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Merge pull request #63 from borglab/feature/cython-wrapper-release-mode 

Cython wrapper for all release modes
release/4.3a0
Frank Dellaert 2019-06-17 18:19:05 -07:00 committed by GitHub
parent 57852950aa 37aa167685
commit 266dff0715
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
7 changed files with 54 additions and 20 deletions
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24
CMakeLists.txt
View File

@ -75,13 +75,24 @@ option(GTSAM_WITH_EIGEN_MKL "Eigen will use Intel MKL if available"
option(GTSAM_WITH_EIGEN_MKL_OPENMP "Eigen, when using Intel MKL, will also use OpenMP for multithreading if available" OFF)
option(GTSAM_THROW_CHEIRALITY_EXCEPTION "Throw exception when a triangulated point is behind a camera" ON)
option(GTSAM_ALLOW_DEPRECATED_SINCE_V4 "Allow use of methods/functions deprecated in GTSAM 4" ON)
option(GTSAM_TYPEDEF_POINTS_TO_VECTORS "Typdef Point2 and Point3 to Eigen::Vector equivalents" OFF)
option(GTSAM_TYPEDEF_POINTS_TO_VECTORS "Typedef Point2 and Point3 to Eigen::Vector equivalents" OFF)
option(GTSAM_SUPPORT_NESTED_DISSECTION "Support Metis-based nested dissection" ON)
option(GTSAM_TANGENT_PREINTEGRATION "Use new ImuFactor with integration on tangent space" ON)
if(NOT MSVC AND NOT XCODE_VERSION)
option(GTSAM_BUILD_WITH_CCACHE "Use ccache compiler cache" ON)
endif()
# Set the build type to upper case for downstream use
string(TOUPPER "${CMAKE_BUILD_TYPE}" CMAKE_BUILD_TYPE_UPPER)
# Set the GTSAM_BUILD_TAG variable.
# If build type is Release, set to blank (""), else set to the build type.
if(${CMAKE_BUILD_TYPE_UPPER} STREQUAL "RELEASE")
set(GTSAM_BUILD_TAG "") # Don't create release mode tag on installed directory
else()
set(GTSAM_BUILD_TAG "${CMAKE_BUILD_TYPE}")
endif()
# Options relating to MATLAB wrapper
# TODO: Check for matlab mex binary before handling building of binaries
option(GTSAM_INSTALL_MATLAB_TOOLBOX "Enable/Disable installation of matlab toolbox" OFF)
@ -94,10 +105,7 @@ if((GTSAM_INSTALL_MATLAB_TOOLBOX OR GTSAM_INSTALL_CYTHON_TOOLBOX) AND NOT GTSAM_
message(FATAL_ERROR "GTSAM_INSTALL_MATLAB_TOOLBOX or GTSAM_INSTALL_CYTHON_TOOLBOX is enabled, please also enable GTSAM_BUILD_WRAP")
endif()
if((GTSAM_INSTALL_MATLAB_TOOLBOX OR GTSAM_INSTALL_CYTHON_TOOLBOX) AND GTSAM_BUILD_TYPE_POSTFIXES)
set(CURRENT_POSTFIX ${CMAKE_${CMAKE_BUILD_TYPE}_POSTFIX})
if(NOT "${CURRENT_POSTFIX}" STREQUAL "")
message(FATAL_ERROR "Cannot use executable postfixes with the matlab or cython wrappers. Please disable GTSAM_BUILD_TYPE_POSTFIXES")
endif()
set(CURRENT_POSTFIX ${CMAKE_${CMAKE_BUILD_TYPE_UPPER}_POSTFIX})
endif()
if(GTSAM_INSTALL_WRAP AND NOT GTSAM_BUILD_WRAP)
message(FATAL_ERROR "GTSAM_INSTALL_WRAP is enabled, please also enable GTSAM_BUILD_WRAP")
@ -528,11 +536,13 @@ print_config_flag(${GTSAM_BUILD_TYPE_POSTFIXES} "Put build type in librar
if(GTSAM_UNSTABLE_AVAILABLE)
print_config_flag(${GTSAM_BUILD_UNSTABLE} "Build libgtsam_unstable ")
endif()
string(TOUPPER "${CMAKE_BUILD_TYPE}" cmake_build_type_toupper)
print_config_flag(${GTSAM_BUILD_WITH_MARCH_NATIVE} "Build for native architecture ")
if(NOT MSVC AND NOT XCODE_VERSION)
print_config_flag(${GTSAM_BUILD_WITH_MARCH_NATIVE} "Build for native architecture ")
message(STATUS " Build type : ${CMAKE_BUILD_TYPE}")
message(STATUS " C++ compilation flags : ${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_${cmake_build_type_toupper}}")
message(STATUS " C compilation flags : ${CMAKE_C_FLAGS} ${CMAKE_C_FLAGS_${CMAKE_BUILD_TYPE_UPPER}}")
message(STATUS " C++ compilation flags : ${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_${CMAKE_BUILD_TYPE_UPPER}}")
endif()
print_build_options_for_target(gtsam)

23
cmake/GtsamCythonWrap.cmake
View File

@ -86,8 +86,13 @@ function(build_cythonized_cpp target cpp_file output_lib_we output_dir)
if(APPLE)
set(link_flags "-undefined dynamic_lookup")
endif()
set_target_properties(${target} PROPERTIES COMPILE_FLAGS "-w" LINK_FLAGS "${link_flags}"
OUTPUT_NAME ${output_lib_we} PREFIX "" LIBRARY_OUTPUT_DIRECTORY ${output_dir})
set_target_properties(${target}
PROPERTIES COMPILE_FLAGS "-w"
LINK_FLAGS "${link_flags}"
OUTPUT_NAME ${output_lib_we}
PREFIX ""
${CMAKE_BUILD_TYPE_UPPER}_POSTFIX ""
LIBRARY_OUTPUT_DIRECTORY ${output_dir})
endfunction()
# Cythonize a pyx from the command line as described at
@ -161,9 +166,13 @@ endfunction()
function(install_cython_wrapped_library interface_header generated_files_path install_path)
get_filename_component(module_name "${interface_header}" NAME_WE)
# NOTE: only installs .pxd and .pyx and binary files (not .cpp) - the trailing slash on the directory name
# NOTE: only installs .pxd and .pyx and binary files (not .cpp) - the trailing slash on the directory name
# here prevents creating the top-level module name directory in the destination.
message(STATUS "Installing Cython Toolbox to ${install_path}") #${GTSAM_CYTHON_INSTALL_PATH}")
# Split up filename to strip trailing '/' in GTSAM_CYTHON_INSTALL_PATH/subdirectory if there is one
get_filename_component(location "${install_path}" PATH)
get_filename_component(name "${install_path}" NAME)
message(STATUS "Installing Cython Toolbox to ${location}${GTSAM_BUILD_TAG}/${name}") #${GTSAM_CYTHON_INSTALL_PATH}"
if(GTSAM_BUILD_TYPE_POSTFIXES)
foreach(build_type ${CMAKE_CONFIGURATION_TYPES})
string(TOUPPER "${build_type}" build_type_upper)
@ -172,10 +181,8 @@ function(install_cython_wrapped_library interface_header generated_files_path in
else()
set(build_type_tag "${build_type}")
endif()
# Split up filename to strip trailing '/' in GTSAM_CYTHON_INSTALL_PATH if there is one
get_filename_component(location "${install_path}" PATH)
get_filename_component(name "${install_path}" NAME)
install(DIRECTORY "${generated_files_path}/" DESTINATION "${location}/${name}${build_type_tag}"
install(DIRECTORY "${generated_files_path}/" DESTINATION "${location}${build_type_tag}/${name}"
CONFIGURATIONS "${build_type}"
PATTERN "build" EXCLUDE
PATTERN "CMakeFiles" EXCLUDE

8
cython/gtsam_eigency/CMakeLists.txt
View File

@ -39,11 +39,11 @@ add_dependencies(cythonize_eigency cythonize_eigency_conversions cythonize_eigen
# install
install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
DESTINATION ${GTSAM_CYTHON_INSTALL_PATH}
DESTINATION "${GTSAM_CYTHON_INSTALL_PATH}${GTSAM_BUILD_TAG}"
PATTERN "CMakeLists.txt" EXCLUDE
PATTERN "__init__.py.in" EXCLUDE)
install(TARGETS cythonize_eigency_core cythonize_eigency_conversions
DESTINATION "${GTSAM_CYTHON_INSTALL_PATH}/gtsam_eigency")
install(FILES ${OUTPUT_DIR}/conversions_api.h DESTINATION ${GTSAM_CYTHON_INSTALL_PATH}/gtsam_eigency)
DESTINATION "${GTSAM_CYTHON_INSTALL_PATH}${GTSAM_BUILD_TAG}/gtsam_eigency")
install(FILES ${OUTPUT_DIR}/conversions_api.h DESTINATION ${GTSAM_CYTHON_INSTALL_PATH}${GTSAM_BUILD_TAG}/gtsam_eigency)
configure_file(__init__.py.in ${OUTPUT_DIR}/__init__.py)
install(FILES ${OUTPUT_DIR}/__init__.py DESTINATION ${GTSAM_CYTHON_INSTALL_PATH}/gtsam_eigency)
install(FILES ${OUTPUT_DIR}/__init__.py DESTINATION ${GTSAM_CYTHON_INSTALL_PATH}${GTSAM_BUILD_TAG}/gtsam_eigency)

2
cython/setup.py.in
View File

@ -7,7 +7,7 @@ except ImportError:
if 'SETUP_PY_NO_CHECK' not in os.environ:
script_path = os.path.abspath(os.path.realpath(__file__))
install_path = os.path.abspath(os.path.realpath(os.path.join('${GTSAM_CYTHON_INSTALL_PATH}', 'setup.py')))
install_path = os.path.abspath(os.path.realpath(os.path.join('${GTSAM_CYTHON_INSTALL_PATH}${GTSAM_BUILD_TAG}', 'setup.py')))
if script_path != install_path:
print('setup.py is being run from an unexpected location: "{}"'.format(script_path))
print('please run `make install` and run the script from there')

3
gtsam.h
View File

@ -248,6 +248,9 @@ class FactorIndices {
/** gtsam namespace functions */
#include <gtsam/base/debug.h>
bool isDebugVersion();
#include <gtsam/base/DSFMap.h>
class IndexPair {
IndexPair();

11
gtsam/base/debug.cpp
View File

@ -47,4 +47,15 @@ void guardedSetDebug(const std::string& s, const bool v) {
gtsam::debugFlags[s] = v;
}
bool isDebugVersion() {
#ifdef NDEBUG
// nondebug
return false;
#else
// debug
return true;
#endif
}
}

3
gtsam/base/debug.h
View File

@ -47,6 +47,9 @@ namespace gtsam {
// Non-guarded use led to crashes, and solved in commit cd35db2
bool GTSAM_EXPORT guardedIsDebug(const std::string& s);
void GTSAM_EXPORT guardedSetDebug(const std::string& s, const bool v);
// function to check if compiled version has debug information
bool GTSAM_EXPORT isDebugVersion();
}
#undef ISDEBUG