From 9f1e5345001cf4ba9fb245a0ae0b5b48addebf01 Mon Sep 17 00:00:00 2001 From: Chris Beall Date: Thu, 21 Oct 2010 21:50:29 +0000 Subject: [PATCH] cleaned up README for some of the recent changes --- README | 54 +++++++++++++++++++++++++----------------------------- 1 file changed, 25 insertions(+), 29 deletions(-) diff --git a/README b/README index ea26b1cbb..89f7b4e13 100644 --- a/README +++ b/README @@ -20,7 +20,7 @@ The code is organized according to the following directory structure: slam SLAM and visual SLAM application code 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 his is built, you can also run +bundled in a top-level shared library libgtsam.la. After this is built, you can also run the more involved tests that test the entire library: tests more involved tests that depend on slam @@ -38,79 +38,75 @@ Finally, there are some local libraries built needed in the rest of the code: CppUnitLite unit test library doc documentation m4 local M4 macros - spqr_mini Core frontal solver from SuiteSparse (will probably go as not LGPL) - Boost Dependencies: ------------------ The GTSAM library is based on the 'Boost C++ Libraries' which can be found here: http://www.boost.org/. Donwload the lates version and extract Boost in any place. To this -place the compiler will be linking. +place the compiler will be linking. - On Linux BOOST can also be installed with a packaged manager. -- On Mac OS Mac Port can be used. +- On Mac OS Mac Ports can be used. For example the Boost path could be '/opt/local/include/' on a typical Mac system, where you should be able to find one of the header files: /opt/local/include/boost/config.hpp -If your boost files are on a different place change the path according +If your boost files are in a different place change the path according to your path. The path to the Boost files can be set as an environmental variable in -the startup scrip. For a Bash shell the startup file is ~/.bashrc +the startup script. For a Bash shell the startup file is ~/.bashrc put the following command in this file: export BOOST_DIR=/opt/local/include/ Installation: ------------- To finally install the library go into the directory where you unpacked the -GTSAM library, run the command below for example: -$] ./configure --with-toolbox=$HOME/toolbox/ --with-boost=/opt/local/include/ +GTSAM library. We recommend you do an out-of-source build, as described in the +next section. However, this is not required: + +Standard Build: +--------------- + +run the command below to configure the library: + +$] ./configure --with-toolbox=$HOME/toolbox/ where the path after --with-toolbox should point to the directory you want to have the gtsam -matlab scripts installed in. +matlab scripts installed in. You have to set it to an existing directory. +After successful installation there will be a gtsam directory with all Matlab GTSAM Toolbox files. -This command will configure the makefile for compiling the GTSAM library. +The configure script will attempt to find the Boost C++ library on your system. If you installed + Boost in a non-standard place, you have to to specify an additional flag to the configure script: -The 'toolbox' flag sets the path where you want to install the GTSAM Matlab Toolbox. -You have to set it to an existing directory. After successful installation there -will be a gtsam directory with all Matlab GTSAM Toolbox files. +$] ./configure --with-toolbox=$HOME/toolbox/ --with-boost=/path/to/boost/include/ -The 'boost' flag sets the path where you installed or copied the BOOST C++ Library. -The path has to be set to the top boost directory. In this directory there are a bunch -of folders (e.g. boost, doc, libs ....). -Set the path to this folder. - - -After configure you makefile you have to compile the library +After configuring your makefile you have to compile the library Type: $] make $] make install -Parallel Build ----------------- - +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.: +run it in sub-directory of choice, e.g., starting out in the main GTSAM folder: $] mkdir build $] cd build -$] ../configure --with-toolbox=$HOME/toolbox/ --with-boost=/opt/local/include/ +$] ../configure --with-toolbox=$HOME/toolbox/ $] make install 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 +By verifying all the test results are positive, you can make sure that the functionalities of the GTSAM libraries are correct. -The toolbox directory flag is where you want to compile the GTSAM Matlab toolbox. - Compile Matlab Toolbox: ----------------------- 1) Start Matlab