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updates to Cmake to use the new wrap package

release/4.3a0
Varun Agrawal 2021-01-04 13:13:01 -05:00
parent 4945642481
commit 3a80b38a9a
4 changed files with 116 additions and 62 deletions
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5
CMakeLists.txt
View File

@ -62,6 +62,11 @@ add_subdirectory(CppUnitLite)
# This is the new wrapper # This is the new wrapper
if(GTSAM_BUILD_PYTHON) if(GTSAM_BUILD_PYTHON)
# Need to set this for the wrap package so we don't use the default value.
set(WRAP_PYTHON_VERSION ${GTSAM_PYTHON_VERSION}
CACHE STRING "The Python version to use for wrapping")
add_subdirectory(wrap)
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/wrap/cmake") list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/wrap/cmake")
add_subdirectory(python) add_subdirectory(python)
endif() endif()

8
cmake/GtsamMatlabWrap.cmake
View File

@ -240,12 +240,16 @@ function(wrap_library_internal interfaceHeader linkLibraries extraIncludeDirs ex
set(_ignore gtsam::Point2 set(_ignore gtsam::Point2
gtsam::Point3) gtsam::Point3)
add_custom_command(
# set the matlab wrapping script variable
set(MATLAB_WRAP_SCRIPT "${GTSAM_SOURCE_DIR}/wrap/scripts/matlab_wrap.py")
add_custom_command(
OUTPUT ${generated_cpp_file} OUTPUT ${generated_cpp_file}
DEPENDS ${interfaceHeader} ${module_library_target} ${otherLibraryTargets} ${otherSourcesAndObjects} DEPENDS ${interfaceHeader} ${module_library_target} ${otherLibraryTargets} ${otherSourcesAndObjects}
COMMAND COMMAND
${PYTHON_EXECUTABLE} ${PYTHON_EXECUTABLE}
${CMAKE_SOURCE_DIR}/wrap/matlab_wrapper.py ${MATLAB_WRAP_SCRIPT}
--src ${interfaceHeader} --src ${interfaceHeader}
--module_name ${moduleName} --module_name ${moduleName}
--out ${generated_files_path} --out ${generated_files_path}

50
cmake/HandlePython.cmake
View File

@ -1,22 +1,48 @@
# Set Python version if either Python or MATLAB wrapper is requested. # Set Python version if either Python or MATLAB wrapper is requested.
if(GTSAM_BUILD_PYTHON OR GTSAM_INSTALL_MATLAB_TOOLBOX) if(GTSAM_BUILD_PYTHON OR GTSAM_INSTALL_MATLAB_TOOLBOX)
if(${GTSAM_PYTHON_VERSION} STREQUAL "Default") if(${GTSAM_PYTHON_VERSION} STREQUAL "Default")
# Get info about the Python3 interpreter
# https://cmake.org/cmake/help/latest/module/FindPython3.html#module:FindPython3
find_package(Python3 COMPONENTS Interpreter Development)
if(NOT ${Python3_FOUND}) if(${CMAKE_VERSION} VERSION_LESS "3.12.0")
message(FATAL_ERROR "Cannot find Python3 interpreter. Please install Python >= 3.6.") # Use older version of cmake's find_python
endif() find_package(PythonInterp)
if(NOT ${PYTHONINTERP_FOUND})
message(
FATAL_ERROR
"Cannot find Python interpreter. Please install Python >= 3.6.")
endif()
find_package(PythonLibs ${PYTHON_VERSION_STRING})
set(Python_VERSION_MAJOR ${PYTHON_VERSION_MAJOR})
set(Python_VERSION_MINOR ${PYTHON_VERSION_MINOR})
set(Python_EXECUTABLE ${PYTHON_EXECUTABLE})
else()
# Get info about the Python3 interpreter
# https://cmake.org/cmake/help/latest/module/FindPython3.html#module:FindPython3
find_package(Python3 COMPONENTS Interpreter Development)
if(NOT ${Python3_FOUND})
message(
FATAL_ERROR
"Cannot find Python3 interpreter. Please install Python >= 3.6.")
endif()
set(Python_VERSION_MAJOR ${Python3_VERSION_MAJOR})
set(Python_VERSION_MINOR ${Python3_VERSION_MINOR})
set(GTSAM_PYTHON_VERSION "${Python3_VERSION_MAJOR}.${Python3_VERSION_MINOR}"
CACHE
STRING
"The version of Python to build the wrappers against."
FORCE)
endif() endif()
set(GTSAM_PYTHON_VERSION
"${Python_VERSION_MAJOR}.${Python_VERSION_MINOR}"
CACHE STRING "The version of Python to build the wrappers against."
FORCE)
endif()
endif() endif()
# Check for build of Unstable modules
if(GTSAM_BUILD_PYTHON) if(GTSAM_BUILD_PYTHON)
if(GTSAM_UNSTABLE_BUILD_PYTHON) if(GTSAM_UNSTABLE_BUILD_PYTHON)
if (NOT GTSAM_BUILD_UNSTABLE) if (NOT GTSAM_BUILD_UNSTABLE)

115
python/CMakeLists.txt
View File

@ -4,20 +4,26 @@ if (NOT GTSAM_BUILD_PYTHON)
return() return()
endif() endif()
# Common directory for storing data/datasets stored with the package.
# This will store the data in the Python site package directly.
set(GTSAM_PYTHON_DATASET_DIR "./gtsam/Data")
# Generate setup.py. # Generate setup.py.
file(READ "${PROJECT_SOURCE_DIR}/README.md" README_CONTENTS) file(READ "${PROJECT_SOURCE_DIR}/README.md" README_CONTENTS)
configure_file(${PROJECT_SOURCE_DIR}/python/setup.py.in configure_file(${PROJECT_SOURCE_DIR}/python/setup.py.in
${GTSAM_PYTHON_BUILD_DIRECTORY}/setup.py) ${GTSAM_PYTHON_BUILD_DIRECTORY}/setup.py)
set(WRAP_USE_CUSTOM_PYTHON_LIBRARY ${GTSAM_USE_CUSTOM_PYTHON_LIBRARY}) # Supply MANIFEST.in for older versions of Python
set(WRAP_PYTHON_VERSION ${GTSAM_PYTHON_VERSION}) file(COPY ${PROJECT_SOURCE_DIR}/python/MANIFEST.in
DESTINATION ${GTSAM_PYTHON_BUILD_DIRECTORY})
include(PybindWrap) include(PybindWrap)
############################################################
## Load the necessary files to compile the wrapper
# Load the pybind11 code
add_subdirectory(${PROJECT_SOURCE_DIR}/wrap/pybind11 pybind11)
# Set the wrapping script variable
set(PYBIND_WRAP_SCRIPT "${PROJECT_SOURCE_DIR}/wrap/scripts/pybind_wrap.py")
############################################################
add_custom_target(gtsam_header DEPENDS "${PROJECT_SOURCE_DIR}/gtsam/gtsam.i") add_custom_target(gtsam_header DEPENDS "${PROJECT_SOURCE_DIR}/gtsam/gtsam.i")
add_custom_target(gtsam_unstable_header DEPENDS "${PROJECT_SOURCE_DIR}/gtsam_unstable/gtsam_unstable.i") add_custom_target(gtsam_unstable_header DEPENDS "${PROJECT_SOURCE_DIR}/gtsam_unstable/gtsam_unstable.i")
@ -67,55 +73,68 @@ set(GTSAM_MODULE_PATH ${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam)
create_symlinks("${CMAKE_CURRENT_SOURCE_DIR}/gtsam" create_symlinks("${CMAKE_CURRENT_SOURCE_DIR}/gtsam"
"${GTSAM_MODULE_PATH}") "${GTSAM_MODULE_PATH}")
# Common directory for data/datasets stored with the package.
# This will store the data in the Python site package directly.
file(COPY "${GTSAM_SOURCE_DIR}/examples/Data" DESTINATION "${GTSAM_MODULE_PATH}")
# Add gtsam as a dependency to the install target
set(GTSAM_PYTHON_DEPENDENCIES gtsam_py)
if(GTSAM_UNSTABLE_BUILD_PYTHON) if(GTSAM_UNSTABLE_BUILD_PYTHON)
set(ignore set(ignore
gtsam::Point2 gtsam::Point2
gtsam::Point3 gtsam::Point3
gtsam::LieVector gtsam::LieVector
gtsam::LieMatrix gtsam::LieMatrix
gtsam::ISAM2ThresholdMapValue gtsam::ISAM2ThresholdMapValue
gtsam::FactorIndices gtsam::FactorIndices
gtsam::FactorIndexSet gtsam::FactorIndexSet
gtsam::BetweenFactorPose3s gtsam::BetweenFactorPose3s
gtsam::Point2Vector gtsam::Point2Vector
gtsam::Pose3Vector gtsam::Pose3Vector
gtsam::KeyVector gtsam::KeyVector
gtsam::FixedLagSmootherKeyTimestampMapValue gtsam::FixedLagSmootherKeyTimestampMapValue
gtsam::BinaryMeasurementsUnit3 gtsam::BinaryMeasurementsUnit3
gtsam::CameraSetCal3_S2 gtsam::CameraSetCal3_S2
gtsam::CameraSetCal3Bundler gtsam::CameraSetCal3Bundler
gtsam::KeyPairDoubleMap) gtsam::KeyPairDoubleMap)
pybind_wrap(gtsam_unstable_py # target pybind_wrap(gtsam_unstable_py # target
${PROJECT_SOURCE_DIR}/gtsam_unstable/gtsam_unstable.i # interface_header ${PROJECT_SOURCE_DIR}/gtsam_unstable/gtsam_unstable.i # interface_header
"gtsam_unstable.cpp" # generated_cpp "gtsam_unstable.cpp" # generated_cpp
"gtsam_unstable" # module_name "gtsam_unstable" # module_name
"gtsam" # top_namespace "gtsam" # top_namespace
"${ignore}" # ignore_classes "${ignore}" # ignore_classes
${PROJECT_SOURCE_DIR}/python/gtsam_unstable/gtsam_unstable.tpl ${PROJECT_SOURCE_DIR}/python/gtsam_unstable/gtsam_unstable.tpl
gtsam_unstable # libs gtsam_unstable # libs
"gtsam_unstable;gtsam_unstable_header" # dependencies "gtsam_unstable;gtsam_unstable_header" # dependencies
ON # use_boost ON # use_boost
) )
set_target_properties(gtsam_unstable_py PROPERTIES set_target_properties(gtsam_unstable_py PROPERTIES
INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib" INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
INSTALL_RPATH_USE_LINK_PATH TRUE INSTALL_RPATH_USE_LINK_PATH TRUE
OUTPUT_NAME "gtsam_unstable" OUTPUT_NAME "gtsam_unstable"
LIBRARY_OUTPUT_DIRECTORY "${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam_unstable" LIBRARY_OUTPUT_DIRECTORY "${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam_unstable"
DEBUG_POSTFIX "" # Otherwise you will have a wrong name DEBUG_POSTFIX "" # Otherwise you will have a wrong name
RELWITHDEBINFO_POSTFIX "" # Otherwise you will have a wrong name RELWITHDEBINFO_POSTFIX "" # Otherwise you will have a wrong name
) )
set(GTSAM_UNSTABLE_MODULE_PATH ${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam_unstable) set(GTSAM_UNSTABLE_MODULE_PATH ${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam_unstable)
# Symlink all tests .py files to build folder.
create_symlinks("${CMAKE_CURRENT_SOURCE_DIR}/gtsam_unstable"
"${GTSAM_UNSTABLE_MODULE_PATH}")
# Add gtsam_unstable to the install target
list(APPEND GTSAM_PYTHON_DEPENDENCIES gtsam_unstable_py)
# Symlink all tests .py files to build folder.
create_symlinks("${CMAKE_CURRENT_SOURCE_DIR}/gtsam_unstable"
"${GTSAM_UNSTABLE_MODULE_PATH}")
endif() endif()
# Add custom target so we can install with `make python-install`
set(GTSAM_PYTHON_INSTALL_TARGET python-install) set(GTSAM_PYTHON_INSTALL_TARGET python-install)
add_custom_target(${GTSAM_PYTHON_INSTALL_TARGET} add_custom_target(${GTSAM_PYTHON_INSTALL_TARGET}
COMMAND ${PYTHON_EXECUTABLE} ${GTSAM_PYTHON_BUILD_DIRECTORY}/setup.py install COMMAND ${PYTHON_EXECUTABLE} ${GTSAM_PYTHON_BUILD_DIRECTORY}/setup.py install
DEPENDS gtsam_py gtsam_unstable_py DEPENDS ${GTSAM_PYTHON_DEPENDENCIES}
WORKING_DIRECTORY ${GTSAM_PYTHON_BUILD_DIRECTORY}) WORKING_DIRECTORY ${GTSAM_PYTHON_BUILD_DIRECTORY})