Reformat CMake files
Fan Jiang
parent
cbddcd0f51
commit
3d846ef7a8
224
CMakeLists.txt
224
CMakeLists.txt
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@ -65,13 +65,13 @@ 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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option(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX "Enable/Disable MATLAB wrapper for libgtsam_unstable" OFF)
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option(GTSAM_UNSTABLE_BUILD_PYTHON "Enable/Disable Python wrapper for libgtsam_unstable" ON)
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option(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX "Enable/Disable MATLAB wrapper for libgtsam_unstable" OFF)
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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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option(GTSAM_POSE3_EXPMAP "Enable/Disable using Pose3::EXPMAP as the default mode. If disabled, Pose3::FIRST_ORDER will be used." ON)
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option(GTSAM_ROT3_EXPMAP "Ignore if GTSAM_USE_QUATERNIONS is OFF (Rot3::EXPMAP by default). Otherwise, enable Rot3::EXPMAP, or if disabled, use Rot3::CAYLEY." ON)
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option(GTSAM_POSE3_EXPMAP "Enable/Disable using Pose3::EXPMAP as the default mode. If disabled, Pose3::FIRST_ORDER will be used." ON)
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option(GTSAM_ROT3_EXPMAP "Ignore if GTSAM_USE_QUATERNIONS is OFF (Rot3::EXPMAP by default). Otherwise, enable Rot3::EXPMAP, or if disabled, use Rot3::CAYLEY." ON)
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option(GTSAM_ENABLE_CONSISTENCY_CHECKS "Enable/Disable expensive consistency checks" OFF)
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option(GTSAM_WITH_TBB "Use Intel Threaded Building Blocks (TBB) if available" ON)
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option(GTSAM_WITH_EIGEN_MKL "Eigen will use Intel MKL if available" OFF)
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@ -106,26 +106,26 @@ set(GTSAM_PYTHON_VERSION "Default" CACHE STRING "The version of Python to build
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# Check / set dependent variables for MATLAB wrapper
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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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set(CURRENT_POSTFIX ${CMAKE_${CMAKE_BUILD_TYPE_UPPER}_POSTFIX})
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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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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_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 (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_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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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 "${CMAKE_INSTALL_PREFIX}/python")
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set(GTSAM_PY_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/python")
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endif()
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# Flags for choosing default packaging tools
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@ -137,7 +137,7 @@ if (CMAKE_GENERATOR STREQUAL "Ninja" AND
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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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add_compile_options(-fdiagnostics-color=always)
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endif()
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###############################################################################
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@ -148,18 +148,18 @@ endif()
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# Boost_NO_SYSTEM_PATHS: set to true to keep the find script from ignoring BOOST_ROOT
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if(MSVC)
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# By default, boost only builds static libraries on windows
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set(Boost_USE_STATIC_LIBS ON) # only find static libs
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# If we ever reset above on windows and, ...
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# If we use Boost shared libs, disable auto linking.
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# Some libraries, at least Boost Program Options, rely on this to export DLL symbols.
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if(NOT Boost_USE_STATIC_LIBS)
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list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC BOOST_ALL_NO_LIB BOOST_ALL_DYN_LINK)
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endif()
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# Virtual memory range for PCH exceeded on VS2015
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if(MSVC_VERSION LESS 1910) # older than VS2017
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list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE -Zm295)
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endif()
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# By default, boost only builds static libraries on windows
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set(Boost_USE_STATIC_LIBS ON) # only find static libs
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# If we ever reset above on windows and, ...
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# If we use Boost shared libs, disable auto linking.
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# Some libraries, at least Boost Program Options, rely on this to export DLL symbols.
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if(NOT Boost_USE_STATIC_LIBS)
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list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC BOOST_ALL_NO_LIB BOOST_ALL_DYN_LINK)
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endif()
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# Virtual memory range for PCH exceeded on VS2015
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if(MSVC_VERSION LESS 1910) # older than VS2017
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list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE -Zm295)
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endif()
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endif()
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# If building DLLs in MSVC, we need to avoid EIGEN_STATIC_ASSERT()
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@ -167,7 +167,7 @@ endif()
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# See: https://bitbucket.org/gtborg/gtsam/issues/417/fail-to-build-on-msvc-2017
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#
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if(MSVC AND BUILD_SHARED_LIBS)
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list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC EIGEN_NO_STATIC_ASSERT)
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list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC EIGEN_NO_STATIC_ASSERT)
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endif()
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# Store these in variables so they are automatically replicated in GTSAMConfig.cmake and such.
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@ -237,16 +237,16 @@ find_package(GooglePerfTools)
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###############################################################################
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# Support ccache, if installed
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if(NOT MSVC AND NOT XCODE_VERSION)
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find_program(CCACHE_FOUND ccache)
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if(CCACHE_FOUND)
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if(GTSAM_BUILD_WITH_CCACHE)
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set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE ccache)
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set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK ccache)
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else()
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set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "")
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set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK "")
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endif()
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endif(CCACHE_FOUND)
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find_program(CCACHE_FOUND ccache)
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if(CCACHE_FOUND)
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if(GTSAM_BUILD_WITH_CCACHE)
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set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE ccache)
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set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK ccache)
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else()
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set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "")
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set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK "")
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endif()
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endif(CCACHE_FOUND)
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endif()
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###############################################################################
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@ -290,74 +290,74 @@ option(GTSAM_WITH_EIGEN_UNSUPPORTED "Install Eigen's unsupported modules" OFF)
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# Switch for using system Eigen or GTSAM-bundled Eigen
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if(GTSAM_USE_SYSTEM_EIGEN)
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find_package(Eigen3 REQUIRED)
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find_package(Eigen3 REQUIRED)
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# Use generic Eigen include paths e.g. <Eigen/Core>
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set(GTSAM_EIGEN_INCLUDE_FOR_INSTALL "${EIGEN3_INCLUDE_DIR}")
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# Use generic Eigen include paths e.g. <Eigen/Core>
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set(GTSAM_EIGEN_INCLUDE_FOR_INSTALL "${EIGEN3_INCLUDE_DIR}")
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# check if MKL is also enabled - can have one or the other, but not both!
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# Note: Eigen >= v3.2.5 includes our patches
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if(EIGEN_USE_MKL_ALL AND (EIGEN3_VERSION VERSION_LESS 3.2.5))
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message(FATAL_ERROR "MKL requires at least Eigen 3.2.5, and your system appears to have an older version. Disable GTSAM_USE_SYSTEM_EIGEN to use GTSAM's copy of Eigen, or disable GTSAM_WITH_EIGEN_MKL")
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endif()
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# check if MKL is also enabled - can have one or the other, but not both!
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# Note: Eigen >= v3.2.5 includes our patches
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if(EIGEN_USE_MKL_ALL AND (EIGEN3_VERSION VERSION_LESS 3.2.5))
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message(FATAL_ERROR "MKL requires at least Eigen 3.2.5, and your system appears to have an older version. Disable GTSAM_USE_SYSTEM_EIGEN to use GTSAM's copy of Eigen, or disable GTSAM_WITH_EIGEN_MKL")
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endif()
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# Check for Eigen version which doesn't work with MKL
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# See http://eigen.tuxfamily.org/bz/show_bug.cgi?id=1527 for details.
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if(EIGEN_USE_MKL_ALL AND (EIGEN3_VERSION VERSION_EQUAL 3.3.4))
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message(FATAL_ERROR "MKL does not work with Eigen 3.3.4 because of a bug in Eigen. See http://eigen.tuxfamily.org/bz/show_bug.cgi?id=1527. Disable GTSAM_USE_SYSTEM_EIGEN to use GTSAM's copy of Eigen, disable GTSAM_WITH_EIGEN_MKL, or upgrade/patch your installation of Eigen.")
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endif()
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# Check for Eigen version which doesn't work with MKL
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# See http://eigen.tuxfamily.org/bz/show_bug.cgi?id=1527 for details.
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if(EIGEN_USE_MKL_ALL AND (EIGEN3_VERSION VERSION_EQUAL 3.3.4))
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message(FATAL_ERROR "MKL does not work with Eigen 3.3.4 because of a bug in Eigen. See http://eigen.tuxfamily.org/bz/show_bug.cgi?id=1527. Disable GTSAM_USE_SYSTEM_EIGEN to use GTSAM's copy of Eigen, disable GTSAM_WITH_EIGEN_MKL, or upgrade/patch your installation of Eigen.")
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endif()
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# The actual include directory (for BUILD cmake target interface):
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set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${EIGEN3_INCLUDE_DIR}")
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# The actual include directory (for BUILD cmake target interface):
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set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${EIGEN3_INCLUDE_DIR}")
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else()
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# Use bundled Eigen include path.
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# Clear any variables set by FindEigen3
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if(EIGEN3_INCLUDE_DIR)
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set(EIGEN3_INCLUDE_DIR NOTFOUND CACHE STRING "" FORCE)
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endif()
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# Use bundled Eigen include path.
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# Clear any variables set by FindEigen3
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if(EIGEN3_INCLUDE_DIR)
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set(EIGEN3_INCLUDE_DIR NOTFOUND CACHE STRING "" FORCE)
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endif()
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# set full path to be used by external projects
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# this will be added to GTSAM_INCLUDE_DIR by gtsam_extra.cmake.in
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set(GTSAM_EIGEN_INCLUDE_FOR_INSTALL "include/gtsam/3rdparty/Eigen/")
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# set full path to be used by external projects
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# this will be added to GTSAM_INCLUDE_DIR by gtsam_extra.cmake.in
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set(GTSAM_EIGEN_INCLUDE_FOR_INSTALL "include/gtsam/3rdparty/Eigen/")
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# The actual include directory (for BUILD cmake target interface):
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set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${CMAKE_SOURCE_DIR}/gtsam/3rdparty/Eigen/")
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# The actual include directory (for BUILD cmake target interface):
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set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${CMAKE_SOURCE_DIR}/gtsam/3rdparty/Eigen/")
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endif()
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# Detect Eigen version:
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set(EIGEN_VER_H "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}/Eigen/src/Core/util/Macros.h")
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if (EXISTS ${EIGEN_VER_H})
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file(READ "${EIGEN_VER_H}" STR_EIGEN_VERSION)
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file(READ "${EIGEN_VER_H}" STR_EIGEN_VERSION)
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# Extract the Eigen version from the Macros.h file, lines "#define EIGEN_WORLD_VERSION XX", etc...
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# Extract the Eigen version from the Macros.h file, lines "#define EIGEN_WORLD_VERSION XX", etc...
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string(REGEX MATCH "EIGEN_WORLD_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_WORLD "${STR_EIGEN_VERSION}")
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string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_WORLD "${GTSAM_EIGEN_VERSION_WORLD}")
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string(REGEX MATCH "EIGEN_WORLD_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_WORLD "${STR_EIGEN_VERSION}")
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string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_WORLD "${GTSAM_EIGEN_VERSION_WORLD}")
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string(REGEX MATCH "EIGEN_MAJOR_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_MAJOR "${STR_EIGEN_VERSION}")
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string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_MAJOR "${GTSAM_EIGEN_VERSION_MAJOR}")
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string(REGEX MATCH "EIGEN_MAJOR_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_MAJOR "${STR_EIGEN_VERSION}")
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string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_MAJOR "${GTSAM_EIGEN_VERSION_MAJOR}")
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string(REGEX MATCH "EIGEN_MINOR_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_MINOR "${STR_EIGEN_VERSION}")
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string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_MINOR "${GTSAM_EIGEN_VERSION_MINOR}")
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string(REGEX MATCH "EIGEN_MINOR_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_MINOR "${STR_EIGEN_VERSION}")
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string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_MINOR "${GTSAM_EIGEN_VERSION_MINOR}")
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set(GTSAM_EIGEN_VERSION "${GTSAM_EIGEN_VERSION_WORLD}.${GTSAM_EIGEN_VERSION_MAJOR}.${GTSAM_EIGEN_VERSION_MINOR}")
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set(GTSAM_EIGEN_VERSION "${GTSAM_EIGEN_VERSION_WORLD}.${GTSAM_EIGEN_VERSION_MAJOR}.${GTSAM_EIGEN_VERSION_MINOR}")
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message(STATUS "Found Eigen version: ${GTSAM_EIGEN_VERSION}")
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message(STATUS "Found Eigen version: ${GTSAM_EIGEN_VERSION}")
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else()
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message(WARNING "Cannot determine Eigen version, missing file: `${EIGEN_VER_H}`")
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message(WARNING "Cannot determine Eigen version, missing file: `${EIGEN_VER_H}`")
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endif ()
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if (MSVC)
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if (BUILD_SHARED_LIBS)
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# mute eigen static assert to avoid errors in shared lib
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list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC EIGEN_NO_STATIC_ASSERT)
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endif()
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list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE "/wd4244") # Disable loss of precision which is thrown all over our Eigen
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if (BUILD_SHARED_LIBS)
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# mute eigen static assert to avoid errors in shared lib
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list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC EIGEN_NO_STATIC_ASSERT)
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endif()
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list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE "/wd4244") # Disable loss of precision which is thrown all over our Eigen
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endif()
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if (APPLE AND BUILD_SHARED_LIBS)
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# Set the default install directory on macOS
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set(CMAKE_INSTALL_NAME_DIR "${CMAKE_INSTALL_PREFIX}/lib")
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# Set the default install directory on macOS
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set(CMAKE_INSTALL_NAME_DIR "${CMAKE_INSTALL_PREFIX}/lib")
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endif()
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###############################################################################
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@ -366,42 +366,42 @@ endif()
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# Build list of possible allocators
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set(possible_allocators "")
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if(GTSAM_USE_TBB)
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list(APPEND possible_allocators TBB)
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set(preferred_allocator TBB)
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list(APPEND possible_allocators TBB)
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set(preferred_allocator TBB)
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else()
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list(APPEND possible_allocators BoostPool STL)
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set(preferred_allocator STL)
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list(APPEND possible_allocators BoostPool STL)
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set(preferred_allocator STL)
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endif()
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if(GOOGLE_PERFTOOLS_FOUND)
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list(APPEND possible_allocators tcmalloc)
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list(APPEND possible_allocators tcmalloc)
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endif()
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# Check if current allocator choice is valid and set cache option
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list(FIND possible_allocators "${GTSAM_DEFAULT_ALLOCATOR}" allocator_valid)
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if(allocator_valid EQUAL -1)
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set(GTSAM_DEFAULT_ALLOCATOR ${preferred_allocator} CACHE STRING "Default allocator" FORCE)
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set(GTSAM_DEFAULT_ALLOCATOR ${preferred_allocator} CACHE STRING "Default allocator" FORCE)
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else()
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set(GTSAM_DEFAULT_ALLOCATOR ${preferred_allocator} CACHE STRING "Default allocator")
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set(GTSAM_DEFAULT_ALLOCATOR ${preferred_allocator} CACHE STRING "Default allocator")
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endif()
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set_property(CACHE GTSAM_DEFAULT_ALLOCATOR PROPERTY STRINGS ${possible_allocators})
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mark_as_advanced(GTSAM_DEFAULT_ALLOCATOR)
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# Define compile flags depending on allocator
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if("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "BoostPool")
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set(GTSAM_ALLOCATOR_BOOSTPOOL 1)
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set(GTSAM_ALLOCATOR_BOOSTPOOL 1)
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elseif("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "STL")
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set(GTSAM_ALLOCATOR_STL 1)
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set(GTSAM_ALLOCATOR_STL 1)
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elseif("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "TBB")
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set(GTSAM_ALLOCATOR_TBB 1)
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set(GTSAM_ALLOCATOR_TBB 1)
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elseif("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "tcmalloc")
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set(GTSAM_ALLOCATOR_STL 1) # tcmalloc replaces malloc, so to use it we use the STL allocator
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list(APPEND GTSAM_ADDITIONAL_LIBRARIES "tcmalloc")
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set(GTSAM_ALLOCATOR_STL 1) # tcmalloc replaces malloc, so to use it we use the STL allocator
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list(APPEND GTSAM_ADDITIONAL_LIBRARIES "tcmalloc")
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endif()
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if(MSVC)
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list_append_cache(GTSAM_COMPILE_DEFINITIONS_PRIVATE _CRT_SECURE_NO_WARNINGS _SCL_SECURE_NO_WARNINGS)
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list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE /wd4251 /wd4275 /wd4251 /wd4661 /wd4344 /wd4503) # Disable non-DLL-exported base class and other warnings
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list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE /bigobj) # Allow large object files for template-based code
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list_append_cache(GTSAM_COMPILE_DEFINITIONS_PRIVATE _CRT_SECURE_NO_WARNINGS _SCL_SECURE_NO_WARNINGS)
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list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE /wd4251 /wd4275 /wd4251 /wd4661 /wd4344 /wd4503) # Disable non-DLL-exported base class and other warnings
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||||
list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE /bigobj) # Allow large object files for template-based code
|
||||
endif()
|
||||
|
||||
# GCC 4.8+ complains about local typedefs which we use for shared_ptr etc.
|
||||
|
|
@ -431,8 +431,8 @@ add_subdirectory(CppUnitLite)
|
|||
|
||||
# This is the new wrapper
|
||||
if(GTSAM_BUILD_PYTHON)
|
||||
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/wrap/cmake")
|
||||
add_subdirectory(python)
|
||||
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/wrap/cmake")
|
||||
add_subdirectory(python)
|
||||
endif()
|
||||
|
||||
# Build GTSAM library
|
||||
|
|
@ -454,7 +454,7 @@ endif()
|
|||
|
||||
# Matlab toolbox
|
||||
if (GTSAM_INSTALL_MATLAB_TOOLBOX)
|
||||
add_subdirectory(matlab)
|
||||
add_subdirectory(matlab)
|
||||
endif()
|
||||
|
||||
# Install config and export files
|
||||
|
|
@ -517,9 +517,9 @@ endif()
|
|||
print_enabled_config(${BUILD_SHARED_LIBS} "Build shared GTSAM libraries")
|
||||
print_enabled_config(${GTSAM_BUILD_TYPE_POSTFIXES} "Put build type in library name")
|
||||
if(GTSAM_UNSTABLE_AVAILABLE)
|
||||
print_enabled_config(${GTSAM_BUILD_UNSTABLE} "Build libgtsam_unstable ")
|
||||
print_enabled_config(${GTSAM_UNSTABLE_BUILD_PYTHON} "Build GTSAM unstable Python ")
|
||||
print_enabled_config(${GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX} "Build MATLAB Toolbox for unstable")
|
||||
print_enabled_config(${GTSAM_BUILD_UNSTABLE} "Build libgtsam_unstable ")
|
||||
print_enabled_config(${GTSAM_UNSTABLE_BUILD_PYTHON} "Build GTSAM unstable Python ")
|
||||
print_enabled_config(${GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX} "Build MATLAB Toolbox for unstable")
|
||||
endif()
|
||||
|
||||
if(NOT MSVC AND NOT XCODE_VERSION)
|
||||
|
|
@ -567,13 +567,13 @@ else()
|
|||
endif()
|
||||
|
||||
if(NOT MSVC AND NOT XCODE_VERSION)
|
||||
if(CCACHE_FOUND AND GTSAM_BUILD_WITH_CCACHE)
|
||||
if(CCACHE_FOUND AND GTSAM_BUILD_WITH_CCACHE)
|
||||
print_config("Build with ccache" "Yes")
|
||||
elseif(CCACHE_FOUND)
|
||||
elseif(CCACHE_FOUND)
|
||||
print_config("Build with ccache" "ccache found but GTSAM_BUILD_WITH_CCACHE is disabled")
|
||||
else()
|
||||
else()
|
||||
print_config("Build with ccache" "No")
|
||||
endif()
|
||||
endif()
|
||||
endif()
|
||||
|
||||
message(STATUS "Packaging flags")
|
||||
|
|
@ -595,20 +595,20 @@ print_enabled_config(${GTSAM_INSTALL_MATLAB_TOOLBOX} "Install MATLAB toolbo
|
|||
message(STATUS "Python toolbox flags ")
|
||||
print_enabled_config(${GTSAM_BUILD_PYTHON} "Build Python module with pybind ")
|
||||
if(GTSAM_BUILD_PYTHON)
|
||||
print_config("Python version" ${GTSAM_PYTHON_VERSION})
|
||||
print_config("Python version" ${GTSAM_PYTHON_VERSION})
|
||||
endif()
|
||||
|
||||
message(STATUS "===============================================================")
|
||||
|
||||
# Print warnings at the end
|
||||
if(GTSAM_WITH_TBB AND NOT TBB_FOUND)
|
||||
message(WARNING "TBB 4.4 or newer was not found - this is ok, but note that GTSAM parallelization will be disabled. Set GTSAM_WITH_TBB to 'Off' to avoid this warning.")
|
||||
message(WARNING "TBB 4.4 or newer was not found - this is ok, but note that GTSAM parallelization will be disabled. Set GTSAM_WITH_TBB to 'Off' to avoid this warning.")
|
||||
endif()
|
||||
if(GTSAM_WITH_EIGEN_MKL AND NOT MKL_FOUND)
|
||||
message(WARNING "MKL was not found - this is ok, but note that MKL will be disabled. Set GTSAM_WITH_EIGEN_MKL to 'Off' to disable this warning. See INSTALL.md for notes on performance.")
|
||||
message(WARNING "MKL was not found - this is ok, but note that MKL will be disabled. Set GTSAM_WITH_EIGEN_MKL to 'Off' to disable this warning. See INSTALL.md for notes on performance.")
|
||||
endif()
|
||||
if(GTSAM_WITH_EIGEN_MKL_OPENMP AND NOT OPENMP_FOUND AND MKL_FOUND)
|
||||
message(WARNING "Your compiler does not support OpenMP. Set GTSAM_WITH_EIGEN_MKL_OPENMP to 'Off' to avoid this warning. See INSTALL.md for notes on performance.")
|
||||
message(WARNING "Your compiler does not support OpenMP. Set GTSAM_WITH_EIGEN_MKL_OPENMP to 'Off' to avoid this warning. See INSTALL.md for notes on performance.")
|
||||
endif()
|
||||
|
||||
# Include CPack *after* all flags
|
||||
|
|
|
|||
|
|
@ -1,104 +1,106 @@
|
|||
set(GTSAM_PYTHON_BUILD_DIRECTORY ${PROJECT_BINARY_DIR}/python)
|
||||
|
||||
if(GTSAM_BUILD_PYTHON)
|
||||
# Generate setup.py.
|
||||
file(READ "${PROJECT_SOURCE_DIR}/README.md" README_CONTENTS)
|
||||
configure_file(${PROJECT_SOURCE_DIR}/python/setup.py.in
|
||||
${GTSAM_PYTHON_BUILD_DIRECTORY}/setup.py)
|
||||
if (NOT GTSAM_BUILD_PYTHON)
|
||||
return()
|
||||
endif()
|
||||
|
||||
set(WRAP_USE_CUSTOM_PYTHON_LIBRARY ${GTSAM_USE_CUSTOM_PYTHON_LIBRARY})
|
||||
set(WRAP_PYTHON_VERSION ${GTSAM_PYTHON_VERSION})
|
||||
# Generate setup.py.
|
||||
file(READ "${PROJECT_SOURCE_DIR}/README.md" README_CONTENTS)
|
||||
configure_file(${PROJECT_SOURCE_DIR}/python/setup.py.in
|
||||
${GTSAM_PYTHON_BUILD_DIRECTORY}/setup.py)
|
||||
|
||||
include(PybindWrap)
|
||||
set(WRAP_USE_CUSTOM_PYTHON_LIBRARY ${GTSAM_USE_CUSTOM_PYTHON_LIBRARY})
|
||||
set(WRAP_PYTHON_VERSION ${GTSAM_PYTHON_VERSION})
|
||||
|
||||
add_custom_target(gtsam_header DEPENDS "${PROJECT_SOURCE_DIR}/gtsam/gtsam.i")
|
||||
add_custom_target(gtsam_unstable_header DEPENDS "${PROJECT_SOURCE_DIR}/gtsam_unstable/gtsam_unstable.i")
|
||||
include(PybindWrap)
|
||||
|
||||
# ignoring the non-concrete types (type aliases)
|
||||
set(ignore
|
||||
gtsam::Point2
|
||||
gtsam::Point3
|
||||
gtsam::LieVector
|
||||
gtsam::LieMatrix
|
||||
gtsam::ISAM2ThresholdMapValue
|
||||
gtsam::FactorIndices
|
||||
gtsam::FactorIndexSet
|
||||
gtsam::BetweenFactorPose3s
|
||||
gtsam::Point2Vector
|
||||
gtsam::Pose3Vector
|
||||
gtsam::KeyVector)
|
||||
add_custom_target(gtsam_header DEPENDS "${PROJECT_SOURCE_DIR}/gtsam/gtsam.i")
|
||||
add_custom_target(gtsam_unstable_header DEPENDS "${PROJECT_SOURCE_DIR}/gtsam_unstable/gtsam_unstable.i")
|
||||
|
||||
pybind_wrap(gtsam_py # target
|
||||
${PROJECT_SOURCE_DIR}/gtsam/gtsam.i # interface_header
|
||||
"gtsam.cpp" # generated_cpp
|
||||
"gtsam" # module_name
|
||||
"gtsam" # top_namespace
|
||||
"${ignore}" # ignore_classes
|
||||
${PROJECT_SOURCE_DIR}/python/gtsam/gtsam.tpl
|
||||
gtsam # libs
|
||||
"gtsam;gtsam_header" # dependencies
|
||||
ON # use_boost
|
||||
)
|
||||
# ignoring the non-concrete types (type aliases)
|
||||
set(ignore
|
||||
gtsam::Point2
|
||||
gtsam::Point3
|
||||
gtsam::LieVector
|
||||
gtsam::LieMatrix
|
||||
gtsam::ISAM2ThresholdMapValue
|
||||
gtsam::FactorIndices
|
||||
gtsam::FactorIndexSet
|
||||
gtsam::BetweenFactorPose3s
|
||||
gtsam::Point2Vector
|
||||
gtsam::Pose3Vector
|
||||
gtsam::KeyVector)
|
||||
|
||||
set_target_properties(gtsam_py PROPERTIES
|
||||
pybind_wrap(gtsam_py # target
|
||||
${PROJECT_SOURCE_DIR}/gtsam/gtsam.i # interface_header
|
||||
"gtsam.cpp" # generated_cpp
|
||||
"gtsam" # module_name
|
||||
"gtsam" # top_namespace
|
||||
"${ignore}" # ignore_classes
|
||||
${PROJECT_SOURCE_DIR}/python/gtsam/gtsam.tpl
|
||||
gtsam # libs
|
||||
"gtsam;gtsam_header" # dependencies
|
||||
ON # use_boost
|
||||
)
|
||||
|
||||
set_target_properties(gtsam_py PROPERTIES
|
||||
INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
|
||||
INSTALL_RPATH_USE_LINK_PATH TRUE
|
||||
OUTPUT_NAME "gtsam"
|
||||
LIBRARY_OUTPUT_DIRECTORY "${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam"
|
||||
DEBUG_POSTFIX "" # Otherwise you will have a wrong name
|
||||
RELWITHDEBINFO_POSTFIX "" # Otherwise you will have a wrong name
|
||||
)
|
||||
|
||||
set(GTSAM_MODULE_PATH ${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam)
|
||||
|
||||
# Symlink all tests .py files to build folder.
|
||||
create_symlinks("${CMAKE_CURRENT_SOURCE_DIR}/gtsam"
|
||||
"${GTSAM_MODULE_PATH}")
|
||||
|
||||
if(GTSAM_UNSTABLE_BUILD_PYTHON)
|
||||
set(ignore
|
||||
gtsam::Point2
|
||||
gtsam::Point3
|
||||
gtsam::LieVector
|
||||
gtsam::LieMatrix
|
||||
gtsam::ISAM2ThresholdMapValue
|
||||
gtsam::FactorIndices
|
||||
gtsam::FactorIndexSet
|
||||
gtsam::BetweenFactorPose3s
|
||||
gtsam::Point2Vector
|
||||
gtsam::Pose3Vector
|
||||
gtsam::KeyVector
|
||||
gtsam::FixedLagSmootherKeyTimestampMapValue)
|
||||
pybind_wrap(gtsam_unstable_py # target
|
||||
${PROJECT_SOURCE_DIR}/gtsam_unstable/gtsam_unstable.i # interface_header
|
||||
"gtsam_unstable.cpp" # generated_cpp
|
||||
"gtsam_unstable" # module_name
|
||||
"gtsam" # top_namespace
|
||||
"${ignore}" # ignore_classes
|
||||
${PROJECT_SOURCE_DIR}/python/gtsam_unstable/gtsam_unstable.tpl
|
||||
gtsam_unstable # libs
|
||||
"gtsam_unstable;gtsam_unstable_header" # dependencies
|
||||
ON # use_boost
|
||||
)
|
||||
|
||||
set_target_properties(gtsam_unstable_py PROPERTIES
|
||||
INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
|
||||
INSTALL_RPATH_USE_LINK_PATH TRUE
|
||||
OUTPUT_NAME "gtsam"
|
||||
LIBRARY_OUTPUT_DIRECTORY "${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam"
|
||||
OUTPUT_NAME "gtsam_unstable"
|
||||
LIBRARY_OUTPUT_DIRECTORY "${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam_unstable"
|
||||
DEBUG_POSTFIX "" # Otherwise you will have a wrong name
|
||||
RELWITHDEBINFO_POSTFIX "" # Otherwise you will have a wrong name
|
||||
)
|
||||
|
||||
set(GTSAM_MODULE_PATH ${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam)
|
||||
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"
|
||||
"${GTSAM_MODULE_PATH}")
|
||||
|
||||
if(GTSAM_UNSTABLE_BUILD_PYTHON)
|
||||
set(ignore
|
||||
gtsam::Point2
|
||||
gtsam::Point3
|
||||
gtsam::LieVector
|
||||
gtsam::LieMatrix
|
||||
gtsam::ISAM2ThresholdMapValue
|
||||
gtsam::FactorIndices
|
||||
gtsam::FactorIndexSet
|
||||
gtsam::BetweenFactorPose3s
|
||||
gtsam::Point2Vector
|
||||
gtsam::Pose3Vector
|
||||
gtsam::KeyVector
|
||||
gtsam::FixedLagSmootherKeyTimestampMapValue)
|
||||
pybind_wrap(gtsam_unstable_py # target
|
||||
${PROJECT_SOURCE_DIR}/gtsam_unstable/gtsam_unstable.i # interface_header
|
||||
"gtsam_unstable.cpp" # generated_cpp
|
||||
"gtsam_unstable" # module_name
|
||||
"gtsam" # top_namespace
|
||||
"${ignore}" # ignore_classes
|
||||
${PROJECT_SOURCE_DIR}/python/gtsam_unstable/gtsam_unstable.tpl
|
||||
gtsam_unstable # libs
|
||||
"gtsam_unstable;gtsam_unstable_header" # dependencies
|
||||
ON # use_boost
|
||||
)
|
||||
|
||||
set_target_properties(gtsam_unstable_py PROPERTIES
|
||||
INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
|
||||
INSTALL_RPATH_USE_LINK_PATH TRUE
|
||||
OUTPUT_NAME "gtsam_unstable"
|
||||
LIBRARY_OUTPUT_DIRECTORY "${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam_unstable"
|
||||
DEBUG_POSTFIX "" # Otherwise you will have a wrong name
|
||||
RELWITHDEBINFO_POSTFIX "" # Otherwise you will have a wrong name
|
||||
)
|
||||
|
||||
set(GTSAM_UNSTABLE_MODULE_PATH ${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam_unstable)
|
||||
|
||||
# Symlink all tests .py files to build folder.
|
||||
create_symlinks("${CMAKE_CURRENT_SOURCE_DIR}/gtsam_unstable"
|
||||
"${GTSAM_UNSTABLE_MODULE_PATH}")
|
||||
endif()
|
||||
|
||||
set(GTSAM_PYTHON_INSTALL_TARGET python-install)
|
||||
add_custom_target(${GTSAM_PYTHON_INSTALL_TARGET}
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${GTSAM_PYTHON_BUILD_DIRECTORY}/setup.py install
|
||||
WORKING_DIRECTORY ${GTSAM_PYTHON_BUILD_DIRECTORY})
|
||||
# Symlink all tests .py files to build folder.
|
||||
create_symlinks("${CMAKE_CURRENT_SOURCE_DIR}/gtsam_unstable"
|
||||
"${GTSAM_UNSTABLE_MODULE_PATH}")
|
||||
endif()
|
||||
|
||||
set(GTSAM_PYTHON_INSTALL_TARGET python-install)
|
||||
add_custom_target(${GTSAM_PYTHON_INSTALL_TARGET}
|
||||
COMMAND ${PYTHON_EXECUTABLE} ${GTSAM_PYTHON_BUILD_DIRECTORY}/setup.py install
|
||||
WORKING_DIRECTORY ${GTSAM_PYTHON_BUILD_DIRECTORY})
|
||||
|
|
|
|||
Loading…
Reference in New Issue