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Reformat CMake files

release/4.3a0
Fan Jiang 2020-08-18 11:47:38 -04:00
parent cbddcd0f51
commit 3d846ef7a8
2 changed files with 202 additions and 200 deletions
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224
CMakeLists.txt
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@ -65,13 +65,13 @@ add_custom_target(uninstall
# Configurable Options # Configurable Options
if(GTSAM_UNSTABLE_AVAILABLE) if(GTSAM_UNSTABLE_AVAILABLE)
option(GTSAM_BUILD_UNSTABLE "Enable/Disable libgtsam_unstable" ON) option(GTSAM_BUILD_UNSTABLE "Enable/Disable libgtsam_unstable" ON)
option(GTSAM_UNSTABLE_BUILD_PYTHON "Enable/Disable Python wrapper for libgtsam_unstable" ON) option(GTSAM_UNSTABLE_BUILD_PYTHON "Enable/Disable Python wrapper for libgtsam_unstable" ON)
option(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX "Enable/Disable MATLAB wrapper for libgtsam_unstable" OFF) option(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX "Enable/Disable MATLAB wrapper for libgtsam_unstable" OFF)
endif() endif()
option(BUILD_SHARED_LIBS "Build shared gtsam library, instead of static" ON) option(BUILD_SHARED_LIBS "Build shared gtsam library, instead of static" ON)
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) 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)
option(GTSAM_POSE3_EXPMAP "Enable/Disable using Pose3::EXPMAP as the default mode. If disabled, Pose3::FIRST_ORDER will be used." ON) option(GTSAM_POSE3_EXPMAP "Enable/Disable using Pose3::EXPMAP as the default mode. If disabled, Pose3::FIRST_ORDER will be used." ON)
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) 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)
option(GTSAM_ENABLE_CONSISTENCY_CHECKS "Enable/Disable expensive consistency checks" OFF) option(GTSAM_ENABLE_CONSISTENCY_CHECKS "Enable/Disable expensive consistency checks" OFF)
option(GTSAM_WITH_TBB "Use Intel Threaded Building Blocks (TBB) if available" ON) option(GTSAM_WITH_TBB "Use Intel Threaded Building Blocks (TBB) if available" ON)
option(GTSAM_WITH_EIGEN_MKL "Eigen will use Intel MKL if available" OFF) option(GTSAM_WITH_EIGEN_MKL "Eigen will use Intel MKL if available" OFF)
@ -106,26 +106,26 @@ set(GTSAM_PYTHON_VERSION "Default" CACHE STRING "The version of Python to build
# Check / set dependent variables for MATLAB wrapper # Check / set dependent variables for MATLAB wrapper
if(GTSAM_INSTALL_MATLAB_TOOLBOX AND GTSAM_BUILD_TYPE_POSTFIXES) if(GTSAM_INSTALL_MATLAB_TOOLBOX AND GTSAM_BUILD_TYPE_POSTFIXES)
set(CURRENT_POSTFIX ${CMAKE_${CMAKE_BUILD_TYPE_UPPER}_POSTFIX}) set(CURRENT_POSTFIX ${CMAKE_${CMAKE_BUILD_TYPE_UPPER}_POSTFIX})
endif() endif()
if(GTSAM_INSTALL_MATLAB_TOOLBOX AND NOT BUILD_SHARED_LIBS) if(GTSAM_INSTALL_MATLAB_TOOLBOX AND NOT BUILD_SHARED_LIBS)
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.") 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.")
endif() endif()
if(GTSAM_BUILD_PYTHON) if(GTSAM_BUILD_PYTHON)
if (NOT GTSAM_TYPEDEF_POINTS_TO_VECTORS) if (NOT GTSAM_TYPEDEF_POINTS_TO_VECTORS)
message(FATAL_ERROR "GTSAM_BUILD_PYTHON requires GTSAM_TYPEDEF_POINTS_TO_VECTORS to be enabled but it is not.") message(FATAL_ERROR "GTSAM_BUILD_PYTHON requires GTSAM_TYPEDEF_POINTS_TO_VECTORS to be enabled but it is not.")
endif() endif()
if(GTSAM_UNSTABLE_BUILD_PYTHON) if(GTSAM_UNSTABLE_BUILD_PYTHON)
if (NOT GTSAM_BUILD_UNSTABLE) if (NOT GTSAM_BUILD_UNSTABLE)
message(WARNING "GTSAM_UNSTABLE_BUILD_PYTHON requires the unstable module to be enabled.") message(WARNING "GTSAM_UNSTABLE_BUILD_PYTHON requires the unstable module to be enabled.")
set(GTSAM_UNSTABLE_BUILD_PYTHON OFF) set(GTSAM_UNSTABLE_BUILD_PYTHON OFF)
endif() endif()
endif() endif()
set(GTSAM_PY_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/python") set(GTSAM_PY_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/python")
endif() endif()
# Flags for choosing default packaging tools # Flags for choosing default packaging tools
@ -137,7 +137,7 @@ if (CMAKE_GENERATOR STREQUAL "Ninja" AND
(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" AND NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 3.5))) (CMAKE_CXX_COMPILER_ID STREQUAL "Clang" AND NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 3.5)))
# Force colored warnings in Ninja's output, if the compiler has -fdiagnostics-color support. # Force colored warnings in Ninja's output, if the compiler has -fdiagnostics-color support.
# Rationale in https://github.com/ninja-build/ninja/issues/814 # Rationale in https://github.com/ninja-build/ninja/issues/814
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fdiagnostics-color=always") add_compile_options(-fdiagnostics-color=always)
endif() endif()
############################################################################### ###############################################################################
@ -148,18 +148,18 @@ endif()
# Boost_NO_SYSTEM_PATHS: set to true to keep the find script from ignoring BOOST_ROOT # Boost_NO_SYSTEM_PATHS: set to true to keep the find script from ignoring BOOST_ROOT
if(MSVC) if(MSVC)
# By default, boost only builds static libraries on windows # By default, boost only builds static libraries on windows
set(Boost_USE_STATIC_LIBS ON) # only find static libs set(Boost_USE_STATIC_LIBS ON) # only find static libs
# If we ever reset above on windows and, ... # If we ever reset above on windows and, ...
# If we use Boost shared libs, disable auto linking. # If we use Boost shared libs, disable auto linking.
# Some libraries, at least Boost Program Options, rely on this to export DLL symbols. # Some libraries, at least Boost Program Options, rely on this to export DLL symbols.
if(NOT Boost_USE_STATIC_LIBS) if(NOT Boost_USE_STATIC_LIBS)
list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC BOOST_ALL_NO_LIB BOOST_ALL_DYN_LINK) list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC BOOST_ALL_NO_LIB BOOST_ALL_DYN_LINK)
endif() endif()
# Virtual memory range for PCH exceeded on VS2015 # Virtual memory range for PCH exceeded on VS2015
if(MSVC_VERSION LESS 1910) # older than VS2017 if(MSVC_VERSION LESS 1910) # older than VS2017
list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE -Zm295) list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE -Zm295)
endif() endif()
endif() endif()
# If building DLLs in MSVC, we need to avoid EIGEN_STATIC_ASSERT() # If building DLLs in MSVC, we need to avoid EIGEN_STATIC_ASSERT()
@ -167,7 +167,7 @@ endif()
# See: https://bitbucket.org/gtborg/gtsam/issues/417/fail-to-build-on-msvc-2017 # See: https://bitbucket.org/gtborg/gtsam/issues/417/fail-to-build-on-msvc-2017
# #
if(MSVC AND BUILD_SHARED_LIBS) if(MSVC AND BUILD_SHARED_LIBS)
list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC EIGEN_NO_STATIC_ASSERT) list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC EIGEN_NO_STATIC_ASSERT)
endif() endif()
# Store these in variables so they are automatically replicated in GTSAMConfig.cmake and such. # Store these in variables so they are automatically replicated in GTSAMConfig.cmake and such.
@ -237,16 +237,16 @@ find_package(GooglePerfTools)
############################################################################### ###############################################################################
# Support ccache, if installed # Support ccache, if installed
if(NOT MSVC AND NOT XCODE_VERSION) if(NOT MSVC AND NOT XCODE_VERSION)
find_program(CCACHE_FOUND ccache) find_program(CCACHE_FOUND ccache)
if(CCACHE_FOUND) if(CCACHE_FOUND)
if(GTSAM_BUILD_WITH_CCACHE) if(GTSAM_BUILD_WITH_CCACHE)
set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE ccache) set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE ccache)
set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK ccache) set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK ccache)
else() else()
set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "") set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "")
set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK "") set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK "")
endif() endif()
endif(CCACHE_FOUND) endif(CCACHE_FOUND)
endif() endif()
############################################################################### ###############################################################################
@ -290,74 +290,74 @@ option(GTSAM_WITH_EIGEN_UNSUPPORTED "Install Eigen's unsupported modules" OFF)
# Switch for using system Eigen or GTSAM-bundled Eigen # Switch for using system Eigen or GTSAM-bundled Eigen
if(GTSAM_USE_SYSTEM_EIGEN) if(GTSAM_USE_SYSTEM_EIGEN)
find_package(Eigen3 REQUIRED) find_package(Eigen3 REQUIRED)
# Use generic Eigen include paths e.g. <Eigen/Core> # Use generic Eigen include paths e.g. <Eigen/Core>
set(GTSAM_EIGEN_INCLUDE_FOR_INSTALL "${EIGEN3_INCLUDE_DIR}") set(GTSAM_EIGEN_INCLUDE_FOR_INSTALL "${EIGEN3_INCLUDE_DIR}")
# check if MKL is also enabled - can have one or the other, but not both! # check if MKL is also enabled - can have one or the other, but not both!
# Note: Eigen >= v3.2.5 includes our patches # Note: Eigen >= v3.2.5 includes our patches
if(EIGEN_USE_MKL_ALL AND (EIGEN3_VERSION VERSION_LESS 3.2.5)) if(EIGEN_USE_MKL_ALL AND (EIGEN3_VERSION VERSION_LESS 3.2.5))
message(FATAL_ERROR "MKL requires at least Eigen 3.2.5, and your system appears to have an older version. Disable GTSAM_USE_SYSTEM_EIGEN to use GTSAM's copy of Eigen, or disable GTSAM_WITH_EIGEN_MKL") message(FATAL_ERROR "MKL requires at least Eigen 3.2.5, and your system appears to have an older version. Disable GTSAM_USE_SYSTEM_EIGEN to use GTSAM's copy of Eigen, or disable GTSAM_WITH_EIGEN_MKL")
endif() endif()
# Check for Eigen version which doesn't work with MKL # Check for Eigen version which doesn't work with MKL
# See http://eigen.tuxfamily.org/bz/show_bug.cgi?id=1527 for details. # See http://eigen.tuxfamily.org/bz/show_bug.cgi?id=1527 for details.
if(EIGEN_USE_MKL_ALL AND (EIGEN3_VERSION VERSION_EQUAL 3.3.4)) if(EIGEN_USE_MKL_ALL AND (EIGEN3_VERSION VERSION_EQUAL 3.3.4))
message(FATAL_ERROR "MKL does not work with Eigen 3.3.4 because of a bug in Eigen. See http://eigen.tuxfamily.org/bz/show_bug.cgi?id=1527. Disable GTSAM_USE_SYSTEM_EIGEN to use GTSAM's copy of Eigen, disable GTSAM_WITH_EIGEN_MKL, or upgrade/patch your installation of Eigen.") message(FATAL_ERROR "MKL does not work with Eigen 3.3.4 because of a bug in Eigen. See http://eigen.tuxfamily.org/bz/show_bug.cgi?id=1527. Disable GTSAM_USE_SYSTEM_EIGEN to use GTSAM's copy of Eigen, disable GTSAM_WITH_EIGEN_MKL, or upgrade/patch your installation of Eigen.")
endif() endif()
# The actual include directory (for BUILD cmake target interface): # The actual include directory (for BUILD cmake target interface):
set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${EIGEN3_INCLUDE_DIR}") set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${EIGEN3_INCLUDE_DIR}")
else() else()
# Use bundled Eigen include path. # Use bundled Eigen include path.
# Clear any variables set by FindEigen3 # Clear any variables set by FindEigen3
if(EIGEN3_INCLUDE_DIR) if(EIGEN3_INCLUDE_DIR)
set(EIGEN3_INCLUDE_DIR NOTFOUND CACHE STRING "" FORCE) set(EIGEN3_INCLUDE_DIR NOTFOUND CACHE STRING "" FORCE)
endif() endif()
# set full path to be used by external projects # set full path to be used by external projects
# this will be added to GTSAM_INCLUDE_DIR by gtsam_extra.cmake.in # this will be added to GTSAM_INCLUDE_DIR by gtsam_extra.cmake.in
set(GTSAM_EIGEN_INCLUDE_FOR_INSTALL "include/gtsam/3rdparty/Eigen/") set(GTSAM_EIGEN_INCLUDE_FOR_INSTALL "include/gtsam/3rdparty/Eigen/")
# The actual include directory (for BUILD cmake target interface): # The actual include directory (for BUILD cmake target interface):
set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${CMAKE_SOURCE_DIR}/gtsam/3rdparty/Eigen/") set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${CMAKE_SOURCE_DIR}/gtsam/3rdparty/Eigen/")
endif() endif()
# Detect Eigen version: # Detect Eigen version:
set(EIGEN_VER_H "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}/Eigen/src/Core/util/Macros.h") set(EIGEN_VER_H "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}/Eigen/src/Core/util/Macros.h")
if (EXISTS ${EIGEN_VER_H}) if (EXISTS ${EIGEN_VER_H})
file(READ "${EIGEN_VER_H}" STR_EIGEN_VERSION) file(READ "${EIGEN_VER_H}" STR_EIGEN_VERSION)
# Extract the Eigen version from the Macros.h file, lines "#define EIGEN_WORLD_VERSION XX", etc... # Extract the Eigen version from the Macros.h file, lines "#define EIGEN_WORLD_VERSION XX", etc...
string(REGEX MATCH "EIGEN_WORLD_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_WORLD "${STR_EIGEN_VERSION}") string(REGEX MATCH "EIGEN_WORLD_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_WORLD "${STR_EIGEN_VERSION}")
string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_WORLD "${GTSAM_EIGEN_VERSION_WORLD}") string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_WORLD "${GTSAM_EIGEN_VERSION_WORLD}")
string(REGEX MATCH "EIGEN_MAJOR_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_MAJOR "${STR_EIGEN_VERSION}") string(REGEX MATCH "EIGEN_MAJOR_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_MAJOR "${STR_EIGEN_VERSION}")
string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_MAJOR "${GTSAM_EIGEN_VERSION_MAJOR}") string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_MAJOR "${GTSAM_EIGEN_VERSION_MAJOR}")
string(REGEX MATCH "EIGEN_MINOR_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_MINOR "${STR_EIGEN_VERSION}") string(REGEX MATCH "EIGEN_MINOR_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_MINOR "${STR_EIGEN_VERSION}")
string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_MINOR "${GTSAM_EIGEN_VERSION_MINOR}") string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_MINOR "${GTSAM_EIGEN_VERSION_MINOR}")
set(GTSAM_EIGEN_VERSION "${GTSAM_EIGEN_VERSION_WORLD}.${GTSAM_EIGEN_VERSION_MAJOR}.${GTSAM_EIGEN_VERSION_MINOR}") set(GTSAM_EIGEN_VERSION "${GTSAM_EIGEN_VERSION_WORLD}.${GTSAM_EIGEN_VERSION_MAJOR}.${GTSAM_EIGEN_VERSION_MINOR}")
message(STATUS "Found Eigen version: ${GTSAM_EIGEN_VERSION}") message(STATUS "Found Eigen version: ${GTSAM_EIGEN_VERSION}")
else() else()
message(WARNING "Cannot determine Eigen version, missing file: `${EIGEN_VER_H}`") message(WARNING "Cannot determine Eigen version, missing file: `${EIGEN_VER_H}`")
endif () endif ()
if (MSVC) if (MSVC)
if (BUILD_SHARED_LIBS) if (BUILD_SHARED_LIBS)
# mute eigen static assert to avoid errors in shared lib # mute eigen static assert to avoid errors in shared lib
list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC EIGEN_NO_STATIC_ASSERT) list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC EIGEN_NO_STATIC_ASSERT)
endif() endif()
list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE "/wd4244") # Disable loss of precision which is thrown all over our Eigen list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE "/wd4244") # Disable loss of precision which is thrown all over our Eigen
endif() endif()
if (APPLE AND BUILD_SHARED_LIBS) if (APPLE AND BUILD_SHARED_LIBS)
# Set the default install directory on macOS # Set the default install directory on macOS
set(CMAKE_INSTALL_NAME_DIR "${CMAKE_INSTALL_PREFIX}/lib") set(CMAKE_INSTALL_NAME_DIR "${CMAKE_INSTALL_PREFIX}/lib")
endif() endif()
############################################################################### ###############################################################################
@ -366,42 +366,42 @@ endif()
# Build list of possible allocators # Build list of possible allocators
set(possible_allocators "") set(possible_allocators "")
if(GTSAM_USE_TBB) if(GTSAM_USE_TBB)
list(APPEND possible_allocators TBB) list(APPEND possible_allocators TBB)
set(preferred_allocator TBB) set(preferred_allocator TBB)
else() else()
list(APPEND possible_allocators BoostPool STL) list(APPEND possible_allocators BoostPool STL)
set(preferred_allocator STL) set(preferred_allocator STL)
endif() endif()
if(GOOGLE_PERFTOOLS_FOUND) if(GOOGLE_PERFTOOLS_FOUND)
list(APPEND possible_allocators tcmalloc) list(APPEND possible_allocators tcmalloc)
endif() endif()
# Check if current allocator choice is valid and set cache option # Check if current allocator choice is valid and set cache option
list(FIND possible_allocators "${GTSAM_DEFAULT_ALLOCATOR}" allocator_valid) list(FIND possible_allocators "${GTSAM_DEFAULT_ALLOCATOR}" allocator_valid)
if(allocator_valid EQUAL -1) if(allocator_valid EQUAL -1)
set(GTSAM_DEFAULT_ALLOCATOR ${preferred_allocator} CACHE STRING "Default allocator" FORCE) set(GTSAM_DEFAULT_ALLOCATOR ${preferred_allocator} CACHE STRING "Default allocator" FORCE)
else() else()
set(GTSAM_DEFAULT_ALLOCATOR ${preferred_allocator} CACHE STRING "Default allocator") set(GTSAM_DEFAULT_ALLOCATOR ${preferred_allocator} CACHE STRING "Default allocator")
endif() endif()
set_property(CACHE GTSAM_DEFAULT_ALLOCATOR PROPERTY STRINGS ${possible_allocators}) set_property(CACHE GTSAM_DEFAULT_ALLOCATOR PROPERTY STRINGS ${possible_allocators})
mark_as_advanced(GTSAM_DEFAULT_ALLOCATOR) mark_as_advanced(GTSAM_DEFAULT_ALLOCATOR)
# Define compile flags depending on allocator # Define compile flags depending on allocator
if("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "BoostPool") if("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "BoostPool")
set(GTSAM_ALLOCATOR_BOOSTPOOL 1) set(GTSAM_ALLOCATOR_BOOSTPOOL 1)
elseif("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "STL") elseif("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "STL")
set(GTSAM_ALLOCATOR_STL 1) set(GTSAM_ALLOCATOR_STL 1)
elseif("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "TBB") elseif("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "TBB")
set(GTSAM_ALLOCATOR_TBB 1) set(GTSAM_ALLOCATOR_TBB 1)
elseif("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "tcmalloc") elseif("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "tcmalloc")
set(GTSAM_ALLOCATOR_STL 1) # tcmalloc replaces malloc, so to use it we use the STL allocator set(GTSAM_ALLOCATOR_STL 1) # tcmalloc replaces malloc, so to use it we use the STL allocator
list(APPEND GTSAM_ADDITIONAL_LIBRARIES "tcmalloc") list(APPEND GTSAM_ADDITIONAL_LIBRARIES "tcmalloc")
endif() endif()
if(MSVC) if(MSVC)
list_append_cache(GTSAM_COMPILE_DEFINITIONS_PRIVATE _CRT_SECURE_NO_WARNINGS _SCL_SECURE_NO_WARNINGS) list_append_cache(GTSAM_COMPILE_DEFINITIONS_PRIVATE _CRT_SECURE_NO_WARNINGS _SCL_SECURE_NO_WARNINGS)
list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE /wd4251 /wd4275 /wd4251 /wd4661 /wd4344 /wd4503) # Disable non-DLL-exported base class and other warnings list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE /wd4251 /wd4275 /wd4251 /wd4661 /wd4344 /wd4503) # Disable non-DLL-exported base class and other warnings
list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE /bigobj) # Allow large object files for template-based code list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE /bigobj) # Allow large object files for template-based code
endif() endif()
# GCC 4.8+ complains about local typedefs which we use for shared_ptr etc. # GCC 4.8+ complains about local typedefs which we use for shared_ptr etc.
@ -431,8 +431,8 @@ add_subdirectory(CppUnitLite)
# This is the new wrapper # This is the new wrapper
if(GTSAM_BUILD_PYTHON) if(GTSAM_BUILD_PYTHON)
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/wrap/cmake") list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/wrap/cmake")
add_subdirectory(python) add_subdirectory(python)
endif() endif()
# Build GTSAM library # Build GTSAM library
@ -454,7 +454,7 @@ endif()
# Matlab toolbox # Matlab toolbox
if (GTSAM_INSTALL_MATLAB_TOOLBOX) if (GTSAM_INSTALL_MATLAB_TOOLBOX)
add_subdirectory(matlab) add_subdirectory(matlab)
endif() endif()
# Install config and export files # Install config and export files
@ -517,9 +517,9 @@ endif()
print_enabled_config(${BUILD_SHARED_LIBS} "Build shared GTSAM libraries") print_enabled_config(${BUILD_SHARED_LIBS} "Build shared GTSAM libraries")
print_enabled_config(${GTSAM_BUILD_TYPE_POSTFIXES} "Put build type in library name") print_enabled_config(${GTSAM_BUILD_TYPE_POSTFIXES} "Put build type in library name")
if(GTSAM_UNSTABLE_AVAILABLE) if(GTSAM_UNSTABLE_AVAILABLE)
print_enabled_config(${GTSAM_BUILD_UNSTABLE} "Build libgtsam_unstable ") print_enabled_config(${GTSAM_BUILD_UNSTABLE} "Build libgtsam_unstable ")
print_enabled_config(${GTSAM_UNSTABLE_BUILD_PYTHON} "Build GTSAM unstable Python ") print_enabled_config(${GTSAM_UNSTABLE_BUILD_PYTHON} "Build GTSAM unstable Python ")
print_enabled_config(${GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX} "Build MATLAB Toolbox for unstable") print_enabled_config(${GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX} "Build MATLAB Toolbox for unstable")
endif() endif()
if(NOT MSVC AND NOT XCODE_VERSION) if(NOT MSVC AND NOT XCODE_VERSION)
@ -567,13 +567,13 @@ else()
endif() endif()
if(NOT MSVC AND NOT XCODE_VERSION) if(NOT MSVC AND NOT XCODE_VERSION)
if(CCACHE_FOUND AND GTSAM_BUILD_WITH_CCACHE) if(CCACHE_FOUND AND GTSAM_BUILD_WITH_CCACHE)
print_config("Build with ccache" "Yes") print_config("Build with ccache" "Yes")
elseif(CCACHE_FOUND) elseif(CCACHE_FOUND)
print_config("Build with ccache" "ccache found but GTSAM_BUILD_WITH_CCACHE is disabled") print_config("Build with ccache" "ccache found but GTSAM_BUILD_WITH_CCACHE is disabled")
else() else()
print_config("Build with ccache" "No") print_config("Build with ccache" "No")
endif() endif()
endif() endif()
message(STATUS "Packaging flags") message(STATUS "Packaging flags")
@ -595,20 +595,20 @@ print_enabled_config(${GTSAM_INSTALL_MATLAB_TOOLBOX} "Install MATLAB toolbo
message(STATUS "Python toolbox flags ") message(STATUS "Python toolbox flags ")
print_enabled_config(${GTSAM_BUILD_PYTHON} "Build Python module with pybind ") print_enabled_config(${GTSAM_BUILD_PYTHON} "Build Python module with pybind ")
if(GTSAM_BUILD_PYTHON) if(GTSAM_BUILD_PYTHON)
print_config("Python version" ${GTSAM_PYTHON_VERSION}) print_config("Python version" ${GTSAM_PYTHON_VERSION})
endif() endif()
message(STATUS "===============================================================") message(STATUS "===============================================================")
# Print warnings at the end # Print warnings at the end
if(GTSAM_WITH_TBB AND NOT TBB_FOUND) 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() endif()
if(GTSAM_WITH_EIGEN_MKL AND NOT MKL_FOUND) 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() endif()
if(GTSAM_WITH_EIGEN_MKL_OPENMP AND NOT OPENMP_FOUND AND MKL_FOUND) 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() endif()
# Include CPack *after* all flags # Include CPack *after* all flags

178
python/CMakeLists.txt
View File

@ -1,104 +1,106 @@
set(GTSAM_PYTHON_BUILD_DIRECTORY ${PROJECT_BINARY_DIR}/python) set(GTSAM_PYTHON_BUILD_DIRECTORY ${PROJECT_BINARY_DIR}/python)
if(GTSAM_BUILD_PYTHON) if (NOT GTSAM_BUILD_PYTHON)
# Generate setup.py. return()
file(READ "${PROJECT_SOURCE_DIR}/README.md" README_CONTENTS) endif()
configure_file(${PROJECT_SOURCE_DIR}/python/setup.py.in
${GTSAM_PYTHON_BUILD_DIRECTORY}/setup.py)
set(WRAP_USE_CUSTOM_PYTHON_LIBRARY ${GTSAM_USE_CUSTOM_PYTHON_LIBRARY}) # Generate setup.py.
set(WRAP_PYTHON_VERSION ${GTSAM_PYTHON_VERSION}) file(READ "${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") include(PybindWrap)
add_custom_target(gtsam_unstable_header DEPENDS "${PROJECT_SOURCE_DIR}/gtsam_unstable/gtsam_unstable.i")
# ignoring the non-concrete types (type aliases) add_custom_target(gtsam_header DEPENDS "${PROJECT_SOURCE_DIR}/gtsam/gtsam.i")
set(ignore add_custom_target(gtsam_unstable_header DEPENDS "${PROJECT_SOURCE_DIR}/gtsam_unstable/gtsam_unstable.i")
gtsam::Point2
gtsam::Point3
gtsam::LieVector
gtsam::LieMatrix
gtsam::ISAM2ThresholdMapValue
gtsam::FactorIndices
gtsam::FactorIndexSet
gtsam::BetweenFactorPose3s
gtsam::Point2Vector
gtsam::Pose3Vector
gtsam::KeyVector)
pybind_wrap(gtsam_py # target # ignoring the non-concrete types (type aliases)
${PROJECT_SOURCE_DIR}/gtsam/gtsam.i # interface_header set(ignore
"gtsam.cpp" # generated_cpp gtsam::Point2
"gtsam" # module_name gtsam::Point3
"gtsam" # top_namespace gtsam::LieVector
"${ignore}" # ignore_classes gtsam::LieMatrix
${PROJECT_SOURCE_DIR}/python/gtsam/gtsam.tpl gtsam::ISAM2ThresholdMapValue
gtsam # libs gtsam::FactorIndices
"gtsam;gtsam_header" # dependencies gtsam::FactorIndexSet
ON # use_boost 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 "${CMAKE_INSTALL_PREFIX}/lib"
INSTALL_RPATH_USE_LINK_PATH TRUE INSTALL_RPATH_USE_LINK_PATH TRUE
OUTPUT_NAME "gtsam" OUTPUT_NAME "gtsam_unstable"
LIBRARY_OUTPUT_DIRECTORY "${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam" 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_MODULE_PATH ${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam) set(GTSAM_UNSTABLE_MODULE_PATH ${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam_unstable)
# Symlink all tests .py files to build folder. # Symlink all tests .py files to build folder.
create_symlinks("${CMAKE_CURRENT_SOURCE_DIR}/gtsam" create_symlinks("${CMAKE_CURRENT_SOURCE_DIR}/gtsam_unstable"
"${GTSAM_MODULE_PATH}") "${GTSAM_UNSTABLE_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 ${GTSAM_PYTHON_BUILD_DIRECTORY})
endif() endif()
set(GTSAM_PYTHON_INSTALL_TARGET python-install)
add_custom_target(${GTSAM_PYTHON_INSTALL_TARGET}
COMMAND ${PYTHON_EXECUTABLE} ${GTSAM_PYTHON_BUILD_DIRECTORY}/setup.py install
WORKING_DIRECTORY ${GTSAM_PYTHON_BUILD_DIRECTORY})