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QuickstartIn the root library folder execute:$] mkdir build$] cd build$] cmake ..$] make check (optional, runs unit tests)$] make installImportant Installation Notes----------------------------1)GTSAM requires the following libraries to be installed on your system:- BOOST version 1.43 or greater (install through Linux repositories or MacPorts)- Cmake version 2.6 or higher- Support for XCode 4.3 command line tools on Mac requires CMake 2.8.8 or higherOptional dependent libraries:- If TBB is installed and detectable by CMake GTSAM will use it automatically.Ensure that CMake prints "Use Intel TBB : Yes". To disable the use of TBB,disable the CMake flag GTSAM_WITH_TBB (enabled by default). On Ubuntu, TBBmay be installed from the Ubuntu repositories, and for other platforms itmay be downloaded from https://www.threadingbuildingblocks.org/Tested compilers:- GCC 4.2-4.7- OSX Clang 2.9-5.0- OSX GCC 4.2- MSVC 2010, 2012Tested systems:- Ubuntu 11.04 - 13.10- MacOS 10.6 - 10.9- Windows 7, 8, 8.1Known issues:- MSVC 2013 is not yet supported because it cannot build the serialization moduleof Boost 1.55 (or earlier).2)GTSAM makes extensive use of debug assertions, and we highly recommend you workin Debug mode while developing (enabled by default). Likewise, it is imperativethat you switch to release mode when running finished code and for timing. GTSAMwill run up to 10x faster in Release mode! See the end of this document foradditional debugging tips.3)GTSAM has Doxygen documentation. To generate, run 'make doc' from yourbuild directory.4)The instructions below install the library to the default system install path andbuild all components. From a terminal, starting in the root library folder,execute commands as follows for an out-of-source build:$] mkdir build$] cd build$] cmake ..$] make check (optional, runs unit tests)$] make installThis will build the library and unit tests, run all of the unit tests,and then install the library itself.- CMake Configuration Options and DetailsGTSAM has a number of options that can be configured, which is best done withone of the following:ccmake the curses GUI for cmakecmake-gui a real GUI for cmakeImportant 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 operationProfiling Standard configuration for use during profilingRelWithDebInfo Same as Release, but with the -g flag for debug symbolsCMAKE_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 subdirectoryof 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 insubfolders to be linked against convenience libraries rather than the full libgtsam.Set with the command line as follows:$] cmake -DGTSAM_BUILD_CONVENIENCE_LIBRARIES:OPTION=ON ..ON (Default) This builds convenience libraries and links tests against them. Thisoption is suggested for gtsam developers, as it is possible to buildand run tests without first building the rest of the library, andspeeds up compilation for a single test. The downside of this optionis that it will build the entire library again to build the fulllibgtsam library, so build/install will be slower.OFF This will build all of libgtsam before any of the tests, and thenlink all of the tests at once. This option is best for users of GTSAM,as it avoids rebuilding the entirety of gtsam an extra time.GTSAM_BUILD_UNSTABLE: Enable build and install for libgtsam_unstable library.Set with the command line as follows:$] cmake -DGTSAM_BUILD_UNSTABLE:OPTION=ON ..ON When enabled, libgtsam_unstable will be built and installed with thesame options as libgtsam. In addition, if tests are enabled, theunit tests will be built as well. The Matlab toolbox will alsobe generated if the matlab toolbox is enabled, installing into afolder 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 bebuilt when using the "check" targets, to prevent "make install" from building the testsunnecessarily. 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 runjust the geometry tests, run "make check.geometry". Individual tests can be run byappending ".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 yourshell's PATH environment variable. mex is installed with matlab at$MATLABROOT/bin/mex$MATLABROOT can be found by executing the command 'matlabroot' in MATLABDebugging tips:Another useful debugging symbol is _GLIBCXX_DEBUG, which enables debug checksand safe containers in the standard C++ library and makes problems much easierto find.NOTE: The native Snow Leopard g++ compiler/library contains a bug that makesit 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 againstgtsam will need to be compiled with _GLIBCXX_DEBUG as well, due to the use ofheader-only Eigen.