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Changes to get gtsam to compile in Windows

release/4.3a0
Clark Taylor 2019-07-09 17:11:01 -04:00 committed by Jose Luis Blanco-Claraco
parent c6449a82d4
commit 2cf4514e81
3 changed files with 33 additions and 29 deletions
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36
CMakeLists.txt
View File

@ -179,20 +179,18 @@ option(GTSAM_DISABLE_NEW_TIMERS "Disables using Boost.chrono for timing" OFF)
# so we downgraded this to classic filenames-based variables, and manually adding
# the target_include_directories(xxx ${Boost_INCLUDE_DIR})
set(GTSAM_BOOST_LIBRARIES
optimized
${Boost_SERIALIZATION_LIBRARY_RELEASE}
${Boost_SYSTEM_LIBRARY_RELEASE}
${Boost_FILESYSTEM_LIBRARY_RELEASE}
${Boost_THREAD_LIBRARY_RELEASE}
${Boost_DATE_TIME_LIBRARY_RELEASE}
${Boost_REGEX_LIBRARY_RELEASE}
debug
${Boost_SERIALIZATION_LIBRARY_DEBUG}
${Boost_SYSTEM_LIBRARY_DEBUG}
${Boost_FILESYSTEM_LIBRARY_DEBUG}
${Boost_THREAD_LIBRARY_DEBUG}
${Boost_DATE_TIME_LIBRARY_DEBUG}
${Boost_REGEX_LIBRARY_DEBUG}
optimized ${Boost_SERIALIZATION_LIBRARY_RELEASE}
optimized ${Boost_SYSTEM_LIBRARY_RELEASE}
optimized ${Boost_FILESYSTEM_LIBRARY_RELEASE}
optimized ${Boost_THREAD_LIBRARY_RELEASE}
optimized ${Boost_DATE_TIME_LIBRARY_RELEASE}
optimized ${Boost_REGEX_LIBRARY_RELEASE}
debug ${Boost_SERIALIZATION_LIBRARY_DEBUG}
debug ${Boost_SYSTEM_LIBRARY_DEBUG}
debug ${Boost_FILESYSTEM_LIBRARY_DEBUG}
debug ${Boost_THREAD_LIBRARY_DEBUG}
debug ${Boost_DATE_TIME_LIBRARY_DEBUG}
debug ${Boost_REGEX_LIBRARY_DEBUG}
)
message(STATUS "GTSAM_BOOST_LIBRARIES: ${GTSAM_BOOST_LIBRARIES}")
if (GTSAM_DISABLE_NEW_TIMERS)
@ -201,12 +199,10 @@ if (GTSAM_DISABLE_NEW_TIMERS)
else()
if(Boost_TIMER_LIBRARY)
list(APPEND GTSAM_BOOST_LIBRARIES
optimized
${Boost_TIMER_LIBRARY_RELEASE}
${Boost_CHRONO_LIBRARY_RELEASE}
debug
${Boost_TIMER_LIBRARY_DEBUG}
${Boost_CHRONO_LIBRARY_DEBUG}
optimized ${Boost_TIMER_LIBRARY_RELEASE}
optimized ${Boost_CHRONO_LIBRARY_RELEASE}
debug ${Boost_TIMER_LIBRARY_DEBUG}
debug ${Boost_CHRONO_LIBRARY_DEBUG}
)
else()
list(APPEND GTSAM_BOOST_LIBRARIES rt) # When using the header-only boost timer library, need -lrt

19
cmake/GtsamMatlabWrap.cmake
View File

@ -35,7 +35,11 @@ mark_as_advanced(FORCE MEX_COMMAND)
# Now that we have mex, trace back to find the Matlab installation root
get_filename_component(MEX_COMMAND "${MEX_COMMAND}" REALPATH)
get_filename_component(mex_path "${MEX_COMMAND}" PATH)
get_filename_component(MATLAB_ROOT "${mex_path}/.." ABSOLUTE)
if(mex_path MATCHES ".*/win64$")
get_filename_component(MATLAB_ROOT "${mex_path}/../.." ABSOLUTE)
else()
get_filename_component(MATLAB_ROOT "${mex_path}/.." ABSOLUTE)
endif()
set(MATLAB_ROOT "${MATLAB_ROOT}" CACHE PATH "Path to MATLAB installation root (e.g. /usr/local/MATLAB/R2012a)")
@ -97,9 +101,9 @@ function(wrap_library_internal interfaceHeader linkLibraries extraIncludeDirs ex
set(compiled_mex_modules_root "${PROJECT_BINARY_DIR}/wrap/${moduleName}_mex")
message(STATUS "Building wrap module ${moduleName}")
# Find matlab.h in GTSAM
if("${PROJECT_NAME}" STREQUAL "GTSAM")
if("${PROJECT_NAME}" STREQUAL "gtsam")
set(matlab_h_path "${PROJECT_SOURCE_DIR}")
else()
if(NOT GTSAM_INCLUDE_DIR)
@ -115,14 +119,15 @@ function(wrap_library_internal interfaceHeader linkLibraries extraIncludeDirs ex
set(automaticDependencies "")
foreach(lib ${moduleName} ${linkLibraries})
#message("MODULE NAME: ${moduleName}")
#message("lib: ${lib}")
if(TARGET "${lib}")
get_target_property(dependentLibraries ${lib} INTERFACE_LINK_LIBRARIES)
# message("DEPENDENT LIBRARIES: ${dependentLibraries}")
if(dependentLibraries)
list(APPEND automaticDependencies ${dependentLibraries})
#message("DEPENDENT LIBRARIES: ${dependentLibraries}")
if(dependentLibraries)
list(APPEND automaticDependencies ${dependentLibraries})
endif()
endif()
endforeach()
endforeach()
## CHRIS: Temporary fix. On my system the get_target_property above returned Not-found for gtsam module
## This needs to be fixed!!

7
gtsam/geometry/CalibratedCamera.h
View File

@ -18,6 +18,10 @@
#pragma once
//Needed if windows.h is included somehow.
//It defines min and max, which conflicts with numeric_limits::max()
#define NOMINMAX
#include <gtsam/geometry/BearingRange.h>
#include <gtsam/geometry/Point2.h>
#include <gtsam/geometry/Pose3.h>
@ -29,8 +33,7 @@
namespace gtsam {
class GTSAM_EXPORT CheiralityException: public ThreadsafeException<
CheiralityException> {
class GTSAM_EXPORT CheiralityException: public ThreadsafeException<CheiralityException> {
public:
CheiralityException()
: CheiralityException(std::numeric_limits<Key>::max()) {}