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cleaned up README for some of the recent changes

release/4.3a0
Chris Beall 2010-10-21 21:50:29 +00:00
parent adc8921f3b
commit 9f1e534500
1 changed files with 25 additions and 29 deletions
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README
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@ -20,7 +20,7 @@ The code is organized according to the following directory structure:
slam SLAM and visual SLAM application code slam SLAM and visual SLAM application code
All of the above contain code and tests, and build local shared libraries that are then 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: the more involved tests that test the entire library:
tests more involved tests that depend on slam tests more involved tests that depend on slam
@ -38,8 +38,6 @@ Finally, there are some local libraries built needed in the rest of the code:
CppUnitLite unit test library CppUnitLite unit test library
doc documentation doc documentation
m4 local M4 macros m4 local M4 macros
spqr_mini Core frontal solver from SuiteSparse (will probably go as not LGPL)
Boost Dependencies: Boost Dependencies:
------------------ ------------------
@ -49,68 +47,66 @@ 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 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 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: Mac system, where you should be able to find one of the header files:
/opt/local/include/boost/config.hpp /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. to your path.
The path to the Boost files can be set as an environmental variable in 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: put the following command in this file:
export BOOST_DIR=/opt/local/include/ export BOOST_DIR=/opt/local/include/
Installation: Installation:
------------- -------------
To finally install the library go into the directory where you unpacked the To finally install the library go into the directory where you unpacked the
GTSAM library, run the command below for example: GTSAM library. We recommend you do an out-of-source build, as described in the
$] ./configure --with-toolbox=$HOME/toolbox/ --with-boost=/opt/local/include/ 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 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. $] ./configure --with-toolbox=$HOME/toolbox/ --with-boost=/path/to/boost/include/
You have to set it to an existing directory. After successful installation there
will be a gtsam directory with all Matlab GTSAM Toolbox files.
The 'boost' flag sets the path where you installed or copied the BOOST C++ Library. After configuring your makefile you have to compile the 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
Type: Type:
$] make $] make
$] make install $] 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 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 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, 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 $] mkdir build
$] cd build $] cd build
$] ../configure --with-toolbox=$HOME/toolbox/ --with-boost=/opt/local/include/ $] ../configure --with-toolbox=$HOME/toolbox/
$] make install $] make install
Built-in Unit Tests: Built-in Unit Tests:
---------------- ----------------
There is one more optional step in which you can invoke the unit tests included in the gtsam libraries. There is one more optional step in which you can invoke the unit tests included in the gtsam libraries.
$] make check $] 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. libraries are correct.
The toolbox directory flag is where you want to compile the GTSAM Matlab toolbox.
Compile Matlab Toolbox: Compile Matlab Toolbox:
----------------------- -----------------------
1) Start Matlab 1) Start Matlab