install libtbb-dev`)
- [Intel Math Kernel Library (MKL)](http://software.intel.com/en-us/intel-mkl)
Tested compilers
- GCC 4.2-4.7
- OSX Clang 2.9-3.2
- OSX GCC 4.2
- MSVC 2010, 2012
Tested systems:
- Ubuntu 11.04 - 13.10
- MacOS 10.6 - 10.9
- Windows 7, 8
See INSTALL for more detailed installation instructions. See INSTALL for more detailed installation instructions.
What is GTSAM? What is GTSAM?
@ -30,157 +53,19 @@ Please see the `examples/` directory and the USAGE file for examples on how to u
The library is organized according to the following directory structure: The library is organized according to the following directory structure:
~~~~ 3rdparty local copies of third party libraries - Eigen3 and CCOLAMD
3rdparty local copies of third party libraries - Eigen3 and CCOLAMD base provides some base Math and data structures, as well as test-related utilities
base provides some base Math and data structures, as well as test-related utilities geometry points, poses, tensors, etc
geometry points, poses, tensors, etc inference core graphical model inference such as factor graphs, junction trees, Bayes nets, Bayes trees
inference core graphical model inference such as factor graphs, junction trees, Bayes nets, Bayes trees linear inference specialized to Gaussian linear case, GaussianFactorGraph etc...
linear inference specialized to Gaussian linear case, GaussianFactorGraph etc... nonlinear non-linear factor graphs and non-linear optimization
nonlinear non-linear factor graphs and non-linear optimization slam SLAM and visual SLAM application code
slam SLAM and visual SLAM application code
~~~~
This library contains unchanged copies of two third party libraries, with documentation This library contains unchanged copies of two third party libraries, with documentation
of licensing as follows: of licensing as follows:
- CCOLAMD 2.73: Tim Davis' constrained column approximate minimum degree ordering library
- CCOLAMD 2.73: Tim Davis' constrained column approximate minimum degree ordering library
- http://www.cise.ufl.edu/research/sparse - http://www.cise.ufl.edu/research/sparse
- Licenced under LGPL v2.1, provided in gtsam/3rdparty/CCOLAMD/Doc/lesser.txt - Licenced under LGPL v2.1, provided in gtsam/3rdparty/CCOLAMD/Doc/lesser.txt
- Eigen 3.2: General C++ matrix and linear algebra library - Eigen 3.2: General C++ matrix and linear algebra library
- Licenced under MPL2, provided in gtsam/3rdparty/Eigen/COPYING.README (some code that is 3rd-party to - Licenced under MPL2, provided in gtsam/3rdparty/Eigen/COPYING.README (some code that is 3rd-party to Eigen is BSD and LGPL)
Eigen is BSD and LGPL)
There are two supporting libraries:
CppUnitLite unit test library customized for use with gtsam
wrap code generation utility for the Matlab interface to gtsam
Important Installation Notes
----------------------------
1)
GTSAM requires the following libraries to be installed on your system:
- BOOST version 1.43 or greater (install through Linux repositories or MacPorts)
- Cmake version 2.6 or higher
- Support for XCode 4.3 command line tools on Mac requires CMake 2.8.8 or higher
Optional dependent libraries:
- If TBB is installed and detectable by CMake GTSAM will use it automatically.
Ensure that CMake prints "Use Intel TBB : Yes". To disable the use of TBB,
disable the CMake flag GTSAM_WITH_TBB (enabled by default). On Ubuntu, TBB
may be installed from the Ubuntu repositories, and for other platforms it
may be downloaded from https://www.threadingbuildingblocks.org/
Tested compilers
- GCC 4.2-4.7
- Clang 2.9-3.2
- OSX GCC 4.2
- MSVC 2010, 2012
Tested systems:
- Ubuntu 11.04, 11.10, 12.04, 12.10, 13.04
- MacOS 10.6, 10.7
- Windows 7
2)
GTSAM makes extensive use of debug assertions, and we highly recommend you work
in Debug mode while developing (enabled by default). Likewise, it is imperative
that you switch to release mode when running finished code and for timing. GTSAM
will run up to 10x faster in Release mode! See the end of this document for
additional debugging tips.
3)
GTSAM has Doxygen documentation. To generate, run 'make doc' from your
build directory.
4)
The instructions below install the library to the default system install path and
build 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
$] cmake ..
$] make check (optional, runs unit tests)
$] make install
This will build the library and unit tests, run all of the unit tests,
and then install the library itself.
- CMake Configuration Options and Details
GTSAM has a number of options that can be configured, which is best done with
one of the following:
ccmake the curses GUI for cmake
cmake-gui a real GUI for cmake
Important Options:
CMAKE_BUILD_TYPE: We support several build configurations for GTSAM (case insensitive)
Debug (default) All error checking options on, no optimization. Use for development.
Release Optimizations turned on, no debug symbols.
Timing Adds ENABLE_TIMING flag to provide statistics on operation
Profiling Standard configuration for use during profiling
RelWithDebInfo Same as Release, but with the -g flag for debug symbols
CMAKE_INSTALL_PREFIX: The install folder. The default is typically /usr/local/
To configure to install to your home directory, you could execute:
$] cmake -DCMAKE_INSTALL_PREFIX:PATH=$HOME ..
GTSAM_TOOLBOX_INSTALL_PATH: The Matlab toolbox will be installed in a subdirectory
of this folder, called 'gtsam'.
$] cmake -DGTSAM_TOOLBOX_INSTALL_PATH:PATH=$HOME/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.
GTSAM_BUILD_UNSTABLE: Enable build and install for libgtsam_unstable library.
Set with the command line as follows:
$] cmake -DGTSAM_BUILD_UNSTABLE:OPTION=ON ..
ON When enabled, libgtsam_unstable will be built and installed with the
same options as libgtsam. In addition, if tests are enabled, the
unit tests will be built as well. The Matlab toolbox will also
be generated if the matlab toolbox is enabled, installing into a
folder called "gtsam_unstable".
OFF (Default) If disabled, no gtsam_unstable code will be included in build or install.
Check
"make check" will build and run all of the tests. Note that the tests will only be
built when using the "check" targets, to prevent "make install" from building the tests
unnecessarily. You can also run "make timing" to build all of the timing scripts.
To run check on a particular module only, run "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".
MEX_COMMAND: Path to the mex compiler. Defaults to assume the path is included in your
shell's PATH environment variable. mex is installed with matlab at
$MATLABROOT/bin/mex
$MATLABROOT can be found by executing the command 'matlabroot' in MATLAB
Debugging tips:
Another useful debugging symbol is _GLIBCXX_DEBUG, which enables debug checks
and safe containers in the standard C++ library and makes problems much easier
to find.
NOTE: The native Snow Leopard g++ compiler/library contains a bug that makes
it impossible to use _GLIBCXX_DEBUG. MacPorts g++ compilers do work with it though.
NOTE: If _GLIBCXX_DEBUG is used to compile gtsam, anything that links against
gtsam will need to be compiled with _GLIBCXX_DEBUG as well, due to the use of
header-only Eigen.