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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 >= 3.0
release/4.3a0
jlblancoc 2019-02-08 22:18:21 +01:00 committed by Jose Luis Blanco Claraco
parent c84496632f
commit 7625c21777
No known key found for this signature in database
GPG Key ID: D443304FBD70A641
9 changed files with 139 additions and 104 deletions
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64
CMakeLists.txt
View File

@ -121,15 +121,19 @@ if(MSVC)
# If we use Boost shared libs, disable auto linking. # If we use Boost shared libs, disable auto linking.
# Some libraries, at least Boost Program Options, rely on this to export DLL symbols. # Some libraries, at least Boost Program Options, rely on this to export DLL symbols.
if(NOT Boost_USE_STATIC_LIBS) if(NOT Boost_USE_STATIC_LIBS)
list(APPEND GTSAM_COMPILE_DEFINITIONS BOOST_ALL_NO_LIB BOOST_ALL_DYN_LINK) list(APPEND GTSAM_COMPILE_DEFINITIONS_PUBLIC BOOST_ALL_NO_LIB BOOST_ALL_DYN_LINK)
endif() endif()
# Virtual memory range for PCH exceeded on VS2015 # Virtual memory range for PCH exceeded on VS2015
if(MSVC_VERSION LESS 1910) # older than VS2017 if(MSVC_VERSION LESS 1910) # older than VS2017
list(APPEND GTSAM_COMPILE_OPTIONS -Zm295) list(APPEND GTSAM_COMPILE_OPTIONS_PRIVATE -Zm295)
endif() endif()
endif() endif()
find_package(Boost 1.43 COMPONENTS serialization system filesystem thread program_options date_time timer chrono regex) # 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 ${BOOST_FIND_MINIMUM_COMPONENTS})
# Required components # Required components
if(NOT Boost_SERIALIZATION_LIBRARY OR NOT Boost_SYSTEM_LIBRARY OR NOT Boost_FILESYSTEM_LIBRARY OR if(NOT Boost_SERIALIZATION_LIBRARY OR NOT Boost_SYSTEM_LIBRARY OR NOT Boost_FILESYSTEM_LIBRARY OR
@ -149,7 +153,7 @@ set(GTSAM_BOOST_LIBRARIES
) )
if (GTSAM_DISABLE_NEW_TIMERS) if (GTSAM_DISABLE_NEW_TIMERS)
message("WARNING: GTSAM timing instrumentation manually disabled") message("WARNING: GTSAM timing instrumentation manually disabled")
list(APPEND GTSAM_COMPILE_DEFINITIONS DGTSAM_DISABLE_NEW_TIMERS) list(APPEND GTSAM_COMPILE_DEFINITIONS_PUBLIC DGTSAM_DISABLE_NEW_TIMERS)
else() else()
if(Boost_TIMER_LIBRARY) if(Boost_TIMER_LIBRARY)
list(APPEND GTSAM_BOOST_LIBRARIES Boost::timer Boost::chrono) list(APPEND GTSAM_BOOST_LIBRARIES Boost::timer Boost::chrono)
@ -162,7 +166,7 @@ endif()
if(NOT (${Boost_VERSION} LESS 105600)) if(NOT (${Boost_VERSION} LESS 105600))
message("Ignoring Boost restriction on optional lvalue assignment from rvalues") message("Ignoring Boost restriction on optional lvalue assignment from rvalues")
list(APPEND GTSAM_COMPILE_DEFINITIONS BOOST_OPTIONAL_ALLOW_BINDING_TO_RVALUES BOOST_OPTIONAL_CONFIG_ALLOW_BINDING_TO_RVALUES) list(APPEND GTSAM_COMPILE_DEFINITIONS_PUBLIC BOOST_OPTIONAL_ALLOW_BINDING_TO_RVALUES BOOST_OPTIONAL_CONFIG_ALLOW_BINDING_TO_RVALUES)
endif() endif()
############################################################################### ###############################################################################
@ -212,7 +216,6 @@ find_package(MKL)
if(MKL_FOUND AND GTSAM_WITH_EIGEN_MKL) if(MKL_FOUND AND GTSAM_WITH_EIGEN_MKL)
set(GTSAM_USE_EIGEN_MKL 1) # This will go into config.h set(GTSAM_USE_EIGEN_MKL 1) # This will go into config.h
set(EIGEN_USE_MKL_ALL 1) # This will go into config.h - it makes Eigen use MKL set(EIGEN_USE_MKL_ALL 1) # This will go into config.h - it makes Eigen use MKL
include_directories(${MKL_INCLUDE_DIR})
list(APPEND GTSAM_ADDITIONAL_LIBRARIES ${MKL_LIBRARIES}) list(APPEND GTSAM_ADDITIONAL_LIBRARIES ${MKL_LIBRARIES})
# --no-as-needed is required with gcc according to the MKL link advisor # --no-as-needed is required with gcc according to the MKL link advisor
@ -247,10 +250,9 @@ option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', us
# Switch for using system Eigen or GTSAM-bundled Eigen # Switch for using system Eigen or GTSAM-bundled Eigen
if(GTSAM_USE_SYSTEM_EIGEN) if(GTSAM_USE_SYSTEM_EIGEN)
find_package(Eigen3 REQUIRED) find_package(Eigen3 REQUIRED)
include_directories(AFTER "${EIGEN3_INCLUDE_DIR}")
# Use generic Eigen include paths e.g. <Eigen/Core> # Use generic Eigen include paths e.g. <Eigen/Core>
set(GTSAM_EIGEN_INCLUDE_PREFIX "${EIGEN3_INCLUDE_DIR}") set(GTSAM_EIGEN_INCLUDE_PREFIX "${EIGEN3_INCLUDE_DIR}")
# check if MKL is also enabled - can have one or the other, but not both! # check if MKL is also enabled - can have one or the other, but not both!
# Note: Eigen >= v3.2.5 includes our patches # Note: Eigen >= v3.2.5 includes our patches
@ -270,22 +272,19 @@ else()
if(EIGEN3_INCLUDE_DIR) if(EIGEN3_INCLUDE_DIR)
set(EIGEN3_INCLUDE_DIR NOTFOUND CACHE STRING "" FORCE) set(EIGEN3_INCLUDE_DIR NOTFOUND CACHE STRING "" FORCE)
endif() endif()
# Add the bundled version of eigen to the include path so that it can still be included
# with #include <Eigen/Core>
include_directories(BEFORE "gtsam/3rdparty/Eigen/")
# set full path to be used by external projects # set full path to be used by external projects
# this will be added to GTSAM_INCLUDE_DIR by gtsam_extra.cmake.in # this will be added to GTSAM_INCLUDE_DIR by gtsam_extra.cmake.in
set(GTSAM_EIGEN_INCLUDE_PREFIX "${CMAKE_INSTALL_PREFIX}/include/gtsam/3rdparty/Eigen/") set(GTSAM_EIGEN_INCLUDE_PREFIX "include/gtsam/3rdparty/Eigen/")
endif() endif()
if (MSVC) if (MSVC)
if (BUILD_SHARED_LIBS) if (BUILD_SHARED_LIBS)
# mute eigen static assert to avoid errors in shared lib # mute eigen static assert to avoid errors in shared lib
list(APPEND GTSAM_COMPILE_DEFINITIONS DEIGEN_NO_STATIC_ASSERT) list(APPEND GTSAM_COMPILE_DEFINITIONS_PUBLIC DEIGEN_NO_STATIC_ASSERT)
endif() endif()
list(APPEND GTSAM_COMPILE_OPTIONS "/wd4244") # Disable loss of precision which is thrown all over our Eigen list(APPEND GTSAM_COMPILE_OPTIONS_PRIVATE "/wd4244") # Disable loss of precision which is thrown all over our Eigen
endif() endif()
############################################################################### ###############################################################################
@ -326,52 +325,29 @@ elseif("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "tcmalloc")
list(APPEND GTSAM_ADDITIONAL_LIBRARIES "tcmalloc") list(APPEND GTSAM_ADDITIONAL_LIBRARIES "tcmalloc")
endif() endif()
# Include boost - use 'BEFORE' so that a specific boost specified to CMake
# takes precedence over a system-installed one.
include_directories(BEFORE SYSTEM ${Boost_INCLUDE_DIR})
if(GTSAM_SUPPORT_NESTED_DISSECTION)
set(METIS_INCLUDE_DIRECTORIES
gtsam/3rdparty/metis/include
gtsam/3rdparty/metis/libmetis
gtsam/3rdparty/metis/GKlib)
else()
set(METIS_INCLUDE_DIRECTORIES)
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.
include_directories(BEFORE
gtsam/3rdparty/SuiteSparse_config
gtsam/3rdparty/CCOLAMD/Include
${METIS_INCLUDE_DIRECTORIES}
${PROJECT_SOURCE_DIR}
${PROJECT_BINARY_DIR} # So we can include generated config header files
CppUnitLite)
if(MSVC) if(MSVC)
list(APPEND GTSAM_COMPILE_DEFINITIONS _CRT_SECURE_NO_WARNINGS _SCL_SECURE_NO_WARNINGS) list(APPEND GTSAM_COMPILE_DEFINITIONS_PRIVATE _CRT_SECURE_NO_WARNINGS _SCL_SECURE_NO_WARNINGS)
list(APPEND GTSAM_COMPILE_OPTIONS /wd4251 /wd4275 /wd4251 /wd4661 /wd4344 /wd4503) # Disable non-DLL-exported base class and other warnings list(APPEND GTSAM_COMPILE_OPTIONS_PRIVATE /wd4251 /wd4275 /wd4251 /wd4661 /wd4344 /wd4503) # Disable non-DLL-exported base class and other warnings
list(APPEND GTSAM_COMPILE_OPTIONS /bigobj) # Allow large object files for template-based code list(APPEND GTSAM_COMPILE_OPTIONS_PRIVATE /bigobj) # Allow large object files for template-based code
endif() endif()
# GCC 4.8+ complains about local typedefs which we use for shared_ptr etc. # GCC 4.8+ complains about local typedefs which we use for shared_ptr etc.
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU") if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
if (NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 4.8) if (NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 4.8)
list(APPEND GTSAM_COMPILE_OPTIONS -Wno-unused-local-typedefs) list(APPEND GTSAM_COMPILE_OPTIONS_PRIVATE -Wno-unused-local-typedefs)
endif() endif()
endif() endif()
# As of XCode 7, clang also complains about this # As of XCode 7, clang also complains about this
if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang") if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
if (NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 7.0) if (NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 7.0)
list(APPEND GTSAM_COMPILE_OPTIONS -Wno-unused-local-typedefs) list(APPEND GTSAM_COMPILE_OPTIONS_PRIVATE -Wno-unused-local-typedefs)
endif() endif()
endif() endif()
if(GTSAM_ENABLE_CONSISTENCY_CHECKS) if(GTSAM_ENABLE_CONSISTENCY_CHECKS)
list(APPEND GTSAM_COMPILE_DEFINITIONS GTSAM_EXTRA_CONSISTENCY_CHECKS) # This should be made PUBLIC if GTSAM_EXTRA_CONSISTENCY_CHECKS is someday used in a public .h
list(APPEND GTSAM_COMPILE_DEFINITIONS_PRIVATE GTSAM_EXTRA_CONSISTENCY_CHECKS)
endif() endif()
############################################################################### ###############################################################################

1
CppUnitLite/CMakeLists.txt
View File

@ -6,6 +6,7 @@ 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 "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE)
target_link_libraries(CppUnitLite PUBLIC Boost::boost) # boost/lexical_cast.h
gtsam_assign_source_folders("${cppunitlite_headers};${cppunitlite_src}") # MSVC project structure gtsam_assign_source_folders("${cppunitlite_headers};${cppunitlite_src}") # MSVC project structure

64
INSTALL
View File

@ -14,7 +14,7 @@ Important Installation Notes
1) 1)
GTSAM requires the following libraries to be installed on your system: 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 1.43 or greater (install through Linux repositories or MacPorts)
- Cmake version 2.6 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
Optional dependent libraries: Optional dependent libraries:
@ -33,20 +33,20 @@ Tested compilers:
Tested systems: Tested systems:
- Ubuntu 11.04 - 13.10 - Ubuntu 11.04 - 18.04
- MacOS 10.6 - 10.9 - MacOS 10.6 - 10.9
- Windows 7, 8, 8.1 - Windows 7, 8, 8.1, 10
Known issues: Known issues:
- MSVC 2013 is not yet supported because it cannot build the serialization module - MSVC 2013 is not yet supported because it cannot build the serialization module
of Boost 1.55 (or earlier). of Boost 1.55 (or earlier).
2) 2)
GTSAM makes extensive use of debug assertions, and we highly recommend you work GTSAM makes extensive use of debug assertions, and we highly recommend you work
in Debug mode while developing (enabled by default). Likewise, it is imperative in Debug mode while developing (enabled by default). Likewise, it is imperative
that you switch to release mode when running finished code and for timing. GTSAM that you switch to release mode when running finished code and for timing. GTSAM
will run up to 10x faster in Release mode! See the end of this document for will run up to 10x faster in Release mode! See the end of this document for
additional debugging tips. additional debugging tips.
3) 3)
@ -55,7 +55,7 @@ build directory.
4) 4)
The instructions below install the library to the default system install path and The instructions below install the library to the default system install path and
build all components. From a terminal, starting in the root library folder, build all components. From a terminal, starting in the root library folder,
execute commands as follows for an out-of-source build: execute commands as follows for an out-of-source build:
$] mkdir build $] mkdir build
@ -64,7 +64,7 @@ $] cmake ..
$] make check (optional, runs unit tests) $] make check (optional, runs unit tests)
$] make install $] make install
This will build the library and unit tests, run all of the unit tests, This will build the library and unit tests, run all of the unit tests,
and then install the library itself. and then install the library itself.
- CMake Configuration Options and Details - CMake Configuration Options and Details
@ -75,12 +75,12 @@ one of the following:
ccmake the curses GUI for cmake ccmake the curses GUI for cmake
cmake-gui a real GUI for cmake cmake-gui a real GUI for cmake
Important Options: Important Options:
CMAKE_BUILD_TYPE: We support several build configurations for GTSAM (case insensitive) CMAKE_BUILD_TYPE: We support several build configurations for GTSAM (case insensitive)
Debug (default) All error checking options on, no optimization. Use for development. Debug (default) All error checking options on, no optimization. Use for development.
Release Optimizations turned on, no debug symbols. Release Optimizations turned on, no debug symbols.
Timing Adds ENABLE_TIMING flag to provide statistics on operation Timing Adds ENABLE_TIMING flag to provide statistics on operation
Profiling Standard configuration for use during profiling Profiling Standard configuration for use during profiling
RelWithDebInfo Same as Release, but with the -g flag for debug symbols RelWithDebInfo Same as Release, but with the -g flag for debug symbols
@ -92,42 +92,42 @@ GTSAM_TOOLBOX_INSTALL_PATH: The Matlab toolbox will be installed in a subdirecto
of this folder, called 'gtsam'. of this folder, called 'gtsam'.
$] cmake -DGTSAM_TOOLBOX_INSTALL_PATH:PATH=$HOME/toolbox .. $] cmake -DGTSAM_TOOLBOX_INSTALL_PATH:PATH=$HOME/toolbox ..
GTSAM_BUILD_CONVENIENCE_LIBRARIES: This is a build option to allow for tests in GTSAM_BUILD_CONVENIENCE_LIBRARIES: This is a build option to allow for tests in
subfolders to be linked against convenience libraries rather than the full libgtsam. subfolders to be linked against convenience libraries rather than the full libgtsam.
Set with the command line as follows: Set with the command line as follows:
$] cmake -DGTSAM_BUILD_CONVENIENCE_LIBRARIES:OPTION=ON .. $] cmake -DGTSAM_BUILD_CONVENIENCE_LIBRARIES:OPTION=ON ..
ON (Default) This builds convenience libraries and links tests against them. This ON (Default) This builds convenience libraries and links tests against them. This
option is suggested for gtsam developers, as it is possible to build option is suggested for gtsam developers, as it is possible to build
and run tests without first building the rest of the library, and and run tests without first building the rest of the library, and
speeds up compilation for a single test. The downside of this option speeds up compilation for a single test. The downside of this option
is that it will build the entire library again to build the full is that it will build the entire library again to build the full
libgtsam library, so build/install will be slower. libgtsam library, so build/install will be slower.
OFF This will build all of libgtsam before any of the tests, and then OFF This will build all of libgtsam before any of the tests, and then
link all of the tests at once. This option is best for users of GTSAM, link all of the tests at once. This option is best for users of GTSAM,
as it avoids rebuilding the entirety of gtsam an extra time. as it avoids rebuilding the entirety of gtsam an extra time.
GTSAM_BUILD_UNSTABLE: Enable build and install for libgtsam_unstable library. GTSAM_BUILD_UNSTABLE: Enable build and install for libgtsam_unstable library.
Set with the command line as follows: Set with the command line as follows:
$] cmake -DGTSAM_BUILD_UNSTABLE:OPTION=ON .. $] cmake -DGTSAM_BUILD_UNSTABLE:OPTION=ON ..
ON When enabled, libgtsam_unstable will be built and installed with the ON When enabled, libgtsam_unstable will be built and installed with the
same options as libgtsam. In addition, if tests are enabled, the same options as libgtsam. In addition, if tests are enabled, the
unit tests will be built as well. The Matlab toolbox will also unit tests will be built as well. The Matlab toolbox will also
be generated if the matlab toolbox is enabled, installing into a be generated if the matlab toolbox is enabled, installing into a
folder called "gtsam_unstable". folder called "gtsam_unstable".
OFF (Default) If disabled, no gtsam_unstable code will be included in build or install. OFF (Default) If disabled, no gtsam_unstable code will be included in build or install.
Check Check
"make check" will build and run all of the tests. Note that the tests will only be "make check" will build and run all of the tests. Note that the tests will only be
built when using the "check" targets, to prevent "make install" from building the tests built when using the "check" targets, to prevent "make install" from building the tests
unnecessarily. You can also run "make timing" to build all of the timing scripts. unnecessarily. You can also run "make timing" to build all of the timing scripts.
To run check on a particular module only, run "make check.[subfolder]", so to run To run check on a particular module only, run "make check.[subfolder]", so to run
just the geometry tests, run "make check.geometry". Individual tests can be run by just the geometry tests, run "make check.geometry". Individual tests can be run by
appending ".run" to the name of the test, for example, to run testMatrix, run appending ".run" to the name of the test, for example, to run testMatrix, run
"make testMatrix.run". "make testMatrix.run".
MEX_COMMAND: Path to the mex compiler. Defaults to assume the path is included in your MEX_COMMAND: Path to the mex compiler. Defaults to assume the path is included in your
shell's PATH environment variable. mex is installed with matlab at shell's PATH environment variable. mex is installed with matlab at
$MATLABROOT/bin/mex $MATLABROOT/bin/mex
$MATLABROOT can be found by executing the command 'matlabroot' in MATLAB $MATLABROOT can be found by executing the command 'matlabroot' in MATLAB
@ -143,4 +143,4 @@ it impossible to use _GLIBCXX_DEBUG. MacPorts g++ compilers do work with it tho
NOTE: If _GLIBCXX_DEBUG is used to compile gtsam, anything that links against NOTE: If _GLIBCXX_DEBUG is used to compile gtsam, anything that links against
gtsam will need to be compiled with _GLIBCXX_DEBUG as well, due to the use of gtsam will need to be compiled with _GLIBCXX_DEBUG as well, due to the use of
header-only Eigen. header-only Eigen.

10
README.md
View File

@ -30,7 +30,7 @@ $ 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/) >= 1.43 (Ubuntu: `sudo apt-get install libboost-all-dev`)
- [CMake](http://www.cmake.org/cmake/resources/software.html) >= 2.6 (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.
Optional prerequisites - used automatically if findable by CMake: Optional prerequisites - used automatically if findable by CMake:
@ -54,7 +54,7 @@ GTSAM includes a state of the art IMU handling scheme based on
Our implementation improves on this using integration on the manifold, as detailed in Our implementation improves on this using integration on the manifold, as detailed in
- 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. - 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.
- 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. - 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.
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.
@ -67,8 +67,8 @@ Additional Information
There is a [`GTSAM users Google group`](https://groups.google.com/forum/#!forum/gtsam-users) for general discussion. There is a [`GTSAM users Google group`](https://groups.google.com/forum/#!forum/gtsam-users) for general discussion.
Read about important [`GTSAM-Concepts`](GTSAM-Concepts.md) here. A primer on GTSAM Expressions, Read about important [`GTSAM-Concepts`](GTSAM-Concepts.md) here. A primer on GTSAM Expressions,
which support (superfast) automatic differentiation, which support (superfast) automatic differentiation,
can be found on the [GTSAM wiki on BitBucket](https://bitbucket.org/gtborg/gtsam/wiki/Home). can be found on the [GTSAM wiki on BitBucket](https://bitbucket.org/gtborg/gtsam/wiki/Home).
See the [`INSTALL`](INSTALL) file for more detailed installation instructions. See the [`INSTALL`](INSTALL) file for more detailed installation instructions.
@ -77,4 +77,4 @@ 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).

8
cmake/Config.cmake.in
View File

@ -1,7 +1,7 @@
# - Config file for @CMAKE_PROJECT_NAME@ # - Config file for @CMAKE_PROJECT_NAME@
# It defines the following variables # It defines the following variables
# @PACKAGE_NAME@_INCLUDE_DIR - include directories for @CMAKE_PROJECT_NAME@ # @PACKAGE_NAME@_INCLUDE_DIR - include directories for @CMAKE_PROJECT_NAME@
# Compute paths # Compute paths
get_filename_component(OUR_CMAKE_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH) get_filename_component(OUR_CMAKE_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
if(EXISTS "${OUR_CMAKE_DIR}/CMakeCache.txt") if(EXISTS "${OUR_CMAKE_DIR}/CMakeCache.txt")
@ -11,7 +11,11 @@ else()
# Find installed library # Find installed library
set(@PACKAGE_NAME@_INCLUDE_DIR "${OUR_CMAKE_DIR}/@CONF_REL_INCLUDE_DIR@" CACHE PATH "@PACKAGE_NAME@ include directory") set(@PACKAGE_NAME@_INCLUDE_DIR "${OUR_CMAKE_DIR}/@CONF_REL_INCLUDE_DIR@" CACHE PATH "@PACKAGE_NAME@ include directory")
endif() endif()
# Find dependencies, required by cmake exported targets:
include(CMakeFindDependencyMacro)
find_dependency(Boost @BOOST_FIND_MINIMUM_VERSION@ COMPONENTS @BOOST_FIND_MINIMUM_COMPONENTS@)
# Load exports # Load exports
include(${OUR_CMAKE_DIR}/@PACKAGE_NAME@-exports.cmake) include(${OUR_CMAKE_DIR}/@PACKAGE_NAME@-exports.cmake)

5
cmake/example_project/CMakeLists.txt
View File

@ -22,7 +22,10 @@ include_directories(BEFORE "${PROJECT_SOURCE_DIR}")
################################################################################### ###################################################################################
# Find GTSAM components # Find GTSAM components
find_package(GTSAM REQUIRED) # Uses installed package find_package(GTSAM REQUIRED) # Uses installed package
include_directories(${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 # Build static library from common sources

60
gtsam/CMakeLists.txt
View File

@ -103,14 +103,70 @@ message(STATUS "Building GTSAM - shared: ${BUILD_SHARED_LIBS}")
add_library(gtsam ${gtsam_srcs}) add_library(gtsam ${gtsam_srcs})
target_link_libraries(gtsam PUBLIC ${GTSAM_BOOST_LIBRARIES}) target_link_libraries(gtsam PUBLIC ${GTSAM_BOOST_LIBRARIES})
target_link_libraries(gtsam PUBLIC ${GTSAM_ADDITIONAL_LIBRARIES}) target_link_libraries(gtsam PUBLIC ${GTSAM_ADDITIONAL_LIBRARIES})
target_compile_definitions(gtsam PUBLIC ${GTSAM_COMPILE_DEFINITIONS}) target_compile_definitions(gtsam PRIVATE ${GTSAM_COMPILE_DEFINITIONS_PRIVATE})
target_compile_options(gtsam PUBLIC ${GTSAM_COMPILE_OPTIONS}) 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 set_target_properties(gtsam PROPERTIES
OUTPUT_NAME gtsam OUTPUT_NAME gtsam
CLEAN_DIRECT_OUTPUT 1 CLEAN_DIRECT_OUTPUT 1
VERSION ${gtsam_version} VERSION ${gtsam_version}
SOVERSION ${gtsam_soversion}) 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(WIN32) # Add 'lib' prefix to static library to avoid filename collision with shared library
if (NOT BUILD_SHARED_LIBS) if (NOT BUILD_SHARED_LIBS)
set_target_properties(gtsam PROPERTIES set_target_properties(gtsam PROPERTIES

12
gtsam_extra.cmake.in
View File

@ -9,18 +9,6 @@ set (GTSAM_VERSION_STRING "@GTSAM_VERSION_STRING@")
set (GTSAM_USE_TBB @GTSAM_USE_TBB@) set (GTSAM_USE_TBB @GTSAM_USE_TBB@)
set (GTSAM_DEFAULT_ALLOCATOR @GTSAM_DEFAULT_ALLOCATOR@) 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@") if("@GTSAM_INSTALL_CYTHON_TOOLBOX@")
list(APPEND GTSAM_EIGENCY_INSTALL_PATH "@GTSAM_EIGENCY_INSTALL_PATH@") list(APPEND GTSAM_EIGENCY_INSTALL_PATH "@GTSAM_EIGENCY_INSTALL_PATH@")
endif() endif()

19
wrap/CMakeLists.txt
View File

@ -1,22 +1,30 @@
# Build/install Wrap # 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 # 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) 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 # Build the executable itself
file(GLOB wrap_srcs "*.cpp") file(GLOB wrap_srcs "*.cpp")
file(GLOB wrap_headers "*.h") file(GLOB wrap_headers "*.h")
list(REMOVE_ITEM wrap_srcs ${CMAKE_CURRENT_SOURCE_DIR}/wrap.cpp) list(REMOVE_ITEM wrap_srcs ${CMAKE_CURRENT_SOURCE_DIR}/wrap.cpp)
add_library(wrap_lib STATIC ${wrap_srcs} ${wrap_headers}) 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}) target_link_libraries(wrap_lib ${WRAP_BOOST_LIBRARIES})
gtsam_assign_source_folders(${wrap_srcs} ${wrap_headers}) gtsam_assign_source_folders(${wrap_srcs} ${wrap_headers})
add_executable(wrap wrap.cpp) add_executable(wrap wrap.cpp)
target_link_libraries(wrap wrap_lib ${WRAP_BOOST_LIBRARIES}) target_link_libraries(wrap PRIVATE wrap_lib)
# Set folder in Visual Studio # Set folder in Visual Studio
file(RELATIVE_PATH relative_path "${PROJECT_SOURCE_DIR}" "${CMAKE_CURRENT_SOURCE_DIR}") file(RELATIVE_PATH relative_path "${PROJECT_SOURCE_DIR}" "${CMAKE_CURRENT_SOURCE_DIR}")
@ -32,4 +40,3 @@ install(FILES matlab.h DESTINATION include/wrap)
# Build tests # Build tests
add_subdirectory(tests) add_subdirectory(tests)