Merge branch 'develop' into fix/foot-imu
Varun Agrawal
commit
6543fb6c7c
|
|
@ -0,0 +1,87 @@
|
||||||
|
#!/bin/bash
|
||||||
|
|
||||||
|
##########################################################
|
||||||
|
# Build and test the GTSAM Python wrapper.
|
||||||
|
##########################################################
|
||||||
|
|
||||||
|
set -x -e
|
||||||
|
|
||||||
|
# install TBB with _debug.so files
|
||||||
|
function install_tbb()
|
||||||
|
{
|
||||||
|
TBB_BASEURL=https://github.com/oneapi-src/oneTBB/releases/download
|
||||||
|
TBB_VERSION=4.4.5
|
||||||
|
TBB_DIR=tbb44_20160526oss
|
||||||
|
TBB_SAVEPATH="/tmp/tbb.tgz"
|
||||||
|
|
||||||
|
if [ "$(uname)" == "Linux" ]; then
|
||||||
|
OS_SHORT="lin"
|
||||||
|
TBB_LIB_DIR="intel64/gcc4.4"
|
||||||
|
SUDO="sudo"
|
||||||
|
|
||||||
|
elif [ "$(uname)" == "Darwin" ]; then
|
||||||
|
OS_SHORT="osx"
|
||||||
|
TBB_LIB_DIR=""
|
||||||
|
SUDO=""
|
||||||
|
|
||||||
|
fi
|
||||||
|
|
||||||
|
wget "${TBB_BASEURL}/${TBB_VERSION}/${TBB_DIR}_${OS_SHORT}.tgz" -O $TBB_SAVEPATH
|
||||||
|
tar -C /tmp -xf $TBB_SAVEPATH
|
||||||
|
|
||||||
|
TBBROOT=/tmp/$TBB_DIR
|
||||||
|
# Copy the needed files to the correct places.
|
||||||
|
# This works correctly for CI builds, instead of setting path variables.
|
||||||
|
# This is what Homebrew does to install TBB on Macs
|
||||||
|
$SUDO cp -R $TBBROOT/lib/$TBB_LIB_DIR/* /usr/local/lib/
|
||||||
|
$SUDO cp -R $TBBROOT/include/ /usr/local/include/
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
if [ -z ${PYTHON_VERSION+x} ]; then
|
||||||
|
echo "Please provide the Python version to build against!"
|
||||||
|
exit 127
|
||||||
|
fi
|
||||||
|
|
||||||
|
PYTHON="python${PYTHON_VERSION}"
|
||||||
|
|
||||||
|
if [[ $(uname) == "Darwin" ]]; then
|
||||||
|
brew install wget
|
||||||
|
else
|
||||||
|
# Install a system package required by our library
|
||||||
|
sudo apt-get install -y wget libicu-dev python3-pip python3-setuptools
|
||||||
|
fi
|
||||||
|
|
||||||
|
PATH=$PATH:$($PYTHON -c "import site; print(site.USER_BASE)")/bin
|
||||||
|
|
||||||
|
[ "${GTSAM_WITH_TBB:-OFF}" = "ON" ] && install_tbb
|
||||||
|
|
||||||
|
|
||||||
|
BUILD_PYBIND="ON"
|
||||||
|
TYPEDEF_POINTS_TO_VECTORS="ON"
|
||||||
|
|
||||||
|
sudo $PYTHON -m pip install -r $GITHUB_WORKSPACE/python/requirements.txt
|
||||||
|
|
||||||
|
mkdir $GITHUB_WORKSPACE/build
|
||||||
|
cd $GITHUB_WORKSPACE/build
|
||||||
|
|
||||||
|
cmake $GITHUB_WORKSPACE -DCMAKE_BUILD_TYPE=Release \
|
||||||
|
-DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_UNSTABLE=ON \
|
||||||
|
-DGTSAM_USE_QUATERNIONS=OFF \
|
||||||
|
-DGTSAM_WITH_TBB=${GTSAM_WITH_TBB:-OFF} \
|
||||||
|
-DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
|
||||||
|
-DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
|
||||||
|
-DGTSAM_BUILD_PYTHON=${BUILD_PYBIND} \
|
||||||
|
-DGTSAM_TYPEDEF_POINTS_TO_VECTORS=${TYPEDEF_POINTS_TO_VECTORS} \
|
||||||
|
-DGTSAM_PYTHON_VERSION=$PYTHON_VERSION \
|
||||||
|
-DPYTHON_EXECUTABLE:FILEPATH=$(which $PYTHON) \
|
||||||
|
-DGTSAM_ALLOW_DEPRECATED_SINCE_V41=OFF \
|
||||||
|
-DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/gtsam_install
|
||||||
|
|
||||||
|
make -j$(nproc) install
|
||||||
|
|
||||||
|
|
||||||
|
cd $GITHUB_WORKSPACE/build/python
|
||||||
|
$PYTHON setup.py install --user --prefix=
|
||||||
|
cd $GITHUB_WORKSPACE/python/gtsam/tests
|
||||||
|
$PYTHON -m unittest discover
|
||||||
|
|
@ -0,0 +1,122 @@
|
||||||
|
#!/bin/bash
|
||||||
|
|
||||||
|
##########################################################
|
||||||
|
# Build and test GTSAM for *nix based systems.
|
||||||
|
# Specifically Linux and macOS.
|
||||||
|
##########################################################
|
||||||
|
|
||||||
|
# install TBB with _debug.so files
|
||||||
|
function install_tbb()
|
||||||
|
{
|
||||||
|
TBB_BASEURL=https://github.com/oneapi-src/oneTBB/releases/download
|
||||||
|
TBB_VERSION=4.4.5
|
||||||
|
TBB_DIR=tbb44_20160526oss
|
||||||
|
TBB_SAVEPATH="/tmp/tbb.tgz"
|
||||||
|
|
||||||
|
if [ "$(uname)" == "Linux" ]; then
|
||||||
|
OS_SHORT="lin"
|
||||||
|
TBB_LIB_DIR="intel64/gcc4.4"
|
||||||
|
SUDO="sudo"
|
||||||
|
|
||||||
|
elif [ "$(uname)" == "Darwin" ]; then
|
||||||
|
OS_SHORT="osx"
|
||||||
|
TBB_LIB_DIR=""
|
||||||
|
SUDO=""
|
||||||
|
|
||||||
|
fi
|
||||||
|
|
||||||
|
wget "${TBB_BASEURL}/${TBB_VERSION}/${TBB_DIR}_${OS_SHORT}.tgz" -O $TBB_SAVEPATH
|
||||||
|
tar -C /tmp -xf $TBB_SAVEPATH
|
||||||
|
|
||||||
|
TBBROOT=/tmp/$TBB_DIR
|
||||||
|
# Copy the needed files to the correct places.
|
||||||
|
# This works correctly for CI builds, instead of setting path variables.
|
||||||
|
# This is what Homebrew does to install TBB on Macs
|
||||||
|
$SUDO cp -R $TBBROOT/lib/$TBB_LIB_DIR/* /usr/local/lib/
|
||||||
|
$SUDO cp -R $TBBROOT/include/ /usr/local/include/
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
# common tasks before either build or test
|
||||||
|
function configure()
|
||||||
|
{
|
||||||
|
set -e # Make sure any error makes the script to return an error code
|
||||||
|
set -x # echo
|
||||||
|
|
||||||
|
SOURCE_DIR=$GITHUB_WORKSPACE
|
||||||
|
BUILD_DIR=$GITHUB_WORKSPACE/build
|
||||||
|
|
||||||
|
#env
|
||||||
|
rm -fr $BUILD_DIR || true
|
||||||
|
mkdir $BUILD_DIR && cd $BUILD_DIR
|
||||||
|
|
||||||
|
[ "${GTSAM_WITH_TBB:-OFF}" = "ON" ] && install_tbb
|
||||||
|
|
||||||
|
if [ ! -z "$GCC_VERSION" ]; then
|
||||||
|
export CC=gcc-$GCC_VERSION
|
||||||
|
export CXX=g++-$GCC_VERSION
|
||||||
|
fi
|
||||||
|
|
||||||
|
# GTSAM_BUILD_WITH_MARCH_NATIVE=OFF: to avoid crashes in builder VMs
|
||||||
|
cmake $SOURCE_DIR \
|
||||||
|
-DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE:-Debug} \
|
||||||
|
-DGTSAM_BUILD_TESTS=${GTSAM_BUILD_TESTS:-OFF} \
|
||||||
|
-DGTSAM_BUILD_UNSTABLE=${GTSAM_BUILD_UNSTABLE:-ON} \
|
||||||
|
-DGTSAM_WITH_TBB=${GTSAM_WITH_TBB:-OFF} \
|
||||||
|
-DGTSAM_BUILD_EXAMPLES_ALWAYS=${GTSAM_BUILD_EXAMPLES_ALWAYS:-ON} \
|
||||||
|
-DGTSAM_ALLOW_DEPRECATED_SINCE_V41=${GTSAM_ALLOW_DEPRECATED_SINCE_V41:-OFF} \
|
||||||
|
-DGTSAM_USE_QUATERNIONS=${GTSAM_USE_QUATERNIONS:-OFF} \
|
||||||
|
-DGTSAM_ROT3_EXPMAP=${GTSAM_ROT3_EXPMAP:-ON} \
|
||||||
|
-DGTSAM_POSE3_EXPMAP=${GTSAM_POSE3_EXPMAP:-ON} \
|
||||||
|
-DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
|
||||||
|
-DBOOST_ROOT=$BOOST_ROOT \
|
||||||
|
-DBoost_NO_SYSTEM_PATHS=ON \
|
||||||
|
-DBoost_ARCHITECTURE=-x64
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
# common tasks after either build or test
|
||||||
|
function finish ()
|
||||||
|
{
|
||||||
|
# Print ccache stats
|
||||||
|
[ -x "$(command -v ccache)" ] && ccache -s
|
||||||
|
|
||||||
|
cd $SOURCE_DIR
|
||||||
|
}
|
||||||
|
|
||||||
|
# compile the code with the intent of populating the cache
|
||||||
|
function build ()
|
||||||
|
{
|
||||||
|
export GTSAM_BUILD_EXAMPLES_ALWAYS=ON
|
||||||
|
export GTSAM_BUILD_TESTS=OFF
|
||||||
|
|
||||||
|
configure
|
||||||
|
|
||||||
|
make -j2
|
||||||
|
|
||||||
|
finish
|
||||||
|
}
|
||||||
|
|
||||||
|
# run the tests
|
||||||
|
function test ()
|
||||||
|
{
|
||||||
|
export GTSAM_BUILD_EXAMPLES_ALWAYS=OFF
|
||||||
|
export GTSAM_BUILD_TESTS=ON
|
||||||
|
|
||||||
|
configure
|
||||||
|
|
||||||
|
# Actual build:
|
||||||
|
make -j2 check
|
||||||
|
|
||||||
|
finish
|
||||||
|
}
|
||||||
|
|
||||||
|
# select between build or test
|
||||||
|
case $1 in
|
||||||
|
-b)
|
||||||
|
build
|
||||||
|
;;
|
||||||
|
-t)
|
||||||
|
test
|
||||||
|
;;
|
||||||
|
esac
|
||||||
|
|
@ -0,0 +1,91 @@
|
||||||
|
name: Linux CI
|
||||||
|
|
||||||
|
on: [push, pull_request]
|
||||||
|
|
||||||
|
jobs:
|
||||||
|
build:
|
||||||
|
name: ${{ matrix.name }} ${{ matrix.build_type }}
|
||||||
|
runs-on: ${{ matrix.os }}
|
||||||
|
|
||||||
|
env:
|
||||||
|
CTEST_OUTPUT_ON_FAILURE: ON
|
||||||
|
CTEST_PARALLEL_LEVEL: 2
|
||||||
|
CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
|
||||||
|
GTSAM_BUILD_UNSTABLE: ${{ matrix.build_unstable }}
|
||||||
|
|
||||||
|
strategy:
|
||||||
|
fail-fast: false
|
||||||
|
matrix:
|
||||||
|
# Github Actions requires a single row to be added to the build matrix.
|
||||||
|
# See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
|
||||||
|
name: [
|
||||||
|
ubuntu-18.04-gcc-5,
|
||||||
|
ubuntu-18.04-gcc-9,
|
||||||
|
ubuntu-18.04-clang-9,
|
||||||
|
]
|
||||||
|
|
||||||
|
build_type: [Debug, Release]
|
||||||
|
build_unstable: [ON]
|
||||||
|
include:
|
||||||
|
- name: ubuntu-18.04-gcc-5
|
||||||
|
os: ubuntu-18.04
|
||||||
|
compiler: gcc
|
||||||
|
version: "5"
|
||||||
|
|
||||||
|
- name: ubuntu-18.04-gcc-9
|
||||||
|
os: ubuntu-18.04
|
||||||
|
compiler: gcc
|
||||||
|
version: "9"
|
||||||
|
|
||||||
|
- name: ubuntu-18.04-clang-9
|
||||||
|
os: ubuntu-18.04
|
||||||
|
compiler: clang
|
||||||
|
version: "9"
|
||||||
|
|
||||||
|
steps:
|
||||||
|
- name: Checkout
|
||||||
|
uses: actions/checkout@master
|
||||||
|
- name: Install (Linux)
|
||||||
|
if: runner.os == 'Linux'
|
||||||
|
run: |
|
||||||
|
# LLVM (clang) 9 is not in Bionic's repositories so we add the official LLVM repository.
|
||||||
|
if [ "${{ matrix.compiler }}" = "clang" ] && [ "${{ matrix.version }}" = "9" ]; then
|
||||||
|
# (ipv4|ha).pool.sks-keyservers.net is the SKS GPG global keyserver pool
|
||||||
|
# ipv4 avoids potential timeouts because of crappy IPv6 infrastructure
|
||||||
|
# 15CF4D18AF4F7421 is the GPG key for the LLVM apt repository
|
||||||
|
# This key is not in the keystore by default for Ubuntu so we need to add it.
|
||||||
|
LLVM_KEY=15CF4D18AF4F7421
|
||||||
|
gpg --keyserver ipv4.pool.sks-keyservers.net --recv-key $LLVM_KEY || gpg --keyserver ha.pool.sks-keyservers.net --recv-key $LLVM_KEY
|
||||||
|
gpg -a --export $LLVM_KEY | sudo apt-key add -
|
||||||
|
sudo add-apt-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-9 main"
|
||||||
|
fi
|
||||||
|
sudo apt-get -y update
|
||||||
|
|
||||||
|
sudo apt install cmake build-essential pkg-config libpython-dev python-numpy
|
||||||
|
|
||||||
|
echo "BOOST_ROOT=$(echo $BOOST_ROOT_1_72_0)" >> $GITHUB_ENV
|
||||||
|
echo "LD_LIBRARY_PATH=$(echo $BOOST_ROOT_1_72_0/lib)" >> $GITHUB_ENV
|
||||||
|
|
||||||
|
if [ "${{ matrix.compiler }}" = "gcc" ]; then
|
||||||
|
sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
|
||||||
|
echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV
|
||||||
|
echo "CXX=g++-${{ matrix.version }}" >> $GITHUB_ENV
|
||||||
|
else
|
||||||
|
sudo apt-get install -y clang-${{ matrix.version }} g++-multilib
|
||||||
|
echo "CC=clang-${{ matrix.version }}" >> $GITHUB_ENV
|
||||||
|
echo "CXX=clang++-${{ matrix.version }}" >> $GITHUB_ENV
|
||||||
|
fi
|
||||||
|
- name: Check Boost version
|
||||||
|
if: runner.os == 'Linux'
|
||||||
|
run: |
|
||||||
|
echo "BOOST_ROOT = $BOOST_ROOT"
|
||||||
|
- name: Build and Test (Linux)
|
||||||
|
if: runner.os == 'Linux'
|
||||||
|
run: |
|
||||||
|
bash .github/scripts/unix.sh -t
|
||||||
|
- name: Upload build directory
|
||||||
|
uses: actions/upload-artifact@v2
|
||||||
|
if: matrix.build_type == 'Release'
|
||||||
|
with:
|
||||||
|
name: gtsam-${{ matrix.name }}-${{ matrix.build_type }}
|
||||||
|
path: ${{ github.workspace }}/build/
|
||||||
|
|
@ -0,0 +1,59 @@
|
||||||
|
name: macOS CI
|
||||||
|
|
||||||
|
on: [pull_request]
|
||||||
|
|
||||||
|
jobs:
|
||||||
|
build:
|
||||||
|
name: ${{ matrix.name }} ${{ matrix.build_type }}
|
||||||
|
runs-on: ${{ matrix.os }}
|
||||||
|
|
||||||
|
env:
|
||||||
|
CTEST_OUTPUT_ON_FAILURE: ON
|
||||||
|
CTEST_PARALLEL_LEVEL: 2
|
||||||
|
CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
|
||||||
|
GTSAM_BUILD_UNSTABLE: ${{ matrix.build_unstable }}
|
||||||
|
strategy:
|
||||||
|
fail-fast: false
|
||||||
|
matrix:
|
||||||
|
# Github Actions requires a single row to be added to the build matrix.
|
||||||
|
# See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
|
||||||
|
name: [
|
||||||
|
macOS-10.15-xcode-11.3.1,
|
||||||
|
]
|
||||||
|
|
||||||
|
build_type: [Debug, Release]
|
||||||
|
build_unstable: [ON]
|
||||||
|
include:
|
||||||
|
- name: macOS-10.15-xcode-11.3.1
|
||||||
|
os: macOS-10.15
|
||||||
|
compiler: xcode
|
||||||
|
version: "11.3.1"
|
||||||
|
|
||||||
|
steps:
|
||||||
|
- name: Checkout
|
||||||
|
uses: actions/checkout@master
|
||||||
|
- name: Install (macOS)
|
||||||
|
if: runner.os == 'macOS'
|
||||||
|
run: |
|
||||||
|
brew tap ProfFan/robotics
|
||||||
|
brew install cmake ninja
|
||||||
|
brew install ProfFan/robotics/boost
|
||||||
|
if [ "${{ matrix.compiler }}" = "gcc" ]; then
|
||||||
|
brew install gcc@${{ matrix.version }}
|
||||||
|
echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV
|
||||||
|
echo "CXX=g++-${{ matrix.version }}" >> $GITHUB_ENV
|
||||||
|
else
|
||||||
|
sudo xcode-select -switch /Applications/Xcode_${{ matrix.version }}.app
|
||||||
|
echo "CC=clang" >> $GITHUB_ENV
|
||||||
|
echo "CXX=clang++" >> $GITHUB_ENV
|
||||||
|
fi
|
||||||
|
- name: Build and Test (macOS)
|
||||||
|
if: runner.os == 'macOS'
|
||||||
|
run: |
|
||||||
|
bash .github/scripts/unix.sh -t
|
||||||
|
- name: Upload build directory
|
||||||
|
uses: actions/upload-artifact@v2
|
||||||
|
if: matrix.build_type == 'Release'
|
||||||
|
with:
|
||||||
|
name: gtsam-${{ matrix.name }}-${{ matrix.build_type }}
|
||||||
|
path: ${{ github.workspace }}/build/
|
||||||
|
|
@ -0,0 +1,113 @@
|
||||||
|
name: Python CI
|
||||||
|
|
||||||
|
on: [pull_request]
|
||||||
|
|
||||||
|
jobs:
|
||||||
|
build:
|
||||||
|
name: ${{ matrix.name }} ${{ matrix.build_type }} Python ${{ matrix.python_version }}
|
||||||
|
runs-on: ${{ matrix.os }}
|
||||||
|
|
||||||
|
env:
|
||||||
|
CTEST_OUTPUT_ON_FAILURE: ON
|
||||||
|
CTEST_PARALLEL_LEVEL: 2
|
||||||
|
CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
|
||||||
|
PYTHON_VERSION: ${{ matrix.python_version }}
|
||||||
|
strategy:
|
||||||
|
fail-fast: false
|
||||||
|
matrix:
|
||||||
|
# Github Actions requires a single row to be added to the build matrix.
|
||||||
|
# See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
|
||||||
|
name: [
|
||||||
|
ubuntu-18.04-gcc-5,
|
||||||
|
ubuntu-18.04-gcc-9,
|
||||||
|
ubuntu-18.04-clang-9,
|
||||||
|
macOS-10.15-xcode-11.3.1,
|
||||||
|
ubuntu-18.04-gcc-5-tbb,
|
||||||
|
]
|
||||||
|
|
||||||
|
build_type: [Debug, Release]
|
||||||
|
python_version: [3]
|
||||||
|
include:
|
||||||
|
- name: ubuntu-18.04-gcc-5
|
||||||
|
os: ubuntu-18.04
|
||||||
|
compiler: gcc
|
||||||
|
version: "5"
|
||||||
|
|
||||||
|
- name: ubuntu-18.04-gcc-9
|
||||||
|
os: ubuntu-18.04
|
||||||
|
compiler: gcc
|
||||||
|
version: "9"
|
||||||
|
|
||||||
|
- name: ubuntu-18.04-clang-9
|
||||||
|
os: ubuntu-18.04
|
||||||
|
compiler: clang
|
||||||
|
version: "9"
|
||||||
|
|
||||||
|
- name: macOS-10.15-xcode-11.3.1
|
||||||
|
os: macOS-10.15
|
||||||
|
compiler: xcode
|
||||||
|
version: "11.3.1"
|
||||||
|
|
||||||
|
- name: ubuntu-18.04-gcc-5-tbb
|
||||||
|
os: ubuntu-18.04
|
||||||
|
compiler: gcc
|
||||||
|
version: "5"
|
||||||
|
flag: tbb
|
||||||
|
|
||||||
|
steps:
|
||||||
|
- name: Checkout
|
||||||
|
uses: actions/checkout@master
|
||||||
|
- name: Install (Linux)
|
||||||
|
if: runner.os == 'Linux'
|
||||||
|
run: |
|
||||||
|
if [ "${{ matrix.compiler }}" = "clang" ] && [ "${{ matrix.version }}" = "9" ]; then
|
||||||
|
# (ipv4|ha).pool.sks-keyservers.net is the SKS GPG global keyserver pool
|
||||||
|
# ipv4 avoids potential timeouts because of crappy IPv6 infrastructure
|
||||||
|
# 15CF4D18AF4F7421 is the GPG key for the LLVM apt repository
|
||||||
|
# This key is not in the keystore by default for Ubuntu so we need to add it.
|
||||||
|
LLVM_KEY=15CF4D18AF4F7421
|
||||||
|
gpg --keyserver ipv4.pool.sks-keyservers.net --recv-key $LLVM_KEY || gpg --keyserver ha.pool.sks-keyservers.net --recv-key $LLVM_KEY
|
||||||
|
gpg -a --export $LLVM_KEY | sudo apt-key add -
|
||||||
|
sudo add-apt-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-9 main"
|
||||||
|
fi
|
||||||
|
sudo apt-get -y update
|
||||||
|
|
||||||
|
sudo apt install cmake build-essential pkg-config libpython-dev python-numpy libboost-all-dev
|
||||||
|
|
||||||
|
if [ "${{ matrix.compiler }}" = "gcc" ]; then
|
||||||
|
sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
|
||||||
|
echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV
|
||||||
|
echo "CXX=g++-${{ matrix.version }}" >> $GITHUB_ENV
|
||||||
|
else
|
||||||
|
sudo apt-get install -y clang-${{ matrix.version }} g++-multilib
|
||||||
|
echo "CC=clang-${{ matrix.version }}" >> $GITHUB_ENV
|
||||||
|
echo "CXX=clang++-${{ matrix.version }}" >> $GITHUB_ENV
|
||||||
|
fi
|
||||||
|
- name: Install (macOS)
|
||||||
|
if: runner.os == 'macOS'
|
||||||
|
run: |
|
||||||
|
brew tap ProfFan/robotics
|
||||||
|
brew install cmake ninja
|
||||||
|
brew install ProfFan/robotics/boost
|
||||||
|
if [ "${{ matrix.compiler }}" = "gcc" ]; then
|
||||||
|
brew install gcc@${{ matrix.version }}
|
||||||
|
echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV
|
||||||
|
echo "CXX=g++-${{ matrix.version }}" >> $GITHUB_ENV
|
||||||
|
else
|
||||||
|
sudo xcode-select -switch /Applications/Xcode_${{ matrix.version }}.app
|
||||||
|
echo "CC=clang" >> $GITHUB_ENV
|
||||||
|
echo "CXX=clang++" >> $GITHUB_ENV
|
||||||
|
fi
|
||||||
|
- name: Set GTSAM_WITH_TBB Flag
|
||||||
|
if: matrix.flag == 'tbb'
|
||||||
|
run: |
|
||||||
|
echo "GTSAM_WITH_TBB=ON" >> $GITHUB_ENV
|
||||||
|
echo "GTSAM Uses TBB"
|
||||||
|
- name: Build (Linux)
|
||||||
|
if: runner.os == 'Linux'
|
||||||
|
run: |
|
||||||
|
bash .github/scripts/python.sh
|
||||||
|
- name: Build (macOS)
|
||||||
|
if: runner.os == 'macOS'
|
||||||
|
run: |
|
||||||
|
bash .github/scripts/python.sh
|
||||||
|
|
@ -0,0 +1,128 @@
|
||||||
|
name: Special Cases CI
|
||||||
|
|
||||||
|
on: [pull_request]
|
||||||
|
|
||||||
|
jobs:
|
||||||
|
build:
|
||||||
|
name: ${{ matrix.name }} ${{ matrix.build_type }}
|
||||||
|
runs-on: ${{ matrix.os }}
|
||||||
|
|
||||||
|
env:
|
||||||
|
CTEST_OUTPUT_ON_FAILURE: ON
|
||||||
|
CTEST_PARALLEL_LEVEL: 2
|
||||||
|
CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
|
||||||
|
GTSAM_BUILD_UNSTABLE: ON
|
||||||
|
|
||||||
|
strategy:
|
||||||
|
fail-fast: false
|
||||||
|
|
||||||
|
matrix:
|
||||||
|
# Github Actions requires a single row to be added to the build matrix.
|
||||||
|
# See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
|
||||||
|
name:
|
||||||
|
[
|
||||||
|
ubuntu-gcc-deprecated,
|
||||||
|
ubuntu-gcc-quaternions,
|
||||||
|
ubuntu-gcc-tbb,
|
||||||
|
ubuntu-cayleymap,
|
||||||
|
]
|
||||||
|
|
||||||
|
build_type: [Debug, Release]
|
||||||
|
|
||||||
|
include:
|
||||||
|
- name: ubuntu-gcc-deprecated
|
||||||
|
os: ubuntu-18.04
|
||||||
|
compiler: gcc
|
||||||
|
version: "9"
|
||||||
|
flag: deprecated
|
||||||
|
|
||||||
|
- name: ubuntu-gcc-quaternions
|
||||||
|
os: ubuntu-18.04
|
||||||
|
compiler: gcc
|
||||||
|
version: "9"
|
||||||
|
flag: quaternions
|
||||||
|
|
||||||
|
- name: ubuntu-gcc-tbb
|
||||||
|
os: ubuntu-18.04
|
||||||
|
compiler: gcc
|
||||||
|
version: "9"
|
||||||
|
flag: tbb
|
||||||
|
|
||||||
|
- name: ubuntu-cayleymap
|
||||||
|
os: ubuntu-18.04
|
||||||
|
compiler: gcc
|
||||||
|
version: "9"
|
||||||
|
flag: cayley
|
||||||
|
|
||||||
|
steps:
|
||||||
|
- name: Checkout
|
||||||
|
uses: actions/checkout@master
|
||||||
|
|
||||||
|
- name: Install (Linux)
|
||||||
|
if: runner.os == 'Linux'
|
||||||
|
run: |
|
||||||
|
# LLVM 9 is not in Bionic's repositories so we add the official LLVM repository.
|
||||||
|
if [ "${{ matrix.compiler }}" = "clang" ] && [ "${{ matrix.version }}" = "9" ]; then
|
||||||
|
gpg --keyserver pool.sks-keyservers.net --recv-key 15CF4D18AF4F7421
|
||||||
|
gpg -a --export 15CF4D18AF4F7421 | sudo apt-key add -
|
||||||
|
sudo add-apt-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-9 main"
|
||||||
|
fi
|
||||||
|
sudo apt-get -y update
|
||||||
|
|
||||||
|
sudo apt install cmake build-essential pkg-config libpython-dev python-numpy
|
||||||
|
|
||||||
|
echo "BOOST_ROOT=$(echo $BOOST_ROOT_1_72_0)" >> $GITHUB_ENV
|
||||||
|
echo "LD_LIBRARY_PATH=$(echo $BOOST_ROOT_1_72_0/lib)" >> $GITHUB_ENV
|
||||||
|
|
||||||
|
if [ "${{ matrix.compiler }}" = "gcc" ]; then
|
||||||
|
sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
|
||||||
|
echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV
|
||||||
|
echo "CXX=g++-${{ matrix.version }}" >> $GITHUB_ENV
|
||||||
|
else
|
||||||
|
sudo apt-get install -y clang-${{ matrix.version }} g++-multilib
|
||||||
|
echo "CC=clang-${{ matrix.version }}" >> $GITHUB_ENV
|
||||||
|
echo "CXX=clang++-${{ matrix.version }}" >> $GITHUB_ENV
|
||||||
|
fi
|
||||||
|
|
||||||
|
- name: Install (macOS)
|
||||||
|
if: runner.os == 'macOS'
|
||||||
|
run: |
|
||||||
|
brew install cmake ninja boost
|
||||||
|
if [ "${{ matrix.compiler }}" = "gcc" ]; then
|
||||||
|
brew install gcc@${{ matrix.version }}
|
||||||
|
echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV
|
||||||
|
echo "CXX=g++-${{ matrix.version }}" >> $GITHUB_ENV
|
||||||
|
else
|
||||||
|
sudo xcode-select -switch /Applications/Xcode_${{ matrix.version }}.app
|
||||||
|
echo "CC=clang" >> $GITHUB_ENV
|
||||||
|
echo "CXX=clang++" >> $GITHUB_ENV
|
||||||
|
fi
|
||||||
|
|
||||||
|
- name: Set Allow Deprecated Flag
|
||||||
|
if: matrix.flag == 'deprecated'
|
||||||
|
run: |
|
||||||
|
echo "GTSAM_ALLOW_DEPRECATED_SINCE_V41=ON" >> $GITHUB_ENV
|
||||||
|
echo "Allow deprecated since version 4.1"
|
||||||
|
|
||||||
|
- name: Set Use Quaternions Flag
|
||||||
|
if: matrix.flag == 'quaternions'
|
||||||
|
run: |
|
||||||
|
echo "GTSAM_USE_QUATERNIONS=ON" >> $GITHUB_ENV
|
||||||
|
echo "Use Quaternions for rotations"
|
||||||
|
|
||||||
|
- name: Set GTSAM_WITH_TBB Flag
|
||||||
|
if: matrix.flag == 'tbb'
|
||||||
|
run: |
|
||||||
|
echo "GTSAM_WITH_TBB=ON" >> $GITHUB_ENV
|
||||||
|
echo "GTSAM Uses TBB"
|
||||||
|
|
||||||
|
- name: Use Cayley Transform for Rot3
|
||||||
|
if: matrix.flag == 'cayley'
|
||||||
|
run: |
|
||||||
|
echo "GTSAM_POSE3_EXPMAP=OFF" >> $GITHUB_ENV
|
||||||
|
echo "GTSAM_ROT3_EXPMAP=OFF" >> $GITHUB_ENV
|
||||||
|
echo "GTSAM Uses Cayley map for Rot3"
|
||||||
|
|
||||||
|
- name: Build & Test
|
||||||
|
run: |
|
||||||
|
bash .github/scripts/unix.sh -t
|
||||||
|
|
@ -0,0 +1,84 @@
|
||||||
|
name: Windows CI
|
||||||
|
|
||||||
|
on: [pull_request]
|
||||||
|
|
||||||
|
jobs:
|
||||||
|
build:
|
||||||
|
name: ${{ matrix.name }} ${{ matrix.build_type }}
|
||||||
|
runs-on: ${{ matrix.os }}
|
||||||
|
|
||||||
|
env:
|
||||||
|
CTEST_OUTPUT_ON_FAILURE: ON
|
||||||
|
CTEST_PARALLEL_LEVEL: 2
|
||||||
|
CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
|
||||||
|
GTSAM_BUILD_UNSTABLE: ${{ matrix.build_unstable }}
|
||||||
|
strategy:
|
||||||
|
fail-fast: false
|
||||||
|
matrix:
|
||||||
|
# Github Actions requires a single row to be added to the build matrix.
|
||||||
|
# See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
|
||||||
|
name: [
|
||||||
|
#TODO This build keeps timing out, need to understand why.
|
||||||
|
# windows-2016-cl,
|
||||||
|
windows-2019-cl,
|
||||||
|
]
|
||||||
|
|
||||||
|
build_type: [Debug, Release]
|
||||||
|
build_unstable: [ON]
|
||||||
|
include:
|
||||||
|
|
||||||
|
#TODO This build keeps timing out, need to understand why.
|
||||||
|
# - name: windows-2016-cl
|
||||||
|
# os: windows-2016
|
||||||
|
# compiler: cl
|
||||||
|
|
||||||
|
- name: windows-2019-cl
|
||||||
|
os: windows-2019
|
||||||
|
compiler: cl
|
||||||
|
|
||||||
|
steps:
|
||||||
|
- name: Checkout
|
||||||
|
uses: actions/checkout@master
|
||||||
|
- name: Install (Windows)
|
||||||
|
if: runner.os == 'Windows'
|
||||||
|
shell: powershell
|
||||||
|
run: |
|
||||||
|
Invoke-Expression (New-Object System.Net.WebClient).DownloadString('https://get.scoop.sh')
|
||||||
|
scoop install ninja --global
|
||||||
|
if ("${{ matrix.compiler }}".StartsWith("clang")) {
|
||||||
|
scoop install llvm --global
|
||||||
|
}
|
||||||
|
if ("${{ matrix.compiler }}" -eq "gcc") {
|
||||||
|
# Chocolatey GCC is broken on the windows-2019 image.
|
||||||
|
# See: https://github.com/DaanDeMeyer/doctest/runs/231595515
|
||||||
|
# See: https://github.community/t5/GitHub-Actions/Something-is-wrong-with-the-chocolatey-installed-version-of-gcc/td-p/32413
|
||||||
|
scoop install gcc --global
|
||||||
|
echo "CC=gcc" >> $GITHUB_ENV
|
||||||
|
echo "CXX=g++" >> $GITHUB_ENV
|
||||||
|
} elseif ("${{ matrix.compiler }}" -eq "clang") {
|
||||||
|
echo "CC=clang" >> $GITHUB_ENV
|
||||||
|
echo "CXX=clang++" >> $GITHUB_ENV
|
||||||
|
} else {
|
||||||
|
echo "CC=${{ matrix.compiler }}" >> $GITHUB_ENV
|
||||||
|
echo "CXX=${{ matrix.compiler }}" >> $GITHUB_ENV
|
||||||
|
}
|
||||||
|
# Scoop modifies the PATH so we make the modified PATH global.
|
||||||
|
echo "$env:PATH" >> $GITHUB_PATH
|
||||||
|
- name: Build (Windows)
|
||||||
|
if: runner.os == 'Windows'
|
||||||
|
run: |
|
||||||
|
cmake -E remove_directory build
|
||||||
|
echo "BOOST_ROOT_1_72_0: ${env:BOOST_ROOT_1_72_0}"
|
||||||
|
cmake -B build -S . -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DBOOST_ROOT="${env:BOOST_ROOT_1_72_0}" -DBOOST_INCLUDEDIR="${env:BOOST_ROOT_1_72_0}\boost\include" -DBOOST_LIBRARYDIR="${env:BOOST_ROOT_1_72_0}\lib"
|
||||||
|
cmake --build build --config ${{ matrix.build_type }} --target gtsam
|
||||||
|
cmake --build build --config ${{ matrix.build_type }} --target gtsam_unstable
|
||||||
|
cmake --build build --config ${{ matrix.build_type }} --target wrap
|
||||||
|
cmake --build build --config ${{ matrix.build_type }} --target check.base
|
||||||
|
cmake --build build --config ${{ matrix.build_type }} --target check.base_unstable
|
||||||
|
cmake --build build --config ${{ matrix.build_type }} --target check.linear
|
||||||
|
- name: Upload build directory
|
||||||
|
uses: actions/upload-artifact@v2
|
||||||
|
if: matrix.build_type == 'Release'
|
||||||
|
with:
|
||||||
|
name: gtsam-${{ matrix.name }}-${{ matrix.build_type }}
|
||||||
|
path: ${{ github.workspace }}/build/
|
||||||
|
|
@ -0,0 +1,17 @@
|
||||||
|
# This triggers Python builds on `gtsam-manylinux-build`
|
||||||
|
name: Trigger Python Builds
|
||||||
|
on:
|
||||||
|
push:
|
||||||
|
branches:
|
||||||
|
- develop
|
||||||
|
jobs:
|
||||||
|
triggerPython:
|
||||||
|
runs-on: ubuntu-latest
|
||||||
|
steps:
|
||||||
|
- name: Repository Dispatch
|
||||||
|
uses: ProfFan/repository-dispatch@master
|
||||||
|
with:
|
||||||
|
token: ${{ secrets.PYTHON_CI_REPO_ACCESS_TOKEN }}
|
||||||
|
repository: borglab/gtsam-manylinux-build
|
||||||
|
event-type: python-wrapper
|
||||||
|
client-payload: '{"ref": "${{ github.ref }}", "sha": "${{ github.sha }}"}'
|
||||||
|
|
@ -9,15 +9,10 @@
|
||||||
*.txt.user
|
*.txt.user
|
||||||
*.txt.user.6d59f0c
|
*.txt.user.6d59f0c
|
||||||
*.pydevproject
|
*.pydevproject
|
||||||
cython/venv
|
|
||||||
cython/gtsam.cpp
|
|
||||||
cython/gtsam.cpython-35m-darwin.so
|
|
||||||
cython/gtsam.pyx
|
|
||||||
cython/gtsam.so
|
|
||||||
cython/gtsam_wrapper.pxd
|
|
||||||
.vscode
|
.vscode
|
||||||
.env
|
.env
|
||||||
/.vs/
|
/.vs/
|
||||||
/CMakeSettings.json
|
/CMakeSettings.json
|
||||||
# for QtCreator:
|
# for QtCreator:
|
||||||
CMakeLists.txt.user*
|
CMakeLists.txt.user*
|
||||||
|
xcode/
|
||||||
|
|
|
||||||
85
.travis.sh
85
.travis.sh
|
|
@ -1,85 +0,0 @@
|
||||||
#!/bin/bash
|
|
||||||
|
|
||||||
# common tasks before either build or test
|
|
||||||
function prepare ()
|
|
||||||
{
|
|
||||||
set -e # Make sure any error makes the script to return an error code
|
|
||||||
set -x # echo
|
|
||||||
|
|
||||||
SOURCE_DIR=`pwd`
|
|
||||||
BUILD_DIR=build
|
|
||||||
|
|
||||||
#env
|
|
||||||
git clean -fd || true
|
|
||||||
rm -fr $BUILD_DIR || true
|
|
||||||
mkdir $BUILD_DIR && cd $BUILD_DIR
|
|
||||||
|
|
||||||
if [ -z "$CMAKE_BUILD_TYPE" ]; then
|
|
||||||
CMAKE_BUILD_TYPE=Debug
|
|
||||||
fi
|
|
||||||
|
|
||||||
if [ -z "$GTSAM_ALLOW_DEPRECATED_SINCE_V4" ]; then
|
|
||||||
GTSAM_ALLOW_DEPRECATED_SINCE_V4=OFF
|
|
||||||
fi
|
|
||||||
|
|
||||||
if [ ! -z "$GCC_VERSION" ]; then
|
|
||||||
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-$GCC_VERSION 60 \
|
|
||||||
--slave /usr/bin/g++ g++ /usr/bin/g++-$GCC_VERSION
|
|
||||||
sudo update-alternatives --set gcc /usr/bin/gcc-$GCC_VERSION
|
|
||||||
fi
|
|
||||||
}
|
|
||||||
|
|
||||||
# common tasks after either build or test
|
|
||||||
function finish ()
|
|
||||||
{
|
|
||||||
# Print ccache stats
|
|
||||||
ccache -s
|
|
||||||
|
|
||||||
cd $SOURCE_DIR
|
|
||||||
}
|
|
||||||
|
|
||||||
# compile the code with the intent of populating the cache
|
|
||||||
function build ()
|
|
||||||
{
|
|
||||||
prepare
|
|
||||||
|
|
||||||
cmake $SOURCE_DIR \
|
|
||||||
-DCMAKE_BUILD_TYPE=$CMAKE_BUILD_TYPE \
|
|
||||||
-DGTSAM_BUILD_TESTS=OFF \
|
|
||||||
-DGTSAM_BUILD_UNSTABLE=$GTSAM_BUILD_UNSTABLE \
|
|
||||||
-DGTSAM_BUILD_EXAMPLES_ALWAYS=ON \
|
|
||||||
-DGTSAM_ALLOW_DEPRECATED_SINCE_V4=$GTSAM_ALLOW_DEPRECATED_SINCE_V4
|
|
||||||
|
|
||||||
# Actual build:
|
|
||||||
VERBOSE=1 make -j2
|
|
||||||
|
|
||||||
finish
|
|
||||||
}
|
|
||||||
|
|
||||||
# run the tests
|
|
||||||
function test ()
|
|
||||||
{
|
|
||||||
prepare
|
|
||||||
|
|
||||||
cmake $SOURCE_DIR \
|
|
||||||
-DCMAKE_BUILD_TYPE=$CMAKE_BUILD_TYPE \
|
|
||||||
-DGTSAM_BUILD_TESTS=ON \
|
|
||||||
-DGTSAM_BUILD_UNSTABLE=$GTSAM_BUILD_UNSTABLE \
|
|
||||||
-DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
|
|
||||||
-DGTSAM_ALLOW_DEPRECATED_SINCE_V4=OFF
|
|
||||||
|
|
||||||
# Actual build:
|
|
||||||
make -j2 check
|
|
||||||
|
|
||||||
finish
|
|
||||||
}
|
|
||||||
|
|
||||||
# select between build or test
|
|
||||||
case $1 in
|
|
||||||
-b)
|
|
||||||
build
|
|
||||||
;;
|
|
||||||
-t)
|
|
||||||
test
|
|
||||||
;;
|
|
||||||
esac
|
|
||||||
113
.travis.yml
113
.travis.yml
|
|
@ -1,113 +0,0 @@
|
||||||
language: cpp
|
|
||||||
cache: ccache
|
|
||||||
sudo: required
|
|
||||||
dist: xenial
|
|
||||||
|
|
||||||
addons:
|
|
||||||
apt:
|
|
||||||
sources:
|
|
||||||
- ubuntu-toolchain-r-test
|
|
||||||
packages:
|
|
||||||
- g++-8
|
|
||||||
- clang-3.8
|
|
||||||
- build-essential
|
|
||||||
- pkg-config
|
|
||||||
- cmake
|
|
||||||
- libpython-dev python-numpy
|
|
||||||
- libboost-all-dev
|
|
||||||
|
|
||||||
# before_install:
|
|
||||||
# - if [ "$TRAVIS_OS_NAME" == "osx" ]; then brew update ; fi
|
|
||||||
|
|
||||||
install:
|
|
||||||
- if [ "$TRAVIS_OS_NAME" == "osx" ]; then HOMEBREW_NO_AUTO_UPDATE=1 brew install ccache ; fi
|
|
||||||
- if [ "$TRAVIS_OS_NAME" == "osx" ]; then export PATH="/usr/local/opt/ccache/libexec:$PATH" ; fi
|
|
||||||
|
|
||||||
# We first do the compile stage specified below, then the matrix expansion specified after.
|
|
||||||
stages:
|
|
||||||
- compile
|
|
||||||
- test
|
|
||||||
|
|
||||||
# Compile stage without building examples/tests to populate the caches.
|
|
||||||
jobs:
|
|
||||||
include:
|
|
||||||
# on Mac, GCC
|
|
||||||
- stage: compile
|
|
||||||
os: osx
|
|
||||||
compiler: gcc
|
|
||||||
env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
|
|
||||||
script: bash .travis.sh -b
|
|
||||||
- stage: compile
|
|
||||||
os: osx
|
|
||||||
compiler: gcc
|
|
||||||
env: CMAKE_BUILD_TYPE=Release
|
|
||||||
script: bash .travis.sh -b
|
|
||||||
# on Mac, CLANG
|
|
||||||
- stage: compile
|
|
||||||
os: osx
|
|
||||||
compiler: clang
|
|
||||||
env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
|
|
||||||
script: bash .travis.sh -b
|
|
||||||
- stage: compile
|
|
||||||
os: osx
|
|
||||||
compiler: clang
|
|
||||||
env: CMAKE_BUILD_TYPE=Release
|
|
||||||
script: bash .travis.sh -b
|
|
||||||
# on Linux, GCC
|
|
||||||
- stage: compile
|
|
||||||
os: linux
|
|
||||||
compiler: gcc
|
|
||||||
env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
|
|
||||||
script: bash .travis.sh -b
|
|
||||||
- stage: compile
|
|
||||||
os: linux
|
|
||||||
compiler: gcc
|
|
||||||
env: CMAKE_BUILD_TYPE=Release
|
|
||||||
script: bash .travis.sh -b
|
|
||||||
# on Linux, CLANG
|
|
||||||
- stage: compile
|
|
||||||
os: linux
|
|
||||||
compiler: clang
|
|
||||||
env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
|
|
||||||
script: bash .travis.sh -b
|
|
||||||
- stage: compile
|
|
||||||
os: linux
|
|
||||||
compiler: clang
|
|
||||||
env: CMAKE_BUILD_TYPE=Release
|
|
||||||
script: bash .travis.sh -b
|
|
||||||
# on Linux, with deprecated ON to make sure that path still compiles
|
|
||||||
- stage: compile
|
|
||||||
os: linux
|
|
||||||
compiler: clang
|
|
||||||
env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_ALLOW_DEPRECATED_SINCE_V4=ON
|
|
||||||
script: bash .travis.sh -b
|
|
||||||
|
|
||||||
# Matrix configuration:
|
|
||||||
os:
|
|
||||||
- osx
|
|
||||||
- linux
|
|
||||||
compiler:
|
|
||||||
- gcc
|
|
||||||
- clang
|
|
||||||
env:
|
|
||||||
global:
|
|
||||||
- MAKEFLAGS="-j2"
|
|
||||||
- CCACHE_SLOPPINESS=pch_defines,time_macros
|
|
||||||
- GTSAM_ALLOW_DEPRECATED_SINCE_V4=OFF
|
|
||||||
- GTSAM_BUILD_UNSTABLE=ON
|
|
||||||
matrix:
|
|
||||||
- CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
|
|
||||||
- CMAKE_BUILD_TYPE=Release
|
|
||||||
script:
|
|
||||||
- bash .travis.sh -t
|
|
||||||
|
|
||||||
matrix:
|
|
||||||
exclude:
|
|
||||||
# Exclude g++ debug on Linux as it consistently times out
|
|
||||||
- os: linux
|
|
||||||
compiler: gcc
|
|
||||||
env : CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF
|
|
||||||
# Exclude clang on Linux/clang in release until issue #57 is solved
|
|
||||||
- os: linux
|
|
||||||
compiler: clang
|
|
||||||
env : CMAKE_BUILD_TYPE=Release
|
|
||||||
571
CMakeLists.txt
571
CMakeLists.txt
|
|
@ -9,23 +9,22 @@ endif()
|
||||||
|
|
||||||
# Set the version number for the library
|
# Set the version number for the library
|
||||||
set (GTSAM_VERSION_MAJOR 4)
|
set (GTSAM_VERSION_MAJOR 4)
|
||||||
set (GTSAM_VERSION_MINOR 0)
|
set (GTSAM_VERSION_MINOR 1)
|
||||||
set (GTSAM_VERSION_PATCH 2)
|
set (GTSAM_VERSION_PATCH 0)
|
||||||
math (EXPR GTSAM_VERSION_NUMERIC "10000 * ${GTSAM_VERSION_MAJOR} + 100 * ${GTSAM_VERSION_MINOR} + ${GTSAM_VERSION_PATCH}")
|
math (EXPR GTSAM_VERSION_NUMERIC "10000 * ${GTSAM_VERSION_MAJOR} + 100 * ${GTSAM_VERSION_MINOR} + ${GTSAM_VERSION_PATCH}")
|
||||||
set (GTSAM_VERSION_STRING "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}")
|
set (GTSAM_VERSION_STRING "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}")
|
||||||
|
|
||||||
|
set (CMAKE_PROJECT_VERSION ${GTSAM_VERSION_STRING})
|
||||||
|
set (CMAKE_PROJECT_VERSION_MAJOR ${GTSAM_VERSION_MAJOR})
|
||||||
|
set (CMAKE_PROJECT_VERSION_MINOR ${GTSAM_VERSION_MINOR})
|
||||||
|
set (CMAKE_PROJECT_VERSION_PATCH ${GTSAM_VERSION_PATCH})
|
||||||
|
|
||||||
###############################################################################
|
###############################################################################
|
||||||
# Gather information, perform checks, set defaults
|
# Gather information, perform checks, set defaults
|
||||||
|
|
||||||
# Set the default install path to home
|
|
||||||
#set (CMAKE_INSTALL_PREFIX ${HOME} CACHE PATH "Install prefix for library")
|
|
||||||
|
|
||||||
set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
|
set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
|
||||||
include(GtsamMakeConfigFile)
|
include(GtsamMakeConfigFile)
|
||||||
|
include(GNUInstallDirs)
|
||||||
# Record the root dir for gtsam - needed during external builds, e.g., ROS
|
|
||||||
set(GTSAM_SOURCE_ROOT_DIR ${CMAKE_CURRENT_SOURCE_DIR})
|
|
||||||
message(STATUS "GTSAM_SOURCE_ROOT_DIR: [${GTSAM_SOURCE_ROOT_DIR}]")
|
|
||||||
|
|
||||||
# Load build type flags and default to Debug mode
|
# Load build type flags and default to Debug mode
|
||||||
include(GtsamBuildTypes)
|
include(GtsamBuildTypes)
|
||||||
|
|
@ -39,391 +38,21 @@ if(${CMAKE_SOURCE_DIR} STREQUAL ${CMAKE_BINARY_DIR})
|
||||||
message(FATAL_ERROR "In-source builds not allowed. Please make a new directory (called a build directory) and run CMake from there. You may need to remove CMakeCache.txt. ")
|
message(FATAL_ERROR "In-source builds not allowed. Please make a new directory (called a build directory) and run CMake from there. You may need to remove CMakeCache.txt. ")
|
||||||
endif()
|
endif()
|
||||||
|
|
||||||
# See whether gtsam_unstable is available (it will be present only if we're using a git checkout)
|
include(cmake/HandleBoost.cmake) # Boost
|
||||||
if(EXISTS "${PROJECT_SOURCE_DIR}/gtsam_unstable" AND IS_DIRECTORY "${PROJECT_SOURCE_DIR}/gtsam_unstable")
|
include(cmake/HandleCCache.cmake) # ccache
|
||||||
set(GTSAM_UNSTABLE_AVAILABLE 1)
|
include(cmake/HandleCPack.cmake) # CPack
|
||||||
else()
|
include(cmake/HandleEigen.cmake) # Eigen3
|
||||||
set(GTSAM_UNSTABLE_AVAILABLE 0)
|
include(cmake/HandleGeneralOptions.cmake) # CMake build options
|
||||||
endif()
|
include(cmake/HandleMKL.cmake) # MKL
|
||||||
|
include(cmake/HandleOpenMP.cmake) # OpenMP
|
||||||
|
include(cmake/HandlePerfTools.cmake) # Google perftools
|
||||||
|
include(cmake/HandlePython.cmake) # Python options and commands
|
||||||
|
include(cmake/HandleTBB.cmake) # TBB
|
||||||
|
include(cmake/HandleUninstall.cmake) # for "make uninstall"
|
||||||
|
|
||||||
# ----------------------------------------------------------------------------
|
include(cmake/HandleAllocators.cmake) # Must be after tbb, pertools
|
||||||
# Uninstall target, for "make uninstall"
|
|
||||||
# ----------------------------------------------------------------------------
|
|
||||||
configure_file(
|
|
||||||
"${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake_uninstall.cmake.in"
|
|
||||||
"${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
|
|
||||||
IMMEDIATE @ONLY)
|
|
||||||
|
|
||||||
add_custom_target(uninstall
|
include(cmake/HandleGlobalBuildFlags.cmake) # Build flags
|
||||||
"${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")
|
|
||||||
|
|
||||||
|
|
||||||
###############################################################################
|
|
||||||
# Set up options
|
|
||||||
|
|
||||||
# Configurable Options
|
|
||||||
if(GTSAM_UNSTABLE_AVAILABLE)
|
|
||||||
option(GTSAM_BUILD_UNSTABLE "Enable/Disable libgtsam_unstable" ON)
|
|
||||||
endif()
|
|
||||||
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_POSE3_EXPMAP "Enable/Disable using Pose3::EXPMAP as the default mode. If disabled, Pose3::FIRST_ORDER will be used." OFF)
|
|
||||||
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." 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_EIGEN_MKL "Eigen will use Intel MKL if available" OFF)
|
|
||||||
option(GTSAM_WITH_EIGEN_MKL_OPENMP "Eigen, when using Intel MKL, will also use OpenMP for multithreading if available" OFF)
|
|
||||||
option(GTSAM_THROW_CHEIRALITY_EXCEPTION "Throw exception when a triangulated point is behind a camera" ON)
|
|
||||||
option(GTSAM_ALLOW_DEPRECATED_SINCE_V4 "Allow use of methods/functions deprecated in GTSAM 4" ON)
|
|
||||||
option(GTSAM_TYPEDEF_POINTS_TO_VECTORS "Typedef Point2 and Point3 to Eigen::Vector equivalents" OFF)
|
|
||||||
option(GTSAM_SUPPORT_NESTED_DISSECTION "Support Metis-based nested dissection" ON)
|
|
||||||
option(GTSAM_TANGENT_PREINTEGRATION "Use new ImuFactor with integration on tangent space" ON)
|
|
||||||
if(NOT MSVC AND NOT XCODE_VERSION)
|
|
||||||
option(GTSAM_BUILD_WITH_CCACHE "Use ccache compiler cache" ON)
|
|
||||||
endif()
|
|
||||||
|
|
||||||
if(NOT MSVC AND NOT XCODE_VERSION)
|
|
||||||
# Set the build type to upper case for downstream use
|
|
||||||
string(TOUPPER "${CMAKE_BUILD_TYPE}" CMAKE_BUILD_TYPE_UPPER)
|
|
||||||
|
|
||||||
# Set the GTSAM_BUILD_TAG variable.
|
|
||||||
# If build type is Release, set to blank (""), else set to the build type.
|
|
||||||
if("${CMAKE_BUILD_TYPE_UPPER}" STREQUAL "RELEASE")
|
|
||||||
set(GTSAM_BUILD_TAG "") # Don't create release mode tag on installed directory
|
|
||||||
else()
|
|
||||||
set(GTSAM_BUILD_TAG "${CMAKE_BUILD_TYPE}")
|
|
||||||
endif()
|
|
||||||
endif()
|
|
||||||
|
|
||||||
# Options relating to MATLAB wrapper
|
|
||||||
# TODO: Check for matlab mex binary before handling building of binaries
|
|
||||||
option(GTSAM_INSTALL_MATLAB_TOOLBOX "Enable/Disable installation of matlab toolbox" OFF)
|
|
||||||
option(GTSAM_INSTALL_CYTHON_TOOLBOX "Enable/Disable installation of Cython toolbox" OFF)
|
|
||||||
option(GTSAM_BUILD_WRAP "Enable/Disable building of matlab/cython wrap utility (necessary for matlab/cython interface)" ON)
|
|
||||||
set(GTSAM_PYTHON_VERSION "Default" CACHE STRING "The version of python to build the cython wrapper for (or Default)")
|
|
||||||
|
|
||||||
# Check / set dependent variables for MATLAB wrapper
|
|
||||||
if((GTSAM_INSTALL_MATLAB_TOOLBOX OR GTSAM_INSTALL_CYTHON_TOOLBOX) AND NOT GTSAM_BUILD_WRAP)
|
|
||||||
message(FATAL_ERROR "GTSAM_INSTALL_MATLAB_TOOLBOX or GTSAM_INSTALL_CYTHON_TOOLBOX is enabled, please also enable GTSAM_BUILD_WRAP")
|
|
||||||
endif()
|
|
||||||
if((GTSAM_INSTALL_MATLAB_TOOLBOX OR GTSAM_INSTALL_CYTHON_TOOLBOX) AND GTSAM_BUILD_TYPE_POSTFIXES)
|
|
||||||
set(CURRENT_POSTFIX ${CMAKE_${CMAKE_BUILD_TYPE_UPPER}_POSTFIX})
|
|
||||||
endif()
|
|
||||||
if(GTSAM_INSTALL_WRAP AND NOT GTSAM_BUILD_WRAP)
|
|
||||||
message(FATAL_ERROR "GTSAM_INSTALL_WRAP is enabled, please also enable GTSAM_BUILD_WRAP")
|
|
||||||
endif()
|
|
||||||
|
|
||||||
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.")
|
|
||||||
endif()
|
|
||||||
|
|
||||||
if(GTSAM_INSTALL_MATLAB_TOOLBOX AND GTSAM_TYPEDEF_POINTS_TO_VECTORS)
|
|
||||||
message(FATAL_ERROR "GTSAM_INSTALL_MATLAB_TOOLBOX and GTSAM_TYPEDEF_POINTS_TO_VECTORS are both enabled. For now, the MATLAB toolbox cannot deal with this yet. Please turn one of the two options off.")
|
|
||||||
endif()
|
|
||||||
|
|
||||||
if(GTSAM_INSTALL_CYTHON_TOOLBOX AND GTSAM_TYPEDEF_POINTS_TO_VECTORS)
|
|
||||||
message(FATAL_ERROR "GTSAM_INSTALL_CYTHON_TOOLBOX and GTSAM_TYPEDEF_POINTS_TO_VECTORS are both enabled. For now, the CYTHON toolbox cannot deal with this yet. Please turn one of the two options off.")
|
|
||||||
endif()
|
|
||||||
|
|
||||||
# Flags for choosing default packaging tools
|
|
||||||
set(CPACK_SOURCE_GENERATOR "TGZ" CACHE STRING "CPack Default Source Generator")
|
|
||||||
set(CPACK_GENERATOR "TGZ" CACHE STRING "CPack Default Binary Generator")
|
|
||||||
|
|
||||||
###############################################################################
|
|
||||||
# Find boost
|
|
||||||
|
|
||||||
# To change the path for boost, you will need to set:
|
|
||||||
# BOOST_ROOT: path to install prefix for boost
|
|
||||||
# Boost_NO_SYSTEM_PATHS: set to true to keep the find script from ignoring BOOST_ROOT
|
|
||||||
|
|
||||||
if(MSVC)
|
|
||||||
# By default, boost only builds static libraries on windows
|
|
||||||
set(Boost_USE_STATIC_LIBS ON) # only find static libs
|
|
||||||
# If we ever reset above on windows and, ...
|
|
||||||
# If we use Boost shared libs, disable auto linking.
|
|
||||||
# Some libraries, at least Boost Program Options, rely on this to export DLL symbols.
|
|
||||||
if(NOT Boost_USE_STATIC_LIBS)
|
|
||||||
list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC BOOST_ALL_NO_LIB BOOST_ALL_DYN_LINK)
|
|
||||||
endif()
|
|
||||||
# Virtual memory range for PCH exceeded on VS2015
|
|
||||||
if(MSVC_VERSION LESS 1910) # older than VS2017
|
|
||||||
list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE -Zm295)
|
|
||||||
endif()
|
|
||||||
endif()
|
|
||||||
|
|
||||||
# If building DLLs in MSVC, we need to avoid EIGEN_STATIC_ASSERT()
|
|
||||||
# or explicit instantiation will generate build errors.
|
|
||||||
# See: https://bitbucket.org/gtborg/gtsam/issues/417/fail-to-build-on-msvc-2017
|
|
||||||
#
|
|
||||||
if(MSVC AND BUILD_SHARED_LIBS)
|
|
||||||
list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC EIGEN_NO_STATIC_ASSERT)
|
|
||||||
endif()
|
|
||||||
|
|
||||||
# Store these in variables so they are automatically replicated in GTSAMConfig.cmake and such.
|
|
||||||
set(BOOST_FIND_MINIMUM_VERSION 1.43)
|
|
||||||
set(BOOST_FIND_MINIMUM_COMPONENTS serialization system filesystem thread program_options date_time timer chrono regex)
|
|
||||||
|
|
||||||
find_package(Boost ${BOOST_FIND_MINIMUM_VERSION} COMPONENTS ${BOOST_FIND_MINIMUM_COMPONENTS})
|
|
||||||
|
|
||||||
# Required components
|
|
||||||
if(NOT Boost_SERIALIZATION_LIBRARY OR NOT Boost_SYSTEM_LIBRARY OR NOT Boost_FILESYSTEM_LIBRARY OR
|
|
||||||
NOT Boost_THREAD_LIBRARY OR NOT Boost_DATE_TIME_LIBRARY)
|
|
||||||
message(FATAL_ERROR "Missing required Boost components >= v1.43, please install/upgrade Boost or configure your search paths.")
|
|
||||||
endif()
|
|
||||||
|
|
||||||
# Allow for not using the timer libraries on boost < 1.48 (GTSAM timing code falls back to old timer library)
|
|
||||||
option(GTSAM_DISABLE_NEW_TIMERS "Disables using Boost.chrono for timing" OFF)
|
|
||||||
|
|
||||||
# JLBC: This was once updated to target-based names (Boost::xxx), but it caused
|
|
||||||
# problems with Boost versions newer than FindBoost.cmake was prepared to handle,
|
|
||||||
# so we downgraded this to classic filenames-based variables, and manually adding
|
|
||||||
# the target_include_directories(xxx ${Boost_INCLUDE_DIR})
|
|
||||||
set(GTSAM_BOOST_LIBRARIES
|
|
||||||
optimized ${Boost_SERIALIZATION_LIBRARY_RELEASE}
|
|
||||||
optimized ${Boost_SYSTEM_LIBRARY_RELEASE}
|
|
||||||
optimized ${Boost_FILESYSTEM_LIBRARY_RELEASE}
|
|
||||||
optimized ${Boost_THREAD_LIBRARY_RELEASE}
|
|
||||||
optimized ${Boost_DATE_TIME_LIBRARY_RELEASE}
|
|
||||||
optimized ${Boost_REGEX_LIBRARY_RELEASE}
|
|
||||||
debug ${Boost_SERIALIZATION_LIBRARY_DEBUG}
|
|
||||||
debug ${Boost_SYSTEM_LIBRARY_DEBUG}
|
|
||||||
debug ${Boost_FILESYSTEM_LIBRARY_DEBUG}
|
|
||||||
debug ${Boost_THREAD_LIBRARY_DEBUG}
|
|
||||||
debug ${Boost_DATE_TIME_LIBRARY_DEBUG}
|
|
||||||
debug ${Boost_REGEX_LIBRARY_DEBUG}
|
|
||||||
)
|
|
||||||
message(STATUS "GTSAM_BOOST_LIBRARIES: ${GTSAM_BOOST_LIBRARIES}")
|
|
||||||
if (GTSAM_DISABLE_NEW_TIMERS)
|
|
||||||
message("WARNING: GTSAM timing instrumentation manually disabled")
|
|
||||||
list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC DGTSAM_DISABLE_NEW_TIMERS)
|
|
||||||
else()
|
|
||||||
if(Boost_TIMER_LIBRARY)
|
|
||||||
list(APPEND GTSAM_BOOST_LIBRARIES
|
|
||||||
optimized ${Boost_TIMER_LIBRARY_RELEASE}
|
|
||||||
optimized ${Boost_CHRONO_LIBRARY_RELEASE}
|
|
||||||
debug ${Boost_TIMER_LIBRARY_DEBUG}
|
|
||||||
debug ${Boost_CHRONO_LIBRARY_DEBUG}
|
|
||||||
)
|
|
||||||
else()
|
|
||||||
list(APPEND GTSAM_BOOST_LIBRARIES rt) # When using the header-only boost timer library, need -lrt
|
|
||||||
message("WARNING: GTSAM timing instrumentation will use the older, less accurate, Boost timer library because boost older than 1.48 was found.")
|
|
||||||
endif()
|
|
||||||
endif()
|
|
||||||
|
|
||||||
|
|
||||||
if(NOT (${Boost_VERSION} LESS 105600))
|
|
||||||
message("Ignoring Boost restriction on optional lvalue assignment from rvalues")
|
|
||||||
list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC BOOST_OPTIONAL_ALLOW_BINDING_TO_RVALUES BOOST_OPTIONAL_CONFIG_ALLOW_BINDING_TO_RVALUES)
|
|
||||||
endif()
|
|
||||||
|
|
||||||
###############################################################################
|
|
||||||
# Find TBB
|
|
||||||
find_package(TBB 4.4 COMPONENTS tbb tbbmalloc)
|
|
||||||
|
|
||||||
# Set up variables if we're using TBB
|
|
||||||
if(TBB_FOUND AND GTSAM_WITH_TBB)
|
|
||||||
set(GTSAM_USE_TBB 1) # This will go into config.h
|
|
||||||
# all definitions and link requisites will go via imported targets:
|
|
||||||
# tbb & tbbmalloc
|
|
||||||
list(APPEND GTSAM_ADDITIONAL_LIBRARIES tbb tbbmalloc)
|
|
||||||
else()
|
|
||||||
set(GTSAM_USE_TBB 0) # This will go into config.h
|
|
||||||
endif()
|
|
||||||
|
|
||||||
###############################################################################
|
|
||||||
# Prohibit Timing build mode in combination with TBB
|
|
||||||
if(GTSAM_USE_TBB AND (CMAKE_BUILD_TYPE STREQUAL "Timing"))
|
|
||||||
message(FATAL_ERROR "Timing build mode cannot be used together with TBB. Use a sampling profiler such as Instruments or Intel VTune Amplifier instead.")
|
|
||||||
endif()
|
|
||||||
|
|
||||||
|
|
||||||
###############################################################################
|
|
||||||
# Find Google perftools
|
|
||||||
find_package(GooglePerfTools)
|
|
||||||
|
|
||||||
###############################################################################
|
|
||||||
# Support ccache, if installed
|
|
||||||
if(NOT MSVC AND NOT XCODE_VERSION)
|
|
||||||
find_program(CCACHE_FOUND ccache)
|
|
||||||
if(CCACHE_FOUND)
|
|
||||||
if(GTSAM_BUILD_WITH_CCACHE)
|
|
||||||
set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE ccache)
|
|
||||||
set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK ccache)
|
|
||||||
else()
|
|
||||||
set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "")
|
|
||||||
set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK "")
|
|
||||||
endif()
|
|
||||||
endif(CCACHE_FOUND)
|
|
||||||
endif()
|
|
||||||
|
|
||||||
###############################################################################
|
|
||||||
# Find MKL
|
|
||||||
find_package(MKL)
|
|
||||||
|
|
||||||
if(MKL_FOUND AND GTSAM_WITH_EIGEN_MKL)
|
|
||||||
set(GTSAM_USE_EIGEN_MKL 1) # This will go into config.h
|
|
||||||
set(EIGEN_USE_MKL_ALL 1) # This will go into config.h - it makes Eigen use MKL
|
|
||||||
list(APPEND GTSAM_ADDITIONAL_LIBRARIES ${MKL_LIBRARIES})
|
|
||||||
|
|
||||||
# --no-as-needed is required with gcc according to the MKL link advisor
|
|
||||||
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
|
|
||||||
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--no-as-needed")
|
|
||||||
endif()
|
|
||||||
else()
|
|
||||||
set(GTSAM_USE_EIGEN_MKL 0)
|
|
||||||
set(EIGEN_USE_MKL_ALL 0)
|
|
||||||
endif()
|
|
||||||
|
|
||||||
###############################################################################
|
|
||||||
# Find OpenMP (if we're also using MKL)
|
|
||||||
find_package(OpenMP) # do this here to generate correct message if disabled
|
|
||||||
|
|
||||||
if(GTSAM_WITH_EIGEN_MKL AND GTSAM_WITH_EIGEN_MKL_OPENMP AND GTSAM_USE_EIGEN_MKL)
|
|
||||||
if(OPENMP_FOUND AND GTSAM_USE_EIGEN_MKL AND GTSAM_WITH_EIGEN_MKL_OPENMP)
|
|
||||||
set(GTSAM_USE_EIGEN_MKL_OPENMP 1) # This will go into config.h
|
|
||||||
list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC ${OpenMP_CXX_FLAGS})
|
|
||||||
endif()
|
|
||||||
endif()
|
|
||||||
|
|
||||||
|
|
||||||
###############################################################################
|
|
||||||
# Option for using system Eigen or GTSAM-bundled Eigen
|
|
||||||
### These patches only affect usage of MKL. If you want to enable MKL, you *must*
|
|
||||||
### use our patched version of Eigen
|
|
||||||
### See: http://eigen.tuxfamily.org/bz/show_bug.cgi?id=704 (Householder QR MKL selection)
|
|
||||||
### http://eigen.tuxfamily.org/bz/show_bug.cgi?id=705 (Fix MKL LLT return code)
|
|
||||||
option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" OFF)
|
|
||||||
option(GTSAM_WITH_EIGEN_UNSUPPORTED "Install Eigen's unsupported modules" OFF)
|
|
||||||
|
|
||||||
# Switch for using system Eigen or GTSAM-bundled Eigen
|
|
||||||
if(GTSAM_USE_SYSTEM_EIGEN)
|
|
||||||
find_package(Eigen3 REQUIRED)
|
|
||||||
|
|
||||||
# Use generic Eigen include paths e.g. <Eigen/Core>
|
|
||||||
set(GTSAM_EIGEN_INCLUDE_FOR_INSTALL "${EIGEN3_INCLUDE_DIR}")
|
|
||||||
|
|
||||||
# check if MKL is also enabled - can have one or the other, but not both!
|
|
||||||
# Note: Eigen >= v3.2.5 includes our patches
|
|
||||||
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")
|
|
||||||
endif()
|
|
||||||
|
|
||||||
# Check for Eigen version which doesn't work with MKL
|
|
||||||
# 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))
|
|
||||||
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()
|
|
||||||
|
|
||||||
# The actual include directory (for BUILD cmake target interface):
|
|
||||||
set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${EIGEN3_INCLUDE_DIR}")
|
|
||||||
else()
|
|
||||||
# Use bundled Eigen include path.
|
|
||||||
# Clear any variables set by FindEigen3
|
|
||||||
if(EIGEN3_INCLUDE_DIR)
|
|
||||||
set(EIGEN3_INCLUDE_DIR NOTFOUND CACHE STRING "" FORCE)
|
|
||||||
endif()
|
|
||||||
|
|
||||||
# set full path to be used by external projects
|
|
||||||
# this will be added to GTSAM_INCLUDE_DIR by gtsam_extra.cmake.in
|
|
||||||
set(GTSAM_EIGEN_INCLUDE_FOR_INSTALL "include/gtsam/3rdparty/Eigen/")
|
|
||||||
|
|
||||||
# The actual include directory (for BUILD cmake target interface):
|
|
||||||
set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${CMAKE_SOURCE_DIR}/gtsam/3rdparty/Eigen/")
|
|
||||||
endif()
|
|
||||||
|
|
||||||
# Detect Eigen version:
|
|
||||||
set(EIGEN_VER_H "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}/Eigen/src/Core/util/Macros.h")
|
|
||||||
if (EXISTS ${EIGEN_VER_H})
|
|
||||||
file(READ "${EIGEN_VER_H}" STR_EIGEN_VERSION)
|
|
||||||
|
|
||||||
# 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 "${STR_EIGEN_VERSION}")
|
|
||||||
string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_WORLD "${GTSAM_EIGEN_VERSION_WORLD}")
|
|
||||||
|
|
||||||
string(REGEX MATCH "EIGEN_MAJOR_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_MAJOR "${STR_EIGEN_VERSION}")
|
|
||||||
string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_MAJOR "${GTSAM_EIGEN_VERSION_MAJOR}")
|
|
||||||
|
|
||||||
string(REGEX MATCH "EIGEN_MINOR_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_MINOR "${STR_EIGEN_VERSION}")
|
|
||||||
string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_MINOR "${GTSAM_EIGEN_VERSION_MINOR}")
|
|
||||||
|
|
||||||
set(GTSAM_EIGEN_VERSION "${GTSAM_EIGEN_VERSION_WORLD}.${GTSAM_EIGEN_VERSION_MAJOR}.${GTSAM_EIGEN_VERSION_MINOR}")
|
|
||||||
|
|
||||||
message(STATUS "Found Eigen version: ${GTSAM_EIGEN_VERSION}")
|
|
||||||
else()
|
|
||||||
message(WARNING "Cannot determine Eigen version, missing file: `${EIGEN_VER_H}`")
|
|
||||||
endif ()
|
|
||||||
|
|
||||||
if (MSVC)
|
|
||||||
if (BUILD_SHARED_LIBS)
|
|
||||||
# mute eigen static assert to avoid errors in shared lib
|
|
||||||
list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC EIGEN_NO_STATIC_ASSERT)
|
|
||||||
endif()
|
|
||||||
list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE "/wd4244") # Disable loss of precision which is thrown all over our Eigen
|
|
||||||
endif()
|
|
||||||
|
|
||||||
###############################################################################
|
|
||||||
# Global compile options
|
|
||||||
|
|
||||||
# Build list of possible allocators
|
|
||||||
set(possible_allocators "")
|
|
||||||
if(GTSAM_USE_TBB)
|
|
||||||
list(APPEND possible_allocators TBB)
|
|
||||||
set(preferred_allocator TBB)
|
|
||||||
else()
|
|
||||||
list(APPEND possible_allocators BoostPool STL)
|
|
||||||
set(preferred_allocator STL)
|
|
||||||
endif()
|
|
||||||
if(GOOGLE_PERFTOOLS_FOUND)
|
|
||||||
list(APPEND possible_allocators tcmalloc)
|
|
||||||
endif()
|
|
||||||
|
|
||||||
# Check if current allocator choice is valid and set cache option
|
|
||||||
list(FIND possible_allocators "${GTSAM_DEFAULT_ALLOCATOR}" allocator_valid)
|
|
||||||
if(allocator_valid EQUAL -1)
|
|
||||||
set(GTSAM_DEFAULT_ALLOCATOR ${preferred_allocator} CACHE STRING "Default allocator" FORCE)
|
|
||||||
else()
|
|
||||||
set(GTSAM_DEFAULT_ALLOCATOR ${preferred_allocator} CACHE STRING "Default allocator")
|
|
||||||
endif()
|
|
||||||
set_property(CACHE GTSAM_DEFAULT_ALLOCATOR PROPERTY STRINGS ${possible_allocators})
|
|
||||||
mark_as_advanced(GTSAM_DEFAULT_ALLOCATOR)
|
|
||||||
|
|
||||||
# Define compile flags depending on allocator
|
|
||||||
if("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "BoostPool")
|
|
||||||
set(GTSAM_ALLOCATOR_BOOSTPOOL 1)
|
|
||||||
elseif("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "STL")
|
|
||||||
set(GTSAM_ALLOCATOR_STL 1)
|
|
||||||
elseif("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "TBB")
|
|
||||||
set(GTSAM_ALLOCATOR_TBB 1)
|
|
||||||
elseif("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "tcmalloc")
|
|
||||||
set(GTSAM_ALLOCATOR_STL 1) # tcmalloc replaces malloc, so to use it we use the STL allocator
|
|
||||||
list(APPEND GTSAM_ADDITIONAL_LIBRARIES "tcmalloc")
|
|
||||||
endif()
|
|
||||||
|
|
||||||
if(MSVC)
|
|
||||||
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 /bigobj) # Allow large object files for template-based code
|
|
||||||
endif()
|
|
||||||
|
|
||||||
# GCC 4.8+ complains about local typedefs which we use for shared_ptr etc.
|
|
||||||
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
|
|
||||||
if (NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 4.8)
|
|
||||||
list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE -Wno-unused-local-typedefs)
|
|
||||||
endif()
|
|
||||||
endif()
|
|
||||||
|
|
||||||
# As of XCode 7, clang also complains about this
|
|
||||||
if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
|
|
||||||
if (NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 7.0)
|
|
||||||
list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE -Wno-unused-local-typedefs)
|
|
||||||
endif()
|
|
||||||
endif()
|
|
||||||
|
|
||||||
if(GTSAM_ENABLE_CONSISTENCY_CHECKS)
|
|
||||||
# This should be made PUBLIC if GTSAM_EXTRA_CONSISTENCY_CHECKS is someday used in a public .h
|
|
||||||
list_append_cache(GTSAM_COMPILE_DEFINITIONS_PRIVATE GTSAM_EXTRA_CONSISTENCY_CHECKS)
|
|
||||||
endif()
|
|
||||||
|
|
||||||
###############################################################################
|
###############################################################################
|
||||||
# Add components
|
# Add components
|
||||||
|
|
@ -431,10 +60,11 @@ endif()
|
||||||
# Build CppUnitLite
|
# Build CppUnitLite
|
||||||
add_subdirectory(CppUnitLite)
|
add_subdirectory(CppUnitLite)
|
||||||
|
|
||||||
# Build wrap
|
# This is the new wrapper
|
||||||
if (GTSAM_BUILD_WRAP)
|
if(GTSAM_BUILD_PYTHON)
|
||||||
add_subdirectory(wrap)
|
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/wrap/cmake")
|
||||||
endif(GTSAM_BUILD_WRAP)
|
add_subdirectory(python)
|
||||||
|
endif()
|
||||||
|
|
||||||
# Build GTSAM library
|
# Build GTSAM library
|
||||||
add_subdirectory(gtsam)
|
add_subdirectory(gtsam)
|
||||||
|
|
@ -451,33 +81,17 @@ add_subdirectory(timing)
|
||||||
# Build gtsam_unstable
|
# Build gtsam_unstable
|
||||||
if (GTSAM_BUILD_UNSTABLE)
|
if (GTSAM_BUILD_UNSTABLE)
|
||||||
add_subdirectory(gtsam_unstable)
|
add_subdirectory(gtsam_unstable)
|
||||||
endif(GTSAM_BUILD_UNSTABLE)
|
endif()
|
||||||
|
|
||||||
# Matlab toolbox
|
# Matlab toolbox
|
||||||
if (GTSAM_INSTALL_MATLAB_TOOLBOX)
|
if (GTSAM_INSTALL_MATLAB_TOOLBOX)
|
||||||
add_subdirectory(matlab)
|
add_subdirectory(matlab)
|
||||||
endif()
|
endif()
|
||||||
|
|
||||||
# Cython wrap
|
|
||||||
if (GTSAM_INSTALL_CYTHON_TOOLBOX)
|
|
||||||
set(GTSAM_INSTALL_CYTHON_TOOLBOX 1)
|
|
||||||
# Set up cache options
|
|
||||||
set(GTSAM_CYTHON_INSTALL_PATH "" CACHE PATH "Cython toolbox destination, blank defaults to CMAKE_INSTALL_PREFIX/cython")
|
|
||||||
if(NOT GTSAM_CYTHON_INSTALL_PATH)
|
|
||||||
set(GTSAM_CYTHON_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/cython")
|
|
||||||
endif()
|
|
||||||
set(GTSAM_EIGENCY_INSTALL_PATH ${GTSAM_CYTHON_INSTALL_PATH}/gtsam_eigency)
|
|
||||||
add_subdirectory(cython)
|
|
||||||
else()
|
|
||||||
set(GTSAM_INSTALL_CYTHON_TOOLBOX 0) # This will go into config.h
|
|
||||||
endif()
|
|
||||||
|
|
||||||
|
|
||||||
# Install config and export files
|
# Install config and export files
|
||||||
GtsamMakeConfigFile(GTSAM "${CMAKE_CURRENT_SOURCE_DIR}/gtsam_extra.cmake.in")
|
GtsamMakeConfigFile(GTSAM "${CMAKE_CURRENT_SOURCE_DIR}/gtsam_extra.cmake.in")
|
||||||
export(TARGETS ${GTSAM_EXPORTED_TARGETS} FILE GTSAM-exports.cmake)
|
export(TARGETS ${GTSAM_EXPORTED_TARGETS} FILE GTSAM-exports.cmake)
|
||||||
|
|
||||||
|
|
||||||
# Check for doxygen availability - optional dependency
|
# Check for doxygen availability - optional dependency
|
||||||
find_package(Doxygen)
|
find_package(Doxygen)
|
||||||
|
|
||||||
|
|
@ -489,136 +103,11 @@ endif()
|
||||||
# CMake Tools
|
# CMake Tools
|
||||||
add_subdirectory(cmake)
|
add_subdirectory(cmake)
|
||||||
|
|
||||||
|
|
||||||
###############################################################################
|
|
||||||
# Set up CPack
|
|
||||||
set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "GTSAM")
|
|
||||||
set(CPACK_PACKAGE_VENDOR "Frank Dellaert, Georgia Institute of Technology")
|
|
||||||
set(CPACK_PACKAGE_CONTACT "Frank Dellaert, dellaert@cc.gatech.edu")
|
|
||||||
set(CPACK_PACKAGE_DESCRIPTION_FILE "${CMAKE_CURRENT_SOURCE_DIR}/README.md")
|
|
||||||
set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE")
|
|
||||||
set(CPACK_PACKAGE_VERSION_MAJOR ${GTSAM_VERSION_MAJOR})
|
|
||||||
set(CPACK_PACKAGE_VERSION_MINOR ${GTSAM_VERSION_MINOR})
|
|
||||||
set(CPACK_PACKAGE_VERSION_PATCH ${GTSAM_VERSION_PATCH})
|
|
||||||
set(CPACK_PACKAGE_INSTALL_DIRECTORY "CMake ${CMake_VERSION_MAJOR}.${CMake_VERSION_MINOR}")
|
|
||||||
#set(CPACK_INSTALLED_DIRECTORIES "doc;.") # Include doc directory
|
|
||||||
#set(CPACK_INSTALLED_DIRECTORIES ".") # FIXME: throws error
|
|
||||||
set(CPACK_SOURCE_IGNORE_FILES "/build*;/\\\\.;/makestats.sh$")
|
|
||||||
set(CPACK_SOURCE_IGNORE_FILES "${CPACK_SOURCE_IGNORE_FILES}" "/gtsam_unstable/")
|
|
||||||
set(CPACK_SOURCE_IGNORE_FILES "${CPACK_SOURCE_IGNORE_FILES}" "/package_scripts/")
|
|
||||||
set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}")
|
|
||||||
#set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-aspn${GTSAM_VERSION_PATCH}") # Used for creating ASPN tarballs
|
|
||||||
|
|
||||||
# Deb-package specific cpack
|
|
||||||
set(CPACK_DEBIAN_PACKAGE_NAME "libgtsam-dev")
|
|
||||||
set(CPACK_DEBIAN_PACKAGE_DEPENDS "libboost-dev (>= 1.43)") #Example: "libc6 (>= 2.3.1-6), libgcc1 (>= 1:3.4.2-12)")
|
|
||||||
|
|
||||||
|
|
||||||
###############################################################################
|
|
||||||
# Print configuration variables
|
# Print configuration variables
|
||||||
message(STATUS "===============================================================")
|
include(cmake/HandlePrintConfiguration.cmake)
|
||||||
message(STATUS "================ Configuration Options ======================")
|
|
||||||
message(STATUS " CMAKE_CXX_COMPILER_ID type : ${CMAKE_CXX_COMPILER_ID}")
|
|
||||||
message(STATUS " CMAKE_CXX_COMPILER_VERSION : ${CMAKE_CXX_COMPILER_VERSION}")
|
|
||||||
message(STATUS " CMake version : ${CMAKE_VERSION}")
|
|
||||||
message(STATUS " CMake generator : ${CMAKE_GENERATOR}")
|
|
||||||
message(STATUS " CMake build tool : ${CMAKE_BUILD_TOOL}")
|
|
||||||
message(STATUS "Build flags ")
|
|
||||||
print_config_flag(${GTSAM_BUILD_TESTS} "Build Tests ")
|
|
||||||
print_config_flag(${GTSAM_BUILD_EXAMPLES_ALWAYS} "Build examples with 'make all' ")
|
|
||||||
print_config_flag(${GTSAM_BUILD_TIMING_ALWAYS} "Build timing scripts with 'make all'")
|
|
||||||
if (DOXYGEN_FOUND)
|
|
||||||
print_config_flag(${GTSAM_BUILD_DOCS} "Build Docs ")
|
|
||||||
endif()
|
|
||||||
print_config_flag(${BUILD_SHARED_LIBS} "Build shared GTSAM libraries ")
|
|
||||||
print_config_flag(${GTSAM_BUILD_TYPE_POSTFIXES} "Put build type in library name ")
|
|
||||||
if(GTSAM_UNSTABLE_AVAILABLE)
|
|
||||||
print_config_flag(${GTSAM_BUILD_UNSTABLE} "Build libgtsam_unstable ")
|
|
||||||
endif()
|
|
||||||
|
|
||||||
if(NOT MSVC AND NOT XCODE_VERSION)
|
|
||||||
print_config_flag(${GTSAM_BUILD_WITH_MARCH_NATIVE} "Build for native architecture ")
|
|
||||||
message(STATUS " Build type : ${CMAKE_BUILD_TYPE}")
|
|
||||||
message(STATUS " C compilation flags : ${CMAKE_C_FLAGS} ${CMAKE_C_FLAGS_${CMAKE_BUILD_TYPE_UPPER}}")
|
|
||||||
message(STATUS " C++ compilation flags : ${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_${CMAKE_BUILD_TYPE_UPPER}}")
|
|
||||||
endif()
|
|
||||||
|
|
||||||
print_build_options_for_target(gtsam)
|
|
||||||
|
|
||||||
message(STATUS " Use System Eigen : ${GTSAM_USE_SYSTEM_EIGEN} (Using version: ${GTSAM_EIGEN_VERSION})")
|
|
||||||
|
|
||||||
if(GTSAM_USE_TBB)
|
|
||||||
message(STATUS " Use Intel TBB : Yes")
|
|
||||||
elseif(TBB_FOUND)
|
|
||||||
message(STATUS " Use Intel TBB : TBB found but GTSAM_WITH_TBB is disabled")
|
|
||||||
else()
|
|
||||||
message(STATUS " Use Intel TBB : TBB not found")
|
|
||||||
endif()
|
|
||||||
if(GTSAM_USE_EIGEN_MKL)
|
|
||||||
message(STATUS " Eigen will use MKL : Yes")
|
|
||||||
elseif(MKL_FOUND)
|
|
||||||
message(STATUS " Eigen will use MKL : MKL found but GTSAM_WITH_EIGEN_MKL is disabled")
|
|
||||||
else()
|
|
||||||
message(STATUS " Eigen will use MKL : MKL not found")
|
|
||||||
endif()
|
|
||||||
if(GTSAM_USE_EIGEN_MKL_OPENMP)
|
|
||||||
message(STATUS " Eigen will use MKL and OpenMP : Yes")
|
|
||||||
elseif(OPENMP_FOUND AND NOT GTSAM_WITH_EIGEN_MKL)
|
|
||||||
message(STATUS " Eigen will use MKL and OpenMP : OpenMP found but GTSAM_WITH_EIGEN_MKL is disabled")
|
|
||||||
elseif(OPENMP_FOUND AND NOT MKL_FOUND)
|
|
||||||
message(STATUS " Eigen will use MKL and OpenMP : OpenMP found but MKL not found")
|
|
||||||
elseif(OPENMP_FOUND)
|
|
||||||
message(STATUS " Eigen will use MKL and OpenMP : OpenMP found but GTSAM_WITH_EIGEN_MKL_OPENMP is disabled")
|
|
||||||
else()
|
|
||||||
message(STATUS " Eigen will use MKL and OpenMP : OpenMP not found")
|
|
||||||
endif()
|
|
||||||
message(STATUS " Default allocator : ${GTSAM_DEFAULT_ALLOCATOR}")
|
|
||||||
|
|
||||||
if(NOT MSVC AND NOT XCODE_VERSION)
|
|
||||||
if(CCACHE_FOUND AND GTSAM_BUILD_WITH_CCACHE)
|
|
||||||
message(STATUS " Build with ccache : Yes")
|
|
||||||
elseif(CCACHE_FOUND)
|
|
||||||
message(STATUS " Build with ccache : ccache found but GTSAM_BUILD_WITH_CCACHE is disabled")
|
|
||||||
else()
|
|
||||||
message(STATUS " Build with ccache : No")
|
|
||||||
endif()
|
|
||||||
endif()
|
|
||||||
|
|
||||||
message(STATUS "Packaging flags ")
|
|
||||||
message(STATUS " CPack Source Generator : ${CPACK_SOURCE_GENERATOR}")
|
|
||||||
message(STATUS " CPack Generator : ${CPACK_GENERATOR}")
|
|
||||||
|
|
||||||
message(STATUS "GTSAM flags ")
|
|
||||||
print_config_flag(${GTSAM_USE_QUATERNIONS} "Quaternions as default Rot3 ")
|
|
||||||
print_config_flag(${GTSAM_ENABLE_CONSISTENCY_CHECKS} "Runtime consistency checking ")
|
|
||||||
print_config_flag(${GTSAM_ROT3_EXPMAP} "Rot3 retract is full ExpMap ")
|
|
||||||
print_config_flag(${GTSAM_POSE3_EXPMAP} "Pose3 retract is full ExpMap ")
|
|
||||||
print_config_flag(${GTSAM_ALLOW_DEPRECATED_SINCE_V4} "Deprecated in GTSAM 4 allowed ")
|
|
||||||
print_config_flag(${GTSAM_TYPEDEF_POINTS_TO_VECTORS} "Point3 is typedef to Vector3 ")
|
|
||||||
print_config_flag(${GTSAM_SUPPORT_NESTED_DISSECTION} "Metis-based Nested Dissection ")
|
|
||||||
print_config_flag(${GTSAM_TANGENT_PREINTEGRATION} "Use tangent-space preintegration")
|
|
||||||
print_config_flag(${GTSAM_BUILD_WRAP} "Build Wrap ")
|
|
||||||
|
|
||||||
message(STATUS "MATLAB toolbox flags ")
|
|
||||||
print_config_flag(${GTSAM_INSTALL_MATLAB_TOOLBOX} "Install matlab toolbox ")
|
|
||||||
|
|
||||||
message(STATUS "Cython toolbox flags ")
|
|
||||||
print_config_flag(${GTSAM_INSTALL_CYTHON_TOOLBOX} "Install Cython toolbox ")
|
|
||||||
if(GTSAM_INSTALL_CYTHON_TOOLBOX)
|
|
||||||
message(STATUS " Python version : ${GTSAM_PYTHON_VERSION}")
|
|
||||||
endif()
|
|
||||||
message(STATUS "===============================================================")
|
|
||||||
|
|
||||||
# Print warnings at the end
|
# Print warnings at the end
|
||||||
if(GTSAM_WITH_TBB AND NOT TBB_FOUND)
|
include(cmake/HandleFinalChecks.cmake)
|
||||||
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.")
|
|
||||||
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.")
|
|
||||||
endif()
|
|
||||||
|
|
||||||
# Include CPack *after* all flags
|
# Include CPack *after* all flags
|
||||||
include(CPack)
|
include(CPack)
|
||||||
|
|
|
||||||
|
|
@ -6,12 +6,12 @@ file(GLOB cppunitlite_src "*.cpp")
|
||||||
add_library(CppUnitLite STATIC ${cppunitlite_src} ${cppunitlite_headers})
|
add_library(CppUnitLite STATIC ${cppunitlite_src} ${cppunitlite_headers})
|
||||||
list(APPEND GTSAM_EXPORTED_TARGETS CppUnitLite)
|
list(APPEND GTSAM_EXPORTED_TARGETS CppUnitLite)
|
||||||
set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE)
|
set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE)
|
||||||
target_include_directories(CppUnitLite PUBLIC ${Boost_INCLUDE_DIR}) # boost/lexical_cast.h
|
target_link_libraries(CppUnitLite PUBLIC Boost::boost) # boost/lexical_cast.h
|
||||||
|
|
||||||
gtsam_assign_source_folders("${cppunitlite_headers};${cppunitlite_src}") # MSVC project structure
|
gtsam_assign_source_folders("${cppunitlite_headers};${cppunitlite_src}") # MSVC project structure
|
||||||
|
|
||||||
option(GTSAM_INSTALL_CPPUNITLITE "Enable/Disable installation of CppUnitLite library" ON)
|
option(GTSAM_INSTALL_CPPUNITLITE "Enable/Disable installation of CppUnitLite library" ON)
|
||||||
if (GTSAM_INSTALL_CPPUNITLITE)
|
if (GTSAM_INSTALL_CPPUNITLITE)
|
||||||
install(FILES ${cppunitlite_headers} DESTINATION include/CppUnitLite)
|
install(FILES ${cppunitlite_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/CppUnitLite)
|
||||||
install(TARGETS CppUnitLite EXPORT GTSAM-exports ARCHIVE DESTINATION lib)
|
install(TARGETS CppUnitLite EXPORT GTSAM-exports ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR})
|
||||||
endif(GTSAM_INSTALL_CPPUNITLITE)
|
endif(GTSAM_INSTALL_CPPUNITLITE)
|
||||||
|
|
|
||||||
|
|
@ -64,7 +64,7 @@ protected:
|
||||||
class testGroup##testName##Test : public Test \
|
class testGroup##testName##Test : public Test \
|
||||||
{ public: testGroup##testName##Test () : Test (#testName "Test", __FILE__, __LINE__, true) {} \
|
{ public: testGroup##testName##Test () : Test (#testName "Test", __FILE__, __LINE__, true) {} \
|
||||||
virtual ~testGroup##testName##Test () {};\
|
virtual ~testGroup##testName##Test () {};\
|
||||||
void run (TestResult& result_);} \
|
void run (TestResult& result_) override;} \
|
||||||
testGroup##testName##Instance; \
|
testGroup##testName##Instance; \
|
||||||
void testGroup##testName##Test::run (TestResult& result_)
|
void testGroup##testName##Test::run (TestResult& result_)
|
||||||
|
|
||||||
|
|
@ -82,7 +82,7 @@ protected:
|
||||||
class testGroup##testName##Test : public Test \
|
class testGroup##testName##Test : public Test \
|
||||||
{ public: testGroup##testName##Test () : Test (#testName "Test", __FILE__, __LINE__, false) {} \
|
{ public: testGroup##testName##Test () : Test (#testName "Test", __FILE__, __LINE__, false) {} \
|
||||||
virtual ~testGroup##testName##Test () {};\
|
virtual ~testGroup##testName##Test () {};\
|
||||||
void run (TestResult& result_);} \
|
void run (TestResult& result_) override;} \
|
||||||
testGroup##testName##Instance; \
|
testGroup##testName##Instance; \
|
||||||
void testGroup##testName##Test::run (TestResult& result_)
|
void testGroup##testName##Test::run (TestResult& result_)
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -72,9 +72,9 @@ A Lie group is both a manifold *and* a group. Hence, a LIE_GROUP type should imp
|
||||||
However, we now also need to be able to evaluate the derivatives of compose and inverse.
|
However, we now also need to be able to evaluate the derivatives of compose and inverse.
|
||||||
Hence, we have the following extra valid static functions defined in the struct `gtsam::traits<T>`:
|
Hence, we have the following extra valid static functions defined in the struct `gtsam::traits<T>`:
|
||||||
|
|
||||||
* `r = traits<T>::Compose(p,q,Hq,Hp)`
|
* `r = traits<T>::Compose(p,q,Hp,Hq)`
|
||||||
* `q = traits<T>::Inverse(p,Hp)`
|
* `q = traits<T>::Inverse(p,Hp)`
|
||||||
* `r = traits<T>::Between(p,q,Hq,H2p)`
|
* `r = traits<T>::Between(p,q,Hp,Hq)`
|
||||||
|
|
||||||
where above the *H* arguments stand for optional Jacobian arguments.
|
where above the *H* arguments stand for optional Jacobian arguments.
|
||||||
That makes it possible to create factors implementing priors (PriorFactor) or relations between two instances of a Lie group type (BetweenFactor).
|
That makes it possible to create factors implementing priors (PriorFactor) or relations between two instances of a Lie group type (BetweenFactor).
|
||||||
|
|
|
||||||
|
|
@ -13,7 +13,7 @@ $ make install
|
||||||
## Important Installation Notes
|
## Important Installation Notes
|
||||||
|
|
||||||
1. GTSAM requires the following libraries to be installed on your system:
|
1. GTSAM requires the following libraries to be installed on your system:
|
||||||
- BOOST version 1.43 or greater (install through Linux repositories or MacPorts)
|
- BOOST version 1.58 or greater (install through Linux repositories or MacPorts)
|
||||||
- Cmake version 3.0 or higher
|
- Cmake version 3.0 or higher
|
||||||
- Support for XCode 4.3 command line tools on Mac requires CMake 2.8.8 or higher
|
- Support for XCode 4.3 command line tools on Mac requires CMake 2.8.8 or higher
|
||||||
|
|
||||||
|
|
@ -173,7 +173,7 @@ NOTE: If _GLIBCXX_DEBUG is used to compile gtsam, anything that links against g
|
||||||
Intel has a guide for installing MKL on Linux through APT repositories at <https://software.intel.com/en-us/articles/installing-intel-free-libs-and-python-apt-repo>.
|
Intel has a guide for installing MKL on Linux through APT repositories at <https://software.intel.com/en-us/articles/installing-intel-free-libs-and-python-apt-repo>.
|
||||||
|
|
||||||
After following the instructions, add the following to your `~/.bashrc` (and afterwards, open a new terminal before compiling GTSAM):
|
After following the instructions, add the following to your `~/.bashrc` (and afterwards, open a new terminal before compiling GTSAM):
|
||||||
`LD_PRELOAD` need only be set if you are building the cython wrapper to use GTSAM from python.
|
`LD_PRELOAD` need only be set if you are building the python wrapper to use GTSAM from python.
|
||||||
```sh
|
```sh
|
||||||
source /opt/intel/mkl/bin/mklvars.sh intel64
|
source /opt/intel/mkl/bin/mklvars.sh intel64
|
||||||
export LD_PRELOAD="$LD_PRELOAD:/opt/intel/mkl/lib/intel64/libmkl_core.so:/opt/intel/mkl/lib/intel64/libmkl_sequential.so"
|
export LD_PRELOAD="$LD_PRELOAD:/opt/intel/mkl/lib/intel64/libmkl_core.so:/opt/intel/mkl/lib/intel64/libmkl_sequential.so"
|
||||||
|
|
@ -190,6 +190,6 @@ Failing to specify `LD_PRELOAD` may lead to errors such as:
|
||||||
`ImportError: /opt/intel/mkl/lib/intel64/libmkl_vml_avx2.so: undefined symbol: mkl_serv_getenv`
|
`ImportError: /opt/intel/mkl/lib/intel64/libmkl_vml_avx2.so: undefined symbol: mkl_serv_getenv`
|
||||||
or
|
or
|
||||||
`Intel MKL FATAL ERROR: Cannot load libmkl_avx2.so or libmkl_def.so.`
|
`Intel MKL FATAL ERROR: Cannot load libmkl_avx2.so or libmkl_def.so.`
|
||||||
when importing GTSAM using the cython wrapper in python.
|
when importing GTSAM using the python wrapper.
|
||||||
|
|
||||||
|
|
||||||
|
|
|
||||||
2
LICENSE
2
LICENSE
|
|
@ -23,3 +23,5 @@ ordering library
|
||||||
- Included unmodified in gtsam/3rdparty/metis
|
- Included unmodified in gtsam/3rdparty/metis
|
||||||
- Licenced under Apache License v 2.0, provided in
|
- Licenced under Apache License v 2.0, provided in
|
||||||
gtsam/3rdparty/metis/LICENSE.txt
|
gtsam/3rdparty/metis/LICENSE.txt
|
||||||
|
- Spectra v0.9.0: Sparse Eigenvalue Computation Toolkit as a Redesigned ARPACK.
|
||||||
|
- Licenced under MPL2, provided at https://github.com/yixuan/spectra
|
||||||
|
|
|
||||||
43
README.md
43
README.md
|
|
@ -1,17 +1,29 @@
|
||||||
[](https://travis-ci.com/borglab/gtsam/)
|
# README - Georgia Tech Smoothing and Mapping Library
|
||||||
|
|
||||||
# README - Georgia Tech Smoothing and Mapping library
|
**Important Note**
|
||||||
|
|
||||||
|
As of August 1 2020, the `develop` branch is officially in "Pre 4.1" mode, and features deprecated in 4.0 have been removed. Please use the last [4.0.3 release](https://github.com/borglab/gtsam/releases/tag/4.0.3) if you need those features.
|
||||||
|
|
||||||
|
However, most are easily converted and can be tracked down (in 4.0.3) by disabling the cmake flag `GTSAM_ALLOW_DEPRECATED_SINCE_V4`.
|
||||||
|
|
||||||
## What is GTSAM?
|
## What is GTSAM?
|
||||||
|
|
||||||
GTSAM is a library of C++ classes that implement smoothing and
|
GTSAM is a C++ library that implements smoothing and
|
||||||
mapping (SAM) in robotics and vision, using factor graphs and Bayes
|
mapping (SAM) in robotics and vision, using Factor Graphs and Bayes
|
||||||
networks as the underlying computing paradigm rather than sparse
|
Networks as the underlying computing paradigm rather than sparse
|
||||||
matrices.
|
matrices.
|
||||||
|
|
||||||
On top of the C++ library, GTSAM includes a MATLAB interface (enable
|
The current support matrix is:
|
||||||
GTSAM_INSTALL_MATLAB_TOOLBOX in CMake to build it). A Python interface
|
|
||||||
is under development.
|
| Platform | Compiler | Build Status |
|
||||||
|
|:------------:|:---------:|:-------------:|
|
||||||
|
| Ubuntu 18.04 | gcc/clang |  |
|
||||||
|
| macOS | clang |  |
|
||||||
|
| Windows | MSVC |  |
|
||||||
|
|
||||||
|
|
||||||
|
On top of the C++ library, GTSAM includes [wrappers for MATLAB & Python](#wrappers).
|
||||||
|
|
||||||
|
|
||||||
## Quickstart
|
## Quickstart
|
||||||
|
|
||||||
|
|
@ -28,7 +40,7 @@ $ make install
|
||||||
|
|
||||||
Prerequisites:
|
Prerequisites:
|
||||||
|
|
||||||
- [Boost](http://www.boost.org/users/download/) >= 1.43 (Ubuntu: `sudo apt-get install libboost-all-dev`)
|
- [Boost](http://www.boost.org/users/download/) >= 1.58 (Ubuntu: `sudo apt-get install libboost-all-dev`)
|
||||||
- [CMake](http://www.cmake.org/cmake/resources/software.html) >= 3.0 (Ubuntu: `sudo apt-get install cmake`)
|
- [CMake](http://www.cmake.org/cmake/resources/software.html) >= 3.0 (Ubuntu: `sudo apt-get install cmake`)
|
||||||
- A modern compiler, i.e., at least gcc 4.7.3 on Linux.
|
- A modern compiler, i.e., at least gcc 4.7.3 on Linux.
|
||||||
|
|
||||||
|
|
@ -41,13 +53,16 @@ Optional prerequisites - used automatically if findable by CMake:
|
||||||
|
|
||||||
## GTSAM 4 Compatibility
|
## GTSAM 4 Compatibility
|
||||||
|
|
||||||
GTSAM 4 will introduce several new features, most notably Expressions and a python toolbox. We will also deprecate some legacy functionality and wrongly named methods, but by default the flag GTSAM_ALLOW_DEPRECATED_SINCE_V4 is enabled, allowing anyone to just pull V4 and compile. To build the python toolbox, however, you will have to explicitly disable that flag.
|
GTSAM 4 introduces several new features, most notably Expressions and a Python toolbox. It also introduces traits, a C++ technique that allows optimizing with non-GTSAM types. That opens the door to retiring geometric types such as Point2 and Point3 to pure Eigen types, which we also do. A significant change which will not trigger a compile error is that zero-initializing of Point2 and Point3 is deprecated, so please be aware that this might render functions using their default constructor incorrect.
|
||||||
|
|
||||||
|
GTSAM 4 also deprecated some legacy functionality and wrongly named methods. If you are on a 4.0.X release, you can define the flag GTSAM_ALLOW_DEPRECATED_SINCE_V4 to use the deprecated methods.
|
||||||
|
|
||||||
|
GTSAM 4.1 added a new pybind wrapper, and **removed** the deprecated functionality. There is a flag GTSAM_ALLOW_DEPRECATED_SINCE_V41 for newly deprecated methods since the 4.1 release, which is on by default, allowing anyone to just pull version 4.1 and compile.
|
||||||
|
|
||||||
Also, GTSAM 4 introduces traits, a C++ technique that allows optimizing with non-GTSAM types. That opens the door to retiring geometric types such as Point2 and Point3 to pure Eigen types, which we will also do. A significant change which will not trigger a compile error is that zero-initializing of Point2 and Point3 will be deprecated, so please be aware that this might render functions using their default constructor incorrect.
|
|
||||||
|
|
||||||
## Wrappers
|
## Wrappers
|
||||||
|
|
||||||
We provide support for [MATLAB](matlab/README.md) and [Python](cython/README.md) wrappers for GTSAM. Please refer to the linked documents for more details.
|
We provide support for [MATLAB](matlab/README.md) and [Python](python/README.md) wrappers for GTSAM. Please refer to the linked documents for more details.
|
||||||
|
|
||||||
## The Preintegrated IMU Factor
|
## The Preintegrated IMU Factor
|
||||||
|
|
||||||
|
|
@ -62,7 +77,7 @@ Our implementation improves on this using integration on the manifold, as detail
|
||||||
|
|
||||||
If you are using the factor in academic work, please cite the publications above.
|
If you are using the factor in academic work, please cite the publications above.
|
||||||
|
|
||||||
In GTSAM 4 a new and more efficient implementation, based on integrating on the NavState tangent space and detailed in docs/ImuFactor.pdf, is enabled by default. To switch to the RSS 2015 version, set the flag **GTSAM_TANGENT_PREINTEGRATION** to OFF.
|
In GTSAM 4 a new and more efficient implementation, based on integrating on the NavState tangent space and detailed in [this document](doc/ImuFactor.pdf), is enabled by default. To switch to the RSS 2015 version, set the flag **GTSAM_TANGENT_PREINTEGRATION** to OFF.
|
||||||
|
|
||||||
|
|
||||||
## Additional Information
|
## Additional Information
|
||||||
|
|
@ -79,4 +94,4 @@ GTSAM is open source under the BSD license, see the [`LICENSE`](LICENSE) and [`L
|
||||||
|
|
||||||
Please see the [`examples/`](examples) directory and the [`USAGE`](USAGE.md) file for examples on how to use GTSAM.
|
Please see the [`examples/`](examples) directory and the [`USAGE`](USAGE.md) file for examples on how to use GTSAM.
|
||||||
|
|
||||||
GTSAM was developed in the lab of [Frank Dellaert](http://www.cc.gatech.edu/~dellaert) at the [Georgia Institute of Technology](http://www.gatech.edu), with the help of many contributors over the years, see [THANKS](THANKS).
|
GTSAM was developed in the lab of [Frank Dellaert](http://www.cc.gatech.edu/~dellaert) at the [Georgia Institute of Technology](http://www.gatech.edu), with the help of many contributors over the years, see [THANKS](THANKS.md).
|
||||||
|
|
|
||||||
|
|
@ -17,10 +17,8 @@ install(FILES
|
||||||
GtsamBuildTypes.cmake
|
GtsamBuildTypes.cmake
|
||||||
GtsamMakeConfigFile.cmake
|
GtsamMakeConfigFile.cmake
|
||||||
GtsamMatlabWrap.cmake
|
GtsamMatlabWrap.cmake
|
||||||
GtsamPythonWrap.cmake
|
|
||||||
GtsamCythonWrap.cmake
|
|
||||||
GtsamTesting.cmake
|
GtsamTesting.cmake
|
||||||
FindCython.cmake
|
GtsamPrinting.cmake
|
||||||
FindNumPy.cmake
|
FindNumPy.cmake
|
||||||
README.html
|
README.html
|
||||||
DESTINATION "${SCRIPT_INSTALL_DIR}/GTSAMCMakeTools")
|
DESTINATION "${SCRIPT_INSTALL_DIR}/GTSAMCMakeTools")
|
||||||
|
|
|
||||||
File diff suppressed because it is too large
Load Diff
|
|
@ -1,81 +0,0 @@
|
||||||
# Modifed from: https://github.com/nest/nest-simulator/blob/master/cmake/FindCython.cmake
|
|
||||||
#
|
|
||||||
# Find the Cython compiler.
|
|
||||||
#
|
|
||||||
# This code sets the following variables:
|
|
||||||
#
|
|
||||||
# CYTHON_FOUND
|
|
||||||
# CYTHON_PATH
|
|
||||||
# CYTHON_EXECUTABLE
|
|
||||||
# CYTHON_VERSION
|
|
||||||
#
|
|
||||||
# See also UseCython.cmake
|
|
||||||
|
|
||||||
#=============================================================================
|
|
||||||
# Copyright 2011 Kitware, Inc.
|
|
||||||
#
|
|
||||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
|
||||||
# you may not use this file except in compliance with the License.
|
|
||||||
# You may obtain a copy of the License at
|
|
||||||
#
|
|
||||||
# http://www.apache.org/licenses/LICENSE-2.0
|
|
||||||
#
|
|
||||||
# Unless required by applicable law or agreed to in writing, software
|
|
||||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
|
||||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
||||||
# See the License for the specific language governing permissions and
|
|
||||||
# limitations under the License.
|
|
||||||
#=============================================================================
|
|
||||||
|
|
||||||
# Use the Cython executable that lives next to the Python executable
|
|
||||||
# if it is a local installation.
|
|
||||||
if(GTSAM_PYTHON_VERSION STREQUAL "Default")
|
|
||||||
find_package(PythonInterp)
|
|
||||||
else()
|
|
||||||
find_package(PythonInterp ${GTSAM_PYTHON_VERSION} EXACT)
|
|
||||||
endif()
|
|
||||||
|
|
||||||
if ( PYTHONINTERP_FOUND )
|
|
||||||
execute_process( COMMAND "${PYTHON_EXECUTABLE}" "-c"
|
|
||||||
"import Cython; print(Cython.__path__[0])"
|
|
||||||
RESULT_VARIABLE RESULT
|
|
||||||
OUTPUT_VARIABLE CYTHON_PATH
|
|
||||||
OUTPUT_STRIP_TRAILING_WHITESPACE
|
|
||||||
)
|
|
||||||
endif ()
|
|
||||||
|
|
||||||
# RESULT=0 means ok
|
|
||||||
if ( NOT RESULT )
|
|
||||||
get_filename_component( _python_path ${PYTHON_EXECUTABLE} PATH )
|
|
||||||
find_program( CYTHON_EXECUTABLE
|
|
||||||
NAMES cython cython.bat cython3
|
|
||||||
HINTS ${_python_path}
|
|
||||||
)
|
|
||||||
endif ()
|
|
||||||
|
|
||||||
# RESULT=0 means ok
|
|
||||||
if ( NOT RESULT )
|
|
||||||
execute_process( COMMAND "${PYTHON_EXECUTABLE}" "-c"
|
|
||||||
"import Cython; print(Cython.__version__)"
|
|
||||||
RESULT_VARIABLE RESULT
|
|
||||||
OUTPUT_VARIABLE CYTHON_VAR_OUTPUT
|
|
||||||
ERROR_VARIABLE CYTHON_VAR_OUTPUT
|
|
||||||
OUTPUT_STRIP_TRAILING_WHITESPACE
|
|
||||||
)
|
|
||||||
if ( RESULT EQUAL 0 )
|
|
||||||
string( REGEX REPLACE ".* ([0-9]+\\.[0-9]+(\\.[0-9]+)?).*" "\\1"
|
|
||||||
CYTHON_VERSION "${CYTHON_VAR_OUTPUT}" )
|
|
||||||
endif ()
|
|
||||||
endif ()
|
|
||||||
|
|
||||||
include( FindPackageHandleStandardArgs )
|
|
||||||
find_package_handle_standard_args( Cython
|
|
||||||
FOUND_VAR
|
|
||||||
CYTHON_FOUND
|
|
||||||
REQUIRED_VARS
|
|
||||||
CYTHON_PATH
|
|
||||||
CYTHON_EXECUTABLE
|
|
||||||
VERSION_VAR
|
|
||||||
CYTHON_VERSION
|
|
||||||
)
|
|
||||||
|
|
||||||
|
|
@ -115,7 +115,7 @@ IF(WIN32 AND MKL_ROOT_DIR)
|
||||||
IF (MKL_INCLUDE_DIR MATCHES "10.3")
|
IF (MKL_INCLUDE_DIR MATCHES "10.3")
|
||||||
SET(MKL_LIBS ${MKL_LIBS} libiomp5md)
|
SET(MKL_LIBS ${MKL_LIBS} libiomp5md)
|
||||||
ENDIF()
|
ENDIF()
|
||||||
|
|
||||||
FOREACH (LIB ${MKL_LIBS})
|
FOREACH (LIB ${MKL_LIBS})
|
||||||
FIND_LIBRARY(${LIB}_PATH ${LIB} PATHS ${MKL_LIB_SEARCHPATH} ENV LIBRARY_PATH)
|
FIND_LIBRARY(${LIB}_PATH ${LIB} PATHS ${MKL_LIB_SEARCHPATH} ENV LIBRARY_PATH)
|
||||||
IF(${LIB}_PATH)
|
IF(${LIB}_PATH)
|
||||||
|
|
@ -147,7 +147,7 @@ ELSEIF(MKL_ROOT_DIR) # UNIX and macOS
|
||||||
${MKL_ROOT_DIR}/lib/${MKL_ARCH_DIR}
|
${MKL_ROOT_DIR}/lib/${MKL_ARCH_DIR}
|
||||||
${MKL_ROOT_DIR}/lib/
|
${MKL_ROOT_DIR}/lib/
|
||||||
)
|
)
|
||||||
|
|
||||||
# MKL on Mac OS doesn't ship with GNU thread versions, only Intel versions (see above)
|
# MKL on Mac OS doesn't ship with GNU thread versions, only Intel versions (see above)
|
||||||
IF(NOT APPLE)
|
IF(NOT APPLE)
|
||||||
FIND_LIBRARY(MKL_GNUTHREAD_LIBRARY
|
FIND_LIBRARY(MKL_GNUTHREAD_LIBRARY
|
||||||
|
|
@ -231,6 +231,7 @@ ELSEIF(MKL_ROOT_DIR) # UNIX and macOS
|
||||||
FIND_LIBRARY(MKL_IOMP5_LIBRARY
|
FIND_LIBRARY(MKL_IOMP5_LIBRARY
|
||||||
iomp5
|
iomp5
|
||||||
PATHS
|
PATHS
|
||||||
|
${MKL_ROOT_DIR}/lib/intel64
|
||||||
${MKL_ROOT_DIR}/../lib/intel64
|
${MKL_ROOT_DIR}/../lib/intel64
|
||||||
)
|
)
|
||||||
ELSE()
|
ELSE()
|
||||||
|
|
@ -254,7 +255,7 @@ ELSEIF(MKL_ROOT_DIR) # UNIX and macOS
|
||||||
ELSE()
|
ELSE()
|
||||||
SET(MKL_LIBRARIES ${MKL_LP_GNUTHREAD_LIBRARIES})
|
SET(MKL_LIBRARIES ${MKL_LP_GNUTHREAD_LIBRARIES})
|
||||||
ENDIF()
|
ENDIF()
|
||||||
|
|
||||||
MARK_AS_ADVANCED(MKL_CORE_LIBRARY MKL_LP_LIBRARY MKL_ILP_LIBRARY
|
MARK_AS_ADVANCED(MKL_CORE_LIBRARY MKL_LP_LIBRARY MKL_ILP_LIBRARY
|
||||||
MKL_SEQUENTIAL_LIBRARY MKL_INTELTHREAD_LIBRARY MKL_GNUTHREAD_LIBRARY)
|
MKL_SEQUENTIAL_LIBRARY MKL_INTELTHREAD_LIBRARY MKL_GNUTHREAD_LIBRARY)
|
||||||
ENDIF()
|
ENDIF()
|
||||||
|
|
@ -266,4 +267,4 @@ find_package_handle_standard_args(MKL DEFAULT_MSG MKL_INCLUDE_DIR MKL_LIBRARIES)
|
||||||
# LINK_DIRECTORIES(${MKL_ROOT_DIR}/lib/${MKL_ARCH_DIR}) # hack
|
# LINK_DIRECTORIES(${MKL_ROOT_DIR}/lib/${MKL_ARCH_DIR}) # hack
|
||||||
#endif()
|
#endif()
|
||||||
|
|
||||||
MARK_AS_ADVANCED(MKL_INCLUDE_DIR MKL_LIBRARIES)
|
MARK_AS_ADVANCED(MKL_INCLUDE_DIR MKL_LIBRARIES)
|
||||||
|
|
|
||||||
|
|
@ -40,17 +40,9 @@
|
||||||
|
|
||||||
# Finding NumPy involves calling the Python interpreter
|
# Finding NumPy involves calling the Python interpreter
|
||||||
if(NumPy_FIND_REQUIRED)
|
if(NumPy_FIND_REQUIRED)
|
||||||
if(GTSAM_PYTHON_VERSION STREQUAL "Default")
|
find_package(PythonInterp ${GTSAM_PYTHON_VERSION} EXACT REQUIRED)
|
||||||
find_package(PythonInterp REQUIRED)
|
|
||||||
else()
|
|
||||||
find_package(PythonInterp ${GTSAM_PYTHON_VERSION} EXACT REQUIRED)
|
|
||||||
endif()
|
|
||||||
else()
|
else()
|
||||||
if(GTSAM_PYTHON_VERSION STREQUAL "Default")
|
find_package(PythonInterp ${GTSAM_PYTHON_VERSION} EXACT)
|
||||||
find_package(PythonInterp)
|
|
||||||
else()
|
|
||||||
find_package(PythonInterp ${GTSAM_PYTHON_VERSION} EXACT)
|
|
||||||
endif()
|
|
||||||
endif()
|
endif()
|
||||||
|
|
||||||
if(NOT PYTHONINTERP_FOUND)
|
if(NOT PYTHONINTERP_FOUND)
|
||||||
|
|
|
||||||
|
|
@ -1,3 +1,10 @@
|
||||||
|
include(CheckCXXCompilerFlag) # for check_cxx_compiler_flag()
|
||||||
|
|
||||||
|
# Set cmake policy to recognize the AppleClang compiler
|
||||||
|
# independently from the Clang compiler.
|
||||||
|
if(POLICY CMP0025)
|
||||||
|
cmake_policy(SET CMP0025 NEW)
|
||||||
|
endif()
|
||||||
|
|
||||||
# function: list_append_cache(var [new_values ...])
|
# function: list_append_cache(var [new_values ...])
|
||||||
# Like "list(APPEND ...)" but working for CACHE variables.
|
# Like "list(APPEND ...)" but working for CACHE variables.
|
||||||
|
|
@ -81,6 +88,11 @@ if(MSVC)
|
||||||
WINDOWS_LEAN_AND_MEAN
|
WINDOWS_LEAN_AND_MEAN
|
||||||
NOMINMAX
|
NOMINMAX
|
||||||
)
|
)
|
||||||
|
# Avoid literally hundreds to thousands of warnings:
|
||||||
|
list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC
|
||||||
|
/wd4267 # warning C4267: 'initializing': conversion from 'size_t' to 'int', possible loss of data
|
||||||
|
)
|
||||||
|
|
||||||
endif()
|
endif()
|
||||||
|
|
||||||
# Other (non-preprocessor macros) compiler flags:
|
# Other (non-preprocessor macros) compiler flags:
|
||||||
|
|
@ -94,7 +106,27 @@ if(MSVC)
|
||||||
set(GTSAM_COMPILE_OPTIONS_PRIVATE_TIMING /MD /O2 CACHE STRING "(User editable) Private compiler flags for Timing configuration.")
|
set(GTSAM_COMPILE_OPTIONS_PRIVATE_TIMING /MD /O2 CACHE STRING "(User editable) Private compiler flags for Timing configuration.")
|
||||||
else()
|
else()
|
||||||
# Common to all configurations, next for each configuration:
|
# Common to all configurations, next for each configuration:
|
||||||
set(GTSAM_COMPILE_OPTIONS_PRIVATE_COMMON -Wall CACHE STRING "(User editable) Private compiler flags for all configurations.")
|
|
||||||
|
if (NOT MSVC)
|
||||||
|
check_cxx_compiler_flag(-Wsuggest-override COMPILER_HAS_WSUGGEST_OVERRIDE)
|
||||||
|
check_cxx_compiler_flag(-Wmissing COMPILER_HAS_WMISSING_OVERRIDE)
|
||||||
|
if (COMPILER_HAS_WSUGGEST_OVERRIDE)
|
||||||
|
set(flag_override_ -Wsuggest-override) # -Werror=suggest-override: Add again someday
|
||||||
|
elseif(COMPILER_HAS_WMISSING_OVERRIDE)
|
||||||
|
set(flag_override_ -Wmissing-override) # -Werror=missing-override: Add again someday
|
||||||
|
endif()
|
||||||
|
endif()
|
||||||
|
|
||||||
|
set(GTSAM_COMPILE_OPTIONS_PRIVATE_COMMON
|
||||||
|
-Wall # Enable common warnings
|
||||||
|
-fPIC # ensure proper code generation for shared libraries
|
||||||
|
$<$<CXX_COMPILER_ID:GNU>:-Wreturn-local-addr -Werror=return-local-addr> # Error: return local address
|
||||||
|
$<$<CXX_COMPILER_ID:Clang>:-Wreturn-stack-address -Werror=return-stack-address> # Error: return local address
|
||||||
|
-Wreturn-type -Werror=return-type # Error on missing return()
|
||||||
|
-Wformat -Werror=format-security # Error on wrong printf() arguments
|
||||||
|
$<$<COMPILE_LANGUAGE:CXX>:${flag_override_}> # Enforce the use of the override keyword
|
||||||
|
#
|
||||||
|
CACHE STRING "(User editable) Private compiler flags for all configurations.")
|
||||||
set(GTSAM_COMPILE_OPTIONS_PRIVATE_DEBUG -g -fno-inline CACHE STRING "(User editable) Private compiler flags for Debug configuration.")
|
set(GTSAM_COMPILE_OPTIONS_PRIVATE_DEBUG -g -fno-inline CACHE STRING "(User editable) Private compiler flags for Debug configuration.")
|
||||||
set(GTSAM_COMPILE_OPTIONS_PRIVATE_RELWITHDEBINFO -g -O3 CACHE STRING "(User editable) Private compiler flags for RelWithDebInfo configuration.")
|
set(GTSAM_COMPILE_OPTIONS_PRIVATE_RELWITHDEBINFO -g -O3 CACHE STRING "(User editable) Private compiler flags for RelWithDebInfo configuration.")
|
||||||
set(GTSAM_COMPILE_OPTIONS_PRIVATE_RELEASE -O3 CACHE STRING "(User editable) Private compiler flags for Release configuration.")
|
set(GTSAM_COMPILE_OPTIONS_PRIVATE_RELEASE -O3 CACHE STRING "(User editable) Private compiler flags for Release configuration.")
|
||||||
|
|
@ -236,3 +268,17 @@ function(gtsam_apply_build_flags target_name_)
|
||||||
target_compile_options(${target_name_} PRIVATE ${GTSAM_COMPILE_OPTIONS_PRIVATE})
|
target_compile_options(${target_name_} PRIVATE ${GTSAM_COMPILE_OPTIONS_PRIVATE})
|
||||||
|
|
||||||
endfunction(gtsam_apply_build_flags)
|
endfunction(gtsam_apply_build_flags)
|
||||||
|
|
||||||
|
|
||||||
|
if(NOT MSVC AND NOT XCODE_VERSION)
|
||||||
|
# Set the build type to upper case for downstream use
|
||||||
|
string(TOUPPER "${CMAKE_BUILD_TYPE}" CMAKE_BUILD_TYPE_UPPER)
|
||||||
|
|
||||||
|
# Set the GTSAM_BUILD_TAG variable.
|
||||||
|
# If build type is Release, set to blank (""), else set to the build type.
|
||||||
|
if(${CMAKE_BUILD_TYPE_UPPER} STREQUAL "RELEASE")
|
||||||
|
set(GTSAM_BUILD_TAG "") # Don't create release mode tag on installed directory
|
||||||
|
else()
|
||||||
|
set(GTSAM_BUILD_TAG "${CMAKE_BUILD_TYPE}")
|
||||||
|
endif()
|
||||||
|
endif()
|
||||||
|
|
|
||||||
|
|
@ -1,268 +0,0 @@
|
||||||
# Check Cython version, need to be >=0.25.2
|
|
||||||
# Unset these cached variables to avoid surprises when the python/cython
|
|
||||||
# in the current environment are different from the cached!
|
|
||||||
unset(PYTHON_EXECUTABLE CACHE)
|
|
||||||
unset(CYTHON_EXECUTABLE CACHE)
|
|
||||||
unset(PYTHON_INCLUDE_DIR CACHE)
|
|
||||||
unset(PYTHON_MAJOR_VERSION CACHE)
|
|
||||||
|
|
||||||
if(GTSAM_PYTHON_VERSION STREQUAL "Default")
|
|
||||||
find_package(PythonInterp REQUIRED)
|
|
||||||
find_package(PythonLibs REQUIRED)
|
|
||||||
else()
|
|
||||||
find_package(PythonInterp ${GTSAM_PYTHON_VERSION} EXACT REQUIRED)
|
|
||||||
find_package(PythonLibs ${GTSAM_PYTHON_VERSION} EXACT REQUIRED)
|
|
||||||
endif()
|
|
||||||
find_package(Cython 0.25.2 REQUIRED)
|
|
||||||
|
|
||||||
execute_process(COMMAND "${PYTHON_EXECUTABLE}" "-c"
|
|
||||||
"from __future__ import print_function;import sys;print(sys.version[0], end='')"
|
|
||||||
OUTPUT_VARIABLE PYTHON_MAJOR_VERSION
|
|
||||||
)
|
|
||||||
|
|
||||||
# User-friendly Cython wrapping and installing function.
|
|
||||||
# Builds a Cython module from the provided interface_header.
|
|
||||||
# For example, for the interface header gtsam.h,
|
|
||||||
# this will build the wrap module 'gtsam'.
|
|
||||||
#
|
|
||||||
# Arguments:
|
|
||||||
#
|
|
||||||
# interface_header: The relative path to the wrapper interface definition file.
|
|
||||||
# extra_imports: extra header to import in the Cython pxd file.
|
|
||||||
# For example, to use Cython gtsam.pxd in your own module,
|
|
||||||
# use "from gtsam cimport *"
|
|
||||||
# install_path: destination to install the library
|
|
||||||
# libs: libraries to link with
|
|
||||||
# dependencies: Dependencies which need to be built before the wrapper
|
|
||||||
function(wrap_and_install_library_cython interface_header extra_imports install_path libs dependencies)
|
|
||||||
# Paths for generated files
|
|
||||||
get_filename_component(module_name "${interface_header}" NAME_WE)
|
|
||||||
set(generated_files_path "${PROJECT_BINARY_DIR}/cython/${module_name}")
|
|
||||||
wrap_library_cython("${interface_header}" "${generated_files_path}" "${extra_imports}" "${libs}" "${dependencies}")
|
|
||||||
install_cython_wrapped_library("${interface_header}" "${generated_files_path}" "${install_path}")
|
|
||||||
endfunction()
|
|
||||||
|
|
||||||
function(set_up_required_cython_packages)
|
|
||||||
# Set up building of cython module
|
|
||||||
include_directories(${PYTHON_INCLUDE_DIRS})
|
|
||||||
find_package(NumPy REQUIRED)
|
|
||||||
include_directories(${NUMPY_INCLUDE_DIRS})
|
|
||||||
endfunction()
|
|
||||||
|
|
||||||
|
|
||||||
# Convert pyx to cpp by executing cython
|
|
||||||
# This is the first step to compile cython from the command line
|
|
||||||
# as described at: http://cython.readthedocs.io/en/latest/src/reference/compilation.html
|
|
||||||
#
|
|
||||||
# Arguments:
|
|
||||||
# - target: The specified target for this step
|
|
||||||
# - pyx_file: The input pyx_file in full *absolute* path
|
|
||||||
# - generated_cpp: The output cpp file in full absolute path
|
|
||||||
# - include_dirs: Directories to include when executing cython
|
|
||||||
function(pyx_to_cpp target pyx_file generated_cpp include_dirs)
|
|
||||||
foreach(dir ${include_dirs})
|
|
||||||
set(includes_for_cython ${includes_for_cython} -I ${dir})
|
|
||||||
endforeach()
|
|
||||||
|
|
||||||
add_custom_command(
|
|
||||||
OUTPUT ${generated_cpp}
|
|
||||||
COMMAND
|
|
||||||
${CYTHON_EXECUTABLE} -X boundscheck=False -v --fast-fail --cplus -${PYTHON_MAJOR_VERSION} ${includes_for_cython} ${pyx_file} -o ${generated_cpp}
|
|
||||||
VERBATIM)
|
|
||||||
add_custom_target(${target} ALL DEPENDS ${generated_cpp})
|
|
||||||
endfunction()
|
|
||||||
|
|
||||||
# Build the cpp file generated by converting pyx using cython
|
|
||||||
# This is the second step to compile cython from the command line
|
|
||||||
# as described at: http://cython.readthedocs.io/en/latest/src/reference/compilation.html
|
|
||||||
#
|
|
||||||
# Arguments:
|
|
||||||
# - target: The specified target for this step
|
|
||||||
# - cpp_file: The input cpp_file in full *absolute* path
|
|
||||||
# - output_lib_we: The output lib filename only (without extension)
|
|
||||||
# - output_dir: The output directory
|
|
||||||
function(build_cythonized_cpp target cpp_file output_lib_we output_dir)
|
|
||||||
add_library(${target} MODULE ${cpp_file})
|
|
||||||
if(APPLE)
|
|
||||||
set(link_flags "-undefined dynamic_lookup")
|
|
||||||
endif()
|
|
||||||
set_target_properties(${target}
|
|
||||||
PROPERTIES COMPILE_FLAGS "-w"
|
|
||||||
LINK_FLAGS "${link_flags}"
|
|
||||||
OUTPUT_NAME ${output_lib_we}
|
|
||||||
PREFIX ""
|
|
||||||
${CMAKE_BUILD_TYPE_UPPER}_POSTFIX ""
|
|
||||||
LIBRARY_OUTPUT_DIRECTORY ${output_dir})
|
|
||||||
endfunction()
|
|
||||||
|
|
||||||
# Cythonize a pyx from the command line as described at
|
|
||||||
# http://cython.readthedocs.io/en/latest/src/reference/compilation.html
|
|
||||||
# Arguments:
|
|
||||||
# - target: The specified target
|
|
||||||
# - pyx_file: The input pyx_file in full *absolute* path
|
|
||||||
# - output_lib_we: The output lib filename only (without extension)
|
|
||||||
# - output_dir: The output directory
|
|
||||||
# - include_dirs: Directories to include when executing cython
|
|
||||||
# - libs: Libraries to link with
|
|
||||||
# - interface_header: For dependency. Any update in interface header will re-trigger cythonize
|
|
||||||
function(cythonize target pyx_file output_lib_we output_dir include_dirs libs interface_header dependencies)
|
|
||||||
get_filename_component(pyx_path "${pyx_file}" DIRECTORY)
|
|
||||||
get_filename_component(pyx_name "${pyx_file}" NAME_WE)
|
|
||||||
set(generated_cpp "${output_dir}/${pyx_name}.cpp")
|
|
||||||
|
|
||||||
set_up_required_cython_packages()
|
|
||||||
pyx_to_cpp(${target}_pyx2cpp ${pyx_file} ${generated_cpp} "${include_dirs}")
|
|
||||||
|
|
||||||
# Late dependency injection, to make sure this gets called whenever the interface header is updated
|
|
||||||
# See: https://stackoverflow.com/questions/40032593/cmake-does-not-rebuild-dependent-after-prerequisite-changes
|
|
||||||
add_custom_command(OUTPUT ${generated_cpp} DEPENDS ${interface_header} ${pyx_file} APPEND)
|
|
||||||
if (NOT "${dependencies}" STREQUAL "")
|
|
||||||
add_dependencies(${target}_pyx2cpp "${dependencies}")
|
|
||||||
endif()
|
|
||||||
|
|
||||||
build_cythonized_cpp(${target} ${generated_cpp} ${output_lib_we} ${output_dir})
|
|
||||||
if (NOT "${libs}" STREQUAL "")
|
|
||||||
target_link_libraries(${target} "${libs}")
|
|
||||||
endif()
|
|
||||||
add_dependencies(${target} ${target}_pyx2cpp)
|
|
||||||
endfunction()
|
|
||||||
|
|
||||||
# Internal function that wraps a library and compiles the wrapper
|
|
||||||
function(wrap_library_cython interface_header generated_files_path extra_imports libs dependencies)
|
|
||||||
# Wrap codegen interface
|
|
||||||
# Extract module path and name from interface header file name
|
|
||||||
# wrap requires interfacePath to be *absolute*
|
|
||||||
get_filename_component(interface_header "${interface_header}" ABSOLUTE)
|
|
||||||
get_filename_component(module_path "${interface_header}" PATH)
|
|
||||||
get_filename_component(module_name "${interface_header}" NAME_WE)
|
|
||||||
|
|
||||||
# Wrap module to Cython pyx
|
|
||||||
message(STATUS "Cython wrapper generating ${module_name}.pyx")
|
|
||||||
set(generated_pyx "${generated_files_path}/${module_name}.pyx")
|
|
||||||
file(MAKE_DIRECTORY "${generated_files_path}")
|
|
||||||
add_custom_command(
|
|
||||||
OUTPUT ${generated_pyx}
|
|
||||||
DEPENDS ${interface_header} wrap
|
|
||||||
COMMAND
|
|
||||||
wrap --cython ${module_path} ${module_name} ${generated_files_path} "${extra_imports}"
|
|
||||||
VERBATIM
|
|
||||||
WORKING_DIRECTORY ${generated_files_path}/../)
|
|
||||||
add_custom_target(cython_wrap_${module_name}_pyx ALL DEPENDS ${generated_pyx})
|
|
||||||
if(NOT "${dependencies}" STREQUAL "")
|
|
||||||
add_dependencies(cython_wrap_${module_name}_pyx ${dependencies})
|
|
||||||
endif()
|
|
||||||
|
|
||||||
message(STATUS "Cythonize and build ${module_name}.pyx")
|
|
||||||
get_property(include_dirs DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY INCLUDE_DIRECTORIES)
|
|
||||||
cythonize(cythonize_${module_name} ${generated_pyx} ${module_name}
|
|
||||||
${generated_files_path} "${include_dirs}" "${libs}" ${interface_header} cython_wrap_${module_name}_pyx)
|
|
||||||
|
|
||||||
# distclean
|
|
||||||
add_custom_target(wrap_${module_name}_cython_distclean
|
|
||||||
COMMAND cmake -E remove_directory ${generated_files_path})
|
|
||||||
endfunction()
|
|
||||||
|
|
||||||
# Internal function that installs a wrap toolbox
|
|
||||||
function(install_cython_wrapped_library interface_header generated_files_path install_path)
|
|
||||||
get_filename_component(module_name "${interface_header}" NAME_WE)
|
|
||||||
|
|
||||||
# NOTE: only installs .pxd and .pyx and binary files (not .cpp) - the trailing slash on the directory name
|
|
||||||
# here prevents creating the top-level module name directory in the destination.
|
|
||||||
# Split up filename to strip trailing '/' in GTSAM_CYTHON_INSTALL_PATH/subdirectory if there is one
|
|
||||||
get_filename_component(location "${install_path}" PATH)
|
|
||||||
get_filename_component(name "${install_path}" NAME)
|
|
||||||
message(STATUS "Installing Cython Toolbox to ${location}${GTSAM_BUILD_TAG}/${name}") #${GTSAM_CYTHON_INSTALL_PATH}"
|
|
||||||
|
|
||||||
if(GTSAM_BUILD_TYPE_POSTFIXES)
|
|
||||||
foreach(build_type ${CMAKE_CONFIGURATION_TYPES})
|
|
||||||
string(TOUPPER "${build_type}" build_type_upper)
|
|
||||||
if(${build_type_upper} STREQUAL "RELEASE")
|
|
||||||
set(build_type_tag "") # Don't create release mode tag on installed directory
|
|
||||||
else()
|
|
||||||
set(build_type_tag "${build_type}")
|
|
||||||
endif()
|
|
||||||
|
|
||||||
install(DIRECTORY "${generated_files_path}/" DESTINATION "${location}${build_type_tag}/${name}"
|
|
||||||
CONFIGURATIONS "${build_type}"
|
|
||||||
PATTERN "build" EXCLUDE
|
|
||||||
PATTERN "CMakeFiles" EXCLUDE
|
|
||||||
PATTERN "Makefile" EXCLUDE
|
|
||||||
PATTERN "*.cmake" EXCLUDE
|
|
||||||
PATTERN "*.cpp" EXCLUDE
|
|
||||||
PATTERN "*.py" EXCLUDE)
|
|
||||||
endforeach()
|
|
||||||
else()
|
|
||||||
install(DIRECTORY "${generated_files_path}/" DESTINATION ${install_path}
|
|
||||||
PATTERN "build" EXCLUDE
|
|
||||||
PATTERN "CMakeFiles" EXCLUDE
|
|
||||||
PATTERN "Makefile" EXCLUDE
|
|
||||||
PATTERN "*.cmake" EXCLUDE
|
|
||||||
PATTERN "*.cpp" EXCLUDE
|
|
||||||
PATTERN "*.py" EXCLUDE)
|
|
||||||
endif()
|
|
||||||
endfunction()
|
|
||||||
|
|
||||||
# Helper function to install Cython scripts and handle multiple build types where the scripts
|
|
||||||
# should be installed to all build type toolboxes
|
|
||||||
#
|
|
||||||
# Arguments:
|
|
||||||
# source_directory: The source directory to be installed. "The last component of each directory
|
|
||||||
# name is appended to the destination directory but a trailing slash may be
|
|
||||||
# used to avoid this because it leaves the last component empty."
|
|
||||||
# (https://cmake.org/cmake/help/v3.3/command/install.html?highlight=install#installing-directories)
|
|
||||||
# dest_directory: The destination directory to install to.
|
|
||||||
# patterns: list of file patterns to install
|
|
||||||
function(install_cython_scripts source_directory dest_directory patterns)
|
|
||||||
set(patterns_args "")
|
|
||||||
set(exclude_patterns "")
|
|
||||||
|
|
||||||
foreach(pattern ${patterns})
|
|
||||||
list(APPEND patterns_args PATTERN "${pattern}")
|
|
||||||
endforeach()
|
|
||||||
if(GTSAM_BUILD_TYPE_POSTFIXES)
|
|
||||||
foreach(build_type ${CMAKE_CONFIGURATION_TYPES})
|
|
||||||
string(TOUPPER "${build_type}" build_type_upper)
|
|
||||||
if(${build_type_upper} STREQUAL "RELEASE")
|
|
||||||
set(build_type_tag "") # Don't create release mode tag on installed directory
|
|
||||||
else()
|
|
||||||
set(build_type_tag "${build_type}")
|
|
||||||
endif()
|
|
||||||
# Split up filename to strip trailing '/' in GTSAM_CYTHON_INSTALL_PATH if there is one
|
|
||||||
get_filename_component(location "${dest_directory}" PATH)
|
|
||||||
get_filename_component(name "${dest_directory}" NAME)
|
|
||||||
install(DIRECTORY "${source_directory}" DESTINATION "${location}/${name}${build_type_tag}" CONFIGURATIONS "${build_type}"
|
|
||||||
FILES_MATCHING ${patterns_args} PATTERN "${exclude_patterns}" EXCLUDE)
|
|
||||||
endforeach()
|
|
||||||
else()
|
|
||||||
install(DIRECTORY "${source_directory}" DESTINATION "${dest_directory}" FILES_MATCHING ${patterns_args} PATTERN "${exclude_patterns}" EXCLUDE)
|
|
||||||
endif()
|
|
||||||
|
|
||||||
endfunction()
|
|
||||||
|
|
||||||
# Helper function to install specific files and handle multiple build types where the scripts
|
|
||||||
# should be installed to all build type toolboxes
|
|
||||||
#
|
|
||||||
# Arguments:
|
|
||||||
# source_files: The source files to be installed.
|
|
||||||
# dest_directory: The destination directory to install to.
|
|
||||||
function(install_cython_files source_files dest_directory)
|
|
||||||
|
|
||||||
if(GTSAM_BUILD_TYPE_POSTFIXES)
|
|
||||||
foreach(build_type ${CMAKE_CONFIGURATION_TYPES})
|
|
||||||
string(TOUPPER "${build_type}" build_type_upper)
|
|
||||||
if(${build_type_upper} STREQUAL "RELEASE")
|
|
||||||
set(build_type_tag "") # Don't create release mode tag on installed directory
|
|
||||||
else()
|
|
||||||
set(build_type_tag "${build_type}")
|
|
||||||
endif()
|
|
||||||
# Split up filename to strip trailing '/' in GTSAM_CYTHON_INSTALL_PATH if there is one
|
|
||||||
get_filename_component(location "${dest_directory}" PATH)
|
|
||||||
get_filename_component(name "${dest_directory}" NAME)
|
|
||||||
install(FILES "${source_files}" DESTINATION "${location}/${name}${build_type_tag}" CONFIGURATIONS "${build_type}")
|
|
||||||
endforeach()
|
|
||||||
else()
|
|
||||||
install(FILES "${source_files}" DESTINATION "${dest_directory}")
|
|
||||||
endif()
|
|
||||||
|
|
||||||
endfunction()
|
|
||||||
|
|
||||||
|
|
@ -15,7 +15,7 @@ function(GtsamMakeConfigFile PACKAGE_NAME)
|
||||||
get_filename_component(name "${ARGV1}" NAME_WE)
|
get_filename_component(name "${ARGV1}" NAME_WE)
|
||||||
set(EXTRA_FILE "${name}.cmake")
|
set(EXTRA_FILE "${name}.cmake")
|
||||||
configure_file(${ARGV1} "${PROJECT_BINARY_DIR}/${EXTRA_FILE}" @ONLY)
|
configure_file(${ARGV1} "${PROJECT_BINARY_DIR}/${EXTRA_FILE}" @ONLY)
|
||||||
install(FILES "${PROJECT_BINARY_DIR}/${EXTRA_FILE}" DESTINATION "${CMAKE_INSTALL_PREFIX}/${DEF_INSTALL_CMAKE_DIR}")
|
install(FILES "${PROJECT_BINARY_DIR}/${EXTRA_FILE}" DESTINATION "${DEF_INSTALL_CMAKE_DIR}")
|
||||||
else()
|
else()
|
||||||
set(EXTRA_FILE "_does_not_exist_")
|
set(EXTRA_FILE "_does_not_exist_")
|
||||||
endif()
|
endif()
|
||||||
|
|
|
||||||
|
|
@ -1,46 +1,64 @@
|
||||||
|
# Check / set dependent variables for MATLAB wrapper
|
||||||
|
if(GTSAM_INSTALL_MATLAB_TOOLBOX)
|
||||||
|
find_package(Matlab COMPONENTS MEX_COMPILER REQUIRED)
|
||||||
|
if(NOT Matlab_MEX_COMPILER)
|
||||||
|
message(FATAL_ERROR "Cannot find MEX compiler binary. Please check your Matlab installation and ensure MEX in installed as well.")
|
||||||
|
endif()
|
||||||
|
|
||||||
|
if(GTSAM_BUILD_TYPE_POSTFIXES)
|
||||||
|
set(CURRENT_POSTFIX ${CMAKE_${CMAKE_BUILD_TYPE_UPPER}_POSTFIX})
|
||||||
|
endif()
|
||||||
|
|
||||||
|
if(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.")
|
||||||
|
endif()
|
||||||
|
endif()
|
||||||
|
|
||||||
# Set up cache options
|
# Set up cache options
|
||||||
option(GTSAM_MEX_BUILD_STATIC_MODULE "Build MATLAB wrapper statically (increases build time)" OFF)
|
option(GTSAM_MEX_BUILD_STATIC_MODULE "Build MATLAB wrapper statically (increases build time)" OFF)
|
||||||
set(GTSAM_BUILD_MEX_BINARY_FLAGS "" CACHE STRING "Extra flags for running Matlab MEX compilation")
|
set(GTSAM_BUILD_MEX_BINARY_FLAGS "" CACHE STRING "Extra flags for running Matlab MEX compilation")
|
||||||
set(GTSAM_TOOLBOX_INSTALL_PATH "" CACHE PATH "Matlab toolbox destination, blank defaults to CMAKE_INSTALL_PREFIX/gtsam_toolbox")
|
set(GTSAM_TOOLBOX_INSTALL_PATH "" CACHE PATH "Matlab toolbox destination, blank defaults to CMAKE_INSTALL_PREFIX/gtsam_toolbox")
|
||||||
if(NOT GTSAM_TOOLBOX_INSTALL_PATH)
|
if(NOT GTSAM_TOOLBOX_INSTALL_PATH)
|
||||||
set(GTSAM_TOOLBOX_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/gtsam_toolbox")
|
set(GTSAM_TOOLBOX_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/gtsam_toolbox")
|
||||||
endif()
|
endif()
|
||||||
|
|
||||||
# GTSAM_MEX_BUILD_STATIC_MODULE is not for Windows - on Windows any static
|
# GTSAM_MEX_BUILD_STATIC_MODULE is not for Windows - on Windows any static
|
||||||
# are already compiled into the library by the linker
|
# are already compiled into the library by the linker
|
||||||
if(GTSAM_MEX_BUILD_STATIC_MODULE AND WIN32)
|
if(GTSAM_MEX_BUILD_STATIC_MODULE AND WIN32)
|
||||||
message(FATAL_ERROR "GTSAM_MEX_BUILD_STATIC_MODULE should not be set on Windows - the linker already automatically compiles in any dependent static libraries. To create a standalone toolbox pacakge, simply ensure that CMake finds the static versions of all dependent libraries (Boost, etc).")
|
message(FATAL_ERROR "GTSAM_MEX_BUILD_STATIC_MODULE should not be set on Windows - the linker already automatically compiles in any dependent static libraries. To create a standalone toolbox pacakge, simply ensure that CMake finds the static versions of all dependent libraries (Boost, etc).")
|
||||||
endif()
|
endif()
|
||||||
|
|
||||||
# Try to automatically configure mex path
|
set(MEX_COMMAND ${Matlab_MEX_COMPILER} CACHE PATH "Path to MATLAB MEX compiler")
|
||||||
if(APPLE)
|
set(MATLAB_ROOT ${Matlab_ROOT_DIR} CACHE PATH "Path to MATLAB installation root (e.g. /usr/local/MATLAB/R2012a)")
|
||||||
file(GLOB matlab_bin_directories "/Applications/MATLAB*/bin")
|
|
||||||
set(mex_program_name "mex")
|
# Try to automatically configure mex path from provided custom `bin` path.
|
||||||
elseif(WIN32)
|
if(GTSAM_CUSTOM_MATLAB_PATH)
|
||||||
file(GLOB matlab_bin_directories "C:/Program Files*/MATLAB/*/bin")
|
set(matlab_bin_directory ${GTSAM_CUSTOM_MATLAB_PATH})
|
||||||
set(mex_program_name "mex.bat")
|
|
||||||
else()
|
if(WIN32)
|
||||||
file(GLOB matlab_bin_directories "/usr/local/MATLAB/*/bin")
|
set(mex_program_name "mex.bat")
|
||||||
set(mex_program_name "mex")
|
else()
|
||||||
|
set(mex_program_name "mex")
|
||||||
|
endif()
|
||||||
|
|
||||||
|
# Run find_program explicitly putting $PATH after our predefined program
|
||||||
|
# directories using 'ENV PATH' and 'NO_SYSTEM_ENVIRONMENT_PATH' - this prevents
|
||||||
|
# finding the LaTeX mex program (totally unrelated to MATLAB Mex) when LaTeX is
|
||||||
|
# on the system path.
|
||||||
|
find_program(MEX_COMMAND ${mex_program_name}
|
||||||
|
PATHS ${matlab_bin_directory} ENV PATH
|
||||||
|
NO_DEFAULT_PATH)
|
||||||
|
|
||||||
|
mark_as_advanced(FORCE MEX_COMMAND)
|
||||||
|
# Now that we have mex, trace back to find the Matlab installation root
|
||||||
|
get_filename_component(MEX_COMMAND "${MEX_COMMAND}" REALPATH)
|
||||||
|
get_filename_component(mex_path "${MEX_COMMAND}" PATH)
|
||||||
|
if(mex_path MATCHES ".*/win64$")
|
||||||
|
get_filename_component(MATLAB_ROOT "${mex_path}/../.." ABSOLUTE)
|
||||||
|
else()
|
||||||
|
get_filename_component(MATLAB_ROOT "${mex_path}/.." ABSOLUTE)
|
||||||
|
endif()
|
||||||
endif()
|
endif()
|
||||||
# Run find_program explicitly putting $PATH after our predefined program
|
|
||||||
# directories using 'ENV PATH' and 'NO_SYSTEM_ENVIRONMENT_PATH' - this prevents
|
|
||||||
# finding the LaTeX mex program (totally unrelated to MATLAB Mex) when LaTeX is
|
|
||||||
# on the system path.
|
|
||||||
list(REVERSE matlab_bin_directories) # Reverse list so the highest version (sorted alphabetically) is preferred
|
|
||||||
find_program(MEX_COMMAND ${mex_program_name}
|
|
||||||
PATHS ${matlab_bin_directories} ENV PATH
|
|
||||||
NO_DEFAULT_PATH)
|
|
||||||
mark_as_advanced(FORCE MEX_COMMAND)
|
|
||||||
# Now that we have mex, trace back to find the Matlab installation root
|
|
||||||
get_filename_component(MEX_COMMAND "${MEX_COMMAND}" REALPATH)
|
|
||||||
get_filename_component(mex_path "${MEX_COMMAND}" PATH)
|
|
||||||
if(mex_path MATCHES ".*/win64$")
|
|
||||||
get_filename_component(MATLAB_ROOT "${mex_path}/../.." ABSOLUTE)
|
|
||||||
else()
|
|
||||||
get_filename_component(MATLAB_ROOT "${mex_path}/.." ABSOLUTE)
|
|
||||||
endif()
|
|
||||||
set(MATLAB_ROOT "${MATLAB_ROOT}" CACHE PATH "Path to MATLAB installation root (e.g. /usr/local/MATLAB/R2012a)")
|
|
||||||
|
|
||||||
|
|
||||||
# User-friendly wrapping function. Builds a mex module from the provided
|
# User-friendly wrapping function. Builds a mex module from the provided
|
||||||
|
|
@ -209,15 +227,30 @@ function(wrap_library_internal interfaceHeader linkLibraries extraIncludeDirs ex
|
||||||
|
|
||||||
# Set up generation of module source file
|
# Set up generation of module source file
|
||||||
file(MAKE_DIRECTORY "${generated_files_path}")
|
file(MAKE_DIRECTORY "${generated_files_path}")
|
||||||
|
|
||||||
|
find_package(PythonInterp
|
||||||
|
${GTSAM_PYTHON_VERSION}
|
||||||
|
EXACT
|
||||||
|
REQUIRED)
|
||||||
|
find_package(PythonLibs
|
||||||
|
${GTSAM_PYTHON_VERSION}
|
||||||
|
EXACT
|
||||||
|
REQUIRED)
|
||||||
|
|
||||||
|
|
||||||
|
set(_ignore gtsam::Point2
|
||||||
|
gtsam::Point3)
|
||||||
add_custom_command(
|
add_custom_command(
|
||||||
OUTPUT ${generated_cpp_file}
|
OUTPUT ${generated_cpp_file}
|
||||||
DEPENDS ${interfaceHeader} wrap ${module_library_target} ${otherLibraryTargets} ${otherSourcesAndObjects}
|
DEPENDS ${interfaceHeader} ${module_library_target} ${otherLibraryTargets} ${otherSourcesAndObjects}
|
||||||
COMMAND
|
COMMAND
|
||||||
wrap --matlab
|
${PYTHON_EXECUTABLE}
|
||||||
${modulePath}
|
${CMAKE_SOURCE_DIR}/wrap/matlab_wrapper.py
|
||||||
${moduleName}
|
--src ${interfaceHeader}
|
||||||
${generated_files_path}
|
--module_name ${moduleName}
|
||||||
${matlab_h_path}
|
--out ${generated_files_path}
|
||||||
|
--top_module_namespaces ${moduleName}
|
||||||
|
--ignore ${_ignore}
|
||||||
VERBATIM
|
VERBATIM
|
||||||
WORKING_DIRECTORY ${generated_files_path})
|
WORKING_DIRECTORY ${generated_files_path})
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -1,14 +1,3 @@
|
||||||
# print configuration variables
|
|
||||||
# Usage:
|
|
||||||
#print_config_flag(${GTSAM_BUILD_TESTS} "Build Tests ")
|
|
||||||
function(print_config_flag flag msg)
|
|
||||||
if (flag)
|
|
||||||
message(STATUS " ${msg}: Enabled")
|
|
||||||
else ()
|
|
||||||
message(STATUS " ${msg}: Disabled")
|
|
||||||
endif ()
|
|
||||||
endfunction()
|
|
||||||
|
|
||||||
# Based on https://github.com/jimbraun/XCDF/blob/master/cmake/CMakePadString.cmake
|
# Based on https://github.com/jimbraun/XCDF/blob/master/cmake/CMakePadString.cmake
|
||||||
function(string_pad RESULT_NAME DESIRED_LENGTH VALUE)
|
function(string_pad RESULT_NAME DESIRED_LENGTH VALUE)
|
||||||
string(LENGTH "${VALUE}" VALUE_LENGTH)
|
string(LENGTH "${VALUE}" VALUE_LENGTH)
|
||||||
|
|
@ -26,6 +15,27 @@ endfunction()
|
||||||
set(GTSAM_PRINT_SUMMARY_PADDING_LENGTH 50 CACHE STRING "Padding of cmake summary report lines after configuring.")
|
set(GTSAM_PRINT_SUMMARY_PADDING_LENGTH 50 CACHE STRING "Padding of cmake summary report lines after configuring.")
|
||||||
mark_as_advanced(GTSAM_PRINT_SUMMARY_PADDING_LENGTH)
|
mark_as_advanced(GTSAM_PRINT_SUMMARY_PADDING_LENGTH)
|
||||||
|
|
||||||
|
# print configuration variables with automatic padding
|
||||||
|
# Usage:
|
||||||
|
# print_config(${GTSAM_BUILD_TESTS} "Build Tests")
|
||||||
|
function(print_config config msg)
|
||||||
|
string_pad(padded_config ${GTSAM_PRINT_SUMMARY_PADDING_LENGTH} " ${config}")
|
||||||
|
message(STATUS "${padded_config}: ${msg}")
|
||||||
|
endfunction()
|
||||||
|
|
||||||
|
# print configuration variable with enabled/disabled value
|
||||||
|
# Usage:
|
||||||
|
# print_enabled_config(${GTSAM_BUILD_TESTS} "Build Tests ")
|
||||||
|
function(print_enabled_config config msg)
|
||||||
|
string_pad(padded_msg ${GTSAM_PRINT_SUMMARY_PADDING_LENGTH} " ${msg}")
|
||||||
|
if (config)
|
||||||
|
message(STATUS "${padded_msg}: Enabled")
|
||||||
|
else ()
|
||||||
|
message(STATUS "${padded_msg}: Disabled")
|
||||||
|
endif ()
|
||||||
|
endfunction()
|
||||||
|
|
||||||
|
|
||||||
# Print " var: ${var}" padding with spaces as needed
|
# Print " var: ${var}" padding with spaces as needed
|
||||||
function(print_padded variable_name)
|
function(print_padded variable_name)
|
||||||
string_pad(padded_prop ${GTSAM_PRINT_SUMMARY_PADDING_LENGTH} " ${variable_name}")
|
string_pad(padded_prop ${GTSAM_PRINT_SUMMARY_PADDING_LENGTH} " ${variable_name}")
|
||||||
|
|
@ -36,16 +46,16 @@ endfunction()
|
||||||
# Prints all the relevant CMake build options for a given target:
|
# Prints all the relevant CMake build options for a given target:
|
||||||
function(print_build_options_for_target target_name_)
|
function(print_build_options_for_target target_name_)
|
||||||
print_padded(GTSAM_COMPILE_FEATURES_PUBLIC)
|
print_padded(GTSAM_COMPILE_FEATURES_PUBLIC)
|
||||||
print_padded(GTSAM_COMPILE_OPTIONS_PRIVATE)
|
# print_padded(GTSAM_COMPILE_OPTIONS_PRIVATE)
|
||||||
print_padded(GTSAM_COMPILE_OPTIONS_PUBLIC)
|
print_padded(GTSAM_COMPILE_OPTIONS_PUBLIC)
|
||||||
print_padded(GTSAM_COMPILE_DEFINITIONS_PRIVATE)
|
# print_padded(GTSAM_COMPILE_DEFINITIONS_PRIVATE)
|
||||||
print_padded(GTSAM_COMPILE_DEFINITIONS_PUBLIC)
|
print_padded(GTSAM_COMPILE_DEFINITIONS_PUBLIC)
|
||||||
|
|
||||||
foreach(build_type ${GTSAM_CMAKE_CONFIGURATION_TYPES})
|
foreach(build_type ${GTSAM_CMAKE_CONFIGURATION_TYPES})
|
||||||
string(TOUPPER "${build_type}" build_type_toupper)
|
string(TOUPPER "${build_type}" build_type_toupper)
|
||||||
print_padded(GTSAM_COMPILE_OPTIONS_PRIVATE_${build_type_toupper})
|
# print_padded(GTSAM_COMPILE_OPTIONS_PRIVATE_${build_type_toupper})
|
||||||
print_padded(GTSAM_COMPILE_OPTIONS_PUBLIC_${build_type_toupper})
|
print_padded(GTSAM_COMPILE_OPTIONS_PUBLIC_${build_type_toupper})
|
||||||
print_padded(GTSAM_COMPILE_DEFINITIONS_PRIVATE_${build_type_toupper})
|
# print_padded(GTSAM_COMPILE_DEFINITIONS_PRIVATE_${build_type_toupper})
|
||||||
print_padded(GTSAM_COMPILE_DEFINITIONS_PUBLIC_${build_type_toupper})
|
print_padded(GTSAM_COMPILE_DEFINITIONS_PUBLIC_${build_type_toupper})
|
||||||
endforeach()
|
endforeach()
|
||||||
endfunction()
|
endfunction()
|
||||||
|
|
|
||||||
|
|
@ -1,102 +0,0 @@
|
||||||
#Setup cache options
|
|
||||||
set(GTSAM_PYTHON_VERSION "Default" CACHE STRING "Target python version for GTSAM python module. Use 'Default' to chose the default version")
|
|
||||||
set(GTSAM_BUILD_PYTHON_FLAGS "" CACHE STRING "Extra flags for running Matlab PYTHON compilation")
|
|
||||||
set(GTSAM_PYTHON_INSTALL_PATH "" CACHE PATH "Python toolbox destination, blank defaults to CMAKE_INSTALL_PREFIX/borg/python")
|
|
||||||
if(NOT GTSAM_PYTHON_INSTALL_PATH)
|
|
||||||
set(GTSAM_PYTHON_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/borg/python")
|
|
||||||
endif()
|
|
||||||
|
|
||||||
#Author: Paul Furgale Modified by Andrew Melim
|
|
||||||
function(wrap_python TARGET_NAME PYTHON_MODULE_DIRECTORY)
|
|
||||||
# # Boost
|
|
||||||
# find_package(Boost COMPONENTS python filesystem system REQUIRED)
|
|
||||||
# include_directories(${Boost_INCLUDE_DIRS})
|
|
||||||
|
|
||||||
# # Find Python
|
|
||||||
# FIND_PACKAGE(PythonLibs 2.7 REQUIRED)
|
|
||||||
# INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_DIRS})
|
|
||||||
|
|
||||||
IF(APPLE)
|
|
||||||
# The apple framework headers don't include the numpy headers for some reason.
|
|
||||||
GET_FILENAME_COMPONENT(REAL_PYTHON_INCLUDE ${PYTHON_INCLUDE_DIRS} REALPATH)
|
|
||||||
IF( ${REAL_PYTHON_INCLUDE} MATCHES Python.framework)
|
|
||||||
message("Trying to find extra headers for numpy from ${REAL_PYTHON_INCLUDE}.")
|
|
||||||
message("Looking in ${REAL_PYTHON_INCLUDE}/../../Extras/lib/python/numpy/core/include/numpy")
|
|
||||||
FIND_PATH(NUMPY_INCLUDE_DIR arrayobject.h
|
|
||||||
${REAL_PYTHON_INCLUDE}/../../Extras/lib/python/numpy/core/include/numpy
|
|
||||||
${REAL_PYTHON_INCLUDE}/numpy
|
|
||||||
)
|
|
||||||
IF(${NUMPY_INCLUDE_DIR} MATCHES NOTFOUND)
|
|
||||||
message("Unable to find numpy include directories: ${NUMPY_INCLUDE_DIR}")
|
|
||||||
ELSE()
|
|
||||||
message("Found headers at ${NUMPY_INCLUDE_DIR}")
|
|
||||||
INCLUDE_DIRECTORIES(${NUMPY_INCLUDE_DIR})
|
|
||||||
INCLUDE_DIRECTORIES(${NUMPY_INCLUDE_DIR}/..)
|
|
||||||
ENDIF()
|
|
||||||
ENDIF()
|
|
||||||
ENDIF(APPLE)
|
|
||||||
|
|
||||||
if(MSVC)
|
|
||||||
add_library(${moduleName}_python MODULE ${ARGN})
|
|
||||||
set_target_properties(${moduleName}_python PROPERTIES
|
|
||||||
OUTPUT_NAME ${moduleName}_python
|
|
||||||
CLEAN_DIRECT_OUTPUT 1
|
|
||||||
VERSION 1
|
|
||||||
SOVERSION 0
|
|
||||||
SUFFIX ".pyd")
|
|
||||||
target_link_libraries(${moduleName}_python ${Boost_PYTHON_LIBRARY} ${PYTHON_LIBRARY} ${gtsamLib}) #temp
|
|
||||||
|
|
||||||
set(PYLIB_OUTPUT_FILE $<TARGET_FILE:${moduleName}_python>)
|
|
||||||
message(${PYLIB_OUTPUT_FILE})
|
|
||||||
get_filename_component(PYLIB_OUTPUT_NAME ${PYLIB_OUTPUT_FILE} NAME_WE)
|
|
||||||
set(PYLIB_SO_NAME ${PYLIB_OUTPUT_NAME}.pyd)
|
|
||||||
|
|
||||||
ELSE()
|
|
||||||
# Create a shared library
|
|
||||||
add_library(${moduleName}_python SHARED ${generated_cpp_file})
|
|
||||||
|
|
||||||
set_target_properties(${moduleName}_python PROPERTIES
|
|
||||||
OUTPUT_NAME ${moduleName}_python
|
|
||||||
CLEAN_DIRECT_OUTPUT 1)
|
|
||||||
target_link_libraries(${moduleName}_python ${Boost_PYTHON_LIBRARY} ${PYTHON_LIBRARY} ${gtsamLib}) #temp
|
|
||||||
# On OSX and Linux, the python library must end in the extension .so. Build this
|
|
||||||
# filename here.
|
|
||||||
get_property(PYLIB_OUTPUT_FILE TARGET ${moduleName}_python PROPERTY LOCATION)
|
|
||||||
set(PYLIB_OUTPUT_FILE $<TARGET_FILE:${moduleName}_python>)
|
|
||||||
message(${PYLIB_OUTPUT_FILE})
|
|
||||||
get_filename_component(PYLIB_OUTPUT_NAME ${PYLIB_OUTPUT_FILE} NAME_WE)
|
|
||||||
set(PYLIB_SO_NAME lib${moduleName}_python.so)
|
|
||||||
ENDIF(MSVC)
|
|
||||||
|
|
||||||
# Installs the library in the gtsam folder, which is used by setup.py to create the gtsam package
|
|
||||||
set(PYTHON_MODULE_DIRECTORY ${CMAKE_SOURCE_DIR}/python/gtsam)
|
|
||||||
# Cause the library to be output in the correct directory.
|
|
||||||
add_custom_command(TARGET ${moduleName}_python
|
|
||||||
POST_BUILD
|
|
||||||
COMMAND cp -v ${PYLIB_OUTPUT_FILE} ${PYTHON_MODULE_DIRECTORY}/${PYLIB_SO_NAME}
|
|
||||||
WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}
|
|
||||||
COMMENT "Copying library files to python directory" )
|
|
||||||
|
|
||||||
# Cause the library to be output in the correct directory.
|
|
||||||
add_custom_command(TARGET ${TARGET_NAME}
|
|
||||||
POST_BUILD
|
|
||||||
COMMAND cp -v ${PYLIB_OUTPUT_FILE} ${PYTHON_MODULE_DIRECTORY}/${PYLIB_SO_NAME}
|
|
||||||
WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}
|
|
||||||
COMMENT "Copying library files to python directory" )
|
|
||||||
|
|
||||||
get_directory_property(AMCF ADDITIONAL_MAKE_CLEAN_FILES)
|
|
||||||
list(APPEND AMCF ${PYTHON_MODULE_DIRECTORY}/${PYLIB_SO_NAME})
|
|
||||||
set_directory_properties(PROPERTIES ADDITIONAL_MAKE_CLEAN_FILES "${AMCF}")
|
|
||||||
endfunction(wrap_python)
|
|
||||||
|
|
||||||
# Macro to get list of subdirectories
|
|
||||||
macro(SUBDIRLIST result curdir)
|
|
||||||
file(GLOB children RELATIVE ${curdir} ${curdir}/*)
|
|
||||||
set(dirlist "")
|
|
||||||
foreach(child ${children})
|
|
||||||
if(IS_DIRECTORY ${curdir}/${child})
|
|
||||||
list(APPEND dirlist ${child})
|
|
||||||
endif()
|
|
||||||
endforeach()
|
|
||||||
set(${result} ${dirlist})
|
|
||||||
endmacro()
|
|
||||||
|
|
@ -0,0 +1,34 @@
|
||||||
|
# Build list of possible allocators
|
||||||
|
set(possible_allocators "")
|
||||||
|
if(GTSAM_USE_TBB)
|
||||||
|
list(APPEND possible_allocators TBB)
|
||||||
|
set(preferred_allocator TBB)
|
||||||
|
else()
|
||||||
|
list(APPEND possible_allocators BoostPool STL)
|
||||||
|
set(preferred_allocator STL)
|
||||||
|
endif()
|
||||||
|
if(GOOGLE_PERFTOOLS_FOUND)
|
||||||
|
list(APPEND possible_allocators tcmalloc)
|
||||||
|
endif()
|
||||||
|
|
||||||
|
# Check if current allocator choice is valid and set cache option
|
||||||
|
list(FIND possible_allocators "${GTSAM_DEFAULT_ALLOCATOR}" allocator_valid)
|
||||||
|
if(allocator_valid EQUAL -1)
|
||||||
|
set(GTSAM_DEFAULT_ALLOCATOR ${preferred_allocator} CACHE STRING "Default allocator" FORCE)
|
||||||
|
else()
|
||||||
|
set(GTSAM_DEFAULT_ALLOCATOR ${preferred_allocator} CACHE STRING "Default allocator")
|
||||||
|
endif()
|
||||||
|
set_property(CACHE GTSAM_DEFAULT_ALLOCATOR PROPERTY STRINGS ${possible_allocators})
|
||||||
|
mark_as_advanced(GTSAM_DEFAULT_ALLOCATOR)
|
||||||
|
|
||||||
|
# Define compile flags depending on allocator
|
||||||
|
if("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "BoostPool")
|
||||||
|
set(GTSAM_ALLOCATOR_BOOSTPOOL 1)
|
||||||
|
elseif("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "STL")
|
||||||
|
set(GTSAM_ALLOCATOR_STL 1)
|
||||||
|
elseif("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "TBB")
|
||||||
|
set(GTSAM_ALLOCATOR_TBB 1)
|
||||||
|
elseif("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "tcmalloc")
|
||||||
|
set(GTSAM_ALLOCATOR_STL 1) # tcmalloc replaces malloc, so to use it we use the STL allocator
|
||||||
|
list(APPEND GTSAM_ADDITIONAL_LIBRARIES "tcmalloc")
|
||||||
|
endif()
|
||||||
|
|
@ -0,0 +1,56 @@
|
||||||
|
###############################################################################
|
||||||
|
# Find boost
|
||||||
|
|
||||||
|
# To change the path for boost, you will need to set:
|
||||||
|
# BOOST_ROOT: path to install prefix for boost
|
||||||
|
# Boost_NO_SYSTEM_PATHS: set to true to keep the find script from ignoring BOOST_ROOT
|
||||||
|
|
||||||
|
if(MSVC)
|
||||||
|
# By default, boost only builds static libraries on windows
|
||||||
|
set(Boost_USE_STATIC_LIBS ON) # only find static libs
|
||||||
|
# If we ever reset above on windows and, ...
|
||||||
|
# If we use Boost shared libs, disable auto linking.
|
||||||
|
# Some libraries, at least Boost Program Options, rely on this to export DLL symbols.
|
||||||
|
if(NOT Boost_USE_STATIC_LIBS)
|
||||||
|
list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC BOOST_ALL_NO_LIB BOOST_ALL_DYN_LINK)
|
||||||
|
endif()
|
||||||
|
# Virtual memory range for PCH exceeded on VS2015
|
||||||
|
if(MSVC_VERSION LESS 1910) # older than VS2017
|
||||||
|
list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE -Zm295)
|
||||||
|
endif()
|
||||||
|
endif()
|
||||||
|
|
||||||
|
|
||||||
|
# Store these in variables so they are automatically replicated in GTSAMConfig.cmake and such.
|
||||||
|
set(BOOST_FIND_MINIMUM_VERSION 1.58)
|
||||||
|
set(BOOST_FIND_MINIMUM_COMPONENTS serialization system filesystem thread program_options date_time timer chrono regex)
|
||||||
|
|
||||||
|
find_package(Boost ${BOOST_FIND_MINIMUM_VERSION} COMPONENTS ${BOOST_FIND_MINIMUM_COMPONENTS})
|
||||||
|
|
||||||
|
# Required components
|
||||||
|
if(NOT Boost_SERIALIZATION_LIBRARY OR NOT Boost_SYSTEM_LIBRARY OR NOT Boost_FILESYSTEM_LIBRARY OR
|
||||||
|
NOT Boost_THREAD_LIBRARY OR NOT Boost_DATE_TIME_LIBRARY)
|
||||||
|
message(FATAL_ERROR "Missing required Boost components >= v1.58, please install/upgrade Boost or configure your search paths.")
|
||||||
|
endif()
|
||||||
|
|
||||||
|
option(GTSAM_DISABLE_NEW_TIMERS "Disables using Boost.chrono for timing" OFF)
|
||||||
|
# Allow for not using the timer libraries on boost < 1.48 (GTSAM timing code falls back to old timer library)
|
||||||
|
set(GTSAM_BOOST_LIBRARIES
|
||||||
|
Boost::serialization
|
||||||
|
Boost::system
|
||||||
|
Boost::filesystem
|
||||||
|
Boost::thread
|
||||||
|
Boost::date_time
|
||||||
|
Boost::regex
|
||||||
|
)
|
||||||
|
if (GTSAM_DISABLE_NEW_TIMERS)
|
||||||
|
message("WARNING: GTSAM timing instrumentation manually disabled")
|
||||||
|
list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC DGTSAM_DISABLE_NEW_TIMERS)
|
||||||
|
else()
|
||||||
|
if(Boost_TIMER_LIBRARY)
|
||||||
|
list(APPEND GTSAM_BOOST_LIBRARIES Boost::timer Boost::chrono)
|
||||||
|
else()
|
||||||
|
list(APPEND GTSAM_BOOST_LIBRARIES rt) # When using the header-only boost timer library, need -lrt
|
||||||
|
message("WARNING: GTSAM timing instrumentation will use the older, less accurate, Boost timer library because boost older than 1.48 was found.")
|
||||||
|
endif()
|
||||||
|
endif()
|
||||||
|
|
@ -0,0 +1,14 @@
|
||||||
|
###############################################################################
|
||||||
|
# Support ccache, if installed
|
||||||
|
if(NOT MSVC AND NOT XCODE_VERSION)
|
||||||
|
find_program(CCACHE_FOUND ccache)
|
||||||
|
if(CCACHE_FOUND)
|
||||||
|
if(GTSAM_BUILD_WITH_CCACHE)
|
||||||
|
set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE ccache)
|
||||||
|
set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK ccache)
|
||||||
|
else()
|
||||||
|
set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "")
|
||||||
|
set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK "")
|
||||||
|
endif()
|
||||||
|
endif(CCACHE_FOUND)
|
||||||
|
endif()
|
||||||
|
|
@ -0,0 +1,28 @@
|
||||||
|
#JLBC: is all this actually used by someone? could it be removed?
|
||||||
|
|
||||||
|
# Flags for choosing default packaging tools
|
||||||
|
set(CPACK_SOURCE_GENERATOR "TGZ" CACHE STRING "CPack Default Source Generator")
|
||||||
|
set(CPACK_GENERATOR "TGZ" CACHE STRING "CPack Default Binary Generator")
|
||||||
|
|
||||||
|
###############################################################################
|
||||||
|
# Set up CPack
|
||||||
|
set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "GTSAM")
|
||||||
|
set(CPACK_PACKAGE_VENDOR "Frank Dellaert, Georgia Institute of Technology")
|
||||||
|
set(CPACK_PACKAGE_CONTACT "Frank Dellaert, dellaert@cc.gatech.edu")
|
||||||
|
set(CPACK_PACKAGE_DESCRIPTION_FILE "${CMAKE_CURRENT_SOURCE_DIR}/README.md")
|
||||||
|
set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE")
|
||||||
|
set(CPACK_PACKAGE_VERSION_MAJOR ${GTSAM_VERSION_MAJOR})
|
||||||
|
set(CPACK_PACKAGE_VERSION_MINOR ${GTSAM_VERSION_MINOR})
|
||||||
|
set(CPACK_PACKAGE_VERSION_PATCH ${GTSAM_VERSION_PATCH})
|
||||||
|
set(CPACK_PACKAGE_INSTALL_DIRECTORY "CMake ${CMake_VERSION_MAJOR}.${CMake_VERSION_MINOR}")
|
||||||
|
#set(CPACK_INSTALLED_DIRECTORIES "doc;.") # Include doc directory
|
||||||
|
#set(CPACK_INSTALLED_DIRECTORIES ".") # FIXME: throws error
|
||||||
|
set(CPACK_SOURCE_IGNORE_FILES "/build*;/\\\\.;/makestats.sh$")
|
||||||
|
set(CPACK_SOURCE_IGNORE_FILES "${CPACK_SOURCE_IGNORE_FILES}" "/gtsam_unstable/")
|
||||||
|
set(CPACK_SOURCE_IGNORE_FILES "${CPACK_SOURCE_IGNORE_FILES}" "/package_scripts/")
|
||||||
|
set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}")
|
||||||
|
#set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-aspn${GTSAM_VERSION_PATCH}") # Used for creating ASPN tarballs
|
||||||
|
|
||||||
|
# Deb-package specific cpack
|
||||||
|
set(CPACK_DEBIAN_PACKAGE_NAME "libgtsam-dev")
|
||||||
|
set(CPACK_DEBIAN_PACKAGE_DEPENDS "libboost-dev (>= 1.58)") #Example: "libc6 (>= 2.3.1-6), libgcc1 (>= 1:3.4.2-12)")
|
||||||
|
|
@ -0,0 +1,77 @@
|
||||||
|
###############################################################################
|
||||||
|
# Option for using system Eigen or GTSAM-bundled Eigen
|
||||||
|
|
||||||
|
option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" OFF)
|
||||||
|
|
||||||
|
if(NOT GTSAM_USE_SYSTEM_EIGEN)
|
||||||
|
# This option only makes sense if using the embedded copy of Eigen, it is
|
||||||
|
# used to decide whether to *install* the "unsupported" module:
|
||||||
|
option(GTSAM_WITH_EIGEN_UNSUPPORTED "Install Eigen's unsupported modules" OFF)
|
||||||
|
endif()
|
||||||
|
|
||||||
|
# Switch for using system Eigen or GTSAM-bundled Eigen
|
||||||
|
if(GTSAM_USE_SYSTEM_EIGEN)
|
||||||
|
find_package(Eigen3 REQUIRED)
|
||||||
|
|
||||||
|
# Use generic Eigen include paths e.g. <Eigen/Core>
|
||||||
|
set(GTSAM_EIGEN_INCLUDE_FOR_INSTALL "${EIGEN3_INCLUDE_DIR}")
|
||||||
|
|
||||||
|
# check if MKL is also enabled - can have one or the other, but not both!
|
||||||
|
# Note: Eigen >= v3.2.5 includes our patches
|
||||||
|
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")
|
||||||
|
endif()
|
||||||
|
|
||||||
|
# Check for Eigen version which doesn't work with MKL
|
||||||
|
# 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))
|
||||||
|
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()
|
||||||
|
|
||||||
|
# The actual include directory (for BUILD cmake target interface):
|
||||||
|
set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${EIGEN3_INCLUDE_DIR}")
|
||||||
|
else()
|
||||||
|
# Use bundled Eigen include path.
|
||||||
|
# Clear any variables set by FindEigen3
|
||||||
|
if(EIGEN3_INCLUDE_DIR)
|
||||||
|
set(EIGEN3_INCLUDE_DIR NOTFOUND CACHE STRING "" FORCE)
|
||||||
|
endif()
|
||||||
|
|
||||||
|
# set full path to be used by external projects
|
||||||
|
# this will be added to GTSAM_INCLUDE_DIR by gtsam_extra.cmake.in
|
||||||
|
set(GTSAM_EIGEN_INCLUDE_FOR_INSTALL "include/gtsam/3rdparty/Eigen/")
|
||||||
|
|
||||||
|
# The actual include directory (for BUILD cmake target interface):
|
||||||
|
set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${CMAKE_SOURCE_DIR}/gtsam/3rdparty/Eigen/")
|
||||||
|
endif()
|
||||||
|
|
||||||
|
# Detect Eigen version:
|
||||||
|
set(EIGEN_VER_H "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}/Eigen/src/Core/util/Macros.h")
|
||||||
|
if (EXISTS ${EIGEN_VER_H})
|
||||||
|
file(READ "${EIGEN_VER_H}" STR_EIGEN_VERSION)
|
||||||
|
|
||||||
|
# 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 "${STR_EIGEN_VERSION}")
|
||||||
|
string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_WORLD "${GTSAM_EIGEN_VERSION_WORLD}")
|
||||||
|
|
||||||
|
string(REGEX MATCH "EIGEN_MAJOR_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_MAJOR "${STR_EIGEN_VERSION}")
|
||||||
|
string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_MAJOR "${GTSAM_EIGEN_VERSION_MAJOR}")
|
||||||
|
|
||||||
|
string(REGEX MATCH "EIGEN_MINOR_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_MINOR "${STR_EIGEN_VERSION}")
|
||||||
|
string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_MINOR "${GTSAM_EIGEN_VERSION_MINOR}")
|
||||||
|
|
||||||
|
set(GTSAM_EIGEN_VERSION "${GTSAM_EIGEN_VERSION_WORLD}.${GTSAM_EIGEN_VERSION_MAJOR}.${GTSAM_EIGEN_VERSION_MINOR}")
|
||||||
|
|
||||||
|
message(STATUS "Found Eigen version: ${GTSAM_EIGEN_VERSION}")
|
||||||
|
else()
|
||||||
|
message(WARNING "Cannot determine Eigen version, missing file: `${EIGEN_VER_H}`")
|
||||||
|
endif ()
|
||||||
|
|
||||||
|
if (MSVC)
|
||||||
|
if (BUILD_SHARED_LIBS)
|
||||||
|
# mute eigen static assert to avoid errors in shared lib
|
||||||
|
list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC EIGEN_NO_STATIC_ASSERT)
|
||||||
|
endif()
|
||||||
|
list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE "/wd4244") # Disable loss of precision which is thrown all over our Eigen
|
||||||
|
endif()
|
||||||
|
|
@ -0,0 +1,10 @@
|
||||||
|
# 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.")
|
||||||
|
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.")
|
||||||
|
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.")
|
||||||
|
endif()
|
||||||
|
|
@ -0,0 +1,45 @@
|
||||||
|
###############################################################################
|
||||||
|
# Set up options
|
||||||
|
|
||||||
|
# See whether gtsam_unstable is available (it will be present only if we're using a git checkout)
|
||||||
|
if(EXISTS "${PROJECT_SOURCE_DIR}/gtsam_unstable" AND IS_DIRECTORY "${PROJECT_SOURCE_DIR}/gtsam_unstable")
|
||||||
|
set(GTSAM_UNSTABLE_AVAILABLE 1)
|
||||||
|
else()
|
||||||
|
set(GTSAM_UNSTABLE_AVAILABLE 0)
|
||||||
|
endif()
|
||||||
|
|
||||||
|
# Configurable Options
|
||||||
|
if(GTSAM_UNSTABLE_AVAILABLE)
|
||||||
|
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_INSTALL_MATLAB_TOOLBOX "Enable/Disable MATLAB wrapper for libgtsam_unstable" OFF)
|
||||||
|
endif()
|
||||||
|
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_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_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_EIGEN_MKL "Eigen will use Intel MKL if available" OFF)
|
||||||
|
option(GTSAM_WITH_EIGEN_MKL_OPENMP "Eigen, when using Intel MKL, will also use OpenMP for multithreading if available" OFF)
|
||||||
|
option(GTSAM_THROW_CHEIRALITY_EXCEPTION "Throw exception when a triangulated point is behind a camera" ON)
|
||||||
|
option(GTSAM_BUILD_PYTHON "Enable/Disable building & installation of Python module with pybind11" OFF)
|
||||||
|
option(GTSAM_INSTALL_MATLAB_TOOLBOX "Enable/Disable installation of matlab toolbox" OFF)
|
||||||
|
option(GTSAM_ALLOW_DEPRECATED_SINCE_V41 "Allow use of methods/functions deprecated in GTSAM 4.1" ON)
|
||||||
|
option(GTSAM_SUPPORT_NESTED_DISSECTION "Support Metis-based nested dissection" ON)
|
||||||
|
option(GTSAM_TANGENT_PREINTEGRATION "Use new ImuFactor with integration on tangent space" ON)
|
||||||
|
if(NOT MSVC AND NOT XCODE_VERSION)
|
||||||
|
option(GTSAM_BUILD_WITH_CCACHE "Use ccache compiler cache" ON)
|
||||||
|
endif()
|
||||||
|
|
||||||
|
# Enable GTSAM_ROT3_EXPMAP if GTSAM_POSE3_EXPMAP is enabled, and vice versa.
|
||||||
|
if(GTSAM_POSE3_EXPMAP)
|
||||||
|
message(STATUS "GTSAM_POSE3_EXPMAP=ON, enabling GTSAM_ROT3_EXPMAP as well")
|
||||||
|
set(GTSAM_ROT3_EXPMAP 1 CACHE BOOL "" FORCE)
|
||||||
|
elseif(GTSAM_ROT3_EXPMAP)
|
||||||
|
message(STATUS "GTSAM_ROT3_EXPMAP=ON, enabling GTSAM_POSE3_EXPMAP as well")
|
||||||
|
set(GTSAM_POSE3_EXPMAP 1 CACHE BOOL "" FORCE)
|
||||||
|
endif()
|
||||||
|
|
||||||
|
# Set the default Python version. This is later updated in HandlePython.cmake.
|
||||||
|
set(GTSAM_PYTHON_VERSION "Default" CACHE STRING "The version of Python to build the wrappers against.")
|
||||||
|
|
@ -0,0 +1,52 @@
|
||||||
|
# JLBC: These should ideally be ported to "modern cmake" via target properties.
|
||||||
|
#
|
||||||
|
|
||||||
|
if (CMAKE_GENERATOR STREQUAL "Ninja" AND
|
||||||
|
((CMAKE_CXX_COMPILER_ID STREQUAL "GNU" AND NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 4.9) OR
|
||||||
|
(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.
|
||||||
|
# Rationale in https://github.com/ninja-build/ninja/issues/814
|
||||||
|
add_compile_options(-fdiagnostics-color=always)
|
||||||
|
endif()
|
||||||
|
|
||||||
|
|
||||||
|
# If building DLLs in MSVC, we need to avoid EIGEN_STATIC_ASSERT()
|
||||||
|
# or explicit instantiation will generate build errors.
|
||||||
|
# See: https://bitbucket.org/gtborg/gtsam/issues/417/fail-to-build-on-msvc-2017
|
||||||
|
#
|
||||||
|
if(MSVC AND BUILD_SHARED_LIBS)
|
||||||
|
list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC EIGEN_NO_STATIC_ASSERT)
|
||||||
|
endif()
|
||||||
|
|
||||||
|
if (APPLE AND BUILD_SHARED_LIBS)
|
||||||
|
# Set the default install directory on macOS
|
||||||
|
set(CMAKE_INSTALL_NAME_DIR "${CMAKE_INSTALL_PREFIX}/lib")
|
||||||
|
endif()
|
||||||
|
|
||||||
|
###############################################################################
|
||||||
|
# Global compile options
|
||||||
|
|
||||||
|
if(MSVC)
|
||||||
|
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 /bigobj) # Allow large object files for template-based code
|
||||||
|
endif()
|
||||||
|
|
||||||
|
# GCC 4.8+ complains about local typedefs which we use for shared_ptr etc.
|
||||||
|
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
|
||||||
|
if (NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 4.8)
|
||||||
|
list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE -Wno-unused-local-typedefs)
|
||||||
|
endif()
|
||||||
|
endif()
|
||||||
|
|
||||||
|
# As of XCode 7, clang also complains about this
|
||||||
|
if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
|
||||||
|
if (NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 7.0)
|
||||||
|
list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE -Wno-unused-local-typedefs)
|
||||||
|
endif()
|
||||||
|
endif()
|
||||||
|
|
||||||
|
if(GTSAM_ENABLE_CONSISTENCY_CHECKS)
|
||||||
|
# This should be made PUBLIC if GTSAM_EXTRA_CONSISTENCY_CHECKS is someday used in a public .h
|
||||||
|
list_append_cache(GTSAM_COMPILE_DEFINITIONS_PRIVATE GTSAM_EXTRA_CONSISTENCY_CHECKS)
|
||||||
|
endif()
|
||||||
|
|
@ -0,0 +1,17 @@
|
||||||
|
###############################################################################
|
||||||
|
# Find MKL
|
||||||
|
find_package(MKL)
|
||||||
|
|
||||||
|
if(MKL_FOUND AND GTSAM_WITH_EIGEN_MKL)
|
||||||
|
set(GTSAM_USE_EIGEN_MKL 1) # This will go into config.h
|
||||||
|
set(EIGEN_USE_MKL_ALL 1) # This will go into config.h - it makes Eigen use MKL
|
||||||
|
list(APPEND GTSAM_ADDITIONAL_LIBRARIES ${MKL_LIBRARIES})
|
||||||
|
|
||||||
|
# --no-as-needed is required with gcc according to the MKL link advisor
|
||||||
|
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
|
||||||
|
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--no-as-needed")
|
||||||
|
endif()
|
||||||
|
else()
|
||||||
|
set(GTSAM_USE_EIGEN_MKL 0)
|
||||||
|
set(EIGEN_USE_MKL_ALL 0)
|
||||||
|
endif()
|
||||||
|
|
@ -0,0 +1,11 @@
|
||||||
|
|
||||||
|
###############################################################################
|
||||||
|
# Find OpenMP (if we're also using MKL)
|
||||||
|
find_package(OpenMP) # do this here to generate correct message if disabled
|
||||||
|
|
||||||
|
if(GTSAM_WITH_EIGEN_MKL AND GTSAM_WITH_EIGEN_MKL_OPENMP AND GTSAM_USE_EIGEN_MKL)
|
||||||
|
if(OPENMP_FOUND AND GTSAM_USE_EIGEN_MKL AND GTSAM_WITH_EIGEN_MKL_OPENMP)
|
||||||
|
set(GTSAM_USE_EIGEN_MKL_OPENMP 1) # This will go into config.h
|
||||||
|
list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC ${OpenMP_CXX_FLAGS})
|
||||||
|
endif()
|
||||||
|
endif()
|
||||||
|
|
@ -0,0 +1,4 @@
|
||||||
|
|
||||||
|
###############################################################################
|
||||||
|
# Find Google perftools
|
||||||
|
find_package(GooglePerfTools)
|
||||||
|
|
@ -0,0 +1,104 @@
|
||||||
|
###############################################################################
|
||||||
|
# Print configuration variables
|
||||||
|
message(STATUS "===============================================================")
|
||||||
|
message(STATUS "================ Configuration Options ======================")
|
||||||
|
print_config("CMAKE_CXX_COMPILER_ID type" "${CMAKE_CXX_COMPILER_ID}")
|
||||||
|
print_config("CMAKE_CXX_COMPILER_VERSION" "${CMAKE_CXX_COMPILER_VERSION}")
|
||||||
|
print_config("CMake version" "${CMAKE_VERSION}")
|
||||||
|
print_config("CMake generator" "${CMAKE_GENERATOR}")
|
||||||
|
print_config("CMake build tool" "${CMAKE_BUILD_TOOL}")
|
||||||
|
message(STATUS "Build flags ")
|
||||||
|
print_enabled_config(${GTSAM_BUILD_TESTS} "Build Tests")
|
||||||
|
print_enabled_config(${GTSAM_BUILD_EXAMPLES_ALWAYS} "Build examples with 'make all'")
|
||||||
|
print_enabled_config(${GTSAM_BUILD_TIMING_ALWAYS} "Build timing scripts with 'make all'")
|
||||||
|
if (DOXYGEN_FOUND)
|
||||||
|
print_enabled_config(${GTSAM_BUILD_DOCS} "Build Docs")
|
||||||
|
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(${GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX} "Build MATLAB Toolbox for unstable")
|
||||||
|
endif()
|
||||||
|
|
||||||
|
if(NOT MSVC AND NOT XCODE_VERSION)
|
||||||
|
print_enabled_config(${GTSAM_BUILD_WITH_MARCH_NATIVE} "Build for native architecture ")
|
||||||
|
print_config("Build type" "${CMAKE_BUILD_TYPE}")
|
||||||
|
print_config("C compilation flags" "${CMAKE_C_FLAGS} ${CMAKE_C_FLAGS_${CMAKE_BUILD_TYPE_UPPER}}")
|
||||||
|
print_config("C++ compilation flags" "${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_${CMAKE_BUILD_TYPE_UPPER}}")
|
||||||
|
endif()
|
||||||
|
|
||||||
|
print_build_options_for_target(gtsam)
|
||||||
|
|
||||||
|
print_config("Use System Eigen" "${GTSAM_USE_SYSTEM_EIGEN} (Using version: ${GTSAM_EIGEN_VERSION})")
|
||||||
|
|
||||||
|
if(GTSAM_USE_TBB)
|
||||||
|
print_config("Use Intel TBB" "Yes (Version: ${TBB_VERSION})")
|
||||||
|
elseif(TBB_FOUND)
|
||||||
|
print_config("Use Intel TBB" "TBB (Version: ${TBB_VERSION}) found but GTSAM_WITH_TBB is disabled")
|
||||||
|
else()
|
||||||
|
print_config("Use Intel TBB" "TBB not found")
|
||||||
|
endif()
|
||||||
|
if(GTSAM_USE_EIGEN_MKL)
|
||||||
|
print_config("Eigen will use MKL" "Yes")
|
||||||
|
elseif(MKL_FOUND)
|
||||||
|
print_config("Eigen will use MKL" "MKL found but GTSAM_WITH_EIGEN_MKL is disabled")
|
||||||
|
else()
|
||||||
|
print_config("Eigen will use MKL" "MKL not found")
|
||||||
|
endif()
|
||||||
|
if(GTSAM_USE_EIGEN_MKL_OPENMP)
|
||||||
|
print_config("Eigen will use MKL and OpenMP" "Yes")
|
||||||
|
elseif(OPENMP_FOUND AND NOT GTSAM_WITH_EIGEN_MKL)
|
||||||
|
print_config("Eigen will use MKL and OpenMP" "OpenMP found but GTSAM_WITH_EIGEN_MKL is disabled")
|
||||||
|
elseif(OPENMP_FOUND AND NOT MKL_FOUND)
|
||||||
|
print_config("Eigen will use MKL and OpenMP" "OpenMP found but MKL not found")
|
||||||
|
elseif(OPENMP_FOUND)
|
||||||
|
print_config("Eigen will use MKL and OpenMP" "OpenMP found but GTSAM_WITH_EIGEN_MKL_OPENMP is disabled")
|
||||||
|
else()
|
||||||
|
print_config("Eigen will use MKL and OpenMP" "OpenMP not found")
|
||||||
|
endif()
|
||||||
|
print_config("Default allocator" "${GTSAM_DEFAULT_ALLOCATOR}")
|
||||||
|
|
||||||
|
if(GTSAM_THROW_CHEIRALITY_EXCEPTION)
|
||||||
|
print_config("Cheirality exceptions enabled" "YES")
|
||||||
|
else()
|
||||||
|
print_config("Cheirality exceptions enabled" "NO")
|
||||||
|
endif()
|
||||||
|
|
||||||
|
if(NOT MSVC AND NOT XCODE_VERSION)
|
||||||
|
if(CCACHE_FOUND AND GTSAM_BUILD_WITH_CCACHE)
|
||||||
|
print_config("Build with ccache" "Yes")
|
||||||
|
elseif(CCACHE_FOUND)
|
||||||
|
print_config("Build with ccache" "ccache found but GTSAM_BUILD_WITH_CCACHE is disabled")
|
||||||
|
else()
|
||||||
|
print_config("Build with ccache" "No")
|
||||||
|
endif()
|
||||||
|
endif()
|
||||||
|
|
||||||
|
message(STATUS "Packaging flags")
|
||||||
|
print_config("CPack Source Generator" "${CPACK_SOURCE_GENERATOR}")
|
||||||
|
print_config("CPack Generator" "${CPACK_GENERATOR}")
|
||||||
|
|
||||||
|
message(STATUS "GTSAM flags ")
|
||||||
|
print_enabled_config(${GTSAM_USE_QUATERNIONS} "Quaternions as default Rot3 ")
|
||||||
|
print_enabled_config(${GTSAM_ENABLE_CONSISTENCY_CHECKS} "Runtime consistency checking ")
|
||||||
|
print_enabled_config(${GTSAM_ROT3_EXPMAP} "Rot3 retract is full ExpMap ")
|
||||||
|
print_enabled_config(${GTSAM_POSE3_EXPMAP} "Pose3 retract is full ExpMap ")
|
||||||
|
print_enabled_config(${GTSAM_ALLOW_DEPRECATED_SINCE_V41} "Allow features deprecated in GTSAM 4.1")
|
||||||
|
print_enabled_config(${GTSAM_SUPPORT_NESTED_DISSECTION} "Metis-based Nested Dissection ")
|
||||||
|
print_enabled_config(${GTSAM_TANGENT_PREINTEGRATION} "Use tangent-space preintegration")
|
||||||
|
|
||||||
|
message(STATUS "MATLAB toolbox flags")
|
||||||
|
print_enabled_config(${GTSAM_INSTALL_MATLAB_TOOLBOX} "Install MATLAB toolbox ")
|
||||||
|
if (${GTSAM_INSTALL_MATLAB_TOOLBOX})
|
||||||
|
print_config("MATLAB root" "${MATLAB_ROOT}")
|
||||||
|
print_config("MEX binary" "${MEX_COMMAND}")
|
||||||
|
endif()
|
||||||
|
message(STATUS "Python toolbox flags ")
|
||||||
|
print_enabled_config(${GTSAM_BUILD_PYTHON} "Build Python module with pybind ")
|
||||||
|
if(GTSAM_BUILD_PYTHON)
|
||||||
|
print_config("Python version" ${GTSAM_PYTHON_VERSION})
|
||||||
|
endif()
|
||||||
|
|
||||||
|
message(STATUS "===============================================================")
|
||||||
|
|
@ -0,0 +1,29 @@
|
||||||
|
# Set Python version if either Python or MATLAB wrapper is requested.
|
||||||
|
if(GTSAM_BUILD_PYTHON OR GTSAM_INSTALL_MATLAB_TOOLBOX)
|
||||||
|
if(${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 ${Python3_FOUND})
|
||||||
|
message(FATAL_ERROR "Cannot find Python3 interpreter. Please install Python >= 3.6.")
|
||||||
|
endif()
|
||||||
|
|
||||||
|
set(GTSAM_PYTHON_VERSION "${Python3_VERSION_MAJOR}.${Python3_VERSION_MINOR}"
|
||||||
|
CACHE
|
||||||
|
STRING
|
||||||
|
"The version of Python to build the wrappers against."
|
||||||
|
FORCE)
|
||||||
|
endif()
|
||||||
|
endif()
|
||||||
|
|
||||||
|
if(GTSAM_BUILD_PYTHON)
|
||||||
|
if(GTSAM_UNSTABLE_BUILD_PYTHON)
|
||||||
|
if (NOT GTSAM_BUILD_UNSTABLE)
|
||||||
|
message(WARNING "GTSAM_UNSTABLE_BUILD_PYTHON requires the unstable module to be enabled.")
|
||||||
|
set(GTSAM_UNSTABLE_BUILD_PYTHON OFF)
|
||||||
|
endif()
|
||||||
|
endif()
|
||||||
|
|
||||||
|
set(GTSAM_PY_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/python")
|
||||||
|
endif()
|
||||||
|
|
@ -0,0 +1,24 @@
|
||||||
|
###############################################################################
|
||||||
|
# Find TBB
|
||||||
|
find_package(TBB 4.4 COMPONENTS tbb tbbmalloc)
|
||||||
|
|
||||||
|
# Set up variables if we're using TBB
|
||||||
|
if(TBB_FOUND AND GTSAM_WITH_TBB)
|
||||||
|
set(GTSAM_USE_TBB 1) # This will go into config.h
|
||||||
|
if ((${TBB_VERSION_MAJOR} GREATER 2020) OR (${TBB_VERSION_MAJOR} EQUAL 2020))
|
||||||
|
set(TBB_GREATER_EQUAL_2020 1)
|
||||||
|
else()
|
||||||
|
set(TBB_GREATER_EQUAL_2020 0)
|
||||||
|
endif()
|
||||||
|
# all definitions and link requisites will go via imported targets:
|
||||||
|
# tbb & tbbmalloc
|
||||||
|
list(APPEND GTSAM_ADDITIONAL_LIBRARIES tbb tbbmalloc)
|
||||||
|
else()
|
||||||
|
set(GTSAM_USE_TBB 0) # This will go into config.h
|
||||||
|
endif()
|
||||||
|
|
||||||
|
###############################################################################
|
||||||
|
# Prohibit Timing build mode in combination with TBB
|
||||||
|
if(GTSAM_USE_TBB AND (CMAKE_BUILD_TYPE STREQUAL "Timing"))
|
||||||
|
message(FATAL_ERROR "Timing build mode cannot be used together with TBB. Use a sampling profiler such as Instruments or Intel VTune Amplifier instead.")
|
||||||
|
endif()
|
||||||
|
|
@ -0,0 +1,10 @@
|
||||||
|
# ----------------------------------------------------------------------------
|
||||||
|
# Uninstall target, for "make uninstall"
|
||||||
|
# ----------------------------------------------------------------------------
|
||||||
|
configure_file(
|
||||||
|
"${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake_uninstall.cmake.in"
|
||||||
|
"${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
|
||||||
|
IMMEDIATE @ONLY)
|
||||||
|
|
||||||
|
add_custom_target(uninstall
|
||||||
|
"${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")
|
||||||
|
|
@ -47,9 +47,14 @@
|
||||||
# endif
|
# endif
|
||||||
# endif
|
# endif
|
||||||
#else
|
#else
|
||||||
|
#ifdef __APPLE__
|
||||||
|
# define @library_name@_EXPORT __attribute__((visibility("default")))
|
||||||
|
# define @library_name@_EXTERN_EXPORT extern
|
||||||
|
#else
|
||||||
# define @library_name@_EXPORT
|
# define @library_name@_EXPORT
|
||||||
# define @library_name@_EXTERN_EXPORT extern
|
# define @library_name@_EXTERN_EXPORT extern
|
||||||
#endif
|
#endif
|
||||||
|
#endif
|
||||||
|
|
||||||
#undef BUILD_SHARED_LIBS
|
#undef BUILD_SHARED_LIBS
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -33,7 +33,6 @@
|
||||||
// Here we will use Between factors for the relative motion described by odometry measurements.
|
// Here we will use Between factors for the relative motion described by odometry measurements.
|
||||||
// We will also use a Between Factor to encode the loop closure constraint
|
// We will also use a Between Factor to encode the loop closure constraint
|
||||||
// Also, we will initialize the robot at the origin using a Prior factor.
|
// Also, we will initialize the robot at the origin using a Prior factor.
|
||||||
#include <gtsam/slam/PriorFactor.h>
|
|
||||||
#include <gtsam/slam/BetweenFactor.h>
|
#include <gtsam/slam/BetweenFactor.h>
|
||||||
|
|
||||||
// When the factors are created, we will add them to a Factor Graph. As the factors we are using
|
// When the factors are created, we will add them to a Factor Graph. As the factors we are using
|
||||||
|
|
@ -69,7 +68,7 @@ int main(int argc, char** argv) {
|
||||||
// 2a. Add a prior on the first pose, setting it to the origin
|
// 2a. Add a prior on the first pose, setting it to the origin
|
||||||
// A prior factor consists of a mean and a noise model (covariance matrix)
|
// A prior factor consists of a mean and a noise model (covariance matrix)
|
||||||
noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas(Vector3(0.3, 0.3, 0.1));
|
noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas(Vector3(0.3, 0.3, 0.1));
|
||||||
graph.emplace_shared<PriorFactor<Pose2> >(1, Pose2(0, 0, 0), priorNoise);
|
graph.addPrior(1, Pose2(0, 0, 0), priorNoise);
|
||||||
|
|
||||||
// For simplicity, we will use the same noise model for odometry and loop closures
|
// For simplicity, we will use the same noise model for odometry and loop closures
|
||||||
noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Sigmas(Vector3(0.2, 0.2, 0.1));
|
noiseModel::Diagonal::shared_ptr model = noiseModel::Diagonal::Sigmas(Vector3(0.2, 0.2, 0.1));
|
||||||
|
|
|
||||||
|
|
@ -1,43 +0,0 @@
|
||||||
# Install cython components
|
|
||||||
include(GtsamCythonWrap)
|
|
||||||
|
|
||||||
# Create the cython toolbox for the gtsam library
|
|
||||||
if (GTSAM_INSTALL_CYTHON_TOOLBOX)
|
|
||||||
# build and include the eigency version of eigency
|
|
||||||
add_subdirectory(gtsam_eigency)
|
|
||||||
include_directories(${PROJECT_BINARY_DIR}/cython/gtsam_eigency)
|
|
||||||
|
|
||||||
# wrap gtsam
|
|
||||||
add_custom_target(gtsam_header DEPENDS "../gtsam.h")
|
|
||||||
wrap_and_install_library_cython("../gtsam.h" # interface_header
|
|
||||||
"" # extra imports
|
|
||||||
"${GTSAM_CYTHON_INSTALL_PATH}/gtsam" # install path
|
|
||||||
gtsam # library to link with
|
|
||||||
"wrap;cythonize_eigency;gtsam;gtsam_header" # dependencies which need to be built before wrapping
|
|
||||||
)
|
|
||||||
|
|
||||||
# wrap gtsam_unstable
|
|
||||||
if(GTSAM_BUILD_UNSTABLE)
|
|
||||||
add_custom_target(gtsam_unstable_header DEPENDS "../gtsam_unstable/gtsam_unstable.h")
|
|
||||||
wrap_and_install_library_cython("../gtsam_unstable/gtsam_unstable.h" # interface_header
|
|
||||||
"from gtsam.gtsam cimport *" # extra imports
|
|
||||||
"${GTSAM_CYTHON_INSTALL_PATH}/gtsam_unstable" # install path
|
|
||||||
gtsam_unstable # library to link with
|
|
||||||
"gtsam_unstable;gtsam_unstable_header;cythonize_gtsam" # dependencies to be built before wrapping
|
|
||||||
)
|
|
||||||
endif()
|
|
||||||
|
|
||||||
file(READ "${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 ${PROJECT_BINARY_DIR}/cython/gtsam/__init__.py COPYONLY)
|
|
||||||
configure_file(${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" "${GTSAM_CYTHON_INSTALL_PATH}" "*.py")
|
|
||||||
|
|
||||||
endif ()
|
|
||||||
155
cython/README.md
155
cython/README.md
|
|
@ -1,155 +0,0 @@
|
||||||
# Python Wrapper
|
|
||||||
|
|
||||||
This is the Cython/Python wrapper around the GTSAM C++ library.
|
|
||||||
|
|
||||||
## Install
|
|
||||||
|
|
||||||
- if you want to build the gtsam python library for a specific python version (eg 2.7), use the `-DGTSAM_PYTHON_VERSION=2.7` option when running `cmake` otherwise the default interpreter will be used.
|
|
||||||
- If the interpreter is inside an environment (such as an anaconda environment or virtualenv environment) then the environment should be active while building gtsam.
|
|
||||||
- This wrapper needs Cython(>=0.25.2), backports_abc>=0.5, and numpy. These can be installed as follows:
|
|
||||||
|
|
||||||
```bash
|
|
||||||
pip install -r <gtsam_folder>/cython/requirements.txt
|
|
||||||
```
|
|
||||||
|
|
||||||
- For compatibility with gtsam's Eigen version, it contains its own cloned version of [Eigency](https://github.com/wouterboomsma/eigency.git),
|
|
||||||
named **gtsam_eigency**, to interface between C++'s Eigen and Python's numpy.
|
|
||||||
|
|
||||||
- Build and install gtsam using cmake with `GTSAM_INSTALL_CYTHON_TOOLBOX` enabled.
|
|
||||||
The wrapped module will be installed to `GTSAM_CYTHON_INSTALL_PATH`, which is
|
|
||||||
by default: `<your CMAKE_INSTALL_PREFIX>/cython`
|
|
||||||
|
|
||||||
- To use the library without installing system-wide: modify your `PYTHONPATH` to include the `GTSAM_CYTHON_INSTALL_PATH`:
|
|
||||||
```bash
|
|
||||||
export PYTHONPATH=$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.
|
|
||||||
- if you run `setup.py` from the build directory rather than the installation directory, the script will warn you with the message: `setup.py is being run from an unexpected location`.
|
|
||||||
Before `make install` is run, not all the components of the package have been copied across, so running `setup.py` from the build directory would result in an incomplete package.
|
|
||||||
|
|
||||||
## Unit Tests
|
|
||||||
|
|
||||||
The Cython toolbox also has a small set of unit tests located in the
|
|
||||||
test directory. To run them:
|
|
||||||
|
|
||||||
```bash
|
|
||||||
cd <your GTSAM_CYTHON_INSTALL_PATH>
|
|
||||||
python -m unittest discover
|
|
||||||
```
|
|
||||||
|
|
||||||
## Writing Your Own Scripts
|
|
||||||
|
|
||||||
See the tests for examples.
|
|
||||||
|
|
||||||
### Some Important Notes:
|
|
||||||
|
|
||||||
- Vector/Matrix:
|
|
||||||
+ GTSAM expects double-precision floating point vectors and matrices.
|
|
||||||
Hence, you should pass numpy matrices with dtype=float, or 'float64'.
|
|
||||||
+ Also, GTSAM expects *column-major* matrices, unlike the default storage
|
|
||||||
scheme in numpy. Hence, you should pass column-major matrices to gtsam using
|
|
||||||
the flag order='F'. And you always get column-major matrices back.
|
|
||||||
For more details, see: https://github.com/wouterboomsma/eigency#storage-layout---why-arrays-are-sometimes-transposed
|
|
||||||
+ Passing row-major matrices of different dtype, e.g. 'int', will also work
|
|
||||||
as the wrapper converts them to column-major and dtype float for you,
|
|
||||||
using numpy.array.astype(float, order='F', copy=False).
|
|
||||||
However, this will result a copy if your matrix is not in the expected type
|
|
||||||
and storage order.
|
|
||||||
|
|
||||||
- Inner namespace: Classes in inner namespace will be prefixed by <innerNamespace>_ in Python.
|
|
||||||
Examples: noiseModel_Gaussian, noiseModel_mEstimator_Tukey
|
|
||||||
|
|
||||||
- Casting from a base class to a derive class must be done explicitly.
|
|
||||||
Examples:
|
|
||||||
```Python
|
|
||||||
noiseBase = factor.noiseModel()
|
|
||||||
noiseGaussian = dynamic_cast_noiseModel_Gaussian_noiseModel_Base(noiseBase)
|
|
||||||
```
|
|
||||||
|
|
||||||
## Wrapping Your Own Project That Uses GTSAM
|
|
||||||
|
|
||||||
- Set PYTHONPATH to include ${GTSAM_CYTHON_INSTALL_PATH}
|
|
||||||
+ so that it can find gtsam Cython header: gtsam/gtsam.pxd
|
|
||||||
|
|
||||||
- In your CMakeList.txt
|
|
||||||
```cmake
|
|
||||||
find_package(GTSAM REQUIRED) # Make sure gtsam's install folder is in your PATH
|
|
||||||
set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${GTSAM_DIR}/../GTSAMCMakeTools")
|
|
||||||
|
|
||||||
# Wrap
|
|
||||||
include(GtsamCythonWrap)
|
|
||||||
include_directories(${GTSAM_EIGENCY_INSTALL_PATH})
|
|
||||||
wrap_and_install_library_cython("your_project_interface.h"
|
|
||||||
"from gtsam.gtsam cimport *" # extra import of gtsam/gtsam.pxd Cython header
|
|
||||||
"your_install_path"
|
|
||||||
"libraries_to_link_with_the_cython_module"
|
|
||||||
"dependencies_which_need_to_be_built_before_the_wrapper"
|
|
||||||
)
|
|
||||||
#Optional: install_cython_scripts and install_cython_files. See GtsamCythonWrap.cmake.
|
|
||||||
```
|
|
||||||
|
|
||||||
## KNOWN ISSUES
|
|
||||||
|
|
||||||
- Doesn't work with python3 installed from homebrew
|
|
||||||
- size-related issue: can only wrap up to a certain number of classes: up to mEstimator!
|
|
||||||
- Guess: 64 vs 32b? disutils Compiler flags?
|
|
||||||
- Bug with Cython 0.24: instantiated factor classes return FastVector<size_t> for keys(), which can't be casted to FastVector<Key>
|
|
||||||
- Upgrading to 0.25 solves the problem
|
|
||||||
- Need default constructor and default copy constructor for almost every classes... :(
|
|
||||||
- support these constructors by default and declare "delete" for special classes?
|
|
||||||
|
|
||||||
|
|
||||||
### TODO
|
|
||||||
|
|
||||||
- [ ] allow duplication of parent' functions in child classes. Not allowed for now due to conflicts in Cython.
|
|
||||||
- [ ] a common header for boost shared_ptr? (Or wait until everything is switched to std::shared_ptr in gtsam?)
|
|
||||||
- [ ] inner namespaces ==> inner packages?
|
|
||||||
- [ ] Wrap fixed-size Matrices/Vectors?
|
|
||||||
|
|
||||||
|
|
||||||
### Completed/Cancelled:
|
|
||||||
|
|
||||||
- [x] Fix Python tests: don't use " import <package> * ": Bad style!!! (18-03-17 19:50)
|
|
||||||
- [x] Unit tests for cython wrappers @done (18-03-17 18:45) -- simply compare generated files
|
|
||||||
- [x] Wrap unstable @done (18-03-17 15:30)
|
|
||||||
- [x] Unify cython/gtsam.h and the original gtsam.h @done (18-03-17 15:30)
|
|
||||||
- [x] 18-03-17: manage to unify the two versions by removing std container stubs from the matlab version,and keeping KeyList/KeyVector/KeySet as in the matlab version. Probably Cython 0.25 fixes the casting problem.
|
|
||||||
- [x] 06-03-17: manage to remove the requirements for default and copy constructors
|
|
||||||
- [ ] 25-11-16: Try to unify but failed. Main reasons are: Key/size_t, std containers, KeyVector/KeyList/KeySet. Matlab doesn't need to know about Key, but I can't make Cython to ignore Key as it couldn't cast KeyVector, i.e. FastVector<Key>, to FastVector<size_t>.
|
|
||||||
- [ ] Marginal and JointMarginal: revert changes @failed (17-03-17 11:00) -- Cython does need a default constructor! It produces cpp code like this: ```gtsam::JointMarginal __pyx_t_1;``` Users don't have to wrap this constructor, however.
|
|
||||||
- [x] Convert input numpy Matrix/Vector to float dtype and storage order 'F' automatically, cannot crash! @done (15-03-17 13:00)
|
|
||||||
- [x] Remove requirements.txt - Frank: don't bother with only 2 packages and a special case for eigency! @done (08-03-17 10:30)
|
|
||||||
- [x] CMake install script @done (25-11-16 02:30)
|
|
||||||
- [ ] [REFACTOR] better name for uninstantiateClass: very vague!! @cancelled (25-11-16 02:30) -- lazy
|
|
||||||
- [ ] forward declaration? @cancelled (23-11-16 13:00) - nothing to do, seem to work?
|
|
||||||
- [x] wrap VariableIndex: why is it in inference? If need to, shouldn't have constructors to specific FactorGraphs @done (23-11-16 13:00)
|
|
||||||
- [x] Global functions @done (22-11-16 21:00)
|
|
||||||
- [x] [REFACTOR] typesEqual --> isSameSignature @done (22-11-16 21:00)
|
|
||||||
- [x] Proper overloads (constructors, static methods, methods) @done (20-11-16 21:00)
|
|
||||||
- [x] Allow overloading methods. The current solution is annoying!!! @done (20-11-16 21:00)
|
|
||||||
- [x] Casting from parent and grandparents @done (16-11-16 17:00)
|
|
||||||
- [x] Allow overloading constructors. The current solution is annoying!!! @done (16-11-16 17:00)
|
|
||||||
- [x] Support "print obj" @done (16-11-16 17:00)
|
|
||||||
- [x] methods for FastVector: at, [], ... @done (16-11-16 17:00)
|
|
||||||
- [x] Cython: Key and size_t: traits<size_t> doesn't exist @done (16-09-12 18:34)
|
|
||||||
- [x] KeyVector, KeyList, KeySet... @done (16-09-13 17:19)
|
|
||||||
- [x] [Nice to have] parse typedef @done (16-09-13 17:19)
|
|
||||||
- [x] ctypedef at correct places @done (16-09-12 18:34)
|
|
||||||
- [x] expand template variable type in constructor/static methods? @done (16-09-12 18:34)
|
|
||||||
- [x] NonlinearOptimizer: copy constructor deleted!!! @done (16-09-13 17:20)
|
|
||||||
- [x] Value: no default constructor @done (16-09-13 17:20)
|
|
||||||
- [x] ctypedef PriorFactor[Vector] PriorFactorVector @done (16-09-19 12:25)
|
|
||||||
- [x] Delete duplicate methods in derived class @done (16-09-12 13:38)
|
|
||||||
- [x] Fix return properly @done (16-09-11 17:14)
|
|
||||||
- [x] handle pair @done (16-09-11 17:14)
|
|
||||||
- [x] Eigency: ambiguous call: A(const T&) A(const Vector& v) and Eigency A(Map[Vector]& v) @done (16-09-11 07:59)
|
|
||||||
- [x] Eigency: Constructor: ambiguous construct from Vector/Matrix @done (16-09-11 07:59)
|
|
||||||
- [x] Eigency: Fix method template of Vector/Matrix: template argument is [Vector] while arugment is Map[Vector] @done (16-09-11 08:22)
|
|
||||||
- [x] Robust noise: copy assignment operator is deleted because of shared_ptr of the abstract Base class @done (16-09-10 09:05)
|
|
||||||
- [ ] Cython: Constructor: generate default constructor? (hack: if it's serializable?) @cancelled (16-09-13 17:20)
|
|
||||||
- [ ] Eigency: Map[] to Block @created(16-09-10 07:59) @cancelled (16-09-11 08:28)
|
|
||||||
|
|
||||||
- inference before symbolic/linear
|
|
||||||
- what's the purpose of "virtual" ??
|
|
||||||
|
|
@ -1,26 +0,0 @@
|
||||||
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
|
|
||||||
|
|
||||||
|
|
@ -1,143 +0,0 @@
|
||||||
"""
|
|
||||||
GTSAM Copyright 2010-2019, Georgia Tech Research Corporation,
|
|
||||||
Atlanta, Georgia 30332-0415
|
|
||||||
All Rights Reserved
|
|
||||||
|
|
||||||
See LICENSE for the license information
|
|
||||||
|
|
||||||
A script validating the ImuFactor inference.
|
|
||||||
"""
|
|
||||||
|
|
||||||
from __future__ import print_function
|
|
||||||
|
|
||||||
import math
|
|
||||||
|
|
||||||
import matplotlib.pyplot as plt
|
|
||||||
import numpy as np
|
|
||||||
from mpl_toolkits.mplot3d import Axes3D
|
|
||||||
|
|
||||||
import gtsam
|
|
||||||
from gtsam.utils.plot import plot_pose3
|
|
||||||
from PreintegrationExample import POSES_FIG, PreintegrationExample
|
|
||||||
|
|
||||||
BIAS_KEY = int(gtsam.symbol(ord('b'), 0))
|
|
||||||
|
|
||||||
|
|
||||||
def X(key):
|
|
||||||
"""Create symbol for pose key."""
|
|
||||||
return gtsam.symbol(ord('x'), key)
|
|
||||||
|
|
||||||
|
|
||||||
def V(key):
|
|
||||||
"""Create symbol for velocity key."""
|
|
||||||
return gtsam.symbol(ord('v'), key)
|
|
||||||
|
|
||||||
|
|
||||||
np.set_printoptions(precision=3, suppress=True)
|
|
||||||
|
|
||||||
|
|
||||||
class ImuFactorExample(PreintegrationExample):
|
|
||||||
|
|
||||||
def __init__(self):
|
|
||||||
self.velocity = np.array([2, 0, 0])
|
|
||||||
self.priorNoise = gtsam.noiseModel_Isotropic.Sigma(6, 0.1)
|
|
||||||
self.velNoise = gtsam.noiseModel_Isotropic.Sigma(3, 0.1)
|
|
||||||
|
|
||||||
# Choose one of these twists to change scenario:
|
|
||||||
zero_twist = (np.zeros(3), np.zeros(3))
|
|
||||||
forward_twist = (np.zeros(3), self.velocity)
|
|
||||||
loop_twist = (np.array([0, -math.radians(30), 0]), self.velocity)
|
|
||||||
sick_twist = (
|
|
||||||
np.array([math.radians(30), -math.radians(30), 0]), self.velocity)
|
|
||||||
|
|
||||||
accBias = np.array([-0.3, 0.1, 0.2])
|
|
||||||
gyroBias = np.array([0.1, 0.3, -0.1])
|
|
||||||
bias = gtsam.imuBias_ConstantBias(accBias, gyroBias)
|
|
||||||
|
|
||||||
dt = 1e-2
|
|
||||||
super(ImuFactorExample, self).__init__(sick_twist, bias, dt)
|
|
||||||
|
|
||||||
def addPrior(self, i, graph):
|
|
||||||
state = self.scenario.navState(i)
|
|
||||||
graph.push_back(gtsam.PriorFactorPose3(
|
|
||||||
X(i), state.pose(), self.priorNoise))
|
|
||||||
graph.push_back(gtsam.PriorFactorVector(
|
|
||||||
V(i), state.velocity(), self.velNoise))
|
|
||||||
|
|
||||||
def run(self):
|
|
||||||
graph = gtsam.NonlinearFactorGraph()
|
|
||||||
|
|
||||||
# initialize data structure for pre-integrated IMU measurements
|
|
||||||
pim = gtsam.PreintegratedImuMeasurements(self.params, self.actualBias)
|
|
||||||
|
|
||||||
T = 12
|
|
||||||
num_poses = T + 1 # assumes 1 factor per second
|
|
||||||
initial = gtsam.Values()
|
|
||||||
initial.insert(BIAS_KEY, self.actualBias)
|
|
||||||
for i in range(num_poses):
|
|
||||||
state_i = self.scenario.navState(float(i))
|
|
||||||
initial.insert(X(i), state_i.pose())
|
|
||||||
initial.insert(V(i), state_i.velocity())
|
|
||||||
|
|
||||||
# simulate the loop
|
|
||||||
i = 0 # state index
|
|
||||||
actual_state_i = self.scenario.navState(0)
|
|
||||||
for k, t in enumerate(np.arange(0, T, self.dt)):
|
|
||||||
# get measurements and add them to PIM
|
|
||||||
measuredOmega = self.runner.measuredAngularVelocity(t)
|
|
||||||
measuredAcc = self.runner.measuredSpecificForce(t)
|
|
||||||
pim.integrateMeasurement(measuredAcc, measuredOmega, self.dt)
|
|
||||||
|
|
||||||
# Plot IMU many times
|
|
||||||
if k % 10 == 0:
|
|
||||||
self.plotImu(t, measuredOmega, measuredAcc)
|
|
||||||
|
|
||||||
# Plot every second
|
|
||||||
if k % int(1 / self.dt) == 0:
|
|
||||||
self.plotGroundTruthPose(t)
|
|
||||||
|
|
||||||
# create IMU factor every second
|
|
||||||
if (k + 1) % int(1 / self.dt) == 0:
|
|
||||||
factor = gtsam.ImuFactor(X(i), V(i), X(
|
|
||||||
i + 1), V(i + 1), BIAS_KEY, pim)
|
|
||||||
graph.push_back(factor)
|
|
||||||
if True:
|
|
||||||
print(factor)
|
|
||||||
print(pim.predict(actual_state_i, self.actualBias))
|
|
||||||
pim.resetIntegration()
|
|
||||||
actual_state_i = self.scenario.navState(t + self.dt)
|
|
||||||
i += 1
|
|
||||||
|
|
||||||
# add priors on beginning and end
|
|
||||||
self.addPrior(0, graph)
|
|
||||||
self.addPrior(num_poses - 1, graph)
|
|
||||||
|
|
||||||
# optimize using Levenberg-Marquardt optimization
|
|
||||||
params = gtsam.LevenbergMarquardtParams()
|
|
||||||
params.setVerbosityLM("SUMMARY")
|
|
||||||
optimizer = gtsam.LevenbergMarquardtOptimizer(graph, initial, params)
|
|
||||||
result = optimizer.optimize()
|
|
||||||
|
|
||||||
# Calculate and print marginal covariances
|
|
||||||
marginals = gtsam.Marginals(graph, result)
|
|
||||||
print("Covariance on bias:\n", marginals.marginalCovariance(BIAS_KEY))
|
|
||||||
for i in range(num_poses):
|
|
||||||
print("Covariance on pose {}:\n{}\n".format(
|
|
||||||
i, marginals.marginalCovariance(X(i))))
|
|
||||||
print("Covariance on vel {}:\n{}\n".format(
|
|
||||||
i, marginals.marginalCovariance(V(i))))
|
|
||||||
|
|
||||||
# Plot resulting poses
|
|
||||||
i = 0
|
|
||||||
while result.exists(X(i)):
|
|
||||||
pose_i = result.atPose3(X(i))
|
|
||||||
plot_pose3(POSES_FIG, pose_i, 0.1)
|
|
||||||
i += 1
|
|
||||||
print(result.atimuBias_ConstantBias(BIAS_KEY))
|
|
||||||
|
|
||||||
plt.ioff()
|
|
||||||
plt.show()
|
|
||||||
|
|
||||||
|
|
||||||
if __name__ == '__main__':
|
|
||||||
ImuFactorExample().run()
|
|
||||||
|
|
@ -1,176 +0,0 @@
|
||||||
"""
|
|
||||||
iSAM2 example with ImuFactor.
|
|
||||||
Author: Robert Truax (C++), Frank Dellaert (Python)
|
|
||||||
"""
|
|
||||||
# pylint: disable=invalid-name, E1101
|
|
||||||
|
|
||||||
from __future__ import print_function
|
|
||||||
|
|
||||||
import math
|
|
||||||
|
|
||||||
import matplotlib.pyplot as plt
|
|
||||||
import numpy as np
|
|
||||||
from mpl_toolkits.mplot3d import Axes3D # pylint: disable=W0611
|
|
||||||
|
|
||||||
import gtsam
|
|
||||||
import gtsam.utils.plot as gtsam_plot
|
|
||||||
|
|
||||||
|
|
||||||
def X(key):
|
|
||||||
"""Create symbol for pose key."""
|
|
||||||
return gtsam.symbol(ord('x'), key)
|
|
||||||
|
|
||||||
|
|
||||||
def V(key):
|
|
||||||
"""Create symbol for velocity key."""
|
|
||||||
return gtsam.symbol(ord('v'), key)
|
|
||||||
|
|
||||||
|
|
||||||
def vector3(x, y, z):
|
|
||||||
"""Create 3d double numpy array."""
|
|
||||||
return np.array([x, y, z], dtype=np.float)
|
|
||||||
|
|
||||||
|
|
||||||
def ISAM2_plot(values, fignum=0):
|
|
||||||
"""Plot poses."""
|
|
||||||
fig = plt.figure(fignum)
|
|
||||||
axes = fig.gca(projection='3d')
|
|
||||||
plt.cla()
|
|
||||||
|
|
||||||
i = 0
|
|
||||||
min_bounds = 0, 0, 0
|
|
||||||
max_bounds = 0, 0, 0
|
|
||||||
while values.exists(X(i)):
|
|
||||||
pose_i = values.atPose3(X(i))
|
|
||||||
gtsam_plot.plot_pose3(fignum, pose_i, 10)
|
|
||||||
position = pose_i.translation().vector()
|
|
||||||
min_bounds = [min(v1, v2) for (v1, v2) in zip(position, min_bounds)]
|
|
||||||
max_bounds = [max(v1, v2) for (v1, v2) in zip(position, max_bounds)]
|
|
||||||
# max_bounds = min(pose_i.x(), max_bounds[0]), 0, 0
|
|
||||||
i += 1
|
|
||||||
|
|
||||||
# draw
|
|
||||||
axes.set_xlim3d(min_bounds[0]-1, max_bounds[0]+1)
|
|
||||||
axes.set_ylim3d(min_bounds[1]-1, max_bounds[1]+1)
|
|
||||||
axes.set_zlim3d(min_bounds[2]-1, max_bounds[2]+1)
|
|
||||||
plt.pause(1)
|
|
||||||
|
|
||||||
|
|
||||||
# IMU preintegration parameters
|
|
||||||
# Default Params for a Z-up navigation frame, such as ENU: gravity points along negative Z-axis
|
|
||||||
g = 9.81
|
|
||||||
n_gravity = vector3(0, 0, -g)
|
|
||||||
PARAMS = gtsam.PreintegrationParams.MakeSharedU(g)
|
|
||||||
I = np.eye(3)
|
|
||||||
PARAMS.setAccelerometerCovariance(I * 0.1)
|
|
||||||
PARAMS.setGyroscopeCovariance(I * 0.1)
|
|
||||||
PARAMS.setIntegrationCovariance(I * 0.1)
|
|
||||||
PARAMS.setUse2ndOrderCoriolis(False)
|
|
||||||
PARAMS.setOmegaCoriolis(vector3(0, 0, 0))
|
|
||||||
|
|
||||||
BIAS_COVARIANCE = gtsam.noiseModel_Isotropic.Variance(6, 0.1)
|
|
||||||
DELTA = gtsam.Pose3(gtsam.Rot3.Rodrigues(0, 0, 0),
|
|
||||||
gtsam.Point3(0.05, -0.10, 0.20))
|
|
||||||
|
|
||||||
|
|
||||||
def IMU_example():
|
|
||||||
"""Run iSAM 2 example with IMU factor."""
|
|
||||||
|
|
||||||
# Start with a camera on x-axis looking at origin
|
|
||||||
radius = 30
|
|
||||||
up = gtsam.Point3(0, 0, 1)
|
|
||||||
target = gtsam.Point3(0, 0, 0)
|
|
||||||
position = gtsam.Point3(radius, 0, 0)
|
|
||||||
camera = gtsam.SimpleCamera.Lookat(position, target, up, gtsam.Cal3_S2())
|
|
||||||
pose_0 = camera.pose()
|
|
||||||
|
|
||||||
# Create the set of ground-truth landmarks and poses
|
|
||||||
angular_velocity = math.radians(180) # rad/sec
|
|
||||||
delta_t = 1.0/18 # makes for 10 degrees per step
|
|
||||||
|
|
||||||
angular_velocity_vector = vector3(0, -angular_velocity, 0)
|
|
||||||
linear_velocity_vector = vector3(radius * angular_velocity, 0, 0)
|
|
||||||
scenario = gtsam.ConstantTwistScenario(
|
|
||||||
angular_velocity_vector, linear_velocity_vector, pose_0)
|
|
||||||
|
|
||||||
# Create a factor graph
|
|
||||||
newgraph = gtsam.NonlinearFactorGraph()
|
|
||||||
|
|
||||||
# Create (incremental) ISAM2 solver
|
|
||||||
isam = gtsam.ISAM2()
|
|
||||||
|
|
||||||
# Create the initial estimate to the solution
|
|
||||||
# Intentionally initialize the variables off from the ground truth
|
|
||||||
initialEstimate = gtsam.Values()
|
|
||||||
|
|
||||||
# Add a prior on pose x0. This indirectly specifies where the origin is.
|
|
||||||
# 30cm std on x,y,z 0.1 rad on roll,pitch,yaw
|
|
||||||
noise = gtsam.noiseModel_Diagonal.Sigmas(
|
|
||||||
np.array([0.3, 0.3, 0.3, 0.1, 0.1, 0.1]))
|
|
||||||
newgraph.push_back(gtsam.PriorFactorPose3(X(0), pose_0, noise))
|
|
||||||
|
|
||||||
# Add imu priors
|
|
||||||
biasKey = gtsam.symbol(ord('b'), 0)
|
|
||||||
biasnoise = gtsam.noiseModel_Isotropic.Sigma(6, 0.1)
|
|
||||||
biasprior = gtsam.PriorFactorConstantBias(biasKey, gtsam.imuBias_ConstantBias(),
|
|
||||||
biasnoise)
|
|
||||||
newgraph.push_back(biasprior)
|
|
||||||
initialEstimate.insert(biasKey, gtsam.imuBias_ConstantBias())
|
|
||||||
velnoise = gtsam.noiseModel_Isotropic.Sigma(3, 0.1)
|
|
||||||
|
|
||||||
# Calculate with correct initial velocity
|
|
||||||
n_velocity = vector3(0, angular_velocity * radius, 0)
|
|
||||||
velprior = gtsam.PriorFactorVector(V(0), n_velocity, velnoise)
|
|
||||||
newgraph.push_back(velprior)
|
|
||||||
initialEstimate.insert(V(0), n_velocity)
|
|
||||||
|
|
||||||
accum = gtsam.PreintegratedImuMeasurements(PARAMS)
|
|
||||||
|
|
||||||
# Simulate poses and imu measurements, adding them to the factor graph
|
|
||||||
for i in range(80):
|
|
||||||
t = i * delta_t # simulation time
|
|
||||||
if i == 0: # First time add two poses
|
|
||||||
pose_1 = scenario.pose(delta_t)
|
|
||||||
initialEstimate.insert(X(0), pose_0.compose(DELTA))
|
|
||||||
initialEstimate.insert(X(1), pose_1.compose(DELTA))
|
|
||||||
elif i >= 2: # Add more poses as necessary
|
|
||||||
pose_i = scenario.pose(t)
|
|
||||||
initialEstimate.insert(X(i), pose_i.compose(DELTA))
|
|
||||||
|
|
||||||
if i > 0:
|
|
||||||
# Add Bias variables periodically
|
|
||||||
if i % 5 == 0:
|
|
||||||
biasKey += 1
|
|
||||||
factor = gtsam.BetweenFactorConstantBias(
|
|
||||||
biasKey - 1, biasKey, gtsam.imuBias_ConstantBias(), BIAS_COVARIANCE)
|
|
||||||
newgraph.add(factor)
|
|
||||||
initialEstimate.insert(biasKey, gtsam.imuBias_ConstantBias())
|
|
||||||
|
|
||||||
# Predict acceleration and gyro measurements in (actual) body frame
|
|
||||||
nRb = scenario.rotation(t).matrix()
|
|
||||||
bRn = np.transpose(nRb)
|
|
||||||
measuredAcc = scenario.acceleration_b(t) - np.dot(bRn, n_gravity)
|
|
||||||
measuredOmega = scenario.omega_b(t)
|
|
||||||
accum.integrateMeasurement(measuredAcc, measuredOmega, delta_t)
|
|
||||||
|
|
||||||
# Add Imu Factor
|
|
||||||
imufac = gtsam.ImuFactor(
|
|
||||||
X(i - 1), V(i - 1), X(i), V(i), biasKey, accum)
|
|
||||||
newgraph.add(imufac)
|
|
||||||
|
|
||||||
# insert new velocity, which is wrong
|
|
||||||
initialEstimate.insert(V(i), n_velocity)
|
|
||||||
accum.resetIntegration()
|
|
||||||
|
|
||||||
# Incremental solution
|
|
||||||
isam.update(newgraph, initialEstimate)
|
|
||||||
result = isam.calculateEstimate()
|
|
||||||
ISAM2_plot(result)
|
|
||||||
|
|
||||||
# reset
|
|
||||||
newgraph = gtsam.NonlinearFactorGraph()
|
|
||||||
initialEstimate.clear()
|
|
||||||
|
|
||||||
|
|
||||||
if __name__ == '__main__':
|
|
||||||
IMU_example()
|
|
||||||
|
|
@ -1,116 +0,0 @@
|
||||||
"""Various plotting utlities."""
|
|
||||||
|
|
||||||
import numpy as np
|
|
||||||
import matplotlib.pyplot as plt
|
|
||||||
from matplotlib import patches
|
|
||||||
|
|
||||||
|
|
||||||
def plot_pose2_on_axes(axes, pose, axis_length=0.1, covariance=None):
|
|
||||||
"""Plot a 2D pose on given axis 'axes' with given 'axis_length'."""
|
|
||||||
# get rotation and translation (center)
|
|
||||||
gRp = pose.rotation().matrix() # rotation from pose to global
|
|
||||||
t = pose.translation()
|
|
||||||
origin = np.array([t.x(), t.y()])
|
|
||||||
|
|
||||||
# draw the camera axes
|
|
||||||
x_axis = origin + gRp[:, 0] * axis_length
|
|
||||||
line = np.append(origin[np.newaxis], x_axis[np.newaxis], axis=0)
|
|
||||||
axes.plot(line[:, 0], line[:, 1], 'r-')
|
|
||||||
|
|
||||||
y_axis = origin + gRp[:, 1] * axis_length
|
|
||||||
line = np.append(origin[np.newaxis], y_axis[np.newaxis], axis=0)
|
|
||||||
axes.plot(line[:, 0], line[:, 1], 'g-')
|
|
||||||
|
|
||||||
if covariance is not None:
|
|
||||||
pPp = covariance[0:2, 0:2]
|
|
||||||
gPp = np.matmul(np.matmul(gRp, pPp), gRp.T)
|
|
||||||
|
|
||||||
w, v = np.linalg.eig(gPp)
|
|
||||||
|
|
||||||
# k = 2.296
|
|
||||||
k = 5.0
|
|
||||||
|
|
||||||
angle = np.arctan2(v[1, 0], v[0, 0])
|
|
||||||
e1 = patches.Ellipse(origin, np.sqrt(w[0]*k), np.sqrt(w[1]*k),
|
|
||||||
np.rad2deg(angle), fill=False)
|
|
||||||
axes.add_patch(e1)
|
|
||||||
|
|
||||||
def plot_pose2(fignum, pose, axis_length=0.1, covariance=None):
|
|
||||||
"""Plot a 2D pose on given figure with given 'axis_length'."""
|
|
||||||
# get figure object
|
|
||||||
fig = plt.figure(fignum)
|
|
||||||
axes = fig.gca()
|
|
||||||
plot_pose2_on_axes(axes, pose, axis_length, covariance)
|
|
||||||
|
|
||||||
|
|
||||||
def plot_point3_on_axes(axes, point, linespec):
|
|
||||||
"""Plot a 3D point on given axis 'axes' with given 'linespec'."""
|
|
||||||
axes.plot([point.x()], [point.y()], [point.z()], linespec)
|
|
||||||
|
|
||||||
|
|
||||||
def plot_point3(fignum, point, linespec):
|
|
||||||
"""Plot a 3D point on given figure with given 'linespec'."""
|
|
||||||
fig = plt.figure(fignum)
|
|
||||||
axes = fig.gca(projection='3d')
|
|
||||||
plot_point3_on_axes(axes, point, linespec)
|
|
||||||
|
|
||||||
|
|
||||||
def plot_3d_points(fignum, values, linespec, marginals=None):
|
|
||||||
"""
|
|
||||||
Plots the Point3s in 'values', with optional covariances.
|
|
||||||
Finds all the Point3 objects in the given Values object and plots them.
|
|
||||||
If a Marginals object is given, this function will also plot marginal
|
|
||||||
covariance ellipses for each point.
|
|
||||||
"""
|
|
||||||
|
|
||||||
keys = values.keys()
|
|
||||||
|
|
||||||
# Plot points and covariance matrices
|
|
||||||
for i in range(keys.size()):
|
|
||||||
try:
|
|
||||||
p = values.atPoint3(keys.at(i))
|
|
||||||
# if haveMarginals
|
|
||||||
# P = marginals.marginalCovariance(key);
|
|
||||||
# gtsam.plot_point3(p, linespec, P);
|
|
||||||
# else
|
|
||||||
plot_point3(fignum, p, linespec)
|
|
||||||
except RuntimeError:
|
|
||||||
continue
|
|
||||||
# I guess it's not a Point3
|
|
||||||
|
|
||||||
|
|
||||||
def plot_pose3_on_axes(axes, pose, axis_length=0.1):
|
|
||||||
"""Plot a 3D pose on given axis 'axes' with given 'axis_length'."""
|
|
||||||
# get rotation and translation (center)
|
|
||||||
gRp = pose.rotation().matrix() # rotation from pose to global
|
|
||||||
t = pose.translation()
|
|
||||||
origin = np.array([t.x(), t.y(), t.z()])
|
|
||||||
|
|
||||||
# draw the camera axes
|
|
||||||
x_axis = origin + gRp[:, 0] * axis_length
|
|
||||||
line = np.append(origin[np.newaxis], x_axis[np.newaxis], axis=0)
|
|
||||||
axes.plot(line[:, 0], line[:, 1], line[:, 2], 'r-')
|
|
||||||
|
|
||||||
y_axis = origin + gRp[:, 1] * axis_length
|
|
||||||
line = np.append(origin[np.newaxis], y_axis[np.newaxis], axis=0)
|
|
||||||
axes.plot(line[:, 0], line[:, 1], line[:, 2], 'g-')
|
|
||||||
|
|
||||||
z_axis = origin + gRp[:, 2] * axis_length
|
|
||||||
line = np.append(origin[np.newaxis], z_axis[np.newaxis], axis=0)
|
|
||||||
axes.plot(line[:, 0], line[:, 1], line[:, 2], 'b-')
|
|
||||||
|
|
||||||
# plot the covariance
|
|
||||||
# TODO (dellaert): make this work
|
|
||||||
# if (nargin>2) && (~isempty(P))
|
|
||||||
# pPp = P(4:6,4:6); % covariance matrix in pose coordinate frame
|
|
||||||
# gPp = gRp*pPp*gRp'; % convert the covariance matrix to global coordinate frame
|
|
||||||
# gtsam.covarianceEllipse3D(origin,gPp);
|
|
||||||
# end
|
|
||||||
|
|
||||||
|
|
||||||
def plot_pose3(fignum, pose, axis_length=0.1):
|
|
||||||
"""Plot a 3D pose on given figure with given 'axis_length'."""
|
|
||||||
# get figure object
|
|
||||||
fig = plt.figure(fignum)
|
|
||||||
axes = fig.gca(projection='3d')
|
|
||||||
plot_pose3_on_axes(axes, pose, axis_length)
|
|
||||||
|
|
@ -1,49 +0,0 @@
|
||||||
include(GtsamCythonWrap)
|
|
||||||
|
|
||||||
# Copy eigency's sources to the build folder
|
|
||||||
# so that the cython-generated header "conversions_api.h" can be found when cythonizing eigency's core
|
|
||||||
# and eigency's cython pxd headers can be found when cythonizing gtsam
|
|
||||||
file(COPY "." DESTINATION ".")
|
|
||||||
set(OUTPUT_DIR "${PROJECT_BINARY_DIR}/cython/gtsam_eigency")
|
|
||||||
set(EIGENCY_INCLUDE_DIR ${OUTPUT_DIR})
|
|
||||||
|
|
||||||
# This is to make the build/cython/gtsam_eigency folder a python package
|
|
||||||
configure_file(__init__.py.in ${PROJECT_BINARY_DIR}/cython/gtsam_eigency/__init__.py)
|
|
||||||
|
|
||||||
# include eigency headers
|
|
||||||
include_directories(${EIGENCY_INCLUDE_DIR})
|
|
||||||
|
|
||||||
# Cythonize and build eigency
|
|
||||||
message(STATUS "Cythonize and build eigency")
|
|
||||||
# Important trick: use "../gtsam_eigency/conversions.pyx" to let cython know that the conversions module is
|
|
||||||
# a part of the gtsam_eigency package and generate the function call import_gtsam_igency__conversions()
|
|
||||||
# in conversions_api.h correctly!!!
|
|
||||||
cythonize(cythonize_eigency_conversions "../gtsam_eigency/conversions.pyx" "conversions"
|
|
||||||
"${OUTPUT_DIR}" "${EIGENCY_INCLUDE_DIR}" "" "" "")
|
|
||||||
cythonize(cythonize_eigency_core "../gtsam_eigency/core.pyx" "core"
|
|
||||||
${OUTPUT_DIR} "${EIGENCY_INCLUDE_DIR}" "" "" "")
|
|
||||||
|
|
||||||
# Include Eigen headers:
|
|
||||||
target_include_directories(cythonize_eigency_conversions PUBLIC
|
|
||||||
$<BUILD_INTERFACE:${GTSAM_EIGEN_INCLUDE_FOR_BUILD}>
|
|
||||||
$<INSTALL_INTERFACE:${GTSAM_EIGEN_INCLUDE_FOR_INSTALL}>
|
|
||||||
)
|
|
||||||
target_include_directories(cythonize_eigency_core PUBLIC
|
|
||||||
$<BUILD_INTERFACE:${GTSAM_EIGEN_INCLUDE_FOR_BUILD}>
|
|
||||||
$<INSTALL_INTERFACE:${GTSAM_EIGEN_INCLUDE_FOR_INSTALL}>
|
|
||||||
)
|
|
||||||
|
|
||||||
add_dependencies(cythonize_eigency_core cythonize_eigency_conversions)
|
|
||||||
add_custom_target(cythonize_eigency)
|
|
||||||
add_dependencies(cythonize_eigency cythonize_eigency_conversions cythonize_eigency_core)
|
|
||||||
|
|
||||||
# install
|
|
||||||
install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
|
|
||||||
DESTINATION "${GTSAM_CYTHON_INSTALL_PATH}${GTSAM_BUILD_TAG}"
|
|
||||||
PATTERN "CMakeLists.txt" EXCLUDE
|
|
||||||
PATTERN "__init__.py.in" EXCLUDE)
|
|
||||||
install(TARGETS cythonize_eigency_core cythonize_eigency_conversions
|
|
||||||
DESTINATION "${GTSAM_CYTHON_INSTALL_PATH}${GTSAM_BUILD_TAG}/gtsam_eigency")
|
|
||||||
install(FILES ${OUTPUT_DIR}/conversions_api.h DESTINATION ${GTSAM_CYTHON_INSTALL_PATH}${GTSAM_BUILD_TAG}/gtsam_eigency)
|
|
||||||
configure_file(__init__.py.in ${OUTPUT_DIR}/__init__.py)
|
|
||||||
install(FILES ${OUTPUT_DIR}/__init__.py DESTINATION ${GTSAM_CYTHON_INSTALL_PATH}${GTSAM_BUILD_TAG}/gtsam_eigency)
|
|
||||||
|
|
@ -1,20 +0,0 @@
|
||||||
Copyright (c) 2016 Wouter Boomsma
|
|
||||||
|
|
||||||
Permission is hereby granted, free of charge, to any person obtaining
|
|
||||||
a copy of this software and associated documentation files (the
|
|
||||||
"Software"), to deal in the Software without restriction, including
|
|
||||||
without limitation the rights to use, copy, modify, merge, publish,
|
|
||||||
distribute, sublicense, and/or sell copies of the Software, and to
|
|
||||||
permit persons to whom the Software is furnished to do so, subject to
|
|
||||||
the following conditions:
|
|
||||||
|
|
||||||
The above copyright notice and this permission notice shall be
|
|
||||||
included in all copies or substantial portions of the Software.
|
|
||||||
|
|
||||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
|
||||||
EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
|
|
||||||
MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
|
||||||
NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
|
|
||||||
LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
|
|
||||||
OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
|
|
||||||
WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
|
||||||
|
|
@ -1,13 +0,0 @@
|
||||||
import os
|
|
||||||
import numpy as np
|
|
||||||
|
|
||||||
__eigen_dir__ = "${GTSAM_EIGEN_INCLUDE_FOR_INSTALL}"
|
|
||||||
|
|
||||||
def get_includes(include_eigen=True):
|
|
||||||
root = os.path.dirname(__file__)
|
|
||||||
parent = os.path.join(root, "..")
|
|
||||||
path = [root, parent, np.get_include()]
|
|
||||||
if include_eigen:
|
|
||||||
path.append(os.path.join(root, __eigen_dir__))
|
|
||||||
return path
|
|
||||||
|
|
||||||
|
|
@ -1,62 +0,0 @@
|
||||||
cimport numpy as np
|
|
||||||
|
|
||||||
cdef api np.ndarray[double, ndim=2] ndarray_double_C(double *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
cdef api np.ndarray[double, ndim=2] ndarray_double_F(double *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
cdef api np.ndarray[double, ndim=2] ndarray_copy_double_C(const double *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
cdef api np.ndarray[double, ndim=2] ndarray_copy_double_F(const double *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
|
|
||||||
cdef api np.ndarray[float, ndim=2] ndarray_float_C(float *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
cdef api np.ndarray[float, ndim=2] ndarray_float_F(float *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
cdef api np.ndarray[float, ndim=2] ndarray_copy_float_C(const float *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
cdef api np.ndarray[float, ndim=2] ndarray_copy_float_F(const float *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
|
|
||||||
cdef api np.ndarray[long, ndim=2] ndarray_long_C(long *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
cdef api np.ndarray[long, ndim=2] ndarray_long_F(long *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
cdef api np.ndarray[long, ndim=2] ndarray_copy_long_C(const long *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
cdef api np.ndarray[long, ndim=2] ndarray_copy_long_F(const long *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
|
|
||||||
cdef api np.ndarray[unsigned long, ndim=2] ndarray_ulong_C(unsigned long *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
cdef api np.ndarray[unsigned long, ndim=2] ndarray_ulong_F(unsigned long *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
cdef api np.ndarray[unsigned long, ndim=2] ndarray_copy_ulong_C(const unsigned long *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
cdef api np.ndarray[unsigned long, ndim=2] ndarray_copy_ulong_F(const unsigned long *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
|
|
||||||
cdef api np.ndarray[int, ndim=2] ndarray_int_C(int *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
cdef api np.ndarray[int, ndim=2] ndarray_int_F(int *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
cdef api np.ndarray[int, ndim=2] ndarray_copy_int_C(const int *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
cdef api np.ndarray[int, ndim=2] ndarray_copy_int_F(const int *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
|
|
||||||
cdef api np.ndarray[unsigned int, ndim=2] ndarray_uint_C(unsigned int *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
cdef api np.ndarray[unsigned int, ndim=2] ndarray_uint_F(unsigned int *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
cdef api np.ndarray[unsigned int, ndim=2] ndarray_copy_uint_C(const unsigned int *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
cdef api np.ndarray[unsigned int, ndim=2] ndarray_copy_uint_F(const unsigned int *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
|
|
||||||
cdef api np.ndarray[short, ndim=2] ndarray_short_C(short *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
cdef api np.ndarray[short, ndim=2] ndarray_short_F(short *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
cdef api np.ndarray[short, ndim=2] ndarray_copy_short_C(const short *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
cdef api np.ndarray[short, ndim=2] ndarray_copy_short_F(const short *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
|
|
||||||
cdef api np.ndarray[unsigned short, ndim=2] ndarray_ushort_C(unsigned short *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
cdef api np.ndarray[unsigned short, ndim=2] ndarray_ushort_F(unsigned short *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
cdef api np.ndarray[unsigned short, ndim=2] ndarray_copy_ushort_C(const unsigned short *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
cdef api np.ndarray[unsigned short, ndim=2] ndarray_copy_ushort_F(const unsigned short *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
|
|
||||||
cdef api np.ndarray[signed char, ndim=2] ndarray_schar_C(signed char *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
cdef api np.ndarray[signed char, ndim=2] ndarray_schar_F(signed char *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
cdef api np.ndarray[signed char, ndim=2] ndarray_copy_schar_C(const signed char *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
cdef api np.ndarray[signed char, ndim=2] ndarray_copy_schar_F(const signed char *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
|
|
||||||
cdef api np.ndarray[unsigned char, ndim=2] ndarray_uchar_C(unsigned char *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
cdef api np.ndarray[unsigned char, ndim=2] ndarray_uchar_F(unsigned char *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
cdef api np.ndarray[unsigned char, ndim=2] ndarray_copy_uchar_C(const unsigned char *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
cdef api np.ndarray[unsigned char, ndim=2] ndarray_copy_uchar_F(const unsigned char *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
|
|
||||||
cdef api np.ndarray[np.complex128_t, ndim=2] ndarray_complex_double_C(np.complex128_t *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
cdef api np.ndarray[np.complex128_t, ndim=2] ndarray_complex_double_F(np.complex128_t *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
cdef api np.ndarray[np.complex128_t, ndim=2] ndarray_copy_complex_double_C(const np.complex128_t *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
cdef api np.ndarray[np.complex128_t, ndim=2] ndarray_copy_complex_double_F(const np.complex128_t *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
|
|
||||||
cdef api np.ndarray[np.complex64_t, ndim=2] ndarray_complex_float_C(np.complex64_t *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
cdef api np.ndarray[np.complex64_t, ndim=2] ndarray_complex_float_F(np.complex64_t *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
cdef api np.ndarray[np.complex64_t, ndim=2] ndarray_copy_complex_float_C(const np.complex64_t *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
cdef api np.ndarray[np.complex64_t, ndim=2] ndarray_copy_complex_float_F(const np.complex64_t *data, long rows, long cols, long outer_stride, long inner_stride)
|
|
||||||
|
|
||||||
|
|
@ -1,327 +0,0 @@
|
||||||
cimport cython
|
|
||||||
import numpy as np
|
|
||||||
from numpy.lib.stride_tricks import as_strided
|
|
||||||
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[double, ndim=2] ndarray_double_C(double *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef double[:,:] mem_view = <double[:rows,:cols]>data
|
|
||||||
dtype = 'double'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize])
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[double, ndim=2] ndarray_double_F(double *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef double[::1,:] mem_view = <double[:rows:1,:cols]>data
|
|
||||||
dtype = 'double'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize])
|
|
||||||
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[double, ndim=2] ndarray_copy_double_C(const double *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef double[:,:] mem_view = <double[:rows,:cols]>data
|
|
||||||
dtype = 'double'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[double, ndim=2] ndarray_copy_double_F(const double *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef double[::1,:] mem_view = <double[:rows:1,:cols]>data
|
|
||||||
dtype = 'double'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
|
||||||
|
|
||||||
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[float, ndim=2] ndarray_float_C(float *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef float[:,:] mem_view = <float[:rows,:cols]>data
|
|
||||||
dtype = 'float'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize])
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[float, ndim=2] ndarray_float_F(float *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef float[::1,:] mem_view = <float[:rows:1,:cols]>data
|
|
||||||
dtype = 'float'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize])
|
|
||||||
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[float, ndim=2] ndarray_copy_float_C(const float *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef float[:,:] mem_view = <float[:rows,:cols]>data
|
|
||||||
dtype = 'float'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[float, ndim=2] ndarray_copy_float_F(const float *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef float[::1,:] mem_view = <float[:rows:1,:cols]>data
|
|
||||||
dtype = 'float'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
|
||||||
|
|
||||||
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[long, ndim=2] ndarray_long_C(long *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef long[:,:] mem_view = <long[:rows,:cols]>data
|
|
||||||
dtype = 'int_'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize])
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[long, ndim=2] ndarray_long_F(long *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef long[::1,:] mem_view = <long[:rows:1,:cols]>data
|
|
||||||
dtype = 'int_'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize])
|
|
||||||
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[long, ndim=2] ndarray_copy_long_C(const long *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef long[:,:] mem_view = <long[:rows,:cols]>data
|
|
||||||
dtype = 'int_'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[long, ndim=2] ndarray_copy_long_F(const long *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef long[::1,:] mem_view = <long[:rows:1,:cols]>data
|
|
||||||
dtype = 'int_'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
|
||||||
|
|
||||||
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[unsigned long, ndim=2] ndarray_ulong_C(unsigned long *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef unsigned long[:,:] mem_view = <unsigned long[:rows,:cols]>data
|
|
||||||
dtype = 'uint'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize])
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[unsigned long, ndim=2] ndarray_ulong_F(unsigned long *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef unsigned long[::1,:] mem_view = <unsigned long[:rows:1,:cols]>data
|
|
||||||
dtype = 'uint'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize])
|
|
||||||
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[unsigned long, ndim=2] ndarray_copy_ulong_C(const unsigned long *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef unsigned long[:,:] mem_view = <unsigned long[:rows,:cols]>data
|
|
||||||
dtype = 'uint'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[unsigned long, ndim=2] ndarray_copy_ulong_F(const unsigned long *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef unsigned long[::1,:] mem_view = <unsigned long[:rows:1,:cols]>data
|
|
||||||
dtype = 'uint'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
|
||||||
|
|
||||||
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[int, ndim=2] ndarray_int_C(int *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef int[:,:] mem_view = <int[:rows,:cols]>data
|
|
||||||
dtype = 'int'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize])
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[int, ndim=2] ndarray_int_F(int *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef int[::1,:] mem_view = <int[:rows:1,:cols]>data
|
|
||||||
dtype = 'int'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize])
|
|
||||||
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[int, ndim=2] ndarray_copy_int_C(const int *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef int[:,:] mem_view = <int[:rows,:cols]>data
|
|
||||||
dtype = 'int'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[int, ndim=2] ndarray_copy_int_F(const int *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef int[::1,:] mem_view = <int[:rows:1,:cols]>data
|
|
||||||
dtype = 'int'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
|
||||||
|
|
||||||
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[unsigned int, ndim=2] ndarray_uint_C(unsigned int *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef unsigned int[:,:] mem_view = <unsigned int[:rows,:cols]>data
|
|
||||||
dtype = 'uint'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize])
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[unsigned int, ndim=2] ndarray_uint_F(unsigned int *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef unsigned int[::1,:] mem_view = <unsigned int[:rows:1,:cols]>data
|
|
||||||
dtype = 'uint'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize])
|
|
||||||
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[unsigned int, ndim=2] ndarray_copy_uint_C(const unsigned int *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef unsigned int[:,:] mem_view = <unsigned int[:rows,:cols]>data
|
|
||||||
dtype = 'uint'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[unsigned int, ndim=2] ndarray_copy_uint_F(const unsigned int *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef unsigned int[::1,:] mem_view = <unsigned int[:rows:1,:cols]>data
|
|
||||||
dtype = 'uint'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
|
||||||
|
|
||||||
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[short, ndim=2] ndarray_short_C(short *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef short[:,:] mem_view = <short[:rows,:cols]>data
|
|
||||||
dtype = 'short'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize])
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[short, ndim=2] ndarray_short_F(short *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef short[::1,:] mem_view = <short[:rows:1,:cols]>data
|
|
||||||
dtype = 'short'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize])
|
|
||||||
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[short, ndim=2] ndarray_copy_short_C(const short *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef short[:,:] mem_view = <short[:rows,:cols]>data
|
|
||||||
dtype = 'short'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[short, ndim=2] ndarray_copy_short_F(const short *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef short[::1,:] mem_view = <short[:rows:1,:cols]>data
|
|
||||||
dtype = 'short'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
|
||||||
|
|
||||||
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[unsigned short, ndim=2] ndarray_ushort_C(unsigned short *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef unsigned short[:,:] mem_view = <unsigned short[:rows,:cols]>data
|
|
||||||
dtype = 'ushort'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize])
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[unsigned short, ndim=2] ndarray_ushort_F(unsigned short *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef unsigned short[::1,:] mem_view = <unsigned short[:rows:1,:cols]>data
|
|
||||||
dtype = 'ushort'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize])
|
|
||||||
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[unsigned short, ndim=2] ndarray_copy_ushort_C(const unsigned short *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef unsigned short[:,:] mem_view = <unsigned short[:rows,:cols]>data
|
|
||||||
dtype = 'ushort'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[unsigned short, ndim=2] ndarray_copy_ushort_F(const unsigned short *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef unsigned short[::1,:] mem_view = <unsigned short[:rows:1,:cols]>data
|
|
||||||
dtype = 'ushort'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
|
||||||
|
|
||||||
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[signed char, ndim=2] ndarray_schar_C(signed char *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef signed char[:,:] mem_view = <signed char[:rows,:cols]>data
|
|
||||||
dtype = 'int8'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize])
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[signed char, ndim=2] ndarray_schar_F(signed char *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef signed char[::1,:] mem_view = <signed char[:rows:1,:cols]>data
|
|
||||||
dtype = 'int8'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize])
|
|
||||||
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[signed char, ndim=2] ndarray_copy_schar_C(const signed char *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef signed char[:,:] mem_view = <signed char[:rows,:cols]>data
|
|
||||||
dtype = 'int8'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[signed char, ndim=2] ndarray_copy_schar_F(const signed char *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef signed char[::1,:] mem_view = <signed char[:rows:1,:cols]>data
|
|
||||||
dtype = 'int8'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
|
||||||
|
|
||||||
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[unsigned char, ndim=2] ndarray_uchar_C(unsigned char *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef unsigned char[:,:] mem_view = <unsigned char[:rows,:cols]>data
|
|
||||||
dtype = 'uint8'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize])
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[unsigned char, ndim=2] ndarray_uchar_F(unsigned char *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef unsigned char[::1,:] mem_view = <unsigned char[:rows:1,:cols]>data
|
|
||||||
dtype = 'uint8'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize])
|
|
||||||
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[unsigned char, ndim=2] ndarray_copy_uchar_C(const unsigned char *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef unsigned char[:,:] mem_view = <unsigned char[:rows,:cols]>data
|
|
||||||
dtype = 'uint8'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[unsigned char, ndim=2] ndarray_copy_uchar_F(const unsigned char *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef unsigned char[::1,:] mem_view = <unsigned char[:rows:1,:cols]>data
|
|
||||||
dtype = 'uint8'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
|
||||||
|
|
||||||
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[np.complex128_t, ndim=2] ndarray_complex_double_C(np.complex128_t *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef np.complex128_t[:,:] mem_view = <np.complex128_t[:rows,:cols]>data
|
|
||||||
dtype = 'complex128'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize])
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[np.complex128_t, ndim=2] ndarray_complex_double_F(np.complex128_t *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef np.complex128_t[::1,:] mem_view = <np.complex128_t[:rows:1,:cols]>data
|
|
||||||
dtype = 'complex128'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize])
|
|
||||||
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[np.complex128_t, ndim=2] ndarray_copy_complex_double_C(const np.complex128_t *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef np.complex128_t[:,:] mem_view = <np.complex128_t[:rows,:cols]>data
|
|
||||||
dtype = 'complex128'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[np.complex128_t, ndim=2] ndarray_copy_complex_double_F(const np.complex128_t *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef np.complex128_t[::1,:] mem_view = <np.complex128_t[:rows:1,:cols]>data
|
|
||||||
dtype = 'complex128'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
|
||||||
|
|
||||||
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[np.complex64_t, ndim=2] ndarray_complex_float_C(np.complex64_t *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef np.complex64_t[:,:] mem_view = <np.complex64_t[:rows,:cols]>data
|
|
||||||
dtype = 'complex64'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize])
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[np.complex64_t, ndim=2] ndarray_complex_float_F(np.complex64_t *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef np.complex64_t[::1,:] mem_view = <np.complex64_t[:rows:1,:cols]>data
|
|
||||||
dtype = 'complex64'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize])
|
|
||||||
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[np.complex64_t, ndim=2] ndarray_copy_complex_float_C(const np.complex64_t *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef np.complex64_t[:,:] mem_view = <np.complex64_t[:rows,:cols]>data
|
|
||||||
dtype = 'complex64'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
|
||||||
@cython.boundscheck(False)
|
|
||||||
cdef np.ndarray[np.complex64_t, ndim=2] ndarray_copy_complex_float_F(const np.complex64_t *data, long rows, long cols, long row_stride, long col_stride):
|
|
||||||
cdef np.complex64_t[::1,:] mem_view = <np.complex64_t[:rows:1,:cols]>data
|
|
||||||
dtype = 'complex64'
|
|
||||||
cdef int itemsize = np.dtype(dtype).itemsize
|
|
||||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
|
||||||
|
|
||||||
|
|
@ -1,917 +0,0 @@
|
||||||
cimport cython
|
|
||||||
cimport numpy as np
|
|
||||||
|
|
||||||
ctypedef signed char schar;
|
|
||||||
ctypedef unsigned char uchar;
|
|
||||||
|
|
||||||
ctypedef fused dtype:
|
|
||||||
uchar
|
|
||||||
schar
|
|
||||||
short
|
|
||||||
int
|
|
||||||
long
|
|
||||||
float
|
|
||||||
double
|
|
||||||
|
|
||||||
ctypedef fused DenseType:
|
|
||||||
Matrix
|
|
||||||
Array
|
|
||||||
|
|
||||||
ctypedef fused Rows:
|
|
||||||
_1
|
|
||||||
_2
|
|
||||||
_3
|
|
||||||
_4
|
|
||||||
_5
|
|
||||||
_6
|
|
||||||
_7
|
|
||||||
_8
|
|
||||||
_9
|
|
||||||
_10
|
|
||||||
_11
|
|
||||||
_12
|
|
||||||
_13
|
|
||||||
_14
|
|
||||||
_15
|
|
||||||
_16
|
|
||||||
_17
|
|
||||||
_18
|
|
||||||
_19
|
|
||||||
_20
|
|
||||||
_21
|
|
||||||
_22
|
|
||||||
_23
|
|
||||||
_24
|
|
||||||
_25
|
|
||||||
_26
|
|
||||||
_27
|
|
||||||
_28
|
|
||||||
_29
|
|
||||||
_30
|
|
||||||
_31
|
|
||||||
_32
|
|
||||||
Dynamic
|
|
||||||
|
|
||||||
ctypedef Rows Cols
|
|
||||||
ctypedef Rows StrideOuter
|
|
||||||
ctypedef Rows StrideInner
|
|
||||||
|
|
||||||
ctypedef fused DenseTypeShort:
|
|
||||||
Vector1i
|
|
||||||
Vector2i
|
|
||||||
Vector3i
|
|
||||||
Vector4i
|
|
||||||
VectorXi
|
|
||||||
RowVector1i
|
|
||||||
RowVector2i
|
|
||||||
RowVector3i
|
|
||||||
RowVector4i
|
|
||||||
RowVectorXi
|
|
||||||
Matrix1i
|
|
||||||
Matrix2i
|
|
||||||
Matrix3i
|
|
||||||
Matrix4i
|
|
||||||
MatrixXi
|
|
||||||
Vector1f
|
|
||||||
Vector2f
|
|
||||||
Vector3f
|
|
||||||
Vector4f
|
|
||||||
VectorXf
|
|
||||||
RowVector1f
|
|
||||||
RowVector2f
|
|
||||||
RowVector3f
|
|
||||||
RowVector4f
|
|
||||||
RowVectorXf
|
|
||||||
Matrix1f
|
|
||||||
Matrix2f
|
|
||||||
Matrix3f
|
|
||||||
Matrix4f
|
|
||||||
MatrixXf
|
|
||||||
Vector1d
|
|
||||||
Vector2d
|
|
||||||
Vector3d
|
|
||||||
Vector4d
|
|
||||||
VectorXd
|
|
||||||
RowVector1d
|
|
||||||
RowVector2d
|
|
||||||
RowVector3d
|
|
||||||
RowVector4d
|
|
||||||
RowVectorXd
|
|
||||||
Matrix1d
|
|
||||||
Matrix2d
|
|
||||||
Matrix3d
|
|
||||||
Matrix4d
|
|
||||||
MatrixXd
|
|
||||||
Vector1cf
|
|
||||||
Vector2cf
|
|
||||||
Vector3cf
|
|
||||||
Vector4cf
|
|
||||||
VectorXcf
|
|
||||||
RowVector1cf
|
|
||||||
RowVector2cf
|
|
||||||
RowVector3cf
|
|
||||||
RowVector4cf
|
|
||||||
RowVectorXcf
|
|
||||||
Matrix1cf
|
|
||||||
Matrix2cf
|
|
||||||
Matrix3cf
|
|
||||||
Matrix4cf
|
|
||||||
MatrixXcf
|
|
||||||
Vector1cd
|
|
||||||
Vector2cd
|
|
||||||
Vector3cd
|
|
||||||
Vector4cd
|
|
||||||
VectorXcd
|
|
||||||
RowVector1cd
|
|
||||||
RowVector2cd
|
|
||||||
RowVector3cd
|
|
||||||
RowVector4cd
|
|
||||||
RowVectorXcd
|
|
||||||
Matrix1cd
|
|
||||||
Matrix2cd
|
|
||||||
Matrix3cd
|
|
||||||
Matrix4cd
|
|
||||||
MatrixXcd
|
|
||||||
Array22i
|
|
||||||
Array23i
|
|
||||||
Array24i
|
|
||||||
Array2Xi
|
|
||||||
Array32i
|
|
||||||
Array33i
|
|
||||||
Array34i
|
|
||||||
Array3Xi
|
|
||||||
Array42i
|
|
||||||
Array43i
|
|
||||||
Array44i
|
|
||||||
Array4Xi
|
|
||||||
ArrayX2i
|
|
||||||
ArrayX3i
|
|
||||||
ArrayX4i
|
|
||||||
ArrayXXi
|
|
||||||
Array2i
|
|
||||||
Array3i
|
|
||||||
Array4i
|
|
||||||
ArrayXi
|
|
||||||
Array22f
|
|
||||||
Array23f
|
|
||||||
Array24f
|
|
||||||
Array2Xf
|
|
||||||
Array32f
|
|
||||||
Array33f
|
|
||||||
Array34f
|
|
||||||
Array3Xf
|
|
||||||
Array42f
|
|
||||||
Array43f
|
|
||||||
Array44f
|
|
||||||
Array4Xf
|
|
||||||
ArrayX2f
|
|
||||||
ArrayX3f
|
|
||||||
ArrayX4f
|
|
||||||
ArrayXXf
|
|
||||||
Array2f
|
|
||||||
Array3f
|
|
||||||
Array4f
|
|
||||||
ArrayXf
|
|
||||||
Array22d
|
|
||||||
Array23d
|
|
||||||
Array24d
|
|
||||||
Array2Xd
|
|
||||||
Array32d
|
|
||||||
Array33d
|
|
||||||
Array34d
|
|
||||||
Array3Xd
|
|
||||||
Array42d
|
|
||||||
Array43d
|
|
||||||
Array44d
|
|
||||||
Array4Xd
|
|
||||||
ArrayX2d
|
|
||||||
ArrayX3d
|
|
||||||
ArrayX4d
|
|
||||||
ArrayXXd
|
|
||||||
Array2d
|
|
||||||
Array3d
|
|
||||||
Array4d
|
|
||||||
ArrayXd
|
|
||||||
Array22cf
|
|
||||||
Array23cf
|
|
||||||
Array24cf
|
|
||||||
Array2Xcf
|
|
||||||
Array32cf
|
|
||||||
Array33cf
|
|
||||||
Array34cf
|
|
||||||
Array3Xcf
|
|
||||||
Array42cf
|
|
||||||
Array43cf
|
|
||||||
Array44cf
|
|
||||||
Array4Xcf
|
|
||||||
ArrayX2cf
|
|
||||||
ArrayX3cf
|
|
||||||
ArrayX4cf
|
|
||||||
ArrayXXcf
|
|
||||||
Array2cf
|
|
||||||
Array3cf
|
|
||||||
Array4cf
|
|
||||||
ArrayXcf
|
|
||||||
Array22cd
|
|
||||||
Array23cd
|
|
||||||
Array24cd
|
|
||||||
Array2Xcd
|
|
||||||
Array32cd
|
|
||||||
Array33cd
|
|
||||||
Array34cd
|
|
||||||
Array3Xcd
|
|
||||||
Array42cd
|
|
||||||
Array43cd
|
|
||||||
Array44cd
|
|
||||||
Array4Xcd
|
|
||||||
ArrayX2cd
|
|
||||||
ArrayX3cd
|
|
||||||
ArrayX4cd
|
|
||||||
ArrayXXcd
|
|
||||||
Array2cd
|
|
||||||
Array3cd
|
|
||||||
Array4cd
|
|
||||||
ArrayXcd
|
|
||||||
|
|
||||||
ctypedef fused StorageOrder:
|
|
||||||
RowMajor
|
|
||||||
ColMajor
|
|
||||||
|
|
||||||
ctypedef fused MapOptions:
|
|
||||||
Aligned
|
|
||||||
Unaligned
|
|
||||||
|
|
||||||
cdef extern from "eigency_cpp.h" namespace "eigency":
|
|
||||||
|
|
||||||
cdef cppclass _1 "1":
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass _2 "2":
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass _3 "3":
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass _4 "4":
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass _5 "5":
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass _6 "6":
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass _7 "7":
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass _8 "8":
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass _9 "9":
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass _10 "10":
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass _11 "11":
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass _12 "12":
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass _13 "13":
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass _14 "14":
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass _15 "15":
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass _16 "16":
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass _17 "17":
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass _18 "18":
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass _19 "19":
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass _20 "20":
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass _21 "21":
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass _22 "22":
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass _23 "23":
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass _24 "24":
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass _25 "25":
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass _26 "26":
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass _27 "27":
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass _28 "28":
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass _29 "29":
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass _30 "30":
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass _31 "31":
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass _32 "32":
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass PlainObjectBase:
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Map[DenseTypeShort](PlainObjectBase):
|
|
||||||
Map() except +
|
|
||||||
Map(np.ndarray array) except +
|
|
||||||
|
|
||||||
cdef cppclass FlattenedMap[DenseType, dtype, Rows, Cols]:
|
|
||||||
FlattenedMap() except +
|
|
||||||
FlattenedMap(np.ndarray array) except +
|
|
||||||
|
|
||||||
cdef cppclass FlattenedMapWithOrder "eigency::FlattenedMap" [DenseType, dtype, Rows, Cols, StorageOrder]:
|
|
||||||
FlattenedMapWithOrder() except +
|
|
||||||
FlattenedMapWithOrder(np.ndarray array) except +
|
|
||||||
|
|
||||||
cdef cppclass FlattenedMapWithStride "eigency::FlattenedMap" [DenseType, dtype, Rows, Cols, StorageOrder, MapOptions, StrideOuter, StrideInner]:
|
|
||||||
FlattenedMapWithStride() except +
|
|
||||||
FlattenedMapWithStride(np.ndarray array) except +
|
|
||||||
|
|
||||||
cdef np.ndarray ndarray_view(PlainObjectBase &)
|
|
||||||
cdef np.ndarray ndarray_copy(PlainObjectBase &)
|
|
||||||
cdef np.ndarray ndarray(PlainObjectBase &)
|
|
||||||
|
|
||||||
|
|
||||||
cdef extern from "eigency_cpp.h" namespace "Eigen":
|
|
||||||
|
|
||||||
cdef cppclass Dynamic:
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass RowMajor:
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass ColMajor:
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Aligned:
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Unaligned:
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Matrix(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass VectorXd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Vector1i(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Vector2i(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Vector3i(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Vector4i(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass VectorXi(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass RowVector1i(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass RowVector2i(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass RowVector3i(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass RowVector4i(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass RowVectorXi(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Matrix1i(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Matrix2i(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Matrix3i(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Matrix4i(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass MatrixXi(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Vector1f(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Vector2f(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Vector3f(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Vector4f(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass VectorXf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass RowVector1f(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass RowVector2f(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass RowVector3f(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass RowVector4f(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass RowVectorXf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Matrix1f(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Matrix2f(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Matrix3f(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Matrix4f(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass MatrixXf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Vector1d(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Vector2d(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Vector3d(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Vector4d(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass VectorXd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass RowVector1d(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass RowVector2d(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass RowVector3d(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass RowVector4d(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass RowVectorXd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Matrix1d(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Matrix2d(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Matrix3d(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Matrix4d(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass MatrixXd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Vector1cf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Vector2cf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Vector3cf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Vector4cf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass VectorXcf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass RowVector1cf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass RowVector2cf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass RowVector3cf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass RowVector4cf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass RowVectorXcf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Matrix1cf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Matrix2cf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Matrix3cf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Matrix4cf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass MatrixXcf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Vector1cd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Vector2cd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Vector3cd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Vector4cd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass VectorXcd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass RowVector1cd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass RowVector2cd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass RowVector3cd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass RowVector4cd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass RowVectorXcd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Matrix1cd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Matrix2cd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Matrix3cd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Matrix4cd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass MatrixXcd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array22i(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array23i(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array24i(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array2Xi(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array32i(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array33i(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array34i(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array3Xi(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array42i(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array43i(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array44i(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array4Xi(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass ArrayX2i(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass ArrayX3i(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass ArrayX4i(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass ArrayXXi(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array2i(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array3i(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array4i(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass ArrayXi(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array22f(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array23f(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array24f(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array2Xf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array32f(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array33f(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array34f(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array3Xf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array42f(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array43f(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array44f(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array4Xf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass ArrayX2f(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass ArrayX3f(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass ArrayX4f(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass ArrayXXf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array2f(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array3f(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array4f(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass ArrayXf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array22d(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array23d(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array24d(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array2Xd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array32d(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array33d(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array34d(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array3Xd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array42d(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array43d(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array44d(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array4Xd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass ArrayX2d(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass ArrayX3d(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass ArrayX4d(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass ArrayXXd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array2d(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array3d(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array4d(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass ArrayXd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array22cf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array23cf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array24cf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array2Xcf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array32cf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array33cf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array34cf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array3Xcf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array42cf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array43cf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array44cf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array4Xcf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass ArrayX2cf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass ArrayX3cf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass ArrayX4cf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass ArrayXXcf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array2cf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array3cf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array4cf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass ArrayXcf(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array22cd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array23cd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array24cd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array2Xcd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array32cd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array33cd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array34cd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array3Xcd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array42cd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array43cd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array44cd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array4Xcd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass ArrayX2cd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass ArrayX3cd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass ArrayX4cd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass ArrayXXcd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array2cd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array3cd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass Array4cd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
cdef cppclass ArrayXcd(PlainObjectBase):
|
|
||||||
pass
|
|
||||||
|
|
||||||
|
|
||||||
|
|
@ -1 +0,0 @@
|
||||||
|
|
||||||
|
|
@ -1,504 +0,0 @@
|
||||||
#include <Eigen/Dense>
|
|
||||||
|
|
||||||
#include <iostream>
|
|
||||||
#include <stdexcept>
|
|
||||||
#include <complex>
|
|
||||||
|
|
||||||
typedef ::std::complex< double > __pyx_t_double_complex;
|
|
||||||
typedef ::std::complex< float > __pyx_t_float_complex;
|
|
||||||
|
|
||||||
#include "conversions_api.h"
|
|
||||||
|
|
||||||
#ifndef EIGENCY_CPP
|
|
||||||
#define EIGENCY_CPP
|
|
||||||
|
|
||||||
namespace eigency {
|
|
||||||
|
|
||||||
template<typename Scalar>
|
|
||||||
inline PyArrayObject *_ndarray_view(Scalar *, long rows, long cols, bool is_row_major, long outer_stride=0, long inner_stride=0);
|
|
||||||
template<typename Scalar>
|
|
||||||
inline PyArrayObject *_ndarray_copy(const Scalar *, long rows, long cols, bool is_row_major, long outer_stride=0, long inner_stride=0);
|
|
||||||
|
|
||||||
// Strides:
|
|
||||||
// Eigen and numpy differ in their way of dealing with strides. Eigen has the concept of outer and
|
|
||||||
// inner strides, which are dependent on whether the array/matrix is row-major of column-major:
|
|
||||||
// Inner stride: denotes the offset between succeeding elements in each row (row-major) or column (column-major).
|
|
||||||
// Outer stride: denotes the offset between succeeding rows (row-major) or succeeding columns (column-major).
|
|
||||||
// In contrast, numpy's stride is simply a measure of how fast each dimension should be incremented.
|
|
||||||
// Consequently, a switch in numpy storage order from row-major to column-major involves a switch
|
|
||||||
// in strides, while it does not affect the stride in Eigen.
|
|
||||||
template<>
|
|
||||||
inline PyArrayObject *_ndarray_view<double>(double *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
|
||||||
if (is_row_major) {
|
|
||||||
// Eigen row-major mode: row_stride=outer_stride, and col_stride=inner_stride
|
|
||||||
// If no stride is given, the row_stride is set to the number of columns.
|
|
||||||
return ndarray_double_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
|
||||||
} else {
|
|
||||||
// Eigen column-major mode: row_stride=outer_stride, and col_stride=inner_stride
|
|
||||||
// If no stride is given, the cow_stride is set to the number of rows.
|
|
||||||
return ndarray_double_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
template<>
|
|
||||||
inline PyArrayObject *_ndarray_copy<double>(const double *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
|
||||||
if (is_row_major)
|
|
||||||
return ndarray_copy_double_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
|
||||||
else
|
|
||||||
return ndarray_copy_double_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
|
||||||
}
|
|
||||||
|
|
||||||
template<>
|
|
||||||
inline PyArrayObject *_ndarray_view<float>(float *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
|
||||||
if (is_row_major)
|
|
||||||
return ndarray_float_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
|
||||||
else
|
|
||||||
return ndarray_float_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
|
||||||
}
|
|
||||||
template<>
|
|
||||||
inline PyArrayObject *_ndarray_copy<float>(const float *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
|
||||||
if (is_row_major)
|
|
||||||
return ndarray_copy_float_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
|
||||||
else
|
|
||||||
return ndarray_copy_float_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
|
||||||
}
|
|
||||||
|
|
||||||
template<>
|
|
||||||
inline PyArrayObject *_ndarray_view<long>(long *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
|
||||||
if (is_row_major)
|
|
||||||
return ndarray_long_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
|
||||||
else
|
|
||||||
return ndarray_long_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
|
||||||
}
|
|
||||||
template<>
|
|
||||||
inline PyArrayObject *_ndarray_copy<long>(const long *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
|
||||||
if (is_row_major)
|
|
||||||
return ndarray_copy_long_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
|
||||||
else
|
|
||||||
return ndarray_copy_long_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
|
||||||
}
|
|
||||||
|
|
||||||
template<>
|
|
||||||
inline PyArrayObject *_ndarray_view<unsigned long>(unsigned long *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
|
||||||
if (is_row_major)
|
|
||||||
return ndarray_ulong_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
|
||||||
else
|
|
||||||
return ndarray_ulong_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
|
||||||
}
|
|
||||||
template<>
|
|
||||||
inline PyArrayObject *_ndarray_copy<unsigned long>(const unsigned long *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
|
||||||
if (is_row_major)
|
|
||||||
return ndarray_copy_ulong_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
|
||||||
else
|
|
||||||
return ndarray_copy_ulong_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
|
||||||
}
|
|
||||||
|
|
||||||
template<>
|
|
||||||
inline PyArrayObject *_ndarray_view<int>(int *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
|
||||||
if (is_row_major)
|
|
||||||
return ndarray_int_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
|
||||||
else
|
|
||||||
return ndarray_int_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
|
||||||
}
|
|
||||||
template<>
|
|
||||||
inline PyArrayObject *_ndarray_copy<int>(const int *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
|
||||||
if (is_row_major)
|
|
||||||
return ndarray_copy_int_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
|
||||||
else
|
|
||||||
return ndarray_copy_int_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
|
||||||
}
|
|
||||||
|
|
||||||
template<>
|
|
||||||
inline PyArrayObject *_ndarray_view<unsigned int>(unsigned int *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
|
||||||
if (is_row_major)
|
|
||||||
return ndarray_uint_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
|
||||||
else
|
|
||||||
return ndarray_uint_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
|
||||||
}
|
|
||||||
template<>
|
|
||||||
inline PyArrayObject *_ndarray_copy<unsigned int>(const unsigned int *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
|
||||||
if (is_row_major)
|
|
||||||
return ndarray_copy_uint_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
|
||||||
else
|
|
||||||
return ndarray_copy_uint_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
|
||||||
}
|
|
||||||
|
|
||||||
template<>
|
|
||||||
inline PyArrayObject *_ndarray_view<short>(short *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
|
||||||
if (is_row_major)
|
|
||||||
return ndarray_short_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
|
||||||
else
|
|
||||||
return ndarray_short_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
|
||||||
}
|
|
||||||
template<>
|
|
||||||
inline PyArrayObject *_ndarray_copy<short>(const short *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
|
||||||
if (is_row_major)
|
|
||||||
return ndarray_copy_short_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
|
||||||
else
|
|
||||||
return ndarray_copy_short_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
|
||||||
}
|
|
||||||
|
|
||||||
template<>
|
|
||||||
inline PyArrayObject *_ndarray_view<unsigned short>(unsigned short *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
|
||||||
if (is_row_major)
|
|
||||||
return ndarray_ushort_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
|
||||||
else
|
|
||||||
return ndarray_ushort_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
|
||||||
}
|
|
||||||
template<>
|
|
||||||
inline PyArrayObject *_ndarray_copy<unsigned short>(const unsigned short *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
|
||||||
if (is_row_major)
|
|
||||||
return ndarray_copy_ushort_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
|
||||||
else
|
|
||||||
return ndarray_copy_ushort_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
|
||||||
}
|
|
||||||
|
|
||||||
template<>
|
|
||||||
inline PyArrayObject *_ndarray_view<signed char>(signed char *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
|
||||||
if (is_row_major)
|
|
||||||
return ndarray_schar_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
|
||||||
else
|
|
||||||
return ndarray_schar_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
|
||||||
}
|
|
||||||
template<>
|
|
||||||
inline PyArrayObject *_ndarray_copy<signed char>(const signed char *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
|
||||||
if (is_row_major)
|
|
||||||
return ndarray_copy_schar_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
|
||||||
else
|
|
||||||
return ndarray_copy_schar_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
|
||||||
}
|
|
||||||
|
|
||||||
template<>
|
|
||||||
inline PyArrayObject *_ndarray_view<unsigned char>(unsigned char *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
|
||||||
if (is_row_major)
|
|
||||||
return ndarray_uchar_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
|
||||||
else
|
|
||||||
return ndarray_uchar_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
|
||||||
}
|
|
||||||
template<>
|
|
||||||
inline PyArrayObject *_ndarray_copy<unsigned char>(const unsigned char *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
|
||||||
if (is_row_major)
|
|
||||||
return ndarray_copy_uchar_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
|
||||||
else
|
|
||||||
return ndarray_copy_uchar_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
|
||||||
}
|
|
||||||
|
|
||||||
template<>
|
|
||||||
inline PyArrayObject *_ndarray_view<std::complex<double> >(std::complex<double> *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
|
||||||
if (is_row_major)
|
|
||||||
return ndarray_complex_double_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
|
||||||
else
|
|
||||||
return ndarray_complex_double_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
|
||||||
}
|
|
||||||
template<>
|
|
||||||
inline PyArrayObject *_ndarray_copy<std::complex<double> >(const std::complex<double> *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
|
||||||
if (is_row_major)
|
|
||||||
return ndarray_copy_complex_double_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
|
||||||
else
|
|
||||||
return ndarray_copy_complex_double_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
|
||||||
}
|
|
||||||
|
|
||||||
template<>
|
|
||||||
inline PyArrayObject *_ndarray_view<std::complex<float> >(std::complex<float> *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
|
||||||
if (is_row_major)
|
|
||||||
return ndarray_complex_float_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
|
||||||
else
|
|
||||||
return ndarray_complex_float_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
|
||||||
}
|
|
||||||
template<>
|
|
||||||
inline PyArrayObject *_ndarray_copy<std::complex<float> >(const std::complex<float> *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
|
||||||
if (is_row_major)
|
|
||||||
return ndarray_copy_complex_float_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
|
||||||
else
|
|
||||||
return ndarray_copy_complex_float_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
template <typename Derived>
|
|
||||||
inline PyArrayObject *ndarray(Eigen::PlainObjectBase<Derived> &m) {
|
|
||||||
import_gtsam_eigency__conversions();
|
|
||||||
return _ndarray_view(m.data(), m.rows(), m.cols(), m.IsRowMajor);
|
|
||||||
}
|
|
||||||
// If C++11 is available, check if m is an r-value reference, in
|
|
||||||
// which case a copy should always be made
|
|
||||||
#if __cplusplus >= 201103L
|
|
||||||
template <typename Derived>
|
|
||||||
inline PyArrayObject *ndarray(Eigen::PlainObjectBase<Derived> &&m) {
|
|
||||||
import_gtsam_eigency__conversions();
|
|
||||||
return _ndarray_copy(m.data(), m.rows(), m.cols(), m.IsRowMajor);
|
|
||||||
}
|
|
||||||
#endif
|
|
||||||
template <typename Derived>
|
|
||||||
inline PyArrayObject *ndarray(const Eigen::PlainObjectBase<Derived> &m) {
|
|
||||||
import_gtsam_eigency__conversions();
|
|
||||||
return _ndarray_copy(m.data(), m.rows(), m.cols(), m.IsRowMajor);
|
|
||||||
}
|
|
||||||
template <typename Derived>
|
|
||||||
inline PyArrayObject *ndarray_view(Eigen::PlainObjectBase<Derived> &m) {
|
|
||||||
import_gtsam_eigency__conversions();
|
|
||||||
return _ndarray_view(m.data(), m.rows(), m.cols(), m.IsRowMajor);
|
|
||||||
}
|
|
||||||
template <typename Derived>
|
|
||||||
inline PyArrayObject *ndarray_view(const Eigen::PlainObjectBase<Derived> &m) {
|
|
||||||
import_gtsam_eigency__conversions();
|
|
||||||
return _ndarray_view(const_cast<typename Derived::Scalar*>(m.data()), m.rows(), m.cols(), m.IsRowMajor);
|
|
||||||
}
|
|
||||||
template <typename Derived>
|
|
||||||
inline PyArrayObject *ndarray_copy(const Eigen::PlainObjectBase<Derived> &m) {
|
|
||||||
import_gtsam_eigency__conversions();
|
|
||||||
return _ndarray_copy(m.data(), m.rows(), m.cols(), m.IsRowMajor);
|
|
||||||
}
|
|
||||||
|
|
||||||
template <typename Derived, int MapOptions, typename Stride>
|
|
||||||
inline PyArrayObject *ndarray(Eigen::Map<Derived, MapOptions, Stride> &m) {
|
|
||||||
import_gtsam_eigency__conversions();
|
|
||||||
return _ndarray_view(m.data(), m.rows(), m.cols(), m.IsRowMajor, m.outerStride(), m.innerStride());
|
|
||||||
}
|
|
||||||
template <typename Derived, int MapOptions, typename Stride>
|
|
||||||
inline PyArrayObject *ndarray(const Eigen::Map<Derived, MapOptions, Stride> &m) {
|
|
||||||
import_gtsam_eigency__conversions();
|
|
||||||
// Since this is a map, we assume that ownership is correctly taken care
|
|
||||||
// of, and we avoid taking a copy
|
|
||||||
return _ndarray_view(const_cast<typename Derived::Scalar*>(m.data()), m.rows(), m.cols(), m.IsRowMajor, m.outerStride(), m.innerStride());
|
|
||||||
}
|
|
||||||
template <typename Derived, int MapOptions, typename Stride>
|
|
||||||
inline PyArrayObject *ndarray_view(Eigen::Map<Derived, MapOptions, Stride> &m) {
|
|
||||||
import_gtsam_eigency__conversions();
|
|
||||||
return _ndarray_view(m.data(), m.rows(), m.cols(), m.IsRowMajor, m.outerStride(), m.innerStride());
|
|
||||||
}
|
|
||||||
template <typename Derived, int MapOptions, typename Stride>
|
|
||||||
inline PyArrayObject *ndarray_view(const Eigen::Map<Derived, MapOptions, Stride> &m) {
|
|
||||||
import_gtsam_eigency__conversions();
|
|
||||||
return _ndarray_view(const_cast<typename Derived::Scalar*>(m.data()), m.rows(), m.cols(), m.IsRowMajor, m.outerStride(), m.innerStride());
|
|
||||||
}
|
|
||||||
template <typename Derived, int MapOptions, typename Stride>
|
|
||||||
inline PyArrayObject *ndarray_copy(const Eigen::Map<Derived, MapOptions, Stride> &m) {
|
|
||||||
import_gtsam_eigency__conversions();
|
|
||||||
return _ndarray_copy(m.data(), m.rows(), m.cols(), m.IsRowMajor, m.outerStride(), m.innerStride());
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
template <typename MatrixType,
|
|
||||||
int _MapOptions = Eigen::Unaligned,
|
|
||||||
typename _StrideType=Eigen::Stride<0,0> >
|
|
||||||
class MapBase: public Eigen::Map<MatrixType, _MapOptions, _StrideType> {
|
|
||||||
public:
|
|
||||||
typedef Eigen::Map<MatrixType, _MapOptions, _StrideType> Base;
|
|
||||||
typedef typename Base::Scalar Scalar;
|
|
||||||
|
|
||||||
MapBase(Scalar* data,
|
|
||||||
long rows,
|
|
||||||
long cols,
|
|
||||||
_StrideType stride=_StrideType())
|
|
||||||
: Base(data,
|
|
||||||
// If both dimensions are dynamic or dimensions match, accept dimensions as they are
|
|
||||||
((Base::RowsAtCompileTime==Eigen::Dynamic && Base::ColsAtCompileTime==Eigen::Dynamic) ||
|
|
||||||
(Base::RowsAtCompileTime==rows && Base::ColsAtCompileTime==cols))
|
|
||||||
? rows
|
|
||||||
// otherwise, test if swapping them makes them fit
|
|
||||||
: ((Base::RowsAtCompileTime==cols || Base::ColsAtCompileTime==rows)
|
|
||||||
? cols
|
|
||||||
: rows),
|
|
||||||
((Base::RowsAtCompileTime==Eigen::Dynamic && Base::ColsAtCompileTime==Eigen::Dynamic) ||
|
|
||||||
(Base::RowsAtCompileTime==rows && Base::ColsAtCompileTime==cols))
|
|
||||||
? cols
|
|
||||||
: ((Base::RowsAtCompileTime==cols || Base::ColsAtCompileTime==rows)
|
|
||||||
? rows
|
|
||||||
: cols),
|
|
||||||
stride
|
|
||||||
) {}
|
|
||||||
|
|
||||||
MapBase &operator=(const MatrixType &other) {
|
|
||||||
Base::operator=(other);
|
|
||||||
return *this;
|
|
||||||
}
|
|
||||||
|
|
||||||
virtual ~MapBase() { }
|
|
||||||
};
|
|
||||||
|
|
||||||
|
|
||||||
template <template<class,int,int,int,int,int> class EigencyDenseBase,
|
|
||||||
typename Scalar,
|
|
||||||
int _Rows, int _Cols,
|
|
||||||
int _Options = Eigen::AutoAlign |
|
|
||||||
#if defined(__GNUC__) && __GNUC__==3 && __GNUC_MINOR__==4
|
|
||||||
// workaround a bug in at least gcc 3.4.6
|
|
||||||
// the innermost ?: ternary operator is misparsed. We write it slightly
|
|
||||||
// differently and this makes gcc 3.4.6 happy, but it's ugly.
|
|
||||||
// The error would only show up with EIGEN_DEFAULT_TO_ROW_MAJOR is defined
|
|
||||||
// (when EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION is RowMajor)
|
|
||||||
( (_Rows==1 && _Cols!=1) ? Eigen::RowMajor
|
|
||||||
// EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION contains explicit namespace since Eigen 3.1.19
|
|
||||||
#if EIGEN_VERSION_AT_LEAST(3,2,90)
|
|
||||||
: !(_Cols==1 && _Rows!=1) ? EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION
|
|
||||||
#else
|
|
||||||
: !(_Cols==1 && _Rows!=1) ? Eigen::EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION
|
|
||||||
#endif
|
|
||||||
: ColMajor ),
|
|
||||||
#else
|
|
||||||
( (_Rows==1 && _Cols!=1) ? Eigen::RowMajor
|
|
||||||
: (_Cols==1 && _Rows!=1) ? Eigen::ColMajor
|
|
||||||
// EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION contains explicit namespace since Eigen 3.1.19
|
|
||||||
#if EIGEN_VERSION_AT_LEAST(3,2,90)
|
|
||||||
: EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION ),
|
|
||||||
#else
|
|
||||||
: Eigen::EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION ),
|
|
||||||
#endif
|
|
||||||
#endif
|
|
||||||
int _MapOptions = Eigen::Unaligned,
|
|
||||||
int _StrideOuter=0, int _StrideInner=0,
|
|
||||||
int _MaxRows = _Rows,
|
|
||||||
int _MaxCols = _Cols>
|
|
||||||
class FlattenedMap: public MapBase<EigencyDenseBase<Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>, _MapOptions, Eigen::Stride<_StrideOuter, _StrideInner> > {
|
|
||||||
public:
|
|
||||||
typedef MapBase<EigencyDenseBase<Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>, _MapOptions, Eigen::Stride<_StrideOuter, _StrideInner> > Base;
|
|
||||||
|
|
||||||
FlattenedMap()
|
|
||||||
: Base(NULL, 0, 0),
|
|
||||||
object_(NULL) {}
|
|
||||||
|
|
||||||
FlattenedMap(Scalar *data, long rows, long cols, long outer_stride=0, long inner_stride=0)
|
|
||||||
: Base(data, rows, cols,
|
|
||||||
Eigen::Stride<_StrideOuter, _StrideInner>(outer_stride, inner_stride)),
|
|
||||||
object_(NULL) {
|
|
||||||
}
|
|
||||||
|
|
||||||
FlattenedMap(PyArrayObject *object)
|
|
||||||
: Base((Scalar *)((PyArrayObject*)object)->data,
|
|
||||||
// : Base(_from_numpy<Scalar>((PyArrayObject*)object),
|
|
||||||
(((PyArrayObject*)object)->nd == 2) ? ((PyArrayObject*)object)->dimensions[0] : 1,
|
|
||||||
(((PyArrayObject*)object)->nd == 2) ? ((PyArrayObject*)object)->dimensions[1] : ((PyArrayObject*)object)->dimensions[0],
|
|
||||||
Eigen::Stride<_StrideOuter, _StrideInner>(_StrideOuter != Eigen::Dynamic ? _StrideOuter : (((PyArrayObject*)object)->nd == 2) ? ((PyArrayObject*)object)->dimensions[0] : 1,
|
|
||||||
_StrideInner != Eigen::Dynamic ? _StrideInner : (((PyArrayObject*)object)->nd == 2) ? ((PyArrayObject*)object)->dimensions[1] : ((PyArrayObject*)object)->dimensions[0])),
|
|
||||||
object_(object) {
|
|
||||||
|
|
||||||
if (((PyObject*)object != Py_None) && !PyArray_ISONESEGMENT(object))
|
|
||||||
throw std::invalid_argument("Numpy array must be a in one contiguous segment to be able to be transferred to a Eigen Map.");
|
|
||||||
|
|
||||||
Py_XINCREF(object_);
|
|
||||||
}
|
|
||||||
FlattenedMap &operator=(const FlattenedMap &other) {
|
|
||||||
if (other.object_) {
|
|
||||||
new (this) FlattenedMap(other.object_);
|
|
||||||
} else {
|
|
||||||
// Replace the memory that we point to (not a memory allocation)
|
|
||||||
new (this) FlattenedMap(const_cast<Scalar*>(other.data()),
|
|
||||||
other.rows(),
|
|
||||||
other.cols(),
|
|
||||||
other.outerStride(),
|
|
||||||
other.innerStride());
|
|
||||||
}
|
|
||||||
|
|
||||||
return *this;
|
|
||||||
}
|
|
||||||
|
|
||||||
operator Base() const {
|
|
||||||
return static_cast<Base>(*this);
|
|
||||||
}
|
|
||||||
|
|
||||||
operator Base&() const {
|
|
||||||
return static_cast<Base&>(*this);
|
|
||||||
}
|
|
||||||
|
|
||||||
operator EigencyDenseBase<Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>() const {
|
|
||||||
return EigencyDenseBase<Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>(static_cast<Base>(*this));
|
|
||||||
}
|
|
||||||
|
|
||||||
virtual ~FlattenedMap() {
|
|
||||||
Py_XDECREF(object_);
|
|
||||||
}
|
|
||||||
|
|
||||||
private:
|
|
||||||
PyArrayObject * const object_;
|
|
||||||
};
|
|
||||||
|
|
||||||
|
|
||||||
template <typename MatrixType>
|
|
||||||
class Map: public MapBase<MatrixType> {
|
|
||||||
public:
|
|
||||||
typedef MapBase<MatrixType> Base;
|
|
||||||
typedef typename MatrixType::Scalar Scalar;
|
|
||||||
|
|
||||||
enum {
|
|
||||||
RowsAtCompileTime = Base::Base::RowsAtCompileTime,
|
|
||||||
ColsAtCompileTime = Base::Base::ColsAtCompileTime
|
|
||||||
};
|
|
||||||
|
|
||||||
Map()
|
|
||||||
: Base(NULL,
|
|
||||||
(RowsAtCompileTime == Eigen::Dynamic) ? 0 : RowsAtCompileTime,
|
|
||||||
(ColsAtCompileTime == Eigen::Dynamic) ? 0 : ColsAtCompileTime),
|
|
||||||
object_(NULL) {
|
|
||||||
}
|
|
||||||
|
|
||||||
Map(Scalar *data, long rows, long cols)
|
|
||||||
: Base(data, rows, cols),
|
|
||||||
object_(NULL) {}
|
|
||||||
|
|
||||||
Map(PyArrayObject *object)
|
|
||||||
: Base((PyObject*)object == Py_None? NULL: (Scalar *)object->data,
|
|
||||||
// ROW: If array is in row-major order, transpose (see README)
|
|
||||||
(PyObject*)object == Py_None? 0 :
|
|
||||||
(!PyArray_IS_F_CONTIGUOUS(object)
|
|
||||||
? ((object->nd == 1)
|
|
||||||
? 1 // ROW: If 1D row-major numpy array, set to 1 (row vector)
|
|
||||||
: object->dimensions[1])
|
|
||||||
: object->dimensions[0]),
|
|
||||||
// COLUMN: If array is in row-major order: transpose (see README)
|
|
||||||
(PyObject*)object == Py_None? 0 :
|
|
||||||
(!PyArray_IS_F_CONTIGUOUS(object)
|
|
||||||
? object->dimensions[0]
|
|
||||||
: ((object->nd == 1)
|
|
||||||
? 1 // COLUMN: If 1D col-major numpy array, set to length (column vector)
|
|
||||||
: object->dimensions[1]))),
|
|
||||||
object_(object) {
|
|
||||||
|
|
||||||
if (((PyObject*)object != Py_None) && !PyArray_ISONESEGMENT(object))
|
|
||||||
throw std::invalid_argument("Numpy array must be a in one contiguous segment to be able to be transferred to a Eigen Map.");
|
|
||||||
Py_XINCREF(object_);
|
|
||||||
}
|
|
||||||
|
|
||||||
Map &operator=(const Map &other) {
|
|
||||||
if (other.object_) {
|
|
||||||
new (this) Map(other.object_);
|
|
||||||
} else {
|
|
||||||
// Replace the memory that we point to (not a memory allocation)
|
|
||||||
new (this) Map(const_cast<Scalar*>(other.data()),
|
|
||||||
other.rows(),
|
|
||||||
other.cols());
|
|
||||||
}
|
|
||||||
|
|
||||||
return *this;
|
|
||||||
}
|
|
||||||
|
|
||||||
Map &operator=(const MatrixType &other) {
|
|
||||||
MapBase<MatrixType>::operator=(other);
|
|
||||||
return *this;
|
|
||||||
}
|
|
||||||
|
|
||||||
operator Base() const {
|
|
||||||
return static_cast<Base>(*this);
|
|
||||||
}
|
|
||||||
|
|
||||||
operator Base&() const {
|
|
||||||
return static_cast<Base&>(*this);
|
|
||||||
}
|
|
||||||
|
|
||||||
operator MatrixType() const {
|
|
||||||
return MatrixType(static_cast<Base>(*this));
|
|
||||||
}
|
|
||||||
|
|
||||||
virtual ~Map() {
|
|
||||||
Py_XDECREF(object_);
|
|
||||||
}
|
|
||||||
|
|
||||||
private:
|
|
||||||
PyArrayObject * const object_;
|
|
||||||
};
|
|
||||||
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
#endif
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
@ -1,3 +0,0 @@
|
||||||
Cython>=0.25.2
|
|
||||||
backports_abc>=0.5
|
|
||||||
numpy>=1.12.0
|
|
||||||
|
|
@ -1,12 +0,0 @@
|
||||||
# How to build a GTSAM debian package
|
|
||||||
|
|
||||||
To use the ``debuild`` command, install the ``devscripts`` package
|
|
||||||
|
|
||||||
sudo apt install devscripts
|
|
||||||
|
|
||||||
Change into the gtsam directory, then run:
|
|
||||||
|
|
||||||
debuild -us -uc -j4
|
|
||||||
|
|
||||||
Adjust the ``-j4`` depending on how many CPUs you want to build on in
|
|
||||||
parallel.
|
|
||||||
|
|
@ -1,5 +0,0 @@
|
||||||
gtsam (4.0.0-1berndpfrommer) bionic; urgency=medium
|
|
||||||
|
|
||||||
* initial release
|
|
||||||
|
|
||||||
-- Bernd Pfrommer <bernd.pfrommer@gmail.com> Wed, 18 Jul 2018 20:36:44 -0400
|
|
||||||
|
|
@ -1 +0,0 @@
|
||||||
9
|
|
||||||
|
|
@ -1,15 +0,0 @@
|
||||||
Source: gtsam
|
|
||||||
Section: libs
|
|
||||||
Priority: optional
|
|
||||||
Maintainer: Frank Dellaert <frank@cc.gatech.edu>
|
|
||||||
Uploaders: Jose Luis Blanco Claraco <joseluisblancoc@gmail.com>, Bernd Pfrommer <bernd.pfrommer@gmail.com>
|
|
||||||
Build-Depends: cmake, libboost-all-dev (>= 1.58), libeigen3-dev, libtbb-dev, debhelper (>=9)
|
|
||||||
Standards-Version: 3.9.7
|
|
||||||
Homepage: https://github.com/borglab/gtsam
|
|
||||||
Vcs-Browser: https://github.com/borglab/gtsam
|
|
||||||
|
|
||||||
Package: libgtsam-dev
|
|
||||||
Architecture: any
|
|
||||||
Depends: ${shlibs:Depends}, ${misc:Depends}
|
|
||||||
Description: Georgia Tech Smoothing and Mapping Library
|
|
||||||
gtsam: Georgia Tech Smoothing and Mapping library for SLAM type applications
|
|
||||||
|
|
@ -1,15 +0,0 @@
|
||||||
Format: https://www.debian.org/doc/packaging-manuals/copyright-format/1.0/
|
|
||||||
Upstream-Name: gtsam
|
|
||||||
Source: https://bitbucket.org/gtborg/gtsam.git
|
|
||||||
|
|
||||||
Files: *
|
|
||||||
Copyright: 2017, Frank Dellaert
|
|
||||||
License: BSD
|
|
||||||
|
|
||||||
Files: gtsam/3rdparty/CCOLAMD/*
|
|
||||||
Copyright: 2005-2011, Univ. of Florida. Authors: Timothy A. Davis, Sivasankaran Rajamanickam, and Stefan Larimore. Closely based on COLAMD by Davis, Stefan Larimore, in collaboration with Esmond Ng, and John Gilbert. http://www.cise.ufl.edu/research/sparse
|
|
||||||
License: GNU LESSER GENERAL PUBLIC LICENSE
|
|
||||||
|
|
||||||
Files: gtsam/3rdparty/Eigen/*
|
|
||||||
Copyright: 2017, Multiple Authors
|
|
||||||
License: MPL2
|
|
||||||
|
|
@ -1,25 +0,0 @@
|
||||||
#!/usr/bin/make -f
|
|
||||||
# See debhelper(7) (uncomment to enable)
|
|
||||||
# output every command that modifies files on the build system.
|
|
||||||
export DH_VERBOSE = 1
|
|
||||||
|
|
||||||
|
|
||||||
# see FEATURE AREAS in dpkg-buildflags(1)
|
|
||||||
#export DEB_BUILD_MAINT_OPTIONS = hardening=+all
|
|
||||||
|
|
||||||
# see ENVIRONMENT in dpkg-buildflags(1)
|
|
||||||
# package maintainers to append CFLAGS
|
|
||||||
#export DEB_CFLAGS_MAINT_APPEND = -Wall -pedantic
|
|
||||||
# package maintainers to append LDFLAGS
|
|
||||||
#export DEB_LDFLAGS_MAINT_APPEND = -Wl,--as-needed
|
|
||||||
|
|
||||||
|
|
||||||
%:
|
|
||||||
dh $@ --parallel
|
|
||||||
|
|
||||||
|
|
||||||
# dh_make generated override targets
|
|
||||||
# This is example for Cmake (See https://bugs.debian.org/641051 )
|
|
||||||
override_dh_auto_configure:
|
|
||||||
dh_auto_configure -- -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_INSTALL_PREFIX=/usr -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_WRAP=OFF -DGTSAM_BUILD_DOCS=OFF -DGTSAM_INSTALL_CPPUNITLITE=OFF -DGTSAM_INSTALL_GEOGRAPHICLIB=OFF -DGTSAM_BUILD_TYPE_POSTFIXES=OFF
|
|
||||||
|
|
||||||
|
|
@ -1 +0,0 @@
|
||||||
3.0 (quilt)
|
|
||||||
|
|
@ -5,7 +5,7 @@ NonlinearFactorGraph graph;
|
||||||
Pose2 priorMean(0.0, 0.0, 0.0);
|
Pose2 priorMean(0.0, 0.0, 0.0);
|
||||||
noiseModel::Diagonal::shared_ptr priorNoise =
|
noiseModel::Diagonal::shared_ptr priorNoise =
|
||||||
noiseModel::Diagonal::Sigmas(Vector3(0.3, 0.3, 0.1));
|
noiseModel::Diagonal::Sigmas(Vector3(0.3, 0.3, 0.1));
|
||||||
graph.add(PriorFactor<Pose2>(1, priorMean, priorNoise));
|
graph.addPrior(1, priorMean, priorNoise);
|
||||||
|
|
||||||
// Add two odometry factors
|
// Add two odometry factors
|
||||||
Pose2 odometry(2.0, 0.0, 0.0);
|
Pose2 odometry(2.0, 0.0, 0.0);
|
||||||
|
|
|
||||||
|
|
@ -1,7 +1,7 @@
|
||||||
NonlinearFactorGraph graph;
|
NonlinearFactorGraph graph;
|
||||||
noiseModel::Diagonal::shared_ptr priorNoise =
|
noiseModel::Diagonal::shared_ptr priorNoise =
|
||||||
noiseModel::Diagonal::Sigmas(Vector3(0.3, 0.3, 0.1));
|
noiseModel::Diagonal::Sigmas(Vector3(0.3, 0.3, 0.1));
|
||||||
graph.add(PriorFactor<Pose2>(1, Pose2(0, 0, 0), priorNoise));
|
graph.addPrior(1, Pose2(0, 0, 0), priorNoise);
|
||||||
|
|
||||||
// Add odometry factors
|
// Add odometry factors
|
||||||
noiseModel::Diagonal::shared_ptr model =
|
noiseModel::Diagonal::shared_ptr model =
|
||||||
|
|
|
||||||
|
|
@ -1188,7 +1188,7 @@ USE_MATHJAX = YES
|
||||||
# MathJax, but it is strongly recommended to install a local copy of MathJax
|
# MathJax, but it is strongly recommended to install a local copy of MathJax
|
||||||
# before deployment.
|
# before deployment.
|
||||||
|
|
||||||
MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest
|
MATHJAX_RELPATH = https://cdn.mathjax.org/mathjax/latest
|
||||||
|
|
||||||
# The MATHJAX_EXTENSIONS tag can be used to specify one or MathJax extension
|
# The MATHJAX_EXTENSIONS tag can be used to specify one or MathJax extension
|
||||||
# names that should be enabled during MathJax rendering.
|
# names that should be enabled during MathJax rendering.
|
||||||
|
|
|
||||||
|
|
@ -2291,15 +2291,11 @@ uncalibration
|
||||||
used in the residual).
|
used in the residual).
|
||||||
\end_layout
|
\end_layout
|
||||||
|
|
||||||
\begin_layout Standard
|
|
||||||
\begin_inset Note Note
|
|
||||||
status collapsed
|
|
||||||
|
|
||||||
\begin_layout Section
|
\begin_layout Section
|
||||||
Noise models of prior factors
|
Noise models of prior factors
|
||||||
\end_layout
|
\end_layout
|
||||||
|
|
||||||
\begin_layout Plain Layout
|
\begin_layout Standard
|
||||||
The simplest way to describe noise models is by an example.
|
The simplest way to describe noise models is by an example.
|
||||||
Let's take a prior factor on a 3D pose
|
Let's take a prior factor on a 3D pose
|
||||||
\begin_inset Formula $x\in\SE 3$
|
\begin_inset Formula $x\in\SE 3$
|
||||||
|
|
@ -2353,7 +2349,7 @@ e\left(x\right)=\norm{h\left(x\right)}_{\Sigma}^{2}=h\left(x\right)^{\t}\Sigma^{
|
||||||
useful answer out quickly ]
|
useful answer out quickly ]
|
||||||
\end_layout
|
\end_layout
|
||||||
|
|
||||||
\begin_layout Plain Layout
|
\begin_layout Standard
|
||||||
The density induced by a noise model on the prior factor is Gaussian in
|
The density induced by a noise model on the prior factor is Gaussian in
|
||||||
the tangent space about the linearization point.
|
the tangent space about the linearization point.
|
||||||
Suppose that the pose is linearized at
|
Suppose that the pose is linearized at
|
||||||
|
|
@ -2431,7 +2427,7 @@ Here we see that the update
|
||||||
.
|
.
|
||||||
\end_layout
|
\end_layout
|
||||||
|
|
||||||
\begin_layout Plain Layout
|
\begin_layout Standard
|
||||||
This means that to draw random pose samples, we actually draw random samples
|
This means that to draw random pose samples, we actually draw random samples
|
||||||
of
|
of
|
||||||
\begin_inset Formula $\delta x$
|
\begin_inset Formula $\delta x$
|
||||||
|
|
@ -2456,7 +2452,7 @@ This means that to draw random pose samples, we actually draw random samples
|
||||||
Noise models of between factors
|
Noise models of between factors
|
||||||
\end_layout
|
\end_layout
|
||||||
|
|
||||||
\begin_layout Plain Layout
|
\begin_layout Standard
|
||||||
The noise model of a BetweenFactor is a bit more complicated.
|
The noise model of a BetweenFactor is a bit more complicated.
|
||||||
The unwhitened error is
|
The unwhitened error is
|
||||||
\begin_inset Formula
|
\begin_inset Formula
|
||||||
|
|
@ -2516,11 +2512,6 @@ e\left(\delta x_{1}\right) & \approx\norm{\log\left(z^{-1}\left(x_{1}\exp\delta
|
||||||
\end_inset
|
\end_inset
|
||||||
|
|
||||||
|
|
||||||
\end_layout
|
|
||||||
|
|
||||||
\end_inset
|
|
||||||
|
|
||||||
|
|
||||||
\end_layout
|
\end_layout
|
||||||
|
|
||||||
\end_body
|
\end_body
|
||||||
|
|
|
||||||
Binary file not shown.
189
doc/math.lyx
189
doc/math.lyx
|
|
@ -1,7 +1,9 @@
|
||||||
#LyX 2.1 created this file. For more info see http://www.lyx.org/
|
#LyX 2.3 created this file. For more info see http://www.lyx.org/
|
||||||
\lyxformat 474
|
\lyxformat 544
|
||||||
\begin_document
|
\begin_document
|
||||||
\begin_header
|
\begin_header
|
||||||
|
\save_transient_properties true
|
||||||
|
\origin unavailable
|
||||||
\textclass article
|
\textclass article
|
||||||
\use_default_options false
|
\use_default_options false
|
||||||
\begin_modules
|
\begin_modules
|
||||||
|
|
@ -14,16 +16,18 @@ theorems-ams-bytype
|
||||||
\language_package default
|
\language_package default
|
||||||
\inputencoding auto
|
\inputencoding auto
|
||||||
\fontencoding global
|
\fontencoding global
|
||||||
\font_roman times
|
\font_roman "times" "default"
|
||||||
\font_sans default
|
\font_sans "default" "default"
|
||||||
\font_typewriter default
|
\font_typewriter "default" "default"
|
||||||
\font_math auto
|
\font_math "auto" "auto"
|
||||||
\font_default_family rmdefault
|
\font_default_family rmdefault
|
||||||
\use_non_tex_fonts false
|
\use_non_tex_fonts false
|
||||||
\font_sc false
|
\font_sc false
|
||||||
\font_osf false
|
\font_osf false
|
||||||
\font_sf_scale 100
|
\font_sf_scale 100 100
|
||||||
\font_tt_scale 100
|
\font_tt_scale 100 100
|
||||||
|
\use_microtype false
|
||||||
|
\use_dash_ligatures true
|
||||||
\graphics default
|
\graphics default
|
||||||
\default_output_format default
|
\default_output_format default
|
||||||
\output_sync 0
|
\output_sync 0
|
||||||
|
|
@ -53,6 +57,7 @@ theorems-ams-bytype
|
||||||
\suppress_date false
|
\suppress_date false
|
||||||
\justification true
|
\justification true
|
||||||
\use_refstyle 0
|
\use_refstyle 0
|
||||||
|
\use_minted 0
|
||||||
\index Index
|
\index Index
|
||||||
\shortcut idx
|
\shortcut idx
|
||||||
\color #008000
|
\color #008000
|
||||||
|
|
@ -65,7 +70,10 @@ theorems-ams-bytype
|
||||||
\tocdepth 3
|
\tocdepth 3
|
||||||
\paragraph_separation indent
|
\paragraph_separation indent
|
||||||
\paragraph_indentation default
|
\paragraph_indentation default
|
||||||
\quotes_language english
|
\is_math_indent 0
|
||||||
|
\math_numbering_side default
|
||||||
|
\quotes_style english
|
||||||
|
\dynamic_quotes 0
|
||||||
\papercolumns 1
|
\papercolumns 1
|
||||||
\papersides 1
|
\papersides 1
|
||||||
\paperpagestyle default
|
\paperpagestyle default
|
||||||
|
|
@ -98,6 +106,11 @@ width "100col%"
|
||||||
special "none"
|
special "none"
|
||||||
height "1in"
|
height "1in"
|
||||||
height_special "totalheight"
|
height_special "totalheight"
|
||||||
|
thickness "0.4pt"
|
||||||
|
separation "3pt"
|
||||||
|
shadowsize "4pt"
|
||||||
|
framecolor "black"
|
||||||
|
backgroundcolor "none"
|
||||||
status collapsed
|
status collapsed
|
||||||
|
|
||||||
\begin_layout Plain Layout
|
\begin_layout Plain Layout
|
||||||
|
|
@ -654,6 +667,7 @@ reference "eq:LocalBehavior"
|
||||||
\begin_inset CommandInset citation
|
\begin_inset CommandInset citation
|
||||||
LatexCommand cite
|
LatexCommand cite
|
||||||
key "Spivak65book"
|
key "Spivak65book"
|
||||||
|
literal "true"
|
||||||
|
|
||||||
\end_inset
|
\end_inset
|
||||||
|
|
||||||
|
|
@ -934,6 +948,7 @@ See
|
||||||
\begin_inset CommandInset citation
|
\begin_inset CommandInset citation
|
||||||
LatexCommand cite
|
LatexCommand cite
|
||||||
key "Spivak65book"
|
key "Spivak65book"
|
||||||
|
literal "true"
|
||||||
|
|
||||||
\end_inset
|
\end_inset
|
||||||
|
|
||||||
|
|
@ -1025,6 +1040,7 @@ See
|
||||||
\begin_inset CommandInset citation
|
\begin_inset CommandInset citation
|
||||||
LatexCommand cite
|
LatexCommand cite
|
||||||
key "Spivak65book"
|
key "Spivak65book"
|
||||||
|
literal "true"
|
||||||
|
|
||||||
\end_inset
|
\end_inset
|
||||||
|
|
||||||
|
|
@ -2209,6 +2225,7 @@ instantaneous velocity
|
||||||
LatexCommand cite
|
LatexCommand cite
|
||||||
after "page 51 for rotations, page 419 for SE(3)"
|
after "page 51 for rotations, page 419 for SE(3)"
|
||||||
key "Murray94book"
|
key "Murray94book"
|
||||||
|
literal "true"
|
||||||
|
|
||||||
\end_inset
|
\end_inset
|
||||||
|
|
||||||
|
|
@ -2965,7 +2982,7 @@ B^{T} & I_{3}\end{array}\right]
|
||||||
\begin_layout Subsection
|
\begin_layout Subsection
|
||||||
\begin_inset CommandInset label
|
\begin_inset CommandInset label
|
||||||
LatexCommand label
|
LatexCommand label
|
||||||
name "sub:Pushforward-of-Between"
|
name "subsec:Pushforward-of-Between"
|
||||||
|
|
||||||
\end_inset
|
\end_inset
|
||||||
|
|
||||||
|
|
@ -3419,6 +3436,7 @@ A retraction
|
||||||
\begin_inset CommandInset citation
|
\begin_inset CommandInset citation
|
||||||
LatexCommand cite
|
LatexCommand cite
|
||||||
key "Absil07book"
|
key "Absil07book"
|
||||||
|
literal "true"
|
||||||
|
|
||||||
\end_inset
|
\end_inset
|
||||||
|
|
||||||
|
|
@ -3873,7 +3891,7 @@ BetweenFactor
|
||||||
, derived in Section
|
, derived in Section
|
||||||
\begin_inset CommandInset ref
|
\begin_inset CommandInset ref
|
||||||
LatexCommand ref
|
LatexCommand ref
|
||||||
reference "sub:Pushforward-of-Between"
|
reference "subsec:Pushforward-of-Between"
|
||||||
|
|
||||||
\end_inset
|
\end_inset
|
||||||
|
|
||||||
|
|
@ -4430,7 +4448,7 @@ In the case of
|
||||||
\begin_inset Formula $\SOthree$
|
\begin_inset Formula $\SOthree$
|
||||||
\end_inset
|
\end_inset
|
||||||
|
|
||||||
the vector space is
|
the vector space is
|
||||||
\begin_inset Formula $\Rthree$
|
\begin_inset Formula $\Rthree$
|
||||||
\end_inset
|
\end_inset
|
||||||
|
|
||||||
|
|
@ -4502,7 +4520,7 @@ reference "Th:InverseAction"
|
||||||
\begin_layout Subsection
|
\begin_layout Subsection
|
||||||
\begin_inset CommandInset label
|
\begin_inset CommandInset label
|
||||||
LatexCommand label
|
LatexCommand label
|
||||||
name "sub:3DAngularVelocities"
|
name "subsec:3DAngularVelocities"
|
||||||
|
|
||||||
\end_inset
|
\end_inset
|
||||||
|
|
||||||
|
|
@ -4695,6 +4713,7 @@ Absil
|
||||||
LatexCommand cite
|
LatexCommand cite
|
||||||
after "page 58"
|
after "page 58"
|
||||||
key "Absil07book"
|
key "Absil07book"
|
||||||
|
literal "true"
|
||||||
|
|
||||||
\end_inset
|
\end_inset
|
||||||
|
|
||||||
|
|
@ -5395,6 +5414,7 @@ While not a Lie group, we can define an exponential map, which is given
|
||||||
\begin_inset CommandInset citation
|
\begin_inset CommandInset citation
|
||||||
LatexCommand cite
|
LatexCommand cite
|
||||||
key "Ma01ijcv"
|
key "Ma01ijcv"
|
||||||
|
literal "true"
|
||||||
|
|
||||||
\end_inset
|
\end_inset
|
||||||
|
|
||||||
|
|
@ -5402,6 +5422,7 @@ key "Ma01ijcv"
|
||||||
\begin_inset CommandInset href
|
\begin_inset CommandInset href
|
||||||
LatexCommand href
|
LatexCommand href
|
||||||
name "http://stat.fsu.edu/~anuj/CVPR_Tutorial/Part2.pdf"
|
name "http://stat.fsu.edu/~anuj/CVPR_Tutorial/Part2.pdf"
|
||||||
|
literal "false"
|
||||||
|
|
||||||
\end_inset
|
\end_inset
|
||||||
|
|
||||||
|
|
@ -5605,6 +5626,7 @@ The exponential map uses
|
||||||
\begin_inset CommandInset citation
|
\begin_inset CommandInset citation
|
||||||
LatexCommand cite
|
LatexCommand cite
|
||||||
key "Absil07book"
|
key "Absil07book"
|
||||||
|
literal "true"
|
||||||
|
|
||||||
\end_inset
|
\end_inset
|
||||||
|
|
||||||
|
|
@ -6293,7 +6315,7 @@ d^{c}=R_{w}^{c}\left(d^{w}+(t^{w}v^{w})v^{w}-t^{w}\right)
|
||||||
\end_layout
|
\end_layout
|
||||||
|
|
||||||
\begin_layout Section
|
\begin_layout Section
|
||||||
Line3 (Ocaml)
|
Line3
|
||||||
\end_layout
|
\end_layout
|
||||||
|
|
||||||
\begin_layout Standard
|
\begin_layout Standard
|
||||||
|
|
@ -6345,6 +6367,14 @@ R'=R(I+\Omega)
|
||||||
|
|
||||||
\end_inset
|
\end_inset
|
||||||
|
|
||||||
|
|
||||||
|
\end_layout
|
||||||
|
|
||||||
|
\begin_layout Subsection
|
||||||
|
Projecting Line3
|
||||||
|
\end_layout
|
||||||
|
|
||||||
|
\begin_layout Standard
|
||||||
Projecting a line to 2D can be done easily, as both
|
Projecting a line to 2D can be done easily, as both
|
||||||
\begin_inset Formula $v$
|
\begin_inset Formula $v$
|
||||||
\end_inset
|
\end_inset
|
||||||
|
|
@ -6430,13 +6460,21 @@ or the
|
||||||
|
|
||||||
\end_layout
|
\end_layout
|
||||||
|
|
||||||
|
\begin_layout Subsection
|
||||||
|
Action of
|
||||||
|
\begin_inset Formula $\SEthree$
|
||||||
|
\end_inset
|
||||||
|
|
||||||
|
on the line
|
||||||
|
\end_layout
|
||||||
|
|
||||||
\begin_layout Standard
|
\begin_layout Standard
|
||||||
Transforming a 3D line
|
Transforming a 3D line
|
||||||
\begin_inset Formula $(R,(a,b))$
|
\begin_inset Formula $(R,(a,b))$
|
||||||
\end_inset
|
\end_inset
|
||||||
|
|
||||||
from a world coordinate frame to a camera frame
|
from a world coordinate frame to a camera frame
|
||||||
\begin_inset Formula $(R_{w}^{c},t^{w})$
|
\begin_inset Formula $T_{c}^{w}=(R_{c}^{w},t^{w})$
|
||||||
\end_inset
|
\end_inset
|
||||||
|
|
||||||
is done by
|
is done by
|
||||||
|
|
@ -6466,17 +6504,115 @@ b'=b-R_{2}^{T}t^{w}
|
||||||
|
|
||||||
\end_inset
|
\end_inset
|
||||||
|
|
||||||
Again, we need to redo the derivatives, as R is incremented from the right.
|
where
|
||||||
The first argument is incremented from the left, but the result is incremented
|
\begin_inset Formula $R_{1}$
|
||||||
on the right:
|
\end_inset
|
||||||
|
|
||||||
|
and
|
||||||
|
\begin_inset Formula $R_{2}$
|
||||||
|
\end_inset
|
||||||
|
|
||||||
|
are the columns of
|
||||||
|
\begin_inset Formula $R$
|
||||||
|
\end_inset
|
||||||
|
|
||||||
|
, as before.
|
||||||
|
|
||||||
|
\end_layout
|
||||||
|
|
||||||
|
\begin_layout Standard
|
||||||
|
To find the derivatives, the transformation of a line
|
||||||
|
\begin_inset Formula $l^{w}=(R,a,b)$
|
||||||
|
\end_inset
|
||||||
|
|
||||||
|
from world coordinates to a camera coordinate frame
|
||||||
|
\begin_inset Formula $T_{c}^{w}$
|
||||||
|
\end_inset
|
||||||
|
|
||||||
|
, specified in world coordinates, can be written as a function
|
||||||
|
\begin_inset Formula $f:\SEthree\times L\rightarrow L$
|
||||||
|
\end_inset
|
||||||
|
|
||||||
|
, as given above, i.e.,
|
||||||
\begin_inset Formula
|
\begin_inset Formula
|
||||||
\begin{eqnarray*}
|
\[
|
||||||
R'(I+\Omega')=(AB)(I+\Omega') & = & (I+\Skew{S\omega})AB\\
|
f(T_{c}^{w},l^{w})=\left(\left(R_{c}^{w}\right)^{T}R,a-R_{1}^{T}t^{w},b-R_{2}^{T}t^{w}\right).
|
||||||
I+\Omega' & = & (AB)^{T}(I+\Skew{S\omega})(AB)\\
|
\]
|
||||||
\Omega' & = & R'^{T}\Skew{S\omega}R'\\
|
|
||||||
\Omega' & = & \Skew{R'^{T}S\omega}\\
|
\end_inset
|
||||||
\omega' & = & R'^{T}S\omega
|
|
||||||
\end{eqnarray*}
|
Let us find the Jacobian
|
||||||
|
\begin_inset Formula $J_{1}$
|
||||||
|
\end_inset
|
||||||
|
|
||||||
|
of
|
||||||
|
\begin_inset Formula $f$
|
||||||
|
\end_inset
|
||||||
|
|
||||||
|
with respect to the first argument
|
||||||
|
\begin_inset Formula $T_{c}^{w}$
|
||||||
|
\end_inset
|
||||||
|
|
||||||
|
, which should obey
|
||||||
|
\begin_inset Formula
|
||||||
|
\begin{align*}
|
||||||
|
f(T_{c}^{w}e^{\xihat},l^{w}) & \approx f(T_{c}^{w},l^{w})+J_{1}\xi
|
||||||
|
\end{align*}
|
||||||
|
|
||||||
|
\end_inset
|
||||||
|
|
||||||
|
Note that
|
||||||
|
\begin_inset Formula
|
||||||
|
\[
|
||||||
|
T_{c}^{w}e^{\xihat}\approx\left[\begin{array}{cc}
|
||||||
|
R_{c}^{w}\left(I_{3}+\Skew{\omega}\right) & t^{w}+R_{c}^{w}v\\
|
||||||
|
0 & 1
|
||||||
|
\end{array}\right]
|
||||||
|
\]
|
||||||
|
|
||||||
|
\end_inset
|
||||||
|
|
||||||
|
Let's write this out separately for each of
|
||||||
|
\begin_inset Formula $R,a,b$
|
||||||
|
\end_inset
|
||||||
|
|
||||||
|
:
|
||||||
|
\begin_inset Formula
|
||||||
|
\begin{align*}
|
||||||
|
\left(R_{c}^{w}\left(I_{3}+\Skew{\omega}\right)\right)^{T}R & \approx\left(R_{c}^{w}\right)^{T}R(I+\left[J_{R\omega}\omega\right]_{\times})\\
|
||||||
|
a-R_{1}^{T}\left(t^{w}+R_{c}^{w}v\right) & \approx a-R_{1}^{T}t^{w}+J_{av}v\\
|
||||||
|
b-R_{2}^{T}\left(t^{w}+R_{c}^{w}v\right) & \approx b-R_{2}^{T}t^{w}+J_{bv}v
|
||||||
|
\end{align*}
|
||||||
|
|
||||||
|
\end_inset
|
||||||
|
|
||||||
|
Simplifying, we get:
|
||||||
|
\begin_inset Formula
|
||||||
|
\begin{align*}
|
||||||
|
-\Skew{\omega}R' & \approx R'\left[J_{R\omega}\omega\right]_{\times}\\
|
||||||
|
-R_{1}^{T}R_{c}^{w} & \approx J_{av}\\
|
||||||
|
-R_{2}^{T}R_{c}^{w} & \approx J_{bv}
|
||||||
|
\end{align*}
|
||||||
|
|
||||||
|
\end_inset
|
||||||
|
|
||||||
|
which gives the expressions for
|
||||||
|
\begin_inset Formula $J_{av}$
|
||||||
|
\end_inset
|
||||||
|
|
||||||
|
and
|
||||||
|
\begin_inset Formula $J_{bv}$
|
||||||
|
\end_inset
|
||||||
|
|
||||||
|
.
|
||||||
|
The top line can be further simplified:
|
||||||
|
\begin_inset Formula
|
||||||
|
\begin{align*}
|
||||||
|
-\Skew{\omega}R' & \approx R'\left[J_{R\omega}\omega\right]_{\times}\\
|
||||||
|
-R'^{T}\Skew{\omega}R' & \approx\left[J_{R\omega}\omega\right]_{\times}\\
|
||||||
|
-\Skew{R'^{T}\omega} & \approx\left[J_{R\omega}\omega\right]_{\times}\\
|
||||||
|
-R'^{T} & \approx J_{R\omega}
|
||||||
|
\end{align*}
|
||||||
|
|
||||||
\end_inset
|
\end_inset
|
||||||
|
|
||||||
|
|
@ -6687,6 +6823,7 @@ Spivak
|
||||||
\begin_inset CommandInset citation
|
\begin_inset CommandInset citation
|
||||||
LatexCommand cite
|
LatexCommand cite
|
||||||
key "Spivak65book"
|
key "Spivak65book"
|
||||||
|
literal "true"
|
||||||
|
|
||||||
\end_inset
|
\end_inset
|
||||||
|
|
||||||
|
|
@ -6795,6 +6932,7 @@ The following is adapted from Appendix A in
|
||||||
\begin_inset CommandInset citation
|
\begin_inset CommandInset citation
|
||||||
LatexCommand cite
|
LatexCommand cite
|
||||||
key "Murray94book"
|
key "Murray94book"
|
||||||
|
literal "true"
|
||||||
|
|
||||||
\end_inset
|
\end_inset
|
||||||
|
|
||||||
|
|
@ -6924,6 +7062,7 @@ might be
|
||||||
LatexCommand cite
|
LatexCommand cite
|
||||||
after "page 45"
|
after "page 45"
|
||||||
key "Hall00book"
|
key "Hall00book"
|
||||||
|
literal "true"
|
||||||
|
|
||||||
\end_inset
|
\end_inset
|
||||||
|
|
||||||
|
|
|
||||||
BIN
doc/math.pdf
BIN
doc/math.pdf
Binary file not shown.
Binary file not shown.
|
|
@ -0,0 +1,21 @@
|
||||||
|
# Instructions
|
||||||
|
|
||||||
|
Build all docker images, in order:
|
||||||
|
|
||||||
|
```bash
|
||||||
|
(cd ubuntu-boost-tbb && ./build.sh)
|
||||||
|
(cd ubuntu-gtsam && ./build.sh)
|
||||||
|
(cd ubuntu-gtsam-python && ./build.sh)
|
||||||
|
(cd ubuntu-gtsam-python-vnc && ./build.sh)
|
||||||
|
```
|
||||||
|
|
||||||
|
Then launch with:
|
||||||
|
|
||||||
|
docker run -p 5900:5900 dellaert/ubuntu-gtsam-python-vnc:bionic
|
||||||
|
|
||||||
|
Then open a remote VNC X client, for example:
|
||||||
|
|
||||||
|
sudo apt-get install tigervnc-viewer
|
||||||
|
xtigervncviewer :5900
|
||||||
|
|
||||||
|
|
||||||
|
|
@ -1,18 +0,0 @@
|
||||||
# Get the base Ubuntu image from Docker Hub
|
|
||||||
FROM ubuntu:bionic
|
|
||||||
|
|
||||||
# Update apps on the base image
|
|
||||||
RUN apt-get -y update && apt-get install -y
|
|
||||||
|
|
||||||
# Install C++
|
|
||||||
RUN apt-get -y install build-essential
|
|
||||||
|
|
||||||
# Install boost and cmake
|
|
||||||
RUN apt-get -y install libboost-all-dev cmake
|
|
||||||
|
|
||||||
# Install TBB
|
|
||||||
RUN apt-get -y install libtbb-dev
|
|
||||||
|
|
||||||
# Install latest Eigen
|
|
||||||
RUN apt-get install -y libeigen3-dev
|
|
||||||
|
|
||||||
|
|
@ -0,0 +1,19 @@
|
||||||
|
# Basic Ubuntu 18.04 image with Boost and TBB installed. To be used for building further downstream packages.
|
||||||
|
|
||||||
|
# Get the base Ubuntu image from Docker Hub
|
||||||
|
FROM ubuntu:bionic
|
||||||
|
|
||||||
|
# Disable GUI prompts
|
||||||
|
ENV DEBIAN_FRONTEND noninteractive
|
||||||
|
|
||||||
|
# Update apps on the base image
|
||||||
|
RUN apt-get -y update && apt-get -y install
|
||||||
|
|
||||||
|
# Install C++
|
||||||
|
RUN apt-get -y install build-essential apt-utils
|
||||||
|
|
||||||
|
# Install boost and cmake
|
||||||
|
RUN apt-get -y install libboost-all-dev cmake
|
||||||
|
|
||||||
|
# Install TBB
|
||||||
|
RUN apt-get -y install libtbb-dev
|
||||||
|
|
@ -0,0 +1,3 @@
|
||||||
|
# Build command for Docker image
|
||||||
|
# TODO(dellaert): use docker compose and/or cmake
|
||||||
|
docker build --no-cache -t dellaert/ubuntu-boost-tbb:bionic .
|
||||||
|
|
@ -0,0 +1,20 @@
|
||||||
|
# This GTSAM image connects to the host X-server via VNC to provide a Graphical User Interface for interaction.
|
||||||
|
|
||||||
|
# Get the base Ubuntu/GTSAM image from Docker Hub
|
||||||
|
FROM dellaert/ubuntu-gtsam-python:bionic
|
||||||
|
|
||||||
|
# Things needed to get a python GUI
|
||||||
|
ENV DEBIAN_FRONTEND noninteractive
|
||||||
|
RUN apt install -y python-tk
|
||||||
|
RUN python3 -m pip install matplotlib
|
||||||
|
|
||||||
|
# Install a VNC X-server, Frame buffer, and windows manager
|
||||||
|
RUN apt install -y x11vnc xvfb fluxbox
|
||||||
|
|
||||||
|
# Finally, install wmctrl needed for bootstrap script
|
||||||
|
RUN apt install -y wmctrl
|
||||||
|
|
||||||
|
# Copy bootstrap script and make sure it runs
|
||||||
|
COPY bootstrap.sh /
|
||||||
|
|
||||||
|
CMD '/bootstrap.sh'
|
||||||
|
|
@ -0,0 +1,111 @@
|
||||||
|
#!/bin/bash
|
||||||
|
|
||||||
|
# Based on: http://www.richud.com/wiki/Ubuntu_Fluxbox_GUI_with_x11vnc_and_Xvfb
|
||||||
|
|
||||||
|
main() {
|
||||||
|
log_i "Starting xvfb virtual display..."
|
||||||
|
launch_xvfb
|
||||||
|
log_i "Starting window manager..."
|
||||||
|
launch_window_manager
|
||||||
|
log_i "Starting VNC server..."
|
||||||
|
run_vnc_server
|
||||||
|
}
|
||||||
|
|
||||||
|
launch_xvfb() {
|
||||||
|
local xvfbLockFilePath="/tmp/.X1-lock"
|
||||||
|
if [ -f "${xvfbLockFilePath}" ]
|
||||||
|
then
|
||||||
|
log_i "Removing xvfb lock file '${xvfbLockFilePath}'..."
|
||||||
|
if ! rm -v "${xvfbLockFilePath}"
|
||||||
|
then
|
||||||
|
log_e "Failed to remove xvfb lock file"
|
||||||
|
exit 1
|
||||||
|
fi
|
||||||
|
fi
|
||||||
|
|
||||||
|
# Set defaults if the user did not specify envs.
|
||||||
|
export DISPLAY=${XVFB_DISPLAY:-:1}
|
||||||
|
local screen=${XVFB_SCREEN:-0}
|
||||||
|
local resolution=${XVFB_RESOLUTION:-1280x960x24}
|
||||||
|
local timeout=${XVFB_TIMEOUT:-5}
|
||||||
|
|
||||||
|
# Start and wait for either Xvfb to be fully up or we hit the timeout.
|
||||||
|
Xvfb ${DISPLAY} -screen ${screen} ${resolution} &
|
||||||
|
local loopCount=0
|
||||||
|
until xdpyinfo -display ${DISPLAY} > /dev/null 2>&1
|
||||||
|
do
|
||||||
|
loopCount=$((loopCount+1))
|
||||||
|
sleep 1
|
||||||
|
if [ ${loopCount} -gt ${timeout} ]
|
||||||
|
then
|
||||||
|
log_e "xvfb failed to start"
|
||||||
|
exit 1
|
||||||
|
fi
|
||||||
|
done
|
||||||
|
}
|
||||||
|
|
||||||
|
launch_window_manager() {
|
||||||
|
local timeout=${XVFB_TIMEOUT:-5}
|
||||||
|
|
||||||
|
# Start and wait for either fluxbox to be fully up or we hit the timeout.
|
||||||
|
fluxbox &
|
||||||
|
local loopCount=0
|
||||||
|
until wmctrl -m > /dev/null 2>&1
|
||||||
|
do
|
||||||
|
loopCount=$((loopCount+1))
|
||||||
|
sleep 1
|
||||||
|
if [ ${loopCount} -gt ${timeout} ]
|
||||||
|
then
|
||||||
|
log_e "fluxbox failed to start"
|
||||||
|
exit 1
|
||||||
|
fi
|
||||||
|
done
|
||||||
|
}
|
||||||
|
|
||||||
|
run_vnc_server() {
|
||||||
|
local passwordArgument='-nopw'
|
||||||
|
|
||||||
|
if [ -n "${VNC_SERVER_PASSWORD}" ]
|
||||||
|
then
|
||||||
|
local passwordFilePath="${HOME}/.x11vnc.pass"
|
||||||
|
if ! x11vnc -storepasswd "${VNC_SERVER_PASSWORD}" "${passwordFilePath}"
|
||||||
|
then
|
||||||
|
log_e "Failed to store x11vnc password"
|
||||||
|
exit 1
|
||||||
|
fi
|
||||||
|
passwordArgument=-"-rfbauth ${passwordFilePath}"
|
||||||
|
log_i "The VNC server will ask for a password"
|
||||||
|
else
|
||||||
|
log_w "The VNC server will NOT ask for a password"
|
||||||
|
fi
|
||||||
|
|
||||||
|
x11vnc -ncache 10 -ncache_cr -display ${DISPLAY} -forever ${passwordArgument} &
|
||||||
|
wait $!
|
||||||
|
}
|
||||||
|
|
||||||
|
log_i() {
|
||||||
|
log "[INFO] ${@}"
|
||||||
|
}
|
||||||
|
|
||||||
|
log_w() {
|
||||||
|
log "[WARN] ${@}"
|
||||||
|
}
|
||||||
|
|
||||||
|
log_e() {
|
||||||
|
log "[ERROR] ${@}"
|
||||||
|
}
|
||||||
|
|
||||||
|
log() {
|
||||||
|
echo "[$(date '+%Y-%m-%d %H:%M:%S')] ${@}"
|
||||||
|
}
|
||||||
|
|
||||||
|
control_c() {
|
||||||
|
echo ""
|
||||||
|
exit
|
||||||
|
}
|
||||||
|
|
||||||
|
trap control_c SIGINT SIGTERM SIGHUP
|
||||||
|
|
||||||
|
main
|
||||||
|
|
||||||
|
exit
|
||||||
|
|
@ -0,0 +1,4 @@
|
||||||
|
# Build command for Docker image
|
||||||
|
# TODO(dellaert): use docker compose and/or cmake
|
||||||
|
# Needs to be run in docker/ubuntu-gtsam-python-vnc directory
|
||||||
|
docker build -t dellaert/ubuntu-gtsam-python-vnc:bionic .
|
||||||
|
|
@ -0,0 +1,5 @@
|
||||||
|
# After running this script, connect VNC client to 0.0.0.0:5900
|
||||||
|
docker run -it \
|
||||||
|
--workdir="/usr/src/gtsam" \
|
||||||
|
-p 5900:5900 \
|
||||||
|
dellaert/ubuntu-gtsam-python-vnc:bionic
|
||||||
|
|
@ -0,0 +1,31 @@
|
||||||
|
# GTSAM Ubuntu image with Python wrapper support.
|
||||||
|
|
||||||
|
# Get the base Ubuntu/GTSAM image from Docker Hub
|
||||||
|
FROM dellaert/ubuntu-gtsam:bionic
|
||||||
|
|
||||||
|
# Install pip
|
||||||
|
RUN apt-get install -y python3-pip python3-dev
|
||||||
|
|
||||||
|
# Install python wrapper requirements
|
||||||
|
RUN python3 -m pip install -U -r /usr/src/gtsam/python/requirements.txt
|
||||||
|
|
||||||
|
# Run cmake again, now with python toolbox on
|
||||||
|
WORKDIR /usr/src/gtsam/build
|
||||||
|
RUN cmake \
|
||||||
|
-DCMAKE_BUILD_TYPE=Release \
|
||||||
|
-DGTSAM_WITH_EIGEN_MKL=OFF \
|
||||||
|
-DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
|
||||||
|
-DGTSAM_BUILD_TIMING_ALWAYS=OFF \
|
||||||
|
-DGTSAM_BUILD_TESTS=OFF \
|
||||||
|
-DGTSAM_BUILD_PYTHON=ON \
|
||||||
|
-DGTSAM_PYTHON_VERSION=3\
|
||||||
|
..
|
||||||
|
|
||||||
|
# Build again, as ubuntu-gtsam image cleaned
|
||||||
|
RUN make -j4 install && make clean
|
||||||
|
|
||||||
|
# Needed to run python wrapper:
|
||||||
|
RUN echo 'export PYTHONPATH=/usr/local/python/:$PYTHONPATH' >> /root/.bashrc
|
||||||
|
|
||||||
|
# Run bash
|
||||||
|
CMD ["bash"]
|
||||||
|
|
@ -0,0 +1,3 @@
|
||||||
|
# Build command for Docker image
|
||||||
|
# TODO(dellaert): use docker compose and/or cmake
|
||||||
|
docker build --no-cache -t dellaert/ubuntu-gtsam-python:bionic .
|
||||||
|
|
@ -0,0 +1,35 @@
|
||||||
|
# Ubuntu image with GTSAM installed. Configured with Boost and TBB support.
|
||||||
|
|
||||||
|
# Get the base Ubuntu image from Docker Hub
|
||||||
|
FROM dellaert/ubuntu-boost-tbb:bionic
|
||||||
|
|
||||||
|
# Install git
|
||||||
|
RUN apt-get update && \
|
||||||
|
apt-get install -y git
|
||||||
|
|
||||||
|
# Install compiler
|
||||||
|
RUN apt-get install -y build-essential
|
||||||
|
|
||||||
|
# Clone GTSAM (develop branch)
|
||||||
|
WORKDIR /usr/src/
|
||||||
|
RUN git clone --single-branch --branch develop https://github.com/borglab/gtsam.git
|
||||||
|
|
||||||
|
# Change to build directory. Will be created automatically.
|
||||||
|
WORKDIR /usr/src/gtsam/build
|
||||||
|
# Run cmake
|
||||||
|
RUN cmake \
|
||||||
|
-DCMAKE_BUILD_TYPE=Release \
|
||||||
|
-DGTSAM_WITH_EIGEN_MKL=OFF \
|
||||||
|
-DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
|
||||||
|
-DGTSAM_BUILD_TIMING_ALWAYS=OFF \
|
||||||
|
-DGTSAM_BUILD_TESTS=OFF \
|
||||||
|
..
|
||||||
|
|
||||||
|
# Build
|
||||||
|
RUN make -j4 install && make clean
|
||||||
|
|
||||||
|
# Needed to link with GTSAM
|
||||||
|
RUN echo 'export LD_LIBRARY_PATH=/usr/local/lib:LD_LIBRARY_PATH' >> /root/.bashrc
|
||||||
|
|
||||||
|
# Run bash
|
||||||
|
CMD ["bash"]
|
||||||
|
|
@ -0,0 +1,3 @@
|
||||||
|
# Build command for Docker image
|
||||||
|
# TODO(dellaert): use docker compose and/or cmake
|
||||||
|
docker build --no-cache -t dellaert/ubuntu-gtsam:bionic .
|
||||||
|
|
@ -1,7 +1,4 @@
|
||||||
set (excluded_examples
|
set (excluded_examples
|
||||||
DiscreteBayesNet_FG.cpp
|
|
||||||
UGM_chain.cpp
|
|
||||||
UGM_small.cpp
|
|
||||||
elaboratePoint2KalmanFilter.cpp
|
elaboratePoint2KalmanFilter.cpp
|
||||||
)
|
)
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -18,7 +18,8 @@
|
||||||
|
|
||||||
#include <gtsam/inference/Symbol.h>
|
#include <gtsam/inference/Symbol.h>
|
||||||
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
|
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
|
||||||
#include <gtsam/geometry/SimpleCamera.h>
|
#include <gtsam/geometry/PinholeCamera.h>
|
||||||
|
#include <gtsam/geometry/Cal3_S2.h>
|
||||||
#include <boost/make_shared.hpp>
|
#include <boost/make_shared.hpp>
|
||||||
|
|
||||||
using namespace gtsam;
|
using namespace gtsam;
|
||||||
|
|
@ -45,9 +46,9 @@ public:
|
||||||
}
|
}
|
||||||
|
|
||||||
/// evaluate the error
|
/// evaluate the error
|
||||||
virtual Vector evaluateError(const Pose3& pose, boost::optional<Matrix&> H =
|
Vector evaluateError(const Pose3& pose, boost::optional<Matrix&> H =
|
||||||
boost::none) const {
|
boost::none) const override {
|
||||||
SimpleCamera camera(pose, *K_);
|
PinholeCamera<Cal3_S2> camera(pose, *K_);
|
||||||
return camera.project(P_, H, boost::none, boost::none) - p_;
|
return camera.project(P_, H, boost::none, boost::none) - p_;
|
||||||
}
|
}
|
||||||
};
|
};
|
||||||
|
|
|
||||||
|
|
@ -0,0 +1,303 @@
|
||||||
|
/* ----------------------------------------------------------------------------
|
||||||
|
|
||||||
|
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
|
||||||
|
* Atlanta, Georgia 30332-0415
|
||||||
|
* All Rights Reserved
|
||||||
|
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
|
||||||
|
|
||||||
|
* See LICENSE for the license information
|
||||||
|
|
||||||
|
* -------------------------------------------------------------------------- */
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @file CombinedImuFactorsExample
|
||||||
|
* @brief Test example for using GTSAM ImuCombinedFactor
|
||||||
|
* navigation code.
|
||||||
|
* @author Varun Agrawal
|
||||||
|
*/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Example of use of the CombinedImuFactor in
|
||||||
|
* conjunction with GPS
|
||||||
|
* - we read IMU and GPS data from a CSV file, with the following format:
|
||||||
|
* A row starting with "i" is the first initial position formatted with
|
||||||
|
* N, E, D, qx, qY, qZ, qW, velN, velE, velD
|
||||||
|
* A row starting with "0" is an imu measurement
|
||||||
|
* linAccN, linAccE, linAccD, angVelN, angVelE, angVelD
|
||||||
|
* A row starting with "1" is a gps correction formatted with
|
||||||
|
* N, E, D, qX, qY, qZ, qW
|
||||||
|
* Note that for GPS correction, we're only using the position not the
|
||||||
|
* rotation. The rotation is provided in the file for ground truth comparison.
|
||||||
|
*
|
||||||
|
* See usage: ./CombinedImuFactorsExample --help
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <boost/program_options.hpp>
|
||||||
|
|
||||||
|
// GTSAM related includes.
|
||||||
|
#include <gtsam/inference/Symbol.h>
|
||||||
|
#include <gtsam/navigation/CombinedImuFactor.h>
|
||||||
|
#include <gtsam/navigation/GPSFactor.h>
|
||||||
|
#include <gtsam/navigation/ImuFactor.h>
|
||||||
|
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
|
||||||
|
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
|
||||||
|
#include <gtsam/slam/BetweenFactor.h>
|
||||||
|
#include <gtsam/slam/dataset.h>
|
||||||
|
|
||||||
|
#include <cstring>
|
||||||
|
#include <fstream>
|
||||||
|
#include <iostream>
|
||||||
|
|
||||||
|
using namespace gtsam;
|
||||||
|
using namespace std;
|
||||||
|
|
||||||
|
using symbol_shorthand::B; // Bias (ax,ay,az,gx,gy,gz)
|
||||||
|
using symbol_shorthand::V; // Vel (xdot,ydot,zdot)
|
||||||
|
using symbol_shorthand::X; // Pose3 (x,y,z,r,p,y)
|
||||||
|
|
||||||
|
namespace po = boost::program_options;
|
||||||
|
|
||||||
|
po::variables_map parseOptions(int argc, char* argv[]) {
|
||||||
|
po::options_description desc;
|
||||||
|
desc.add_options()("help,h", "produce help message")(
|
||||||
|
"data_csv_path", po::value<string>()->default_value("imuAndGPSdata.csv"),
|
||||||
|
"path to the CSV file with the IMU data")(
|
||||||
|
"output_filename",
|
||||||
|
po::value<string>()->default_value("imuFactorExampleResults.csv"),
|
||||||
|
"path to the result file to use")("use_isam", po::bool_switch(),
|
||||||
|
"use ISAM as the optimizer");
|
||||||
|
|
||||||
|
po::variables_map vm;
|
||||||
|
po::store(po::parse_command_line(argc, argv, desc), vm);
|
||||||
|
|
||||||
|
if (vm.count("help")) {
|
||||||
|
cout << desc << "\n";
|
||||||
|
exit(1);
|
||||||
|
}
|
||||||
|
|
||||||
|
return vm;
|
||||||
|
}
|
||||||
|
|
||||||
|
Vector10 readInitialState(ifstream& file) {
|
||||||
|
string value;
|
||||||
|
// Format is (N,E,D,qX,qY,qZ,qW,velN,velE,velD)
|
||||||
|
Vector10 initial_state;
|
||||||
|
getline(file, value, ','); // i
|
||||||
|
for (int i = 0; i < 9; i++) {
|
||||||
|
getline(file, value, ',');
|
||||||
|
initial_state(i) = stof(value.c_str());
|
||||||
|
}
|
||||||
|
getline(file, value, '\n');
|
||||||
|
initial_state(9) = stof(value.c_str());
|
||||||
|
|
||||||
|
return initial_state;
|
||||||
|
}
|
||||||
|
|
||||||
|
boost::shared_ptr<PreintegratedCombinedMeasurements::Params> imuParams() {
|
||||||
|
// We use the sensor specs to build the noise model for the IMU factor.
|
||||||
|
double accel_noise_sigma = 0.0003924;
|
||||||
|
double gyro_noise_sigma = 0.000205689024915;
|
||||||
|
double accel_bias_rw_sigma = 0.004905;
|
||||||
|
double gyro_bias_rw_sigma = 0.000001454441043;
|
||||||
|
Matrix33 measured_acc_cov = I_3x3 * pow(accel_noise_sigma, 2);
|
||||||
|
Matrix33 measured_omega_cov = I_3x3 * pow(gyro_noise_sigma, 2);
|
||||||
|
Matrix33 integration_error_cov =
|
||||||
|
I_3x3 * 1e-8; // error committed in integrating position from velocities
|
||||||
|
Matrix33 bias_acc_cov = I_3x3 * pow(accel_bias_rw_sigma, 2);
|
||||||
|
Matrix33 bias_omega_cov = I_3x3 * pow(gyro_bias_rw_sigma, 2);
|
||||||
|
Matrix66 bias_acc_omega_int =
|
||||||
|
I_6x6 * 1e-5; // error in the bias used for preintegration
|
||||||
|
|
||||||
|
auto p = PreintegratedCombinedMeasurements::Params::MakeSharedD(0.0);
|
||||||
|
// PreintegrationBase params:
|
||||||
|
p->accelerometerCovariance =
|
||||||
|
measured_acc_cov; // acc white noise in continuous
|
||||||
|
p->integrationCovariance =
|
||||||
|
integration_error_cov; // integration uncertainty continuous
|
||||||
|
// should be using 2nd order integration
|
||||||
|
// PreintegratedRotation params:
|
||||||
|
p->gyroscopeCovariance =
|
||||||
|
measured_omega_cov; // gyro white noise in continuous
|
||||||
|
// PreintegrationCombinedMeasurements params:
|
||||||
|
p->biasAccCovariance = bias_acc_cov; // acc bias in continuous
|
||||||
|
p->biasOmegaCovariance = bias_omega_cov; // gyro bias in continuous
|
||||||
|
p->biasAccOmegaInt = bias_acc_omega_int;
|
||||||
|
|
||||||
|
return p;
|
||||||
|
}
|
||||||
|
|
||||||
|
int main(int argc, char* argv[]) {
|
||||||
|
string data_filename, output_filename;
|
||||||
|
po::variables_map var_map = parseOptions(argc, argv);
|
||||||
|
|
||||||
|
data_filename = findExampleDataFile(var_map["data_csv_path"].as<string>());
|
||||||
|
output_filename = var_map["output_filename"].as<string>();
|
||||||
|
|
||||||
|
// Set up output file for plotting errors
|
||||||
|
FILE* fp_out = fopen(output_filename.c_str(), "w+");
|
||||||
|
fprintf(fp_out,
|
||||||
|
"#time(s),x(m),y(m),z(m),qx,qy,qz,qw,gt_x(m),gt_y(m),gt_z(m),gt_qx,"
|
||||||
|
"gt_qy,gt_qz,gt_qw\n");
|
||||||
|
|
||||||
|
// Begin parsing the CSV file. Input the first line for initialization.
|
||||||
|
// From there, we'll iterate through the file and we'll preintegrate the IMU
|
||||||
|
// or add in the GPS given the input.
|
||||||
|
ifstream file(data_filename.c_str());
|
||||||
|
|
||||||
|
Vector10 initial_state = readInitialState(file);
|
||||||
|
cout << "initial state:\n" << initial_state.transpose() << "\n\n";
|
||||||
|
|
||||||
|
// Assemble initial quaternion through GTSAM constructor
|
||||||
|
// ::Quaternion(w,x,y,z);
|
||||||
|
Rot3 prior_rotation = Rot3::Quaternion(initial_state(6), initial_state(3),
|
||||||
|
initial_state(4), initial_state(5));
|
||||||
|
Point3 prior_point(initial_state.head<3>());
|
||||||
|
Pose3 prior_pose(prior_rotation, prior_point);
|
||||||
|
Vector3 prior_velocity(initial_state.tail<3>());
|
||||||
|
|
||||||
|
imuBias::ConstantBias prior_imu_bias; // assume zero initial bias
|
||||||
|
|
||||||
|
int index = 0;
|
||||||
|
|
||||||
|
Values initial_values;
|
||||||
|
|
||||||
|
// insert pose at initialization
|
||||||
|
initial_values.insert(X(index), prior_pose);
|
||||||
|
initial_values.insert(V(index), prior_velocity);
|
||||||
|
initial_values.insert(B(index), prior_imu_bias);
|
||||||
|
|
||||||
|
// Assemble prior noise model and add it the graph.`
|
||||||
|
auto pose_noise_model = noiseModel::Diagonal::Sigmas(
|
||||||
|
(Vector(6) << 0.01, 0.01, 0.01, 0.5, 0.5, 0.5)
|
||||||
|
.finished()); // rad,rad,rad,m, m, m
|
||||||
|
auto velocity_noise_model = noiseModel::Isotropic::Sigma(3, 0.1); // m/s
|
||||||
|
auto bias_noise_model = noiseModel::Isotropic::Sigma(6, 1e-3);
|
||||||
|
|
||||||
|
// Add all prior factors (pose, velocity, bias) to the graph.
|
||||||
|
NonlinearFactorGraph graph;
|
||||||
|
graph.addPrior<Pose3>(X(index), prior_pose, pose_noise_model);
|
||||||
|
graph.addPrior<Vector3>(V(index), prior_velocity, velocity_noise_model);
|
||||||
|
graph.addPrior<imuBias::ConstantBias>(B(index), prior_imu_bias,
|
||||||
|
bias_noise_model);
|
||||||
|
|
||||||
|
auto p = imuParams();
|
||||||
|
|
||||||
|
std::shared_ptr<PreintegrationType> preintegrated =
|
||||||
|
std::make_shared<PreintegratedCombinedMeasurements>(p, prior_imu_bias);
|
||||||
|
|
||||||
|
assert(preintegrated);
|
||||||
|
|
||||||
|
// Store previous state for imu integration and latest predicted outcome.
|
||||||
|
NavState prev_state(prior_pose, prior_velocity);
|
||||||
|
NavState prop_state = prev_state;
|
||||||
|
imuBias::ConstantBias prev_bias = prior_imu_bias;
|
||||||
|
|
||||||
|
// Keep track of total error over the entire run as simple performance metric.
|
||||||
|
double current_position_error = 0.0, current_orientation_error = 0.0;
|
||||||
|
|
||||||
|
double output_time = 0.0;
|
||||||
|
double dt = 0.005; // The real system has noise, but here, results are nearly
|
||||||
|
// exactly the same, so keeping this for simplicity.
|
||||||
|
|
||||||
|
// All priors have been set up, now iterate through the data file.
|
||||||
|
while (file.good()) {
|
||||||
|
// Parse out first value
|
||||||
|
string value;
|
||||||
|
getline(file, value, ',');
|
||||||
|
int type = stoi(value.c_str());
|
||||||
|
|
||||||
|
if (type == 0) { // IMU measurement
|
||||||
|
Vector6 imu;
|
||||||
|
for (int i = 0; i < 5; ++i) {
|
||||||
|
getline(file, value, ',');
|
||||||
|
imu(i) = stof(value.c_str());
|
||||||
|
}
|
||||||
|
getline(file, value, '\n');
|
||||||
|
imu(5) = stof(value.c_str());
|
||||||
|
|
||||||
|
// Adding the IMU preintegration.
|
||||||
|
preintegrated->integrateMeasurement(imu.head<3>(), imu.tail<3>(), dt);
|
||||||
|
|
||||||
|
} else if (type == 1) { // GPS measurement
|
||||||
|
Vector7 gps;
|
||||||
|
for (int i = 0; i < 6; ++i) {
|
||||||
|
getline(file, value, ',');
|
||||||
|
gps(i) = stof(value.c_str());
|
||||||
|
}
|
||||||
|
getline(file, value, '\n');
|
||||||
|
gps(6) = stof(value.c_str());
|
||||||
|
|
||||||
|
index++;
|
||||||
|
|
||||||
|
// Adding IMU factor and GPS factor and optimizing.
|
||||||
|
auto preint_imu_combined =
|
||||||
|
dynamic_cast<const PreintegratedCombinedMeasurements&>(
|
||||||
|
*preintegrated);
|
||||||
|
CombinedImuFactor imu_factor(X(index - 1), V(index - 1), X(index),
|
||||||
|
V(index), B(index - 1), B(index),
|
||||||
|
preint_imu_combined);
|
||||||
|
graph.add(imu_factor);
|
||||||
|
|
||||||
|
auto correction_noise = noiseModel::Isotropic::Sigma(3, 1.0);
|
||||||
|
GPSFactor gps_factor(X(index),
|
||||||
|
Point3(gps(0), // N,
|
||||||
|
gps(1), // E,
|
||||||
|
gps(2)), // D,
|
||||||
|
correction_noise);
|
||||||
|
graph.add(gps_factor);
|
||||||
|
|
||||||
|
// Now optimize and compare results.
|
||||||
|
prop_state = preintegrated->predict(prev_state, prev_bias);
|
||||||
|
initial_values.insert(X(index), prop_state.pose());
|
||||||
|
initial_values.insert(V(index), prop_state.v());
|
||||||
|
initial_values.insert(B(index), prev_bias);
|
||||||
|
|
||||||
|
LevenbergMarquardtParams params;
|
||||||
|
params.setVerbosityLM("SUMMARY");
|
||||||
|
LevenbergMarquardtOptimizer optimizer(graph, initial_values, params);
|
||||||
|
Values result = optimizer.optimize();
|
||||||
|
|
||||||
|
// Overwrite the beginning of the preintegration for the next step.
|
||||||
|
prev_state =
|
||||||
|
NavState(result.at<Pose3>(X(index)), result.at<Vector3>(V(index)));
|
||||||
|
prev_bias = result.at<imuBias::ConstantBias>(B(index));
|
||||||
|
|
||||||
|
// Reset the preintegration object.
|
||||||
|
preintegrated->resetIntegrationAndSetBias(prev_bias);
|
||||||
|
|
||||||
|
// Print out the position and orientation error for comparison.
|
||||||
|
Vector3 result_position = prev_state.pose().translation();
|
||||||
|
Vector3 position_error = result_position - gps.head<3>();
|
||||||
|
current_position_error = position_error.norm();
|
||||||
|
|
||||||
|
Quaternion result_quat = prev_state.pose().rotation().toQuaternion();
|
||||||
|
Quaternion gps_quat(gps(6), gps(3), gps(4), gps(5));
|
||||||
|
Quaternion quat_error = result_quat * gps_quat.inverse();
|
||||||
|
quat_error.normalize();
|
||||||
|
Vector3 euler_angle_error(quat_error.x() * 2, quat_error.y() * 2,
|
||||||
|
quat_error.z() * 2);
|
||||||
|
current_orientation_error = euler_angle_error.norm();
|
||||||
|
|
||||||
|
// display statistics
|
||||||
|
cout << "Position error:" << current_position_error << "\t "
|
||||||
|
<< "Angular error:" << current_orientation_error << "\n"
|
||||||
|
<< endl;
|
||||||
|
|
||||||
|
fprintf(fp_out, "%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f\n",
|
||||||
|
output_time, result_position(0), result_position(1),
|
||||||
|
result_position(2), result_quat.x(), result_quat.y(),
|
||||||
|
result_quat.z(), result_quat.w(), gps(0), gps(1), gps(2),
|
||||||
|
gps_quat.x(), gps_quat.y(), gps_quat.z(), gps_quat.w());
|
||||||
|
|
||||||
|
output_time += 1.0;
|
||||||
|
|
||||||
|
} else {
|
||||||
|
cerr << "ERROR parsing file\n";
|
||||||
|
return 1;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
fclose(fp_out);
|
||||||
|
cout << "Complete, results written to " << output_filename << "\n\n";
|
||||||
|
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
@ -31,19 +31,19 @@ void createExampleBALFile(const string& filename, const vector<Point3>& P,
|
||||||
Cal3Bundler()) {
|
Cal3Bundler()) {
|
||||||
|
|
||||||
// Class that will gather all data
|
// Class that will gather all data
|
||||||
SfM_data data;
|
SfmData data;
|
||||||
|
|
||||||
// Create two cameras
|
// Create two cameras
|
||||||
Rot3 aRb = Rot3::Yaw(M_PI_2);
|
Rot3 aRb = Rot3::Yaw(M_PI_2);
|
||||||
Point3 aTb(0.1, 0, 0);
|
Point3 aTb(0.1, 0, 0);
|
||||||
Pose3 identity, aPb(aRb, aTb);
|
Pose3 identity, aPb(aRb, aTb);
|
||||||
data.cameras.push_back(SfM_Camera(pose1, K));
|
data.cameras.push_back(SfmCamera(pose1, K));
|
||||||
data.cameras.push_back(SfM_Camera(pose2, K));
|
data.cameras.push_back(SfmCamera(pose2, K));
|
||||||
|
|
||||||
for(const Point3& p: P) {
|
for(const Point3& p: P) {
|
||||||
|
|
||||||
// Create the track
|
// Create the track
|
||||||
SfM_Track track;
|
SfmTrack track;
|
||||||
track.p = p;
|
track.p = p;
|
||||||
track.r = 1;
|
track.r = 1;
|
||||||
track.g = 1;
|
track.g = 1;
|
||||||
|
|
|
||||||
|
|
@ -0,0 +1,6 @@
|
||||||
|
VERTEX_SE3:QUAT 0 -1.6618596980158338 -0.5736497760548741 -3.3319774096611026 -0.02676080288219576 -0.024497002638379624 -0.015064701622500615 0.9992281076190063
|
||||||
|
VERTEX_SE3:QUAT 1 -1.431820463019384 -0.549139761976065 -3.160677992237872 -0.049543805396343954 -0.03232420352077356 -0.004386230477751116 0.998239108728862
|
||||||
|
VERTEX_SE3:QUAT 2 -1.0394840214436651 -0.5268841046291037 -2.972143862665523 -0.07993768981394891 0.0825062894866454 -0.04088089479075661 0.9925378735259738
|
||||||
|
EDGE_SE3:QUAT 0 1 0.23003923499644974 0.02451001407880915 0.17129941742323052 -0.022048798853273946 -0.01796327847857683 0.010210006313668573 0.9995433591728293 100.0 0.0 0.0 0.0 0.0 0.0 100.0 0.0 0.0 0.0 0.0 100.0 0.0 0.0 0.0 25.0 0.0 0.0 25.0 0.0 25.0
|
||||||
|
EDGE_SE3:QUAT 0 2 0.6223756765721686 0.04676567142577037 0.35983354699557957 -0.054972994022992064 0.10432547598981769 -0.02221474884651081 0.9927742290779572 100.0 0.0 0.0 0.0 0.0 0.0 100.0 0.0 0.0 0.0 0.0 100.0 0.0 0.0 0.0 25.0 0.0 0.0 25.0 0.0 25.0
|
||||||
|
EDGE_SE3:QUAT 1 2 0.3923364415757189 0.022255657346961222 0.18853412957234905 -0.03174661848656213 0.11646825423134777 -0.02951742735854383 0.9922479626852876 100.0 0.0 0.0 0.0 0.0 0.0 100.0 0.0 0.0 0.0 0.0 100.0 0.0 0.0 0.0 25.0 0.0 0.0 25.0 0.0 25.0
|
||||||
|
|
@ -0,0 +1,16 @@
|
||||||
|
VERTEX_SE3:QUAT 0 40 -1.15443e-13 10 0.557345 0.557345 -0.435162 -0.435162
|
||||||
|
VERTEX_SE3:QUAT 1 28.2843 28.2843 10 0.301633 0.728207 -0.568567 -0.235508
|
||||||
|
VERTEX_SE3:QUAT 2 -1.6986e-08 40 10 -3.89609e-10 0.788205 -0.615412 -2.07622e-10
|
||||||
|
VERTEX_SE3:QUAT 3 -28.2843 28.2843 10 -0.301633 0.728207 -0.568567 0.235508
|
||||||
|
VERTEX_SE3:QUAT 4 -40 -2.32554e-10 10 -0.557345 0.557345 -0.435162 0.435162
|
||||||
|
VERTEX_SE3:QUAT 5 -28.2843 -28.2843 10 -0.728207 0.301633 -0.235508 0.568567
|
||||||
|
VERTEX_SE3:QUAT 6 -2.53531e-09 -40 10 -0.788205 -1.25891e-11 -3.82742e-13 0.615412
|
||||||
|
VERTEX_SE3:QUAT 7 28.2843 -28.2843 10 -0.728207 -0.301633 0.235508 0.568567
|
||||||
|
VERTEX_TRACKXYZ 0 10 10 10
|
||||||
|
VERTEX_TRACKXYZ 1 -10 10 10
|
||||||
|
VERTEX_TRACKXYZ 2 -10 -10 10
|
||||||
|
VERTEX_TRACKXYZ 3 10 -10 10
|
||||||
|
VERTEX_TRACKXYZ 4 10 10 -10
|
||||||
|
VERTEX_TRACKXYZ 5 -10 10 -10
|
||||||
|
VERTEX_TRACKXYZ 6 -10 -10 -10
|
||||||
|
VERTEX_TRACKXYZ 7 10 -10 -10
|
||||||
|
|
@ -0,0 +1,9 @@
|
||||||
|
VERTEX_SE3:QUAT 0 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1.000000
|
||||||
|
VERTEX_SE3:QUAT 1 1.001367 0.015390 0.004948 0.190253 0.283162 -0.392318 0.854230
|
||||||
|
VERTEX_SE3:QUAT 2 1.993500 0.023275 0.003793 -0.351729 -0.597838 0.584174 0.421446
|
||||||
|
VERTEX_SE3:QUAT 3 2.004291 1.024305 0.018047 0.331798 -0.200659 0.919323 0.067024
|
||||||
|
VERTEX_SE3:QUAT 4 0.999908 1.055073 0.020212 -0.035697 -0.462490 0.445933 0.765488
|
||||||
|
EDGE_SE3:QUAT 0 1 1.001367 0.015390 0.004948 0.190253 0.283162 -0.392318 0.854230 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 10000.000000 0.000000 10000.000000
|
||||||
|
EDGE_SE3:QUAT 1 2 0.523923 0.776654 0.326659 0.311512 0.656877 -0.678505 0.105373 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 10000.000000 0.000000 10000.000000
|
||||||
|
EDGE_SE3:QUAT 2 3 0.910927 0.055169 -0.411761 0.595795 -0.561677 0.079353 0.568551 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 10000.000000 0.000000 10000.000000
|
||||||
|
EDGE_SE3:QUAT 3 4 0.775288 0.228798 -0.596923 -0.592077 0.303380 -0.513226 0.542221 10000.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 0.000000 10000.000000 0.000000 0.000000 10000.000000 0.000000 10000.000000
|
||||||
|
|
@ -0,0 +1,11 @@
|
||||||
|
VERTEX_SE3:QUAT 0 0 0 0 0 0 0 1
|
||||||
|
VERTEX_SE3:QUAT 1 0 0 0 0 0 0 1
|
||||||
|
VERTEX_SE3:QUAT 2 0 0 0 0.00499994 0.00499994 0.00499994 0.999963
|
||||||
|
VERTEX_SE3:QUAT 3 0 0 0 -0.00499994 -0.00499994 -0.00499994 0.999963
|
||||||
|
VERTEX_SE3:QUAT 4 0 0 0 0.00499994 0.00499994 0.00499994 0.999963
|
||||||
|
EDGE_SE3:QUAT 1 2 1 2 0 0 0 0.707107 0.707107 100 0 0 0 0 0 100 0 0 0 0 100 0 0 0 100 0 0 100 0 100
|
||||||
|
EDGE_SE3:QUAT 2 3 -3.26795e-07 1 0 0 0 0.707107 0.707107 100 0 0 0 0 0 100 0 0 0 0 100 0 0 0 100 0 0 100 0 100
|
||||||
|
EDGE_SE3:QUAT 3 4 1 1 0 0 0 0.707107 0.707107 100 0 0 0 0 0 100 0 0 0 0 100 0 0 0 100 0 0 100 0 100
|
||||||
|
EDGE_SE3:QUAT 3 1 6.9282e-07 2 0 0 0 1 1.73205e-07 100 0 0 0 0 0 100 0 0 0 0 100 0 0 0 100 0 0 100 0 100
|
||||||
|
EDGE_SE3:QUAT 1 4 -1 1 0 0 0 -0.707107 0.707107 100 0 0 0 0 0 100 0 0 0 0 100 0 0 0 100 0 0 100 0 100
|
||||||
|
EDGE_SE3:QUAT 0 1 0 0 0 0 0 0 1 100 0 0 0 0 0 100 0 0 0 0 100 0 0 0 100 0 0 100 0 100
|
||||||
|
|
@ -0,0 +1,83 @@
|
||||||
|
/* ----------------------------------------------------------------------------
|
||||||
|
|
||||||
|
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
|
||||||
|
* Atlanta, Georgia 30332-0415
|
||||||
|
* All Rights Reserved
|
||||||
|
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
|
||||||
|
|
||||||
|
* See LICENSE for the license information
|
||||||
|
|
||||||
|
* -------------------------------------------------------------------------- */
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @file DiscreteBayesNetExample.cpp
|
||||||
|
* @brief Discrete Bayes Net example with famous Asia Bayes Network
|
||||||
|
* @author Frank Dellaert
|
||||||
|
* @date JULY 10, 2020
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <gtsam/discrete/DiscreteFactorGraph.h>
|
||||||
|
#include <gtsam/discrete/DiscreteMarginals.h>
|
||||||
|
#include <gtsam/inference/BayesNet.h>
|
||||||
|
|
||||||
|
#include <iomanip>
|
||||||
|
|
||||||
|
using namespace std;
|
||||||
|
using namespace gtsam;
|
||||||
|
|
||||||
|
int main(int argc, char **argv) {
|
||||||
|
DiscreteBayesNet asia;
|
||||||
|
DiscreteKey Asia(0, 2), Smoking(4, 2), Tuberculosis(3, 2), LungCancer(6, 2),
|
||||||
|
Bronchitis(7, 2), Either(5, 2), XRay(2, 2), Dyspnea(1, 2);
|
||||||
|
asia.add(Asia % "99/1");
|
||||||
|
asia.add(Smoking % "50/50");
|
||||||
|
|
||||||
|
asia.add(Tuberculosis | Asia = "99/1 95/5");
|
||||||
|
asia.add(LungCancer | Smoking = "99/1 90/10");
|
||||||
|
asia.add(Bronchitis | Smoking = "70/30 40/60");
|
||||||
|
|
||||||
|
asia.add((Either | Tuberculosis, LungCancer) = "F T T T");
|
||||||
|
|
||||||
|
asia.add(XRay | Either = "95/5 2/98");
|
||||||
|
asia.add((Dyspnea | Either, Bronchitis) = "9/1 2/8 3/7 1/9");
|
||||||
|
|
||||||
|
// print
|
||||||
|
vector<string> pretty = {"Asia", "Dyspnea", "XRay", "Tuberculosis",
|
||||||
|
"Smoking", "Either", "LungCancer", "Bronchitis"};
|
||||||
|
auto formatter = [pretty](Key key) { return pretty[key]; };
|
||||||
|
asia.print("Asia", formatter);
|
||||||
|
|
||||||
|
// Convert to factor graph
|
||||||
|
DiscreteFactorGraph fg(asia);
|
||||||
|
|
||||||
|
// Create solver and eliminate
|
||||||
|
Ordering ordering;
|
||||||
|
ordering += Key(0), Key(1), Key(2), Key(3), Key(4), Key(5), Key(6), Key(7);
|
||||||
|
DiscreteBayesNet::shared_ptr chordal = fg.eliminateSequential(ordering);
|
||||||
|
|
||||||
|
// solve
|
||||||
|
DiscreteFactor::sharedValues mpe = chordal->optimize();
|
||||||
|
GTSAM_PRINT(*mpe);
|
||||||
|
|
||||||
|
// We can also build a Bayes tree (directed junction tree).
|
||||||
|
// The elimination order above will do fine:
|
||||||
|
auto bayesTree = fg.eliminateMultifrontal(ordering);
|
||||||
|
bayesTree->print("bayesTree", formatter);
|
||||||
|
|
||||||
|
// add evidence, we were in Asia and we have dyspnea
|
||||||
|
fg.add(Asia, "0 1");
|
||||||
|
fg.add(Dyspnea, "0 1");
|
||||||
|
|
||||||
|
// solve again, now with evidence
|
||||||
|
DiscreteBayesNet::shared_ptr chordal2 = fg.eliminateSequential(ordering);
|
||||||
|
DiscreteFactor::sharedValues mpe2 = chordal2->optimize();
|
||||||
|
GTSAM_PRINT(*mpe2);
|
||||||
|
|
||||||
|
// We can also sample from it
|
||||||
|
cout << "\n10 samples:" << endl;
|
||||||
|
for (size_t i = 0; i < 10; i++) {
|
||||||
|
DiscreteFactor::sharedValues sample = chordal2->sample();
|
||||||
|
GTSAM_PRINT(*sample);
|
||||||
|
}
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
@ -15,105 +15,106 @@
|
||||||
* @author Abhijit
|
* @author Abhijit
|
||||||
* @date Jun 4, 2012
|
* @date Jun 4, 2012
|
||||||
*
|
*
|
||||||
* We use the famous Rain/Cloudy/Sprinkler Example of [Russell & Norvig, 2009, p529]
|
* We use the famous Rain/Cloudy/Sprinkler Example of [Russell & Norvig, 2009,
|
||||||
* You may be familiar with other graphical model packages like BNT (available
|
* p529] You may be familiar with other graphical model packages like BNT
|
||||||
* at http://bnt.googlecode.com/svn/trunk/docs/usage.html) where this is used as an
|
* (available at http://bnt.googlecode.com/svn/trunk/docs/usage.html) where this
|
||||||
* example. The following demo is same as that in the above link, except that
|
* is used as an example. The following demo is same as that in the above link,
|
||||||
* everything is using GTSAM.
|
* except that everything is using GTSAM.
|
||||||
*/
|
*/
|
||||||
|
|
||||||
#include <gtsam/discrete/DiscreteFactorGraph.h>
|
#include <gtsam/discrete/DiscreteFactorGraph.h>
|
||||||
#include <gtsam/discrete/DiscreteSequentialSolver.h>
|
#include <gtsam/discrete/DiscreteMarginals.h>
|
||||||
|
|
||||||
#include <iomanip>
|
#include <iomanip>
|
||||||
|
|
||||||
using namespace std;
|
using namespace std;
|
||||||
using namespace gtsam;
|
using namespace gtsam;
|
||||||
|
|
||||||
int main(int argc, char **argv) {
|
int main(int argc, char **argv) {
|
||||||
|
// Define keys and a print function
|
||||||
|
Key C(1), S(2), R(3), W(4);
|
||||||
|
auto print = [=](DiscreteFactor::sharedValues values) {
|
||||||
|
cout << boolalpha << "Cloudy = " << static_cast<bool>((*values)[C])
|
||||||
|
<< " Sprinkler = " << static_cast<bool>((*values)[S])
|
||||||
|
<< " Rain = " << boolalpha << static_cast<bool>((*values)[R])
|
||||||
|
<< " WetGrass = " << static_cast<bool>((*values)[W]) << endl;
|
||||||
|
};
|
||||||
|
|
||||||
// We assume binary state variables
|
// We assume binary state variables
|
||||||
// we have 0 == "False" and 1 == "True"
|
// we have 0 == "False" and 1 == "True"
|
||||||
const size_t nrStates = 2;
|
const size_t nrStates = 2;
|
||||||
|
|
||||||
// define variables
|
// define variables
|
||||||
DiscreteKey Cloudy(1, nrStates), Sprinkler(2, nrStates), Rain(3, nrStates),
|
DiscreteKey Cloudy(C, nrStates), Sprinkler(S, nrStates), Rain(R, nrStates),
|
||||||
WetGrass(4, nrStates);
|
WetGrass(W, nrStates);
|
||||||
|
|
||||||
// create Factor Graph of the bayes net
|
// create Factor Graph of the bayes net
|
||||||
DiscreteFactorGraph graph;
|
DiscreteFactorGraph graph;
|
||||||
|
|
||||||
// add factors
|
// add factors
|
||||||
graph.add(Cloudy, "0.5 0.5"); //P(Cloudy)
|
graph.add(Cloudy, "0.5 0.5"); // P(Cloudy)
|
||||||
graph.add(Cloudy & Sprinkler, "0.5 0.5 0.9 0.1"); //P(Sprinkler | Cloudy)
|
graph.add(Cloudy & Sprinkler, "0.5 0.5 0.9 0.1"); // P(Sprinkler | Cloudy)
|
||||||
graph.add(Cloudy & Rain, "0.8 0.2 0.2 0.8"); //P(Rain | Cloudy)
|
graph.add(Cloudy & Rain, "0.8 0.2 0.2 0.8"); // P(Rain | Cloudy)
|
||||||
graph.add(Sprinkler & Rain & WetGrass,
|
graph.add(Sprinkler & Rain & WetGrass,
|
||||||
"1 0 0.1 0.9 0.1 0.9 0.001 0.99"); //P(WetGrass | Sprinkler, Rain)
|
"1 0 0.1 0.9 0.1 0.9 0.001 0.99"); // P(WetGrass | Sprinkler, Rain)
|
||||||
|
|
||||||
// Alternatively we can also create a DiscreteBayesNet, add DiscreteConditional
|
// Alternatively we can also create a DiscreteBayesNet, add
|
||||||
// factors and create a FactorGraph from it. (See testDiscreteBayesNet.cpp)
|
// DiscreteConditional factors and create a FactorGraph from it. (See
|
||||||
|
// testDiscreteBayesNet.cpp)
|
||||||
|
|
||||||
// Since this is a relatively small distribution, we can as well print
|
// Since this is a relatively small distribution, we can as well print
|
||||||
// the whole distribution..
|
// the whole distribution..
|
||||||
cout << "Distribution of Example: " << endl;
|
cout << "Distribution of Example: " << endl;
|
||||||
cout << setw(11) << "Cloudy(C)" << setw(14) << "Sprinkler(S)" << setw(10)
|
cout << setw(11) << "Cloudy(C)" << setw(14) << "Sprinkler(S)" << setw(10)
|
||||||
<< "Rain(R)" << setw(14) << "WetGrass(W)" << setw(15) << "P(C,S,R,W)"
|
<< "Rain(R)" << setw(14) << "WetGrass(W)" << setw(15) << "P(C,S,R,W)"
|
||||||
<< endl;
|
<< endl;
|
||||||
for (size_t a = 0; a < nrStates; a++)
|
for (size_t a = 0; a < nrStates; a++)
|
||||||
for (size_t m = 0; m < nrStates; m++)
|
for (size_t m = 0; m < nrStates; m++)
|
||||||
for (size_t h = 0; h < nrStates; h++)
|
for (size_t h = 0; h < nrStates; h++)
|
||||||
for (size_t c = 0; c < nrStates; c++) {
|
for (size_t c = 0; c < nrStates; c++) {
|
||||||
DiscreteFactor::Values values;
|
DiscreteFactor::Values values;
|
||||||
values[Cloudy.first] = c;
|
values[C] = c;
|
||||||
values[Sprinkler.first] = h;
|
values[S] = h;
|
||||||
values[Rain.first] = m;
|
values[R] = m;
|
||||||
values[WetGrass.first] = a;
|
values[W] = a;
|
||||||
double prodPot = graph(values);
|
double prodPot = graph(values);
|
||||||
cout << boolalpha << setw(8) << (bool) c << setw(14)
|
cout << setw(8) << static_cast<bool>(c) << setw(14)
|
||||||
<< (bool) h << setw(12) << (bool) m << setw(13)
|
<< static_cast<bool>(h) << setw(12) << static_cast<bool>(m)
|
||||||
<< (bool) a << setw(16) << prodPot << endl;
|
<< setw(13) << static_cast<bool>(a) << setw(16) << prodPot
|
||||||
|
<< endl;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
// "Most Probable Explanation", i.e., configuration with largest value
|
// "Most Probable Explanation", i.e., configuration with largest value
|
||||||
DiscreteSequentialSolver solver(graph);
|
DiscreteFactor::sharedValues mpe = graph.eliminateSequential()->optimize();
|
||||||
DiscreteFactor::sharedValues optimalDecoding = solver.optimize();
|
cout << "\nMost Probable Explanation (MPE):" << endl;
|
||||||
cout <<"\nMost Probable Explanation (MPE):" << endl;
|
print(mpe);
|
||||||
cout << boolalpha << "Cloudy = " << (bool)(*optimalDecoding)[Cloudy.first]
|
|
||||||
<< " Sprinkler = " << (bool)(*optimalDecoding)[Sprinkler.first]
|
|
||||||
<< " Rain = " << boolalpha << (bool)(*optimalDecoding)[Rain.first]
|
|
||||||
<< " WetGrass = " << (bool)(*optimalDecoding)[WetGrass.first]<< endl;
|
|
||||||
|
|
||||||
|
// "Inference" We show an inference query like: probability that the Sprinkler
|
||||||
|
// was on; given that the grass is wet i.e. P( S | C=0) = ?
|
||||||
|
|
||||||
// "Inference" We show an inference query like: probability that the Sprinkler was on;
|
// add evidence that it is not Cloudy
|
||||||
// given that the grass is wet i.e. P( S | W=1) =?
|
graph.add(Cloudy, "1 0");
|
||||||
cout << "\nInference Query: Probability of Sprinkler being on given Grass is Wet" << endl;
|
|
||||||
|
|
||||||
// Method 1: we can compute the joint marginal P(S,W) and from that we can compute
|
// solve again, now with evidence
|
||||||
// P(S | W=1) = P(S,W=1)/P(W=1) We do this in following three steps..
|
DiscreteBayesNet::shared_ptr chordal = graph.eliminateSequential();
|
||||||
|
DiscreteFactor::sharedValues mpe_with_evidence = chordal->optimize();
|
||||||
|
|
||||||
//Step1: Compute P(S,W)
|
cout << "\nMPE given C=0:" << endl;
|
||||||
DiscreteFactorGraph jointFG;
|
print(mpe_with_evidence);
|
||||||
jointFG = *solver.jointFactorGraph(DiscreteKeys(Sprinkler & WetGrass).indices());
|
|
||||||
DecisionTreeFactor probSW = jointFG.product();
|
|
||||||
|
|
||||||
//Step2: Compute P(W)
|
// we can also calculate arbitrary marginals:
|
||||||
DiscreteFactor::shared_ptr probW = solver.marginalFactor(WetGrass.first);
|
DiscreteMarginals marginals(graph);
|
||||||
|
cout << "\nP(S=1|C=0):" << marginals.marginalProbabilities(Sprinkler)[1]
|
||||||
//Step3: Computer P(S | W=1) = P(S,W=1)/P(W=1)
|
<< endl;
|
||||||
DiscreteFactor::Values values;
|
cout << "\nP(R=0|C=0):" << marginals.marginalProbabilities(Rain)[0] << endl;
|
||||||
values[WetGrass.first] = 1;
|
cout << "\nP(W=1|C=0):" << marginals.marginalProbabilities(WetGrass)[1]
|
||||||
|
<< endl;
|
||||||
//print P(S=0|W=1)
|
|
||||||
values[Sprinkler.first] = 0;
|
|
||||||
cout << "P(S=0|W=1) = " << probSW(values)/(*probW)(values) << endl;
|
|
||||||
|
|
||||||
//print P(S=1|W=1)
|
|
||||||
values[Sprinkler.first] = 1;
|
|
||||||
cout << "P(S=1|W=1) = " << probSW(values)/(*probW)(values) << endl;
|
|
||||||
|
|
||||||
// TODO: Method 2 : One way is to modify the factor graph to
|
|
||||||
// incorporate the evidence node and compute the marginal
|
|
||||||
// TODO: graph.addEvidence(Cloudy,0);
|
|
||||||
|
|
||||||
|
// We can also sample from it
|
||||||
|
cout << "\n10 samples:" << endl;
|
||||||
|
for (size_t i = 0; i < 10; i++) {
|
||||||
|
DiscreteFactor::sharedValues sample = chordal->sample();
|
||||||
|
print(sample);
|
||||||
|
}
|
||||||
return 0;
|
return 0;
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -0,0 +1,130 @@
|
||||||
|
/* ----------------------------------------------------------------------------
|
||||||
|
|
||||||
|
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
|
||||||
|
* Atlanta, Georgia 30332-0415
|
||||||
|
* All Rights Reserved
|
||||||
|
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
|
||||||
|
|
||||||
|
* See LICENSE for the license information
|
||||||
|
|
||||||
|
* -------------------------------------------------------------------------- */
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @file FisheyeExample.cpp
|
||||||
|
* @brief A visualSLAM example for the structure-from-motion problem on a
|
||||||
|
* simulated dataset. This version uses a fisheye camera model and a GaussNewton
|
||||||
|
* solver to solve the graph in one batch
|
||||||
|
* @author ghaggin
|
||||||
|
* @Date Apr 9,2020
|
||||||
|
*/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* A structure-from-motion example with landmarks
|
||||||
|
* - The landmarks form a 10 meter cube
|
||||||
|
* - The robot rotates around the landmarks, always facing towards the cube
|
||||||
|
*/
|
||||||
|
|
||||||
|
// For loading the data
|
||||||
|
#include "SFMdata.h"
|
||||||
|
|
||||||
|
// Camera observations of landmarks will be stored as Point2 (x, y).
|
||||||
|
#include <gtsam/geometry/Point2.h>
|
||||||
|
|
||||||
|
// Each variable in the system (poses and landmarks) must be identified with a
|
||||||
|
// unique key. We can either use simple integer keys (1, 2, 3, ...) or symbols
|
||||||
|
// (X1, X2, L1). Here we will use Symbols
|
||||||
|
#include <gtsam/inference/Symbol.h>
|
||||||
|
|
||||||
|
// Use GaussNewtonOptimizer to solve graph
|
||||||
|
#include <gtsam/nonlinear/GaussNewtonOptimizer.h>
|
||||||
|
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
|
||||||
|
#include <gtsam/nonlinear/Values.h>
|
||||||
|
|
||||||
|
// In GTSAM, measurement functions are represented as 'factors'. Several common
|
||||||
|
// factors have been provided with the library for solving robotics/SLAM/Bundle
|
||||||
|
// Adjustment problems. Here we will use Projection factors to model the
|
||||||
|
// camera's landmark observations. Also, we will initialize the robot at some
|
||||||
|
// location using a Prior factor.
|
||||||
|
#include <gtsam/geometry/Cal3Fisheye.h>
|
||||||
|
#include <gtsam/slam/PriorFactor.h>
|
||||||
|
#include <gtsam/slam/ProjectionFactor.h>
|
||||||
|
|
||||||
|
#include <fstream>
|
||||||
|
#include <vector>
|
||||||
|
|
||||||
|
using namespace std;
|
||||||
|
using namespace gtsam;
|
||||||
|
|
||||||
|
using symbol_shorthand::L; // for landmarks
|
||||||
|
using symbol_shorthand::X; // for poses
|
||||||
|
|
||||||
|
/* ************************************************************************* */
|
||||||
|
int main(int argc, char *argv[]) {
|
||||||
|
// Define the camera calibration parameters
|
||||||
|
auto K = boost::make_shared<Cal3Fisheye>(
|
||||||
|
278.66, 278.48, 0.0, 319.75, 241.96, -0.013721808247486035,
|
||||||
|
0.020727425669427896, -0.012786476702685545, 0.0025242267320687625);
|
||||||
|
|
||||||
|
// Define the camera observation noise model, 1 pixel stddev
|
||||||
|
auto measurementNoise = noiseModel::Isotropic::Sigma(2, 1.0);
|
||||||
|
|
||||||
|
// Create the set of ground-truth landmarks
|
||||||
|
const vector<Point3> points = createPoints();
|
||||||
|
|
||||||
|
// Create the set of ground-truth poses
|
||||||
|
const vector<Pose3> poses = createPoses();
|
||||||
|
|
||||||
|
// Create a Factor Graph and Values to hold the new data
|
||||||
|
NonlinearFactorGraph graph;
|
||||||
|
Values initialEstimate;
|
||||||
|
|
||||||
|
// Add a prior on pose x0, 0.1 rad on roll,pitch,yaw, and 30cm std on x,y,z
|
||||||
|
auto posePrior = noiseModel::Diagonal::Sigmas(
|
||||||
|
(Vector(6) << Vector3::Constant(0.1), Vector3::Constant(0.3)).finished());
|
||||||
|
graph.emplace_shared<PriorFactor<Pose3>>(X(0), poses[0], posePrior);
|
||||||
|
|
||||||
|
// Add a prior on landmark l0
|
||||||
|
auto pointPrior = noiseModel::Isotropic::Sigma(3, 0.1);
|
||||||
|
graph.emplace_shared<PriorFactor<Point3>>(L(0), points[0], pointPrior);
|
||||||
|
|
||||||
|
// Add initial guesses to all observed landmarks
|
||||||
|
// Intentionally initialize the variables off from the ground truth
|
||||||
|
static const Point3 kDeltaPoint(-0.25, 0.20, 0.15);
|
||||||
|
for (size_t j = 0; j < points.size(); ++j)
|
||||||
|
initialEstimate.insert<Point3>(L(j), points[j] + kDeltaPoint);
|
||||||
|
|
||||||
|
// Loop over the poses, adding the observations to the graph
|
||||||
|
for (size_t i = 0; i < poses.size(); ++i) {
|
||||||
|
// Add factors for each landmark observation
|
||||||
|
for (size_t j = 0; j < points.size(); ++j) {
|
||||||
|
PinholeCamera<Cal3Fisheye> camera(poses[i], *K);
|
||||||
|
Point2 measurement = camera.project(points[j]);
|
||||||
|
graph.emplace_shared<GenericProjectionFactor<Pose3, Point3, Cal3Fisheye>>(
|
||||||
|
measurement, measurementNoise, X(i), L(j), K);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Add an initial guess for the current pose
|
||||||
|
// Intentionally initialize the variables off from the ground truth
|
||||||
|
static const Pose3 kDeltaPose(Rot3::Rodrigues(-0.1, 0.2, 0.25),
|
||||||
|
Point3(0.05, -0.10, 0.20));
|
||||||
|
initialEstimate.insert(X(i), poses[i] * kDeltaPose);
|
||||||
|
}
|
||||||
|
|
||||||
|
GaussNewtonParams params;
|
||||||
|
params.setVerbosity("TERMINATION");
|
||||||
|
params.maxIterations = 10000;
|
||||||
|
|
||||||
|
std::cout << "Optimizing the factor graph" << std::endl;
|
||||||
|
GaussNewtonOptimizer optimizer(graph, initialEstimate, params);
|
||||||
|
Values result = optimizer.optimize();
|
||||||
|
std::cout << "Optimization complete" << std::endl;
|
||||||
|
|
||||||
|
std::cout << "initial error=" << graph.error(initialEstimate) << std::endl;
|
||||||
|
std::cout << "final error=" << graph.error(result) << std::endl;
|
||||||
|
|
||||||
|
std::ofstream os("examples/vio_batch.dot");
|
||||||
|
graph.saveGraph(os, result);
|
||||||
|
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
/* ************************************************************************* */
|
||||||
|
|
@ -0,0 +1,94 @@
|
||||||
|
/* ----------------------------------------------------------------------------
|
||||||
|
|
||||||
|
* GTSAM Copyright 2010-2020, Georgia Tech Research Corporation,
|
||||||
|
* Atlanta, Georgia 30332-0415
|
||||||
|
* All Rights Reserved
|
||||||
|
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
|
||||||
|
|
||||||
|
* See LICENSE for the license information
|
||||||
|
|
||||||
|
* -------------------------------------------------------------------------- */
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @file DiscreteBayesNetExample.cpp
|
||||||
|
* @brief Hidden Markov Model example, discrete.
|
||||||
|
* @author Frank Dellaert
|
||||||
|
* @date July 12, 2020
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <gtsam/discrete/DiscreteFactorGraph.h>
|
||||||
|
#include <gtsam/discrete/DiscreteMarginals.h>
|
||||||
|
#include <gtsam/inference/BayesNet.h>
|
||||||
|
|
||||||
|
#include <iomanip>
|
||||||
|
#include <sstream>
|
||||||
|
|
||||||
|
using namespace std;
|
||||||
|
using namespace gtsam;
|
||||||
|
|
||||||
|
int main(int argc, char **argv) {
|
||||||
|
const int nrNodes = 4;
|
||||||
|
const size_t nrStates = 3;
|
||||||
|
|
||||||
|
// Define variables as well as ordering
|
||||||
|
Ordering ordering;
|
||||||
|
vector<DiscreteKey> keys;
|
||||||
|
for (int k = 0; k < nrNodes; k++) {
|
||||||
|
DiscreteKey key_i(k, nrStates);
|
||||||
|
keys.push_back(key_i);
|
||||||
|
ordering.emplace_back(k);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Create HMM as a DiscreteBayesNet
|
||||||
|
DiscreteBayesNet hmm;
|
||||||
|
|
||||||
|
// Define backbone
|
||||||
|
const string transition = "8/1/1 1/8/1 1/1/8";
|
||||||
|
for (int k = 1; k < nrNodes; k++) {
|
||||||
|
hmm.add(keys[k] | keys[k - 1] = transition);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Add some measurements, not needed for all time steps!
|
||||||
|
hmm.add(keys[0] % "7/2/1");
|
||||||
|
hmm.add(keys[1] % "1/9/0");
|
||||||
|
hmm.add(keys.back() % "5/4/1");
|
||||||
|
|
||||||
|
// print
|
||||||
|
hmm.print("HMM");
|
||||||
|
|
||||||
|
// Convert to factor graph
|
||||||
|
DiscreteFactorGraph factorGraph(hmm);
|
||||||
|
|
||||||
|
// Create solver and eliminate
|
||||||
|
// This will create a DAG ordered with arrow of time reversed
|
||||||
|
DiscreteBayesNet::shared_ptr chordal =
|
||||||
|
factorGraph.eliminateSequential(ordering);
|
||||||
|
chordal->print("Eliminated");
|
||||||
|
|
||||||
|
// solve
|
||||||
|
DiscreteFactor::sharedValues mpe = chordal->optimize();
|
||||||
|
GTSAM_PRINT(*mpe);
|
||||||
|
|
||||||
|
// We can also sample from it
|
||||||
|
cout << "\n10 samples:" << endl;
|
||||||
|
for (size_t k = 0; k < 10; k++) {
|
||||||
|
DiscreteFactor::sharedValues sample = chordal->sample();
|
||||||
|
GTSAM_PRINT(*sample);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Or compute the marginals. This re-eliminates the FG into a Bayes tree
|
||||||
|
cout << "\nComputing Node Marginals .." << endl;
|
||||||
|
DiscreteMarginals marginals(factorGraph);
|
||||||
|
for (int k = 0; k < nrNodes; k++) {
|
||||||
|
Vector margProbs = marginals.marginalProbabilities(keys[k]);
|
||||||
|
stringstream ss;
|
||||||
|
ss << "marginal " << k;
|
||||||
|
print(margProbs, ss.str());
|
||||||
|
}
|
||||||
|
|
||||||
|
// TODO(frank): put in the glue to have DiscreteMarginals produce *arbitrary*
|
||||||
|
// joints efficiently, by the Bayes tree shortcut magic. All the code is there
|
||||||
|
// but it's not yet connected.
|
||||||
|
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
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Reference in New Issue