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https://github.com/ceres-solver/ceres-solver.git
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some fixes for Linux and macOS install docs
Linux: - Remove workaround for Ubuntu 14.04, which is EOL. libsuitesparse-dev seems to come with a shared library on 16.04 and later, so linking to a shared build of ceres doesn't seem to be an issue any more. - Add missing libgflags-dev. macOS: - OS X is now called macOS. - Update homebrew link. - Mac homebrew the preferred method of installation. - Fix OpenMP instructions. - Remove reference to homebrew/science. Everything is in core. - Add missing gflags. Change-Id: I633b3c7ea84a87886bfd823f8187fdd0a84737c9
This commit is contained in:
Nikolaus Demmel
committed by
Sameer Agarwal
Sameer Agarwal
parent
9d762d74f0
commit
82275d8a4e
@@ -97,7 +97,7 @@ optional. For details on customizing the build process, see
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``SuiteSparse``, and optionally used by Ceres directly for some
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operations.
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On ``UNIX`` OSes other than Mac OS X we recommend `ATLAS
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On ``UNIX`` OSes other than macOS we recommend `ATLAS
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<http://math-atlas.sourceforge.net/>`_, which includes ``BLAS`` and
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``LAPACK`` routines. It is also possible to use `OpenBLAS
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<https://github.com/xianyi/OpenBLAS>`_ . However, one needs to be
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@@ -105,7 +105,7 @@ optional. For details on customizing the build process, see
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<https://github.com/xianyi/OpenBLAS/wiki/faq#wiki-multi-threaded>`_
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inside ``OpenBLAS`` as it conflicts with use of threads in Ceres.
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Mac OS X ships with an optimized ``LAPACK`` and ``BLAS``
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MacOS ships with an optimized ``LAPACK`` and ``BLAS``
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implementation as part of the ``Accelerate`` framework. The Ceres
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build system will automatically detect and use it.
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@@ -123,18 +123,11 @@ Linux
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We will use `Ubuntu <http://www.ubuntu.com>`_ as our example linux
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distribution.
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.. NOTE::
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Up to at least Ubuntu 14.04, the SuiteSparse package in the official
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package repository (built from SuiteSparse v3.4.0) **cannot** be used
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to build Ceres as a *shared* library. Thus if you want to build
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Ceres as a shared library using SuiteSparse, you must perform a
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source install of SuiteSparse or use an external PPA (see `bug report
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here
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<https://bugs.launchpad.net/ubuntu/+source/suitesparse/+bug/1333214>`_).
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It is recommended that you use the current version of SuiteSparse
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(4.2.1 at the time of writing).
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.. NOTE ::
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These instructions are for Ubuntu 18.04 and newer. On Ubuntu 16.04
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you need to manually get a more recent version of Eigen, such as
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3.3.7.
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Start by installing all the dependencies.
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@@ -143,20 +136,12 @@ Start by installing all the dependencies.
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# CMake
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sudo apt-get install cmake
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# google-glog + gflags
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sudo apt-get install libgoogle-glog-dev
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sudo apt-get install libgoogle-glog-dev libgflags-dev
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# BLAS & LAPACK
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sudo apt-get install libatlas-base-dev
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# Eigen3
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sudo apt-get install libeigen3-dev
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# SuiteSparse and CXSparse (optional)
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# - If you want to build Ceres as a *static* library (the default)
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# you can use the SuiteSparse package in the main Ubuntu package
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# repository:
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sudo apt-get install libsuitesparse-dev
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# - However, if you want to build Ceres as a *shared* library, you must
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# add the following PPA:
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sudo add-apt-repository ppa:bzindovic/suitesparse-bugfix-1319687
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sudo apt-get update
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sudo apt-get install libsuitesparse-dev
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We are now ready to build, test, and install Ceres.
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@@ -240,28 +225,14 @@ this.
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.. section-osx:
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Mac OS X
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========
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.. NOTE::
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macOS
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=====
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Ceres will not compile using Xcode 4.5.x (Clang version 4.1) due to a
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bug in that version of Clang. If you are running Xcode 4.5.x, please
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update to Xcode >= 4.6.x before attempting to build Ceres.
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On macOS, you can either use `Homebrew
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<https://brew.sh/>`_ (recomended) or `MacPorts
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<https://www.macports.org/>`_ to install Ceres Solver.
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On OS X, you can either use `MacPorts <https://www.macports.org/>`_ or
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`Homebrew <http://mxcl.github.com/homebrew/>`_ to install Ceres Solver.
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If using `MacPorts <https://www.macports.org/>`_, then
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.. code-block:: bash
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sudo port install ceres-solver
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will install the latest version.
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If using `Homebrew <http://mxcl.github.com/homebrew/>`_ and assuming
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that you have the ``homebrew/science`` [#f1]_ tap enabled, then
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If using `Homebrew <https://brew.sh/>`_, then
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.. code-block:: bash
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@@ -276,9 +247,17 @@ dependencies and
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will install the latest version in the git repo.
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If using `MacPorts <https://www.macports.org/>`_, then
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.. code-block:: bash
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sudo port install ceres-solver
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will install the latest version.
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You can also install each of the dependencies by hand using `Homebrew
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<http://mxcl.github.com/homebrew/>`_. There is no need to install
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``BLAS`` or ``LAPACK`` separately as OS X ships with optimized
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<https://brew.sh/>`_. There is no need to install
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``BLAS`` or ``LAPACK`` separately as macOS ships with optimized
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``BLAS`` and ``LAPACK`` routines as part of the `vecLib
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<https://developer.apple.com/library/mac/#documentation/Performance/Conceptual/vecLib/Reference/reference.html>`_
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framework.
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@@ -288,7 +267,7 @@ framework.
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# CMake
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brew install cmake
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# google-glog and gflags
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brew install glog
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brew install glog gflags
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# Eigen3
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brew install eigen
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# SuiteSparse and CXSparse
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@@ -309,13 +288,13 @@ We are now ready to build, test, and install Ceres.
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# documentation for the EXPORT_BUILD_DIR option for more information.
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make install
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Building with OpenMP on OS X
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----------------------------
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Building with OpenMP on macOS
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-----------------------------
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Up to at least Xcode 8, OpenMP support was disabled in Apple's version of
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Clang. However, you can install the latest version of the LLVM toolchain
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from Homebrew which does support OpenMP, and thus build Ceres with OpenMP
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support on OS X. To do this, you must install llvm via Homebrew:
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support on macOS. To do this, you must install llvm via Homebrew:
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.. code-block:: bash
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@@ -339,9 +318,8 @@ following:
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export LDFLAGS="-L/usr/local/opt/llvm/lib -Wl,-rpath,/usr/local/opt/llvm/lib"
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export CPPFLAGS="-I/usr/local/opt/llvm/include"
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export PATH="/usr/local/opt/llvm/bin:$PATH"
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# Force CMake to use the Homebrew version of Clang. OpenMP will be
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# automatically enabled if it is detected that the compiler supports it.
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cmake -DCMAKE_C_COMPILER=/usr/local/opt/llvm/bin/clang -DCMAKE_CXX_COMPILER=/usr/local/opt/llvm/bin/clang++ ../ceres-solver-2.0.0
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# Force CMake to use the Homebrew version of Clang and enable OpenMP.
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cmake -DCMAKE_C_COMPILER=/usr/local/opt/llvm/bin/clang -DCMAKE_CXX_COMPILER=/usr/local/opt/llvm/bin/clang++ -DCERES_THREADING_MODEL=OPENMP ../ceres-solver-2.0.0
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make -j3
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make test
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# Optionally install Ceres. It can also be exported using CMake which
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@@ -352,19 +330,6 @@ following:
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Like the Linux build, you should now be able to run
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``bin/simple_bundle_adjuster``.
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.. rubric:: Footnotes
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.. [#f1] Ceres and many of its dependencies are in `homebrew/science
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<https://github.com/Homebrew/homebrew-science>`_ tap. So, if you
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don't have this tap enabled, then you will need to enable it as
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follows before executing any of the commands in this section.
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.. code-block:: bash
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brew tap homebrew/science
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.. _section-windows:
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Windows
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@@ -379,7 +344,7 @@ Windows
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On Windows, we support building with Visual Studio 2015.2 of newer. Note
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that the Windows port is less featureful and less tested than the
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Linux or Mac OS X versions due to the lack of an officially supported
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Linux or macOS versions due to the lack of an officially supported
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way of building SuiteSparse and CXSparse. There are however a number
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of unofficial ways of building these libraries. Building on Windows
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also a bit more involved since there is no automated way to install
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@@ -1068,7 +1033,7 @@ project's build directory is **exported**, instead of copying the
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compiled libraries and headers, CMake creates an entry for the project
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in the `user's local CMake package registry
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<http://www.cmake.org/cmake/help/v3.2/manual/cmake-packages.7.html#user-package-registry>`_,
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``<USER_HOME>/.cmake/packages`` on Linux & OS X, which contains the
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``<USER_HOME>/.cmake/packages`` on Linux & macOS, which contains the
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path to the project's build directory which will be checked by CMake
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during a call to ``find_package()``. The effect of which is that any
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client code uses the compiled libraries and headers in the build
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