Library now builds and all tests run with cmake

.cproject

@@ -1648,6 +1648,30 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="test" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>test</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="testSimulated2D.run" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>testSimulated2D.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="wrap_testWrap.run" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>wrap_testWrap.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 			<target name="tests/testDSFVector.run" path="build/gtsam/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>

CMakeLists.txt

@@ -26,8 +26,17 @@ set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -DEIGEN_NO_DEBUG")
 ENABLE_TESTING()
 INCLUDE(Dart)
 
+# Find boost
+find_package(Boost 1.40 REQUIRED)
+
 # General build settings
-include_directories(gtsam CppUnitLite)
+include_directories(
+  gtsam/3rdparty/UFconfig 
+  gtsam/3rdparty/CCOLAMD/Include
+  ${CMAKE_SOURCE_DIR}
+  CppUnitLite
+  ${BOOST_INCLUDE_DIR})
+link_directories(${Boost_LIBRARY_DIRS})
 
 # Build GTSAM library
 add_subdirectory(gtsam)
@@ -36,10 +45,10 @@ add_subdirectory(gtsam)
 add_subdirectory(CppUnitLite)
 
 # Build Tests
-#add_subdirectory(tests)
+add_subdirectory(tests)
 
 # Build wrap
-#add_subdirectory(wrap)
+add_subdirectory(wrap)
 
 # Build examples
-#add_subdirectory(examples)
+add_subdirectory(examples)

examples/CMakeLists.txt

@@ -0,0 +1,14 @@
+# Build example executables
+FILE(GLOB example_srcs "*.cpp")
+foreach(example_src ${example_srcs} )
+    get_filename_component(example_base ${example_src} NAME_WE)
+    set( example_bin ${example_base} )
+    add_executable(${example_bin} ${example_src})
+    target_link_libraries(${example_bin} gtsam)
+endforeach(example_src)
+
+add_subdirectory(vSLAMexample)
+
+
+
+

examples/vSLAMexample/CMakeLists.txt

@@ -0,0 +1,17 @@
+# Build vSLAMexample
+
+set ( srcs 
+  Feature2D.cpp
+  vSLAMutils.cpp
+)
+add_library(vSLAMexample ${srcs})
+
+add_executable(vISAMexample vISAMexample.cpp)
+target_link_libraries(vISAMexample vSLAMexample gtsam)
+
+add_executable(vSFMexample vSFMexample.cpp)
+target_link_libraries(vSFMexample vSLAMexample gtsam)
+
+
+
+

gtsam/CMakeLists.txt

@@ -9,10 +9,10 @@ set (gtsam_subdirs
     slam)
 
 # Include CCOLAMD source directly into gtsam
-include_directories(
+#include_directories(
-  3rdparty/UFconfig 
+#  3rdparty/UFconfig 
-  3rdparty/CCOLAMD/Include
+#  3rdparty/CCOLAMD/Include
-  ${CMAKE_SOURCE_DIR})
+#  ${CMAKE_SOURCE_DIR})
  
 set (ccolamd_srcs 
  3rdparty/CCOLAMD/Source/ccolamd.c 
@@ -22,6 +22,7 @@ set (ccolamd_srcs
 set(gtsam_srcs ${ccolamd_srcs})
  
 add_library(ccolamd STATIC ${ccolamd_srcs})
+list(APPEND inner_libs ccolamd)
 
 # Get all sources and headers from each 
 foreach(subdir ${gtsam_subdirs})
@@ -37,12 +38,27 @@ foreach(subdir ${gtsam_subdirs})
     file(GLOB tests_srcs "${subdir}/tests/test*.cpp")
     foreach(test_src ${tests_srcs})
         get_filename_component(test_base ${test_src} NAME_WE)
-        set( test_bin ${EXECUTABLE_OUTPUT_PATH}/${subdir}/${test_base} )
+        # Trying to put the executables in the right place
+        #set( test_bin ${EXECUTABLE_OUTPUT_PATH}${subdir}/${test_base} )
+        set( test_bin ${subdir}_${test_base} )
         add_executable(${test_bin} ${test_src})
-        #add_test(${subdir}/${test_base} ${subdir}/${test_base})
+        add_test(${subdir}/${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
-        #target_link_libraries(${subdir}/${test_base} ${inner_libs} CppUnitLite ccolamd)
+        
-        #add_custom_target(${test_base}.run ${EXECUTABLE_OUTPUT_PATH}/${test_base} ${ARGN})
+        #Linking: would like to link against subset of convenience libraries
+        #target_link_libraries(${test_bin} CppUnitLite ${inner_libs})
+        target_link_libraries(${test_bin} CppUnitLite gtsam)
+        add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
     endforeach(test_src)
+    
+    # Build timing scripts
+    file(GLOB time_srcs "${subdir}/tests/time*.cpp") 
+    foreach(time_src ${time_srcs})
+        get_filename_component(time_base ${time_src} NAME_WE)
+        set( time_bin ${time_base} )
+        add_executable(${time_bin} ${time_src})
+        target_link_libraries(${time_bin} CppUnitLite gtsam)
+        add_custom_target(${time_base}.run ${EXECUTABLE_OUTPUT_PATH}${time_bin} ${ARGN})
+    endforeach(time_src)
 endforeach(subdir)
 
 # build a single shared library

tests/CMakeLists.txt

@@ -0,0 +1,31 @@
+include_directories(
+  3rdparty/UFconfig 
+  3rdparty/CCOLAMD/Include
+  ${CMAKE_SOURCE_DIR})
+
+find_package(Boost COMPONENTS serialization REQUIRED)
+
+# Build tests
+file(GLOB tests_srcs "test*.cpp")
+foreach(test_src ${tests_srcs})
+    get_filename_component(test_base ${test_src} NAME_WE)
+    # Trying to put the executables in the right place
+    set( test_bin ${test_base} )
+    add_executable(${test_bin} ${test_src})
+    add_test(${test_bin} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
+    
+    target_link_libraries(${test_bin} CppUnitLite gtsam ${Boost_SERIALIZATION_LIBRARY})
+    add_custom_target(${test_base}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
+endforeach(test_src)
+
+# Build timing scripts
+file(GLOB time_srcs "time*.cpp") 
+foreach(time_src ${time_srcs})
+    get_filename_component(time_base ${time_src} NAME_WE)
+    # Trying to put the executables in the right place
+    set( time_bin ${time_base} )
+    add_executable(${time_bin} ${time_src})
+    
+    target_link_libraries(${time_bin} CppUnitLite gtsam)
+    add_custom_target(${time_base}.run ${EXECUTABLE_OUTPUT_PATH}${time_bin} ${ARGN})
+endforeach(time_src)

wrap/CMakeLists.txt

@@ -0,0 +1,23 @@
+# Build/install Wrap
+
+# Build the executable itself
+FILE(GLOB wrap_srcs "*.cpp")
+LIST(REMOVE_ITEM wrap_srcs wrap.cpp)
+add_library(wrapLib STATIC ${wrap_srcs})
+add_executable(wrap wrap.cpp)
+target_link_libraries(wrap wrapLib)
+
+# Build tests
+FILE(GLOB wrap_test_srcs "tests/test*.cpp")
+add_definitions(-DTOPSRCDIR="${CMAKE_SOURCE_DIR}")
+foreach(test_src ${wrap_test_srcs} )
+    get_filename_component(test_base ${test_src} NAME_WE)
+    set( test_bin wrap_${test_base} )
+    add_executable(${test_bin} ${test_src})
+    add_test(${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
+    target_link_libraries(${test_bin} CppUnitLite gtsam wrapLib)
+    add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
+endforeach(test_src)
+
+
+