Merged

cython/CMakeLists.txt

@@ -19,23 +19,25 @@ if (GTSAM_INSTALL_CYTHON_TOOLBOX)
   # wrap gtsam_unstable
   if(GTSAM_BUILD_UNSTABLE)
     add_custom_target(gtsam_unstable_header DEPENDS "../gtsam_unstable/gtsam_unstable.h")
-    set(GTSAM_UNSTABLE_IMPORT "from .gtsam_unstable import *")
     wrap_and_install_library_cython("../gtsam_unstable/gtsam_unstable.h" # interface_header
                                     "from gtsam.gtsam cimport *"                  # extra imports
                                     "${GTSAM_CYTHON_INSTALL_PATH}/gtsam_unstable" # install path
                                     gtsam_unstable  # library to link with
                                     "gtsam_unstable;gtsam_unstable_header;cythonize_gtsam"  # dependencies to be built before wrapping
                                     )
-    configure_file(${PROJECT_SOURCE_DIR}/cython/gtsam_unstable/__init__.py.in ${PROJECT_BINARY_DIR}/cython/gtsam_unstable/__init__.py)
-    install_cython_files("${PROJECT_BINARY_DIR}/cython/gtsam_unstable/__init__.py" "${GTSAM_CYTHON_INSTALL_PATH}/gtsam_unstable")
-    install_cython_scripts("${PROJECT_SOURCE_DIR}/cython/gtsam_unstable/" "${GTSAM_CYTHON_INSTALL_PATH}/gtsam_unstable" "*.py")
   endif()
 
+  file(READ "${PROJECT_SOURCE_DIR}/cython/requirements.txt" CYTHON_INSTALL_REQUIREMENTS)
+  file(READ "${PROJECT_SOURCE_DIR}/README.md" README_CONTENTS)
+
   # Install the custom-generated __init__.py
   # This is to make the build/cython/gtsam folder a python package, so gtsam can be found while wrapping gtsam_unstable
-  configure_file(${PROJECT_SOURCE_DIR}/cython/gtsam/__init__.py.in ${PROJECT_BINARY_DIR}/cython/gtsam/__init__.py)
-  install_cython_files("${PROJECT_BINARY_DIR}/cython/gtsam/__init__.py" "${GTSAM_CYTHON_INSTALL_PATH}/gtsam")
+  configure_file(${PROJECT_SOURCE_DIR}/cython/gtsam/__init__.py ${PROJECT_BINARY_DIR}/cython/gtsam/__init__.py COPYONLY)
+  configure_file(${PROJECT_SOURCE_DIR}/cython/gtsam_unstable/__init__.py ${PROJECT_BINARY_DIR}/cython/gtsam_unstable/__init__.py COPYONLY)
+  configure_file(${PROJECT_SOURCE_DIR}/cython/setup.py.in ${PROJECT_BINARY_DIR}/cython/setup.py)
+  install_cython_files("${PROJECT_BINARY_DIR}/cython/setup.py" "${GTSAM_CYTHON_INSTALL_PATH}")
   # install scripts and tests
   install_cython_scripts("${PROJECT_SOURCE_DIR}/cython/gtsam" "${GTSAM_CYTHON_INSTALL_PATH}" "*.py")
+  install_cython_scripts("${PROJECT_SOURCE_DIR}/cython/gtsam_unstable" "${GTSAM_CYTHON_INSTALL_PATH}" "*.py")
 
 endif ()

cython/README.md

@@ -17,10 +17,13 @@ named **gtsam_eigency**, to interface between C++'s Eigen and Python's numpy.
 The wrapped module will be installed to `GTSAM_CYTHON_INSTALL_PATH`, which is
 by default: `<your CMAKE_INSTALL_PREFIX>/cython`
 
-- Modify your `PYTHONPATH` to include the `GTSAM_CYTHON_INSTALL_PATH`:
+- To use the library without installing system-wide: modify your `PYTHONPATH` to include the `GTSAM_CYTHON_INSTALL_PATH`:
 ```bash
 export PYTHONPATH=$PYTHONPATH:<GTSAM_CYTHON_INSTALL_PATH>
 ```
+- To install system-wide: run `make install` then navigate to `GTSAM_CYTHON_INSTALL_PATH` and run `python setup.py install`
+    - (the same command can be used to install into a virtual environment if it is active)
+    - note: if you don't want gtsam to install to a system directory such as `/usr/local`, pass `-DCMAKE_INSTALL_PREFIX="./install"` to cmake to install gtsam to a subdirectory of the build directory.
 
 UNIT TESTS
 ==========

cython/gtsam/__init__.py

@@ -0,0 +1,26 @@
+from .gtsam import *
+
+try:
+    import gtsam_unstable
+
+
+    def _deprecated_wrapper(item, name):
+        def wrapper(*args, **kwargs):
+            from warnings import warn
+            message = ('importing the unstable item "{}" directly from gtsam is deprecated. '.format(name) +
+                       'Please import it from gtsam_unstable.')
+            warn(message)
+            return item(*args, **kwargs)
+        return wrapper
+
+
+    for name in dir(gtsam_unstable):
+        if not name.startswith('__'):
+            item = getattr(gtsam_unstable, name)
+            if callable(item):
+                item = _deprecated_wrapper(item, name)
+            globals()[name] = item
+
+except ImportError:
+    pass
+

cython/gtsam/__init__.py.in

@@ -1,2 +0,0 @@
-from .gtsam import *
-${GTSAM_UNSTABLE_IMPORT}

cython/gtsam_unstable/__init__.py

@@ -0,0 +1 @@
+from .gtsam_unstable import *

cython/setup.py.in

@@ -0,0 +1,49 @@
+import os
+import sys
+try:
+    from setuptools import setup, find_packages
+except ImportError:
+    from distutils.core import setup, find_packages
+
+
+script_path = os.path.abspath(os.path.realpath(__file__))
+install_path = os.path.abspath(os.path.realpath(os.path.join('${GTSAM_CYTHON_INSTALL_PATH}', 'setup.py')))
+if script_path != install_path:
+    print('setup.py is being run from an unexpected location: "{}"'.format(script_path))
+    print('please run `make install` and run the script from there')
+    sys.exit(1)
+
+
+packages = find_packages()
+
+setup(
+    name='gtsam',
+    description='Georgia Tech Smoothing And Mapping library',
+    url='https://bitbucket.org/gtborg/gtsam',
+    version='${GTSAM_VERSION_STRING}',  # https://www.python.org/dev/peps/pep-0440/
+    license='Simplified BSD license',
+    keywords='slam sam robotics localization mapping optimization',
+    long_description='''${README_CONTENTS}''',
+    # https://pypi.org/pypi?%3Aaction=list_classifiers
+    classifiers=[
+        'Development Status :: 5 - Production/Stable',
+        'Intended Audience :: Education',
+        'Intended Audience :: Developers',
+        'Intended Audience :: Science/Research',
+        'Operating System :: MacOS',
+        'Operating System :: Microsoft :: Windows',
+        'Operating System :: POSIX',
+        'License :: OSI Approved :: BSD License',
+        'Programming Language :: Python :: 2',
+        'Programming Language :: Python :: 3',
+    ],
+
+    packages=packages,
+    package_data={package:
+        [f for f in os.listdir(package.replace('.', os.path.sep)) if os.path.splitext(f)[1] in ('.so', '.dll')]
+        for package in packages
+    },
+    install_requires=[line.strip() for line in '''
+${CYTHON_INSTALL_REQUIREMENTS}
+'''.splitlines() if len(line.strip()) > 0 and not line.strip().startswith('#')]
+)