cleaned up README for some of the recent changes
Chris Beall
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README
54
README
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@ -20,7 +20,7 @@ The code is organized according to the following directory structure:
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slam SLAM and visual SLAM application code
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All of the above contain code and tests, and build local shared libraries that are then
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bundled in a top-level shared library libgtsam.la. After his is built, you can also run
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bundled in a top-level shared library libgtsam.la. After this is built, you can also run
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the more involved tests that test the entire library:
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tests more involved tests that depend on slam
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@ -38,79 +38,75 @@ Finally, there are some local libraries built needed in the rest of the code:
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CppUnitLite unit test library
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doc documentation
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m4 local M4 macros
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spqr_mini Core frontal solver from SuiteSparse (will probably go as not LGPL)
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Boost Dependencies:
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------------------
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The GTSAM library is based on the 'Boost C++ Libraries' which can be
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found here: http://www.boost.org/.
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Donwload the lates version and extract Boost in any place. To this
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place the compiler will be linking.
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place the compiler will be linking.
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- On Linux BOOST can also be installed with a packaged manager.
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- On Mac OS Mac Port can be used.
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- On Mac OS Mac Ports can be used.
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For example the Boost path could be '/opt/local/include/' on a typical
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Mac system, where you should be able to find one of the header files:
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/opt/local/include/boost/config.hpp
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If your boost files are on a different place change the path according
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If your boost files are in a different place change the path according
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to your path.
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The path to the Boost files can be set as an environmental variable in
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the startup scrip. For a Bash shell the startup file is ~/.bashrc
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the startup script. For a Bash shell the startup file is ~/.bashrc
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put the following command in this file:
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export BOOST_DIR=/opt/local/include/
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Installation:
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-------------
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To finally install the library go into the directory where you unpacked the
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GTSAM library, run the command below for example:
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$] ./configure --with-toolbox=$HOME/toolbox/ --with-boost=/opt/local/include/
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GTSAM library. We recommend you do an out-of-source build, as described in the
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next section. However, this is not required:
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Standard Build:
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---------------
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run the command below to configure the library:
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$] ./configure --with-toolbox=$HOME/toolbox/
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where the path after --with-toolbox should point to the directory you want to have the gtsam
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matlab scripts installed in.
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matlab scripts installed in. You have to set it to an existing directory.
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After successful installation there will be a gtsam directory with all Matlab GTSAM Toolbox files.
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This command will configure the makefile for compiling the GTSAM library.
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The configure script will attempt to find the Boost C++ library on your system. If you installed
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Boost in a non-standard place, you have to to specify an additional flag to the configure script:
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The 'toolbox' flag sets the path where you want to install the GTSAM Matlab Toolbox.
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You have to set it to an existing directory. After successful installation there
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will be a gtsam directory with all Matlab GTSAM Toolbox files.
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$] ./configure --with-toolbox=$HOME/toolbox/ --with-boost=/path/to/boost/include/
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The 'boost' flag sets the path where you installed or copied the BOOST C++ Library.
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The path has to be set to the top boost directory. In this directory there are a bunch
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of folders (e.g. boost, doc, libs ....).
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Set the path to this folder.
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After configure you makefile you have to compile the library
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After configuring your makefile you have to compile the library
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Type:
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$] make
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$] make install
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Parallel Build
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----------------
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Out-of-source build:
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--------------------
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The above will put object files and executables in the source directories. If you like, it is
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very easy to configure the libraries to put all these in a parallel build tree so they do not
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clutter the source tree. To do this, instead of running configure in the gtsam directory itself,
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run it in sub-directory of choice, e.g.:
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run it in sub-directory of choice, e.g., starting out in the main GTSAM folder:
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$] mkdir build
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$] cd build
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$] ../configure --with-toolbox=$HOME/toolbox/ --with-boost=/opt/local/include/
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$] ../configure --with-toolbox=$HOME/toolbox/
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$] make install
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Built-in Unit Tests:
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----------------
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There is one more optional step in which you can invoke the unit tests included in the gtsam libraries.
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$] make check
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By verifying all the test results are positive, you can make sure that the functionalities of the gtsam
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By verifying all the test results are positive, you can make sure that the functionalities of the GTSAM
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libraries are correct.
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The toolbox directory flag is where you want to compile the GTSAM Matlab toolbox.
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Compile Matlab Toolbox:
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-----------------------
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1) Start Matlab
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