Initial migration
Fan Jiang
parent
7f8371aad7
commit
1d6392dc88
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@ -65,6 +65,7 @@ add_custom_target(uninstall
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# Configurable Options
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if(GTSAM_UNSTABLE_AVAILABLE)
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option(GTSAM_BUILD_UNSTABLE "Enable/Disable libgtsam_unstable" ON)
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option(GTSAM_UNSTABLE_BUILD_PYTHON "Enable/Disable Python wrapper for libgtsam_unstable" ON)
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endif()
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option(BUILD_SHARED_LIBS "Build shared gtsam library, instead of static" ON)
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option(GTSAM_USE_QUATERNIONS "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices. If enable, Rot3::EXPMAP is enforced by default." OFF)
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@ -75,6 +76,7 @@ option(GTSAM_WITH_TBB "Use Intel Threaded Building Blocks (TB
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option(GTSAM_WITH_EIGEN_MKL "Eigen will use Intel MKL if available" OFF)
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option(GTSAM_WITH_EIGEN_MKL_OPENMP "Eigen, when using Intel MKL, will also use OpenMP for multithreading if available" OFF)
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option(GTSAM_THROW_CHEIRALITY_EXCEPTION "Throw exception when a triangulated point is behind a camera" ON)
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option(GTSAM_BUILD_PYTHON "Enable/Disable building & installation of Python module with pybind11" OFF)
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option(GTSAM_ALLOW_DEPRECATED_SINCE_V41 "Allow use of methods/functions deprecated in GTSAM 4.1" ON)
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option(GTSAM_TYPEDEF_POINTS_TO_VECTORS "Typedef Point2 and Point3 to Eigen::Vector equivalents" OFF)
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option(GTSAM_SUPPORT_NESTED_DISSECTION "Support Metis-based nested dissection" ON)
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@ -99,37 +101,44 @@ endif()
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# Options relating to MATLAB wrapper
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# TODO: Check for matlab mex binary before handling building of binaries
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option(GTSAM_INSTALL_MATLAB_TOOLBOX "Enable/Disable installation of matlab toolbox" OFF)
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option(GTSAM_INSTALL_CYTHON_TOOLBOX "Enable/Disable installation of Cython toolbox" OFF)
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option(GTSAM_BUILD_WRAP "Enable/Disable building of matlab/cython wrap utility (necessary for matlab/cython interface)" ON)
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set(GTSAM_PYTHON_VERSION "Default" CACHE STRING "The version of python to build the cython wrapper for (or Default)")
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set(GTSAM_PYTHON_VERSION "Default" CACHE STRING "The version of Python to build the wrappers against.")
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# Check / set dependent variables for MATLAB wrapper
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if((GTSAM_INSTALL_MATLAB_TOOLBOX OR GTSAM_INSTALL_CYTHON_TOOLBOX) AND NOT GTSAM_BUILD_WRAP)
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message(FATAL_ERROR "GTSAM_INSTALL_MATLAB_TOOLBOX or GTSAM_INSTALL_CYTHON_TOOLBOX is enabled, please also enable GTSAM_BUILD_WRAP")
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endif()
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if((GTSAM_INSTALL_MATLAB_TOOLBOX OR GTSAM_INSTALL_CYTHON_TOOLBOX) AND GTSAM_BUILD_TYPE_POSTFIXES)
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if(GTSAM_INSTALL_MATLAB_TOOLBOX AND GTSAM_BUILD_TYPE_POSTFIXES)
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set(CURRENT_POSTFIX ${CMAKE_${CMAKE_BUILD_TYPE_UPPER}_POSTFIX})
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endif()
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if(GTSAM_INSTALL_WRAP AND NOT GTSAM_BUILD_WRAP)
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message(FATAL_ERROR "GTSAM_INSTALL_WRAP is enabled, please also enable GTSAM_BUILD_WRAP")
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endif()
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if(GTSAM_INSTALL_MATLAB_TOOLBOX AND NOT BUILD_SHARED_LIBS)
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message(FATAL_ERROR "GTSAM_INSTALL_MATLAB_TOOLBOX and BUILD_SHARED_LIBS=OFF. The MATLAB wrapper cannot be compiled with a static GTSAM library because mex modules are themselves shared libraries. If you want a self-contained mex module, enable GTSAM_MEX_BUILD_STATIC_MODULE instead of BUILD_SHARED_LIBS=OFF.")
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endif()
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if(GTSAM_INSTALL_MATLAB_TOOLBOX AND GTSAM_TYPEDEF_POINTS_TO_VECTORS)
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message(FATAL_ERROR "GTSAM_INSTALL_MATLAB_TOOLBOX and GTSAM_TYPEDEF_POINTS_TO_VECTORS are both enabled. For now, the MATLAB toolbox cannot deal with this yet. Please turn one of the two options off.")
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endif()
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if(GTSAM_BUILD_PYTHON)
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if (NOT GTSAM_TYPEDEF_POINTS_TO_VECTORS)
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message(FATAL_ERROR "GTSAM_BUILD_PYTHON requires GTSAM_TYPEDEF_POINTS_TO_VECTORS to be enabled but it is not.")
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endif()
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if(GTSAM_INSTALL_CYTHON_TOOLBOX AND GTSAM_TYPEDEF_POINTS_TO_VECTORS)
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message(FATAL_ERROR "GTSAM_INSTALL_CYTHON_TOOLBOX and GTSAM_TYPEDEF_POINTS_TO_VECTORS are both enabled. For now, the CYTHON toolbox cannot deal with this yet. Please turn one of the two options off.")
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if(GTSAM_UNSTABLE_BUILD_PYTHON)
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if (NOT GTSAM_BUILD_UNSTABLE)
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message(WARNING "GTSAM_UNSTABLE_BUILD_PYTHON requires the unstable module to be enabled.")
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set(GTSAM_UNSTABLE_BUILD_PYTHON OFF)
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endif()
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endif()
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set(GTSAM_PY_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/python")
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endif()
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# Flags for choosing default packaging tools
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set(CPACK_SOURCE_GENERATOR "TGZ" CACHE STRING "CPack Default Source Generator")
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set(CPACK_GENERATOR "TGZ" CACHE STRING "CPack Default Binary Generator")
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if (CMAKE_GENERATOR STREQUAL "Ninja" AND
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((CMAKE_CXX_COMPILER_ID STREQUAL "GNU" AND NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 4.9) OR
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(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" AND NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 3.5)))
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# Force colored warnings in Ninja's output, if the compiler has -fdiagnostics-color support.
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# Rationale in https://github.com/ninja-build/ninja/issues/814
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fdiagnostics-color=always")
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endif()
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###############################################################################
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# Find boost
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@ -419,14 +428,11 @@ endif()
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# Build CppUnitLite
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add_subdirectory(CppUnitLite)
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# Build wrap
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if (GTSAM_BUILD_WRAP)
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add_subdirectory(wrap)
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# suppress warning of cython line being too long
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if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-misleading-indentation")
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endif()
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endif(GTSAM_BUILD_WRAP)
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# This is the new wrapper
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if(GTSAM_BUILD_PYTHON)
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list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/wrap/cmake")
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add_subdirectory(python)
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endif()
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# Build GTSAM library
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add_subdirectory(gtsam)
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@ -450,20 +456,6 @@ if (GTSAM_INSTALL_MATLAB_TOOLBOX)
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add_subdirectory(matlab)
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endif()
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# Cython wrap
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if (GTSAM_INSTALL_CYTHON_TOOLBOX)
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set(GTSAM_INSTALL_CYTHON_TOOLBOX 1)
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# Set up cache options
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# Cython install path appended with Build type (e.g. cython, cythonDebug, etc).
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# This does not override custom values set from the command line
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set(GTSAM_CYTHON_INSTALL_PATH "${PROJECT_BINARY_DIR}/cython${GTSAM_BUILD_TAG}" CACHE PATH "Cython toolbox destination, blank defaults to PROJECT_BINARY_DIR/cython<GTSAM_BUILD_TAG>")
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set(GTSAM_EIGENCY_INSTALL_PATH ${GTSAM_CYTHON_INSTALL_PATH}/gtsam_eigency)
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add_subdirectory(cython ${GTSAM_CYTHON_INSTALL_PATH})
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else()
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set(GTSAM_INSTALL_CYTHON_TOOLBOX 0) # This will go into config.h
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endif()
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# Install config and export files
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GtsamMakeConfigFile(GTSAM "${CMAKE_CURRENT_SOURCE_DIR}/gtsam_extra.cmake.in")
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export(TARGETS ${GTSAM_EXPORTED_TARGETS} FILE GTSAM-exports.cmake)
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@ -524,7 +516,8 @@ endif()
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print_enabled_config(${BUILD_SHARED_LIBS} "Build shared GTSAM libraries")
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print_enabled_config(${GTSAM_BUILD_TYPE_POSTFIXES} "Put build type in library name")
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if(GTSAM_UNSTABLE_AVAILABLE)
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print_enabled_config(${GTSAM_BUILD_UNSTABLE} "Build libgtsam_unstable")
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print_enabled_config(${GTSAM_BUILD_UNSTABLE} "Build libgtsam_unstable ")
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print_enabled_config(${GTSAM_UNSTABLE_BUILD_PYTHON} "Build GTSAM unstable Python ")
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endif()
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if(NOT MSVC AND NOT XCODE_VERSION)
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@ -594,20 +587,15 @@ print_enabled_config(${GTSAM_ALLOW_DEPRECATED_SINCE_V41} "Allow features deprec
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print_enabled_config(${GTSAM_TYPEDEF_POINTS_TO_VECTORS} "Point3 is typedef to Vector3 ")
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print_enabled_config(${GTSAM_SUPPORT_NESTED_DISSECTION} "Metis-based Nested Dissection ")
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print_enabled_config(${GTSAM_TANGENT_PREINTEGRATION} "Use tangent-space preintegration")
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print_enabled_config(${GTSAM_BUILD_WRAP} "Build Wrap ")
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message(STATUS "MATLAB toolbox flags")
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print_enabled_config(${GTSAM_INSTALL_MATLAB_TOOLBOX} "Install MATLAB toolbox ")
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if (${GTSAM_INSTALL_MATLAB_TOOLBOX})
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print_config("MATLAB root" "${MATLAB_ROOT}")
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print_config("MEX binary" "${MEX_COMMAND}")
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message(STATUS "Python toolbox flags ")
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print_enabled_config(${GTSAM_BUILD_PYTHON} "Build Python module with pybind ")
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if(GTSAM_BUILD_PYTHON)
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print_config("Python version" ${GTSAM_PYTHON_VERSION})
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endif()
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message(STATUS "Cython toolbox flags ")
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print_enabled_config(${GTSAM_INSTALL_CYTHON_TOOLBOX} "Install Cython toolbox ")
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if(GTSAM_INSTALL_CYTHON_TOOLBOX)
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print_config("Python version" "${GTSAM_PYTHON_VERSION}")
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endif()
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message(STATUS "===============================================================")
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# Print warnings at the end
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@ -17,8 +17,6 @@ install(FILES
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GtsamBuildTypes.cmake
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GtsamMakeConfigFile.cmake
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GtsamMatlabWrap.cmake
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GtsamPythonWrap.cmake
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GtsamCythonWrap.cmake
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GtsamTesting.cmake
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GtsamPrinting.cmake
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FindCython.cmake
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@ -1,204 +0,0 @@
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# Check Cython version, need to be >=0.25.2
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# Unset these cached variables to avoid surprises when the python/cython
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# in the current environment are different from the cached!
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unset(PYTHON_EXECUTABLE CACHE)
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unset(CYTHON_EXECUTABLE CACHE)
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unset(PYTHON_INCLUDE_DIR CACHE)
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unset(PYTHON_MAJOR_VERSION CACHE)
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unset(PYTHON_LIBRARY CACHE)
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# Allow override from command line
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if(NOT DEFINED GTSAM_USE_CUSTOM_PYTHON_LIBRARY)
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if(GTSAM_PYTHON_VERSION STREQUAL "Default")
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find_package(PythonInterp REQUIRED)
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find_package(PythonLibs REQUIRED)
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else()
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find_package(PythonInterp ${GTSAM_PYTHON_VERSION} EXACT REQUIRED)
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find_package(PythonLibs ${GTSAM_PYTHON_VERSION} EXACT REQUIRED)
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endif()
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endif()
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find_package(Cython 0.25.2 REQUIRED)
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execute_process(COMMAND "${PYTHON_EXECUTABLE}" "-c"
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"from __future__ import print_function;import sys;print(sys.version[0], end='')"
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OUTPUT_VARIABLE PYTHON_MAJOR_VERSION
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)
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# User-friendly Cython wrapping and installing function.
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# Builds a Cython module from the provided interface_header.
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# For example, for the interface header gtsam.h,
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# this will build the wrap module 'gtsam'.
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#
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# Arguments:
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#
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# interface_header: The relative path to the wrapper interface definition file.
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# extra_imports: extra header to import in the Cython pxd file.
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# For example, to use Cython gtsam.pxd in your own module,
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# use "from gtsam cimport *"
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# install_path: destination to install the library
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# libs: libraries to link with
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# dependencies: Dependencies which need to be built before the wrapper
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function(wrap_and_install_library_cython interface_header extra_imports install_path libs dependencies)
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# Paths for generated files
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get_filename_component(module_name "${interface_header}" NAME_WE)
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set(generated_files_path "${install_path}")
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wrap_library_cython("${interface_header}" "${generated_files_path}" "${extra_imports}" "${libs}" "${dependencies}")
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endfunction()
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function(set_up_required_cython_packages)
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# Set up building of cython module
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include_directories(${PYTHON_INCLUDE_DIRS})
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find_package(NumPy REQUIRED)
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include_directories(${NUMPY_INCLUDE_DIRS})
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endfunction()
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# Convert pyx to cpp by executing cython
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# This is the first step to compile cython from the command line
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# as described at: http://cython.readthedocs.io/en/latest/src/reference/compilation.html
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#
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# Arguments:
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# - target: The specified target for this step
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# - pyx_file: The input pyx_file in full *absolute* path
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# - generated_cpp: The output cpp file in full absolute path
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# - include_dirs: Directories to include when executing cython
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function(pyx_to_cpp target pyx_file generated_cpp include_dirs)
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foreach(dir ${include_dirs})
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set(includes_for_cython ${includes_for_cython} -I ${dir})
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endforeach()
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add_custom_command(
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OUTPUT ${generated_cpp}
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COMMAND
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${CYTHON_EXECUTABLE} -X boundscheck=False -v --fast-fail --cplus -${PYTHON_MAJOR_VERSION} ${includes_for_cython} ${pyx_file} -o ${generated_cpp}
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VERBATIM)
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add_custom_target(${target} ALL DEPENDS ${generated_cpp})
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endfunction()
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# Build the cpp file generated by converting pyx using cython
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# This is the second step to compile cython from the command line
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# as described at: http://cython.readthedocs.io/en/latest/src/reference/compilation.html
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#
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# Arguments:
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# - target: The specified target for this step
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# - cpp_file: The input cpp_file in full *absolute* path
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# - output_lib_we: The output lib filename only (without extension)
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# - output_dir: The output directory
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function(build_cythonized_cpp target cpp_file output_lib_we output_dir)
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add_library(${target} MODULE ${cpp_file})
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if(WIN32)
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# Use .pyd extension instead of .dll on Windows
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set_target_properties(${target} PROPERTIES SUFFIX ".pyd")
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# Add full path to the Python library
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target_link_libraries(${target} ${PYTHON_LIBRARIES})
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endif()
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if(APPLE)
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set(link_flags "-undefined dynamic_lookup")
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endif()
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set_target_properties(${target}
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PROPERTIES COMPILE_FLAGS "-w"
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LINK_FLAGS "${link_flags}"
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OUTPUT_NAME ${output_lib_we}
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PREFIX ""
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${CMAKE_BUILD_TYPE_UPPER}_POSTFIX ""
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LIBRARY_OUTPUT_DIRECTORY ${output_dir})
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endfunction()
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# Cythonize a pyx from the command line as described at
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# http://cython.readthedocs.io/en/latest/src/reference/compilation.html
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# Arguments:
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# - target: The specified target
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# - pyx_file: The input pyx_file in full *absolute* path
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# - output_lib_we: The output lib filename only (without extension)
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# - output_dir: The output directory
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# - include_dirs: Directories to include when executing cython
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# - libs: Libraries to link with
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# - interface_header: For dependency. Any update in interface header will re-trigger cythonize
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function(cythonize target pyx_file output_lib_we output_dir include_dirs libs interface_header dependencies)
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get_filename_component(pyx_path "${pyx_file}" DIRECTORY)
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get_filename_component(pyx_name "${pyx_file}" NAME_WE)
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set(generated_cpp "${output_dir}/${pyx_name}.cpp")
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set_up_required_cython_packages()
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pyx_to_cpp(${target}_pyx2cpp ${pyx_file} ${generated_cpp} "${include_dirs}")
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# Late dependency injection, to make sure this gets called whenever the interface header is updated
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# See: https://stackoverflow.com/questions/40032593/cmake-does-not-rebuild-dependent-after-prerequisite-changes
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add_custom_command(OUTPUT ${generated_cpp} DEPENDS ${interface_header} ${pyx_file} APPEND)
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if (NOT "${dependencies}" STREQUAL "")
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add_dependencies(${target}_pyx2cpp "${dependencies}")
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endif()
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build_cythonized_cpp(${target} ${generated_cpp} ${output_lib_we} ${output_dir})
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if (NOT "${libs}" STREQUAL "")
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target_link_libraries(${target} "${libs}")
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endif()
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add_dependencies(${target} ${target}_pyx2cpp)
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if(TARGET ${python_install_target})
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add_dependencies(${python_install_target} ${target})
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endif()
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endfunction()
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# Internal function that wraps a library and compiles the wrapper
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function(wrap_library_cython interface_header generated_files_path extra_imports libs dependencies)
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# Wrap codegen interface
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# Extract module path and name from interface header file name
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# wrap requires interfacePath to be *absolute*
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get_filename_component(interface_header "${interface_header}" ABSOLUTE)
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get_filename_component(module_path "${interface_header}" PATH)
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get_filename_component(module_name "${interface_header}" NAME_WE)
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# Wrap module to Cython pyx
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message(STATUS "Cython wrapper generating ${generated_files_path}/${module_name}.pyx")
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set(generated_pyx "${generated_files_path}/${module_name}.pyx")
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if(NOT EXISTS ${generated_files_path})
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file(MAKE_DIRECTORY "${generated_files_path}")
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endif()
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add_custom_command(
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OUTPUT ${generated_pyx}
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DEPENDS ${interface_header} wrap
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COMMAND
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wrap --cython ${module_path} ${module_name} ${generated_files_path} "${extra_imports}"
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VERBATIM
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WORKING_DIRECTORY ${generated_files_path}/../)
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add_custom_target(cython_wrap_${module_name}_pyx ALL DEPENDS ${generated_pyx})
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if(NOT "${dependencies}" STREQUAL "")
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add_dependencies(cython_wrap_${module_name}_pyx ${dependencies})
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endif()
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message(STATUS "Cythonize and build ${module_name}.pyx")
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get_property(include_dirs DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY INCLUDE_DIRECTORIES)
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cythonize(cythonize_${module_name} ${generated_pyx} ${module_name}
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${generated_files_path} "${include_dirs}" "${libs}" ${interface_header} cython_wrap_${module_name}_pyx)
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# distclean
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add_custom_target(wrap_${module_name}_cython_distclean
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COMMAND cmake -E remove_directory ${generated_files_path})
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endfunction()
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# Helper function to install Cython scripts and handle multiple build types where the scripts
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# should be installed to all build type toolboxes
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#
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# Arguments:
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# source_directory: The source directory to be installed. "The last component of each directory
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# name is appended to the destination directory but a trailing slash may be
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# used to avoid this because it leaves the last component empty."
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# (https://cmake.org/cmake/help/v3.3/command/install.html?highlight=install#installing-directories)
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||||
# dest_directory: The destination directory to install to.
|
||||
# patterns: list of file patterns to install
|
||||
function(install_cython_scripts source_directory dest_directory patterns)
|
||||
set(patterns_args "")
|
||||
set(exclude_patterns "")
|
||||
|
||||
foreach(pattern ${patterns})
|
||||
list(APPEND patterns_args PATTERN "${pattern}")
|
||||
endforeach()
|
||||
|
||||
file(COPY "${source_directory}" DESTINATION "${dest_directory}"
|
||||
FILES_MATCHING ${patterns_args} PATTERN "${exclude_patterns}" EXCLUDE)
|
||||
endfunction()
|
||||
|
|
@ -23,6 +23,11 @@ else()
|
|||
file(GLOB matlab_bin_directories "/usr/local/MATLAB/*/bin")
|
||||
set(mex_program_name "mex")
|
||||
endif()
|
||||
|
||||
if(GTSAM_CUSTOM_MATLAB_PATH)
|
||||
set(matlab_bin_directories ${GTSAM_CUSTOM_MATLAB_PATH})
|
||||
endif()
|
||||
|
||||
# Run find_program explicitly putting $PATH after our predefined program
|
||||
# directories using 'ENV PATH' and 'NO_SYSTEM_ENVIRONMENT_PATH' - this prevents
|
||||
# finding the LaTeX mex program (totally unrelated to MATLAB Mex) when LaTeX is
|
||||
|
|
@ -209,15 +214,34 @@ function(wrap_library_internal interfaceHeader linkLibraries extraIncludeDirs ex
|
|||
|
||||
# Set up generation of module source file
|
||||
file(MAKE_DIRECTORY "${generated_files_path}")
|
||||
|
||||
if(GTSAM_PYTHON_VERSION STREQUAL "Default")
|
||||
find_package(PythonInterp REQUIRED)
|
||||
find_package(PythonLibs REQUIRED)
|
||||
else()
|
||||
find_package(PythonInterp
|
||||
${GTSAM_PYTHON_VERSION}
|
||||
EXACT
|
||||
REQUIRED)
|
||||
find_package(PythonLibs
|
||||
${GTSAM_PYTHON_VERSION}
|
||||
EXACT
|
||||
REQUIRED)
|
||||
endif()
|
||||
|
||||
set(_ignore gtsam::Point2
|
||||
gtsam::Point3)
|
||||
add_custom_command(
|
||||
OUTPUT ${generated_cpp_file}
|
||||
DEPENDS ${interfaceHeader} wrap ${module_library_target} ${otherLibraryTargets} ${otherSourcesAndObjects}
|
||||
COMMAND
|
||||
wrap --matlab
|
||||
${modulePath}
|
||||
${moduleName}
|
||||
${generated_files_path}
|
||||
${matlab_h_path}
|
||||
DEPENDS ${interfaceHeader} ${module_library_target} ${otherLibraryTargets} ${otherSourcesAndObjects}
|
||||
COMMAND
|
||||
${PYTHON_EXECUTABLE}
|
||||
${CMAKE_SOURCE_DIR}/wrap/matlab_wrapper.py
|
||||
--src ${interfaceHeader}
|
||||
--module_name ${moduleName}
|
||||
--out ${generated_files_path}
|
||||
--top_module_namespaces ${moduleName}
|
||||
--ignore ${_ignore}
|
||||
VERBATIM
|
||||
WORKING_DIRECTORY ${generated_files_path})
|
||||
|
||||
|
|
|
|||
|
|
@ -1,102 +0,0 @@
|
|||
#Setup cache options
|
||||
set(GTSAM_PYTHON_VERSION "Default" CACHE STRING "Target python version for GTSAM python module. Use 'Default' to chose the default version")
|
||||
set(GTSAM_BUILD_PYTHON_FLAGS "" CACHE STRING "Extra flags for running Matlab PYTHON compilation")
|
||||
set(GTSAM_PYTHON_INSTALL_PATH "" CACHE PATH "Python toolbox destination, blank defaults to CMAKE_INSTALL_PREFIX/borg/python")
|
||||
if(NOT GTSAM_PYTHON_INSTALL_PATH)
|
||||
set(GTSAM_PYTHON_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/borg/python")
|
||||
endif()
|
||||
|
||||
#Author: Paul Furgale Modified by Andrew Melim
|
||||
function(wrap_python TARGET_NAME PYTHON_MODULE_DIRECTORY)
|
||||
# # Boost
|
||||
# find_package(Boost COMPONENTS python filesystem system REQUIRED)
|
||||
# include_directories(${Boost_INCLUDE_DIRS})
|
||||
|
||||
# # Find Python
|
||||
# FIND_PACKAGE(PythonLibs 2.7 REQUIRED)
|
||||
# INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_DIRS})
|
||||
|
||||
IF(APPLE)
|
||||
# The apple framework headers don't include the numpy headers for some reason.
|
||||
GET_FILENAME_COMPONENT(REAL_PYTHON_INCLUDE ${PYTHON_INCLUDE_DIRS} REALPATH)
|
||||
IF( ${REAL_PYTHON_INCLUDE} MATCHES Python.framework)
|
||||
message("Trying to find extra headers for numpy from ${REAL_PYTHON_INCLUDE}.")
|
||||
message("Looking in ${REAL_PYTHON_INCLUDE}/../../Extras/lib/python/numpy/core/include/numpy")
|
||||
FIND_PATH(NUMPY_INCLUDE_DIR arrayobject.h
|
||||
${REAL_PYTHON_INCLUDE}/../../Extras/lib/python/numpy/core/include/numpy
|
||||
${REAL_PYTHON_INCLUDE}/numpy
|
||||
)
|
||||
IF(${NUMPY_INCLUDE_DIR} MATCHES NOTFOUND)
|
||||
message("Unable to find numpy include directories: ${NUMPY_INCLUDE_DIR}")
|
||||
ELSE()
|
||||
message("Found headers at ${NUMPY_INCLUDE_DIR}")
|
||||
INCLUDE_DIRECTORIES(${NUMPY_INCLUDE_DIR})
|
||||
INCLUDE_DIRECTORIES(${NUMPY_INCLUDE_DIR}/..)
|
||||
ENDIF()
|
||||
ENDIF()
|
||||
ENDIF(APPLE)
|
||||
|
||||
if(MSVC)
|
||||
add_library(${moduleName}_python MODULE ${ARGN})
|
||||
set_target_properties(${moduleName}_python PROPERTIES
|
||||
OUTPUT_NAME ${moduleName}_python
|
||||
CLEAN_DIRECT_OUTPUT 1
|
||||
VERSION 1
|
||||
SOVERSION 0
|
||||
SUFFIX ".pyd")
|
||||
target_link_libraries(${moduleName}_python ${Boost_PYTHON_LIBRARY} ${PYTHON_LIBRARY} ${gtsamLib}) #temp
|
||||
|
||||
set(PYLIB_OUTPUT_FILE $<TARGET_FILE:${moduleName}_python>)
|
||||
message(${PYLIB_OUTPUT_FILE})
|
||||
get_filename_component(PYLIB_OUTPUT_NAME ${PYLIB_OUTPUT_FILE} NAME_WE)
|
||||
set(PYLIB_SO_NAME ${PYLIB_OUTPUT_NAME}.pyd)
|
||||
|
||||
ELSE()
|
||||
# Create a shared library
|
||||
add_library(${moduleName}_python SHARED ${generated_cpp_file})
|
||||
|
||||
set_target_properties(${moduleName}_python PROPERTIES
|
||||
OUTPUT_NAME ${moduleName}_python
|
||||
CLEAN_DIRECT_OUTPUT 1)
|
||||
target_link_libraries(${moduleName}_python ${Boost_PYTHON_LIBRARY} ${PYTHON_LIBRARY} ${gtsamLib}) #temp
|
||||
# On OSX and Linux, the python library must end in the extension .so. Build this
|
||||
# filename here.
|
||||
get_property(PYLIB_OUTPUT_FILE TARGET ${moduleName}_python PROPERTY LOCATION)
|
||||
set(PYLIB_OUTPUT_FILE $<TARGET_FILE:${moduleName}_python>)
|
||||
message(${PYLIB_OUTPUT_FILE})
|
||||
get_filename_component(PYLIB_OUTPUT_NAME ${PYLIB_OUTPUT_FILE} NAME_WE)
|
||||
set(PYLIB_SO_NAME lib${moduleName}_python.so)
|
||||
ENDIF(MSVC)
|
||||
|
||||
# Installs the library in the gtsam folder, which is used by setup.py to create the gtsam package
|
||||
set(PYTHON_MODULE_DIRECTORY ${CMAKE_SOURCE_DIR}/python/gtsam)
|
||||
# Cause the library to be output in the correct directory.
|
||||
add_custom_command(TARGET ${moduleName}_python
|
||||
POST_BUILD
|
||||
COMMAND cp -v ${PYLIB_OUTPUT_FILE} ${PYTHON_MODULE_DIRECTORY}/${PYLIB_SO_NAME}
|
||||
WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}
|
||||
COMMENT "Copying library files to python directory" )
|
||||
|
||||
# Cause the library to be output in the correct directory.
|
||||
add_custom_command(TARGET ${TARGET_NAME}
|
||||
POST_BUILD
|
||||
COMMAND cp -v ${PYLIB_OUTPUT_FILE} ${PYTHON_MODULE_DIRECTORY}/${PYLIB_SO_NAME}
|
||||
WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}
|
||||
COMMENT "Copying library files to python directory" )
|
||||
|
||||
get_directory_property(AMCF ADDITIONAL_MAKE_CLEAN_FILES)
|
||||
list(APPEND AMCF ${PYTHON_MODULE_DIRECTORY}/${PYLIB_SO_NAME})
|
||||
set_directory_properties(PROPERTIES ADDITIONAL_MAKE_CLEAN_FILES "${AMCF}")
|
||||
endfunction(wrap_python)
|
||||
|
||||
# Macro to get list of subdirectories
|
||||
macro(SUBDIRLIST result curdir)
|
||||
file(GLOB children RELATIVE ${curdir} ${curdir}/*)
|
||||
set(dirlist "")
|
||||
foreach(child ${children})
|
||||
if(IS_DIRECTORY ${curdir}/${child})
|
||||
list(APPEND dirlist ${child})
|
||||
endif()
|
||||
endforeach()
|
||||
set(${result} ${dirlist})
|
||||
endmacro()
|
||||
|
|
@ -47,9 +47,14 @@
|
|||
# endif
|
||||
# endif
|
||||
#else
|
||||
#ifdef __APPLE__
|
||||
# define @library_name@_EXPORT __attribute__((visibility("default")))
|
||||
# define @library_name@_EXTERN_EXPORT extern
|
||||
#else
|
||||
# define @library_name@_EXPORT
|
||||
# define @library_name@_EXTERN_EXPORT extern
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#undef BUILD_SHARED_LIBS
|
||||
|
||||
|
|
|
|||
|
|
@ -212,5 +212,5 @@ if (GTSAM_INSTALL_MATLAB_TOOLBOX)
|
|||
endif()
|
||||
|
||||
# Wrap
|
||||
wrap_and_install_library(../gtsam.h "${GTSAM_ADDITIONAL_LIBRARIES}" "" "${mexFlags}")
|
||||
wrap_and_install_library(gtsam.i "${GTSAM_ADDITIONAL_LIBRARIES}" "" "${mexFlags}")
|
||||
endif ()
|
||||
|
|
|
|||
|
|
@ -2797,16 +2797,16 @@ class SfmData {
|
|||
|
||||
string findExampleDataFile(string name);
|
||||
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename,
|
||||
gtsam::noiseModel::Diagonal* model, int maxID, bool addNoise, bool smart);
|
||||
gtsam::noiseModel::Diagonal* model, int maxIndex, bool addNoise, bool smart);
|
||||
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename,
|
||||
gtsam::noiseModel::Diagonal* model, int maxID, bool addNoise);
|
||||
gtsam::noiseModel::Diagonal* model, int maxIndex, bool addNoise);
|
||||
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename,
|
||||
gtsam::noiseModel::Diagonal* model, int maxID);
|
||||
gtsam::noiseModel::Diagonal* model, int maxIndex);
|
||||
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename,
|
||||
gtsam::noiseModel::Diagonal* model);
|
||||
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename);
|
||||
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D_robust(string filename,
|
||||
gtsam::noiseModel::Base* model);
|
||||
gtsam::noiseModel::Base* model, int maxIndex);
|
||||
void save2D(const gtsam::NonlinearFactorGraph& graph,
|
||||
const gtsam::Values& config, gtsam::noiseModel::Diagonal* model,
|
||||
string filename);
|
||||
|
|
@ -2816,8 +2816,8 @@ class BetweenFactorPose3s
|
|||
{
|
||||
BetweenFactorPose3s();
|
||||
size_t size() const;
|
||||
gtsam::BetweenFactorPose3* at(size_t i) const;
|
||||
void push_back(const gtsam::BetweenFactorPose3* factor);
|
||||
gtsam::BetweenFactor<gtsam::Pose3>* at(size_t i) const;
|
||||
void push_back(const gtsam::BetweenFactor<gtsam::Pose3>* factor);
|
||||
};
|
||||
|
||||
#include <gtsam/slam/InitializePose3.h>
|
||||
|
|
@ -2877,9 +2877,9 @@ virtual class FrobeniusBetweenFactor : gtsam::NoiseModelFactor {
|
|||
#include <gtsam/sfm/ShonanFactor.h>
|
||||
|
||||
virtual class ShonanFactor3 : gtsam::NoiseModelFactor {
|
||||
ShonanFactor(size_t key1, size_t key2, const gtsam::Rot3 &R12,
|
||||
ShonanFactor3(size_t key1, size_t key2, const gtsam::Rot3 &R12,
|
||||
size_t p);
|
||||
ShonanFactor(size_t key1, size_t key2, const gtsam::Rot3 &R12,
|
||||
ShonanFactor3(size_t key1, size_t key2, const gtsam::Rot3 &R12,
|
||||
size_t p, gtsam::noiseModel::Base *model);
|
||||
Vector evaluateError(const gtsam::SOn &Q1, const gtsam::SOn &Q2);
|
||||
};
|
||||
|
|
@ -570,7 +570,7 @@ GraphAndValues load2D(pair<string, SharedNoiseModel> dataset, size_t maxIndex,
|
|||
|
||||
/* ************************************************************************* */
|
||||
GraphAndValues load2D_robust(const string &filename,
|
||||
noiseModel::Base::shared_ptr &model,
|
||||
const noiseModel::Base::shared_ptr &model,
|
||||
size_t maxIndex) {
|
||||
return load2D(filename, model, maxIndex);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -172,7 +172,7 @@ GTSAM_EXPORT GraphAndValues load2D(const std::string& filename,
|
|||
|
||||
/// @deprecated load2D now allows for arbitrary models and wrapping a robust kernel
|
||||
GTSAM_EXPORT GraphAndValues load2D_robust(const std::string& filename,
|
||||
noiseModel::Base::shared_ptr& model, size_t maxIndex = 0);
|
||||
const noiseModel::Base::shared_ptr& model, size_t maxIndex = 0);
|
||||
|
||||
/** save 2d graph */
|
||||
GTSAM_EXPORT void save2D(const NonlinearFactorGraph& graph,
|
||||
|
|
|
|||
|
|
@ -108,7 +108,7 @@ list(APPEND GTSAM_EXPORTED_TARGETS gtsam_unstable)
|
|||
set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE)
|
||||
|
||||
# Wrap version for gtsam_unstable
|
||||
if (GTSAM_INSTALL_MATLAB_TOOLBOX)
|
||||
if (GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX)
|
||||
# Set up codegen
|
||||
include(GtsamMatlabWrap)
|
||||
|
||||
|
|
@ -119,8 +119,8 @@ if (GTSAM_INSTALL_MATLAB_TOOLBOX)
|
|||
endif()
|
||||
|
||||
# Wrap
|
||||
wrap_and_install_library(gtsam_unstable.h "gtsam" "" "${mexFlags}")
|
||||
endif(GTSAM_INSTALL_MATLAB_TOOLBOX)
|
||||
wrap_and_install_library(gtsam_unstable.i "gtsam" "" "${mexFlags}")
|
||||
endif(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX)
|
||||
|
||||
|
||||
# Build examples
|
||||
|
|
|
|||
Loading…
Reference in New Issue