Various fixes to cmake exported targets
List of changes: * -I boost is no longer required (Since the use of Boost::xxx imported targets) * fix missing Boost deps in imported gtsam by searching for Boost inside GTSAMConfig.cmake * Including the dirs for Eigen/MKL/SuiteSparse/Metis into exported targets public interface. * Fix missing cmake changes in wrap/* * Split build flags into private/public, not to expose to users flags that may be invasive. * Removed now useless include_dirs in "extra cmake" * Update cmake/example_project * Make cppunitlite to find boost headers via Boost::boost * Update README / INSTALL to reflect the updated minimum CMake >= 3.0release/4.3a0
jlblancoc
Jose Luis Blanco Claraco
parent
c84496632f
commit
7625c21777
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@ -121,15 +121,19 @@ if(MSVC)
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# If we use Boost shared libs, disable auto linking.
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# Some libraries, at least Boost Program Options, rely on this to export DLL symbols.
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if(NOT Boost_USE_STATIC_LIBS)
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list(APPEND GTSAM_COMPILE_DEFINITIONS BOOST_ALL_NO_LIB BOOST_ALL_DYN_LINK)
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list(APPEND GTSAM_COMPILE_DEFINITIONS_PUBLIC BOOST_ALL_NO_LIB BOOST_ALL_DYN_LINK)
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endif()
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# Virtual memory range for PCH exceeded on VS2015
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if(MSVC_VERSION LESS 1910) # older than VS2017
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list(APPEND GTSAM_COMPILE_OPTIONS -Zm295)
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list(APPEND GTSAM_COMPILE_OPTIONS_PRIVATE -Zm295)
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endif()
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endif()
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find_package(Boost 1.43 COMPONENTS serialization system filesystem thread program_options date_time timer chrono regex)
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# Store these in variables so they are automatically replicated in GTSAMConfig.cmake and such.
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set(BOOST_FIND_MINIMUM_VERSION 1.43)
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set(BOOST_FIND_MINIMUM_COMPONENTS serialization system filesystem thread program_options date_time timer chrono regex)
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find_package(Boost ${BOOST_FIND_MINIMUM_VERSION} COMPONENTS ${BOOST_FIND_MINIMUM_COMPONENTS})
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# Required components
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if(NOT Boost_SERIALIZATION_LIBRARY OR NOT Boost_SYSTEM_LIBRARY OR NOT Boost_FILESYSTEM_LIBRARY OR
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@ -149,7 +153,7 @@ set(GTSAM_BOOST_LIBRARIES
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)
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if (GTSAM_DISABLE_NEW_TIMERS)
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message("WARNING: GTSAM timing instrumentation manually disabled")
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list(APPEND GTSAM_COMPILE_DEFINITIONS DGTSAM_DISABLE_NEW_TIMERS)
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list(APPEND GTSAM_COMPILE_DEFINITIONS_PUBLIC DGTSAM_DISABLE_NEW_TIMERS)
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else()
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if(Boost_TIMER_LIBRARY)
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list(APPEND GTSAM_BOOST_LIBRARIES Boost::timer Boost::chrono)
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@ -162,7 +166,7 @@ endif()
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if(NOT (${Boost_VERSION} LESS 105600))
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message("Ignoring Boost restriction on optional lvalue assignment from rvalues")
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list(APPEND GTSAM_COMPILE_DEFINITIONS BOOST_OPTIONAL_ALLOW_BINDING_TO_RVALUES BOOST_OPTIONAL_CONFIG_ALLOW_BINDING_TO_RVALUES)
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list(APPEND GTSAM_COMPILE_DEFINITIONS_PUBLIC BOOST_OPTIONAL_ALLOW_BINDING_TO_RVALUES BOOST_OPTIONAL_CONFIG_ALLOW_BINDING_TO_RVALUES)
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endif()
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###############################################################################
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@ -212,7 +216,6 @@ find_package(MKL)
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if(MKL_FOUND AND GTSAM_WITH_EIGEN_MKL)
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set(GTSAM_USE_EIGEN_MKL 1) # This will go into config.h
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set(EIGEN_USE_MKL_ALL 1) # This will go into config.h - it makes Eigen use MKL
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include_directories(${MKL_INCLUDE_DIR})
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list(APPEND GTSAM_ADDITIONAL_LIBRARIES ${MKL_LIBRARIES})
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# --no-as-needed is required with gcc according to the MKL link advisor
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@ -247,10 +250,9 @@ option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', us
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# Switch for using system Eigen or GTSAM-bundled Eigen
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if(GTSAM_USE_SYSTEM_EIGEN)
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find_package(Eigen3 REQUIRED)
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include_directories(AFTER "${EIGEN3_INCLUDE_DIR}")
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# Use generic Eigen include paths e.g. <Eigen/Core>
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set(GTSAM_EIGEN_INCLUDE_PREFIX "${EIGEN3_INCLUDE_DIR}")
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set(GTSAM_EIGEN_INCLUDE_PREFIX "${EIGEN3_INCLUDE_DIR}")
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# check if MKL is also enabled - can have one or the other, but not both!
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# Note: Eigen >= v3.2.5 includes our patches
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@ -270,22 +272,19 @@ else()
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if(EIGEN3_INCLUDE_DIR)
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set(EIGEN3_INCLUDE_DIR NOTFOUND CACHE STRING "" FORCE)
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endif()
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# Add the bundled version of eigen to the include path so that it can still be included
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# with #include <Eigen/Core>
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include_directories(BEFORE "gtsam/3rdparty/Eigen/")
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# set full path to be used by external projects
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# this will be added to GTSAM_INCLUDE_DIR by gtsam_extra.cmake.in
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set(GTSAM_EIGEN_INCLUDE_PREFIX "${CMAKE_INSTALL_PREFIX}/include/gtsam/3rdparty/Eigen/")
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set(GTSAM_EIGEN_INCLUDE_PREFIX "include/gtsam/3rdparty/Eigen/")
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endif()
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if (MSVC)
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if (BUILD_SHARED_LIBS)
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# mute eigen static assert to avoid errors in shared lib
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list(APPEND GTSAM_COMPILE_DEFINITIONS DEIGEN_NO_STATIC_ASSERT)
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list(APPEND GTSAM_COMPILE_DEFINITIONS_PUBLIC DEIGEN_NO_STATIC_ASSERT)
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endif()
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list(APPEND GTSAM_COMPILE_OPTIONS "/wd4244") # Disable loss of precision which is thrown all over our Eigen
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list(APPEND GTSAM_COMPILE_OPTIONS_PRIVATE "/wd4244") # Disable loss of precision which is thrown all over our Eigen
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endif()
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###############################################################################
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@ -326,52 +325,29 @@ elseif("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "tcmalloc")
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list(APPEND GTSAM_ADDITIONAL_LIBRARIES "tcmalloc")
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endif()
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# Include boost - use 'BEFORE' so that a specific boost specified to CMake
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# takes precedence over a system-installed one.
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include_directories(BEFORE SYSTEM ${Boost_INCLUDE_DIR})
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if(GTSAM_SUPPORT_NESTED_DISSECTION)
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set(METIS_INCLUDE_DIRECTORIES
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gtsam/3rdparty/metis/include
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gtsam/3rdparty/metis/libmetis
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gtsam/3rdparty/metis/GKlib)
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else()
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set(METIS_INCLUDE_DIRECTORIES)
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endif()
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# Add includes for source directories 'BEFORE' boost and any system include
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# paths so that the compiler uses GTSAM headers in our source directory instead
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# of any previously installed GTSAM headers.
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include_directories(BEFORE
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gtsam/3rdparty/SuiteSparse_config
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gtsam/3rdparty/CCOLAMD/Include
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${METIS_INCLUDE_DIRECTORIES}
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${PROJECT_SOURCE_DIR}
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${PROJECT_BINARY_DIR} # So we can include generated config header files
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CppUnitLite)
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if(MSVC)
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list(APPEND GTSAM_COMPILE_DEFINITIONS _CRT_SECURE_NO_WARNINGS _SCL_SECURE_NO_WARNINGS)
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list(APPEND GTSAM_COMPILE_OPTIONS /wd4251 /wd4275 /wd4251 /wd4661 /wd4344 /wd4503) # Disable non-DLL-exported base class and other warnings
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list(APPEND GTSAM_COMPILE_OPTIONS /bigobj) # Allow large object files for template-based code
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list(APPEND GTSAM_COMPILE_DEFINITIONS_PRIVATE _CRT_SECURE_NO_WARNINGS _SCL_SECURE_NO_WARNINGS)
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list(APPEND GTSAM_COMPILE_OPTIONS_PRIVATE /wd4251 /wd4275 /wd4251 /wd4661 /wd4344 /wd4503) # Disable non-DLL-exported base class and other warnings
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list(APPEND GTSAM_COMPILE_OPTIONS_PRIVATE /bigobj) # Allow large object files for template-based code
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endif()
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# GCC 4.8+ complains about local typedefs which we use for shared_ptr etc.
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if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
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if (NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 4.8)
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list(APPEND GTSAM_COMPILE_OPTIONS -Wno-unused-local-typedefs)
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list(APPEND GTSAM_COMPILE_OPTIONS_PRIVATE -Wno-unused-local-typedefs)
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endif()
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endif()
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# As of XCode 7, clang also complains about this
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if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
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if (NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 7.0)
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list(APPEND GTSAM_COMPILE_OPTIONS -Wno-unused-local-typedefs)
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list(APPEND GTSAM_COMPILE_OPTIONS_PRIVATE -Wno-unused-local-typedefs)
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endif()
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endif()
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if(GTSAM_ENABLE_CONSISTENCY_CHECKS)
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list(APPEND GTSAM_COMPILE_DEFINITIONS GTSAM_EXTRA_CONSISTENCY_CHECKS)
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# This should be made PUBLIC if GTSAM_EXTRA_CONSISTENCY_CHECKS is someday used in a public .h
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list(APPEND GTSAM_COMPILE_DEFINITIONS_PRIVATE GTSAM_EXTRA_CONSISTENCY_CHECKS)
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endif()
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###############################################################################
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@ -6,6 +6,7 @@ file(GLOB cppunitlite_src "*.cpp")
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add_library(CppUnitLite STATIC ${cppunitlite_src} ${cppunitlite_headers})
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list(APPEND GTSAM_EXPORTED_TARGETS CppUnitLite)
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set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE)
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target_link_libraries(CppUnitLite PUBLIC Boost::boost) # boost/lexical_cast.h
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gtsam_assign_source_folders("${cppunitlite_headers};${cppunitlite_src}") # MSVC project structure
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64
INSTALL
64
INSTALL
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@ -14,7 +14,7 @@ Important Installation Notes
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1)
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GTSAM requires the following libraries to be installed on your system:
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- BOOST version 1.43 or greater (install through Linux repositories or MacPorts)
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- Cmake version 2.6 or higher
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- Cmake version 3.0 or higher
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- Support for XCode 4.3 command line tools on Mac requires CMake 2.8.8 or higher
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Optional dependent libraries:
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@ -33,20 +33,20 @@ Tested compilers:
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Tested systems:
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- Ubuntu 11.04 - 13.10
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- Ubuntu 11.04 - 18.04
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- MacOS 10.6 - 10.9
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- Windows 7, 8, 8.1
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- Windows 7, 8, 8.1, 10
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Known issues:
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- MSVC 2013 is not yet supported because it cannot build the serialization module
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of Boost 1.55 (or earlier).
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of Boost 1.55 (or earlier).
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2)
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GTSAM makes extensive use of debug assertions, and we highly recommend you work
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in Debug mode while developing (enabled by default). Likewise, it is imperative
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that you switch to release mode when running finished code and for timing. GTSAM
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will run up to 10x faster in Release mode! See the end of this document for
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will run up to 10x faster in Release mode! See the end of this document for
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additional debugging tips.
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3)
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@ -55,7 +55,7 @@ build directory.
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4)
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The instructions below install the library to the default system install path and
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build all components. From a terminal, starting in the root library folder,
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build all components. From a terminal, starting in the root library folder,
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execute commands as follows for an out-of-source build:
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$] mkdir build
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@ -64,7 +64,7 @@ $] cmake ..
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$] make check (optional, runs unit tests)
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$] make install
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This will build the library and unit tests, run all of the unit tests,
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This will build the library and unit tests, run all of the unit tests,
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and then install the library itself.
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- CMake Configuration Options and Details
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@ -75,12 +75,12 @@ one of the following:
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ccmake the curses GUI for cmake
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cmake-gui a real GUI for cmake
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Important Options:
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Important Options:
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CMAKE_BUILD_TYPE: We support several build configurations for GTSAM (case insensitive)
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Debug (default) All error checking options on, no optimization. Use for development.
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Release Optimizations turned on, no debug symbols.
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Timing Adds ENABLE_TIMING flag to provide statistics on operation
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Release Optimizations turned on, no debug symbols.
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Timing Adds ENABLE_TIMING flag to provide statistics on operation
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Profiling Standard configuration for use during profiling
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RelWithDebInfo Same as Release, but with the -g flag for debug symbols
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@ -92,42 +92,42 @@ GTSAM_TOOLBOX_INSTALL_PATH: The Matlab toolbox will be installed in a subdirecto
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of this folder, called 'gtsam'.
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$] cmake -DGTSAM_TOOLBOX_INSTALL_PATH:PATH=$HOME/toolbox ..
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GTSAM_BUILD_CONVENIENCE_LIBRARIES: This is a build option to allow for tests in
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subfolders to be linked against convenience libraries rather than the full libgtsam.
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GTSAM_BUILD_CONVENIENCE_LIBRARIES: This is a build option to allow for tests in
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subfolders to be linked against convenience libraries rather than the full libgtsam.
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Set with the command line as follows:
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$] cmake -DGTSAM_BUILD_CONVENIENCE_LIBRARIES:OPTION=ON ..
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ON (Default) This builds convenience libraries and links tests against them. This
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option is suggested for gtsam developers, as it is possible to build
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and run tests without first building the rest of the library, and
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speeds up compilation for a single test. The downside of this option
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is that it will build the entire library again to build the full
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ON (Default) This builds convenience libraries and links tests against them. This
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option is suggested for gtsam developers, as it is possible to build
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and run tests without first building the rest of the library, and
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speeds up compilation for a single test. The downside of this option
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is that it will build the entire library again to build the full
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libgtsam library, so build/install will be slower.
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OFF This will build all of libgtsam before any of the tests, and then
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link all of the tests at once. This option is best for users of GTSAM,
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as it avoids rebuilding the entirety of gtsam an extra time.
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OFF This will build all of libgtsam before any of the tests, and then
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link all of the tests at once. This option is best for users of GTSAM,
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as it avoids rebuilding the entirety of gtsam an extra time.
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GTSAM_BUILD_UNSTABLE: Enable build and install for libgtsam_unstable library.
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GTSAM_BUILD_UNSTABLE: Enable build and install for libgtsam_unstable library.
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Set with the command line as follows:
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$] cmake -DGTSAM_BUILD_UNSTABLE:OPTION=ON ..
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ON When enabled, libgtsam_unstable will be built and installed with the
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same options as libgtsam. In addition, if tests are enabled, the
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ON When enabled, libgtsam_unstable will be built and installed with the
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same options as libgtsam. In addition, if tests are enabled, the
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unit tests will be built as well. The Matlab toolbox will also
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be generated if the matlab toolbox is enabled, installing into a
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be generated if the matlab toolbox is enabled, installing into a
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folder called "gtsam_unstable".
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OFF (Default) If disabled, no gtsam_unstable code will be included in build or install.
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OFF (Default) If disabled, no gtsam_unstable code will be included in build or install.
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Check
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"make check" will build and run all of the tests. Note that the tests will only be
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"make check" will build and run all of the tests. Note that the tests will only be
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built when using the "check" targets, to prevent "make install" from building the tests
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unnecessarily. You can also run "make timing" to build all of the timing scripts.
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unnecessarily. You can also run "make timing" to build all of the timing scripts.
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To run check on a particular module only, run "make check.[subfolder]", so to run
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just the geometry tests, run "make check.geometry". Individual tests can be run by
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appending ".run" to the name of the test, for example, to run testMatrix, run
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"make testMatrix.run".
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appending ".run" to the name of the test, for example, to run testMatrix, run
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"make testMatrix.run".
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MEX_COMMAND: Path to the mex compiler. Defaults to assume the path is included in your
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shell's PATH environment variable. mex is installed with matlab at
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MEX_COMMAND: Path to the mex compiler. Defaults to assume the path is included in your
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shell's PATH environment variable. mex is installed with matlab at
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$MATLABROOT/bin/mex
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$MATLABROOT can be found by executing the command 'matlabroot' in MATLAB
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@ -143,4 +143,4 @@ it impossible to use _GLIBCXX_DEBUG. MacPorts g++ compilers do work with it tho
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NOTE: If _GLIBCXX_DEBUG is used to compile gtsam, anything that links against
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gtsam will need to be compiled with _GLIBCXX_DEBUG as well, due to the use of
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header-only Eigen.
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header-only Eigen.
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10
README.md
10
README.md
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@ -30,7 +30,7 @@ $ make install
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Prerequisites:
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- [Boost](http://www.boost.org/users/download/) >= 1.43 (Ubuntu: `sudo apt-get install libboost-all-dev`)
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- [CMake](http://www.cmake.org/cmake/resources/software.html) >= 2.6 (Ubuntu: `sudo apt-get install cmake`)
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- [CMake](http://www.cmake.org/cmake/resources/software.html) >= 3.0 (Ubuntu: `sudo apt-get install cmake`)
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- A modern compiler, i.e., at least gcc 4.7.3 on Linux.
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Optional prerequisites - used automatically if findable by CMake:
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@ -54,7 +54,7 @@ GTSAM includes a state of the art IMU handling scheme based on
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Our implementation improves on this using integration on the manifold, as detailed in
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- Luca Carlone, Zsolt Kira, Chris Beall, Vadim Indelman, and Frank Dellaert, "Eliminating conditionally independent sets in factor graphs: a unifying perspective based on smart factors", Int. Conf. on Robotics and Automation (ICRA), 2014.
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- Luca Carlone, Zsolt Kira, Chris Beall, Vadim Indelman, and Frank Dellaert, "Eliminating conditionally independent sets in factor graphs: a unifying perspective based on smart factors", Int. Conf. on Robotics and Automation (ICRA), 2014.
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- Christian Forster, Luca Carlone, Frank Dellaert, and Davide Scaramuzza, "IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation", Robotics: Science and Systems (RSS), 2015.
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If you are using the factor in academic work, please cite the publications above.
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@ -67,8 +67,8 @@ Additional Information
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There is a [`GTSAM users Google group`](https://groups.google.com/forum/#!forum/gtsam-users) for general discussion.
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Read about important [`GTSAM-Concepts`](GTSAM-Concepts.md) here. A primer on GTSAM Expressions,
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which support (superfast) automatic differentiation,
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Read about important [`GTSAM-Concepts`](GTSAM-Concepts.md) here. A primer on GTSAM Expressions,
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||||
which support (superfast) automatic differentiation,
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can be found on the [GTSAM wiki on BitBucket](https://bitbucket.org/gtborg/gtsam/wiki/Home).
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See the [`INSTALL`](INSTALL) file for more detailed installation instructions.
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@ -77,4 +77,4 @@ GTSAM is open source under the BSD license, see the [`LICENSE`](LICENSE) and [`L
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Please see the [`examples/`](examples) directory and the [`USAGE`](USAGE.md) file for examples on how to use GTSAM.
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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).
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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).
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@ -1,7 +1,7 @@
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# - Config file for @CMAKE_PROJECT_NAME@
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# It defines the following variables
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# @PACKAGE_NAME@_INCLUDE_DIR - include directories for @CMAKE_PROJECT_NAME@
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|
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|
||||
# Compute paths
|
||||
get_filename_component(OUR_CMAKE_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
|
||||
if(EXISTS "${OUR_CMAKE_DIR}/CMakeCache.txt")
|
||||
|
|
@ -11,7 +11,11 @@ else()
|
|||
# Find installed library
|
||||
set(@PACKAGE_NAME@_INCLUDE_DIR "${OUR_CMAKE_DIR}/@CONF_REL_INCLUDE_DIR@" CACHE PATH "@PACKAGE_NAME@ include directory")
|
||||
endif()
|
||||
|
||||
|
||||
# Find dependencies, required by cmake exported targets:
|
||||
include(CMakeFindDependencyMacro)
|
||||
find_dependency(Boost @BOOST_FIND_MINIMUM_VERSION@ COMPONENTS @BOOST_FIND_MINIMUM_COMPONENTS@)
|
||||
|
||||
# Load exports
|
||||
include(${OUR_CMAKE_DIR}/@PACKAGE_NAME@-exports.cmake)
|
||||
|
||||
|
|
|
|||
|
|
@ -22,7 +22,10 @@ include_directories(BEFORE "${PROJECT_SOURCE_DIR}")
|
|||
###################################################################################
|
||||
# Find GTSAM components
|
||||
find_package(GTSAM REQUIRED) # Uses installed package
|
||||
include_directories(${GTSAM_INCLUDE_DIR})
|
||||
# Note: Since Jan-2019, GTSAMConfig.cmake defines exported CMake targets
|
||||
# that automatically do include the include_directories() without the need
|
||||
# to call include_directories(), just target_link_libraries(NAME gtsam)
|
||||
#include_directories(${GTSAM_INCLUDE_DIR})
|
||||
|
||||
###################################################################################
|
||||
# Build static library from common sources
|
||||
|
|
|
|||
|
|
@ -103,14 +103,70 @@ message(STATUS "Building GTSAM - shared: ${BUILD_SHARED_LIBS}")
|
|||
add_library(gtsam ${gtsam_srcs})
|
||||
target_link_libraries(gtsam PUBLIC ${GTSAM_BOOST_LIBRARIES})
|
||||
target_link_libraries(gtsam PUBLIC ${GTSAM_ADDITIONAL_LIBRARIES})
|
||||
target_compile_definitions(gtsam PUBLIC ${GTSAM_COMPILE_DEFINITIONS})
|
||||
target_compile_options(gtsam PUBLIC ${GTSAM_COMPILE_OPTIONS})
|
||||
target_compile_definitions(gtsam PRIVATE ${GTSAM_COMPILE_DEFINITIONS_PRIVATE})
|
||||
target_compile_definitions(gtsam PUBLIC ${GTSAM_COMPILE_DEFINITIONS_PUBLIC})
|
||||
if (NOT "${GTSAM_COMPILE_OPTIONS_PUBLIC}" STREQUAL "")
|
||||
target_compile_options(gtsam PUBLIC ${GTSAM_COMPILE_OPTIONS_PUBLIC})
|
||||
endif()
|
||||
target_compile_options(gtsam PRIVATE ${GTSAM_COMPILE_OPTIONS_PRIVATE})
|
||||
set_target_properties(gtsam PROPERTIES
|
||||
OUTPUT_NAME gtsam
|
||||
CLEAN_DIRECT_OUTPUT 1
|
||||
VERSION ${gtsam_version}
|
||||
SOVERSION ${gtsam_soversion})
|
||||
|
||||
# Append Eigen include path, set in top-level CMakeLists.txt to either
|
||||
# system-eigen, or GTSAM eigen path
|
||||
if (GTSAM_USE_SYSTEM_EIGEN)
|
||||
target_include_directories(gtsam PUBLIC
|
||||
$<BUILD_INTERFACE:${EIGEN3_INCLUDE_DIR}>
|
||||
)
|
||||
else()
|
||||
target_include_directories(gtsam PUBLIC
|
||||
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/Eigen/>
|
||||
)
|
||||
endif()
|
||||
target_include_directories(gtsam PUBLIC
|
||||
$<INSTALL_INTERFACE:${GTSAM_EIGEN_INCLUDE_PREFIX}>
|
||||
)
|
||||
# MKL include dir:
|
||||
if (GTSAM_USE_EIGEN_MKL)
|
||||
target_include_directories(gtsam PUBLIC ${MKL_INCLUDE_DIR})
|
||||
endif()
|
||||
|
||||
if(GTSAM_USE_TBB)
|
||||
target_include_directories(gtsam PUBLIC ${TBB_INCLUDE_DIRS})
|
||||
endif()
|
||||
|
||||
# Add includes for source directories 'BEFORE' boost and any system include
|
||||
# paths so that the compiler uses GTSAM headers in our source directory instead
|
||||
# of any previously installed GTSAM headers.
|
||||
target_include_directories(gtsam BEFORE PUBLIC
|
||||
# SuiteSparse_config
|
||||
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/SuiteSparse_config>
|
||||
$<INSTALL_INTERFACE:${CMAKE_INSTALL_PREFIX}/include/gtsam/3rdparty/SuiteSparse_config>
|
||||
# CCOLAMD
|
||||
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/CCOLAMD/Include>
|
||||
$<INSTALL_INTERFACE:${CMAKE_INSTALL_PREFIX}/include/gtsam/3rdparty/CCOLAMD>
|
||||
# main gtsam includes:
|
||||
$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}>
|
||||
$<INSTALL_INTERFACE:${CMAKE_INSTALL_PREFIX}/include/>
|
||||
# config.h
|
||||
$<BUILD_INTERFACE:${CMAKE_BINARY_DIR}>
|
||||
# unit tests:
|
||||
$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/CppUnitLite>
|
||||
)
|
||||
if(GTSAM_SUPPORT_NESTED_DISSECTION)
|
||||
target_include_directories(gtsam BEFORE PUBLIC
|
||||
$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/gtsam/3rdparty/metis/include>
|
||||
$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/gtsam/3rdparty/metis/libmetis>
|
||||
$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/gtsam/3rdparty/metis/GKlib>
|
||||
$<INSTALL_INTERFACE:${CMAKE_INSTALL_PREFIX}/include/gtsam/3rdparty/metis/>
|
||||
)
|
||||
endif()
|
||||
|
||||
|
||||
|
||||
if(WIN32) # Add 'lib' prefix to static library to avoid filename collision with shared library
|
||||
if (NOT BUILD_SHARED_LIBS)
|
||||
set_target_properties(gtsam PROPERTIES
|
||||
|
|
|
|||
|
|
@ -9,18 +9,6 @@ set (GTSAM_VERSION_STRING "@GTSAM_VERSION_STRING@")
|
|||
set (GTSAM_USE_TBB @GTSAM_USE_TBB@)
|
||||
set (GTSAM_DEFAULT_ALLOCATOR @GTSAM_DEFAULT_ALLOCATOR@)
|
||||
|
||||
if("@GTSAM_USE_TBB@")
|
||||
list(APPEND GTSAM_INCLUDE_DIR "@TBB_INCLUDE_DIRS@")
|
||||
endif()
|
||||
|
||||
# Append Eigen include path, set in top-level CMakeLists.txt to either
|
||||
# system-eigen, or GTSAM eigen path
|
||||
list(APPEND GTSAM_INCLUDE_DIR "@GTSAM_EIGEN_INCLUDE_PREFIX@")
|
||||
|
||||
if("@GTSAM_USE_EIGEN_MKL@")
|
||||
list(APPEND GTSAM_INCLUDE_DIR "@MKL_INCLUDE_DIR@")
|
||||
endif()
|
||||
|
||||
if("@GTSAM_INSTALL_CYTHON_TOOLBOX@")
|
||||
list(APPEND GTSAM_EIGENCY_INSTALL_PATH "@GTSAM_EIGENCY_INSTALL_PATH@")
|
||||
endif()
|
||||
|
|
|
|||
|
|
@ -1,22 +1,30 @@
|
|||
# Build/install Wrap
|
||||
|
||||
set(WRAP_BOOST_LIBRARIES ${Boost_SYSTEM_LIBRARY} ${Boost_FILESYSTEM_LIBRARY} ${Boost_THREAD_LIBRARY})
|
||||
set(WRAP_BOOST_LIBRARIES
|
||||
Boost::system
|
||||
Boost::filesystem
|
||||
Boost::thread
|
||||
)
|
||||
|
||||
# Allow for disabling serialization to handle errors related to Clang's linker
|
||||
option(GTSAM_WRAP_SERIALIZATION "If enabled, allows for wrapped objects to be saved via boost.serialization" ON)
|
||||
if (NOT GTSAM_WRAP_SERIALIZATION)
|
||||
add_definitions(-DWRAP_DISABLE_SERIALIZE)
|
||||
endif()
|
||||
|
||||
# Build the executable itself
|
||||
file(GLOB wrap_srcs "*.cpp")
|
||||
file(GLOB wrap_headers "*.h")
|
||||
list(REMOVE_ITEM wrap_srcs ${CMAKE_CURRENT_SOURCE_DIR}/wrap.cpp)
|
||||
add_library(wrap_lib STATIC ${wrap_srcs} ${wrap_headers})
|
||||
target_include_directories(wrap_lib PUBLIC
|
||||
$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}>
|
||||
)
|
||||
if (NOT GTSAM_WRAP_SERIALIZATION)
|
||||
target_compile_definitions(wrap_lib PUBLIC -DWRAP_DISABLE_SERIALIZE)
|
||||
endif()
|
||||
|
||||
target_link_libraries(wrap_lib ${WRAP_BOOST_LIBRARIES})
|
||||
gtsam_assign_source_folders(${wrap_srcs} ${wrap_headers})
|
||||
add_executable(wrap wrap.cpp)
|
||||
target_link_libraries(wrap wrap_lib ${WRAP_BOOST_LIBRARIES})
|
||||
target_link_libraries(wrap PRIVATE wrap_lib)
|
||||
|
||||
# Set folder in Visual Studio
|
||||
file(RELATIVE_PATH relative_path "${PROJECT_SOURCE_DIR}" "${CMAKE_CURRENT_SOURCE_DIR}")
|
||||
|
|
@ -32,4 +40,3 @@ install(FILES matlab.h DESTINATION include/wrap)
|
|||
|
||||
# Build tests
|
||||
add_subdirectory(tests)
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue