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 ${MKL_LIBRARIES})
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# --no-as-needed is required with gcc according to the MKL link advisor
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@ -247,7 +250,6 @@ option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', us
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# Switch for using system Eigen or GTSAM-bundled Eigen
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if(GTSAM_USE_SYSTEM_EIGEN)
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find_package(Eigen3 REQUIRED)
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include_directories(AFTER "${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 "${EIGEN3_INCLUDE_DIR}")
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@ -270,22 +272,19 @@ else()
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if(EIGEN3_INCLUDE_DIR)
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set(EIGEN3_INCLUDE_DIR NOTFOUND CACHE STRING "" FORCE)
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endif()
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# Add the bundled version of eigen to the include path so that it can still be included
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# with #include <Eigen/Core>
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include_directories(BEFORE "gtsam/3rdparty/Eigen/")
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# set full path to be used by external projects
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# this will be added to GTSAM_INCLUDE_DIR by gtsam_extra.cmake.in
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set(GTSAM_EIGEN_INCLUDE_PREFIX "${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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6
INSTALL
6
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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@ -33,9 +33,9 @@ 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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@ -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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@ -12,6 +12,10 @@ else()
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set(@PACKAGE_NAME@_INCLUDE_DIR "${OUR_CMAKE_DIR}/@CONF_REL_INCLUDE_DIR@" CACHE PATH "@PACKAGE_NAME@ include directory")
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endif()
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# Find dependencies, required by cmake exported targets:
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include(CMakeFindDependencyMacro)
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find_dependency(Boost @BOOST_FIND_MINIMUM_VERSION@ COMPONENTS @BOOST_FIND_MINIMUM_COMPONENTS@)
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# Load exports
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include(${OUR_CMAKE_DIR}/@PACKAGE_NAME@-exports.cmake)
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@ -22,7 +22,10 @@ include_directories(BEFORE "${PROJECT_SOURCE_DIR}")
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###################################################################################
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# Find GTSAM components
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find_package(GTSAM REQUIRED) # Uses installed package
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include_directories(${GTSAM_INCLUDE_DIR})
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# Note: Since Jan-2019, GTSAMConfig.cmake defines exported CMake targets
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# that automatically do include the include_directories() without the need
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# to call include_directories(), just target_link_libraries(NAME gtsam)
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#include_directories(${GTSAM_INCLUDE_DIR})
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###################################################################################
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# Build static library from common sources
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@ -103,14 +103,70 @@ message(STATUS "Building GTSAM - shared: ${BUILD_SHARED_LIBS}")
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add_library(gtsam ${gtsam_srcs})
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target_link_libraries(gtsam PUBLIC ${GTSAM_BOOST_LIBRARIES})
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target_link_libraries(gtsam PUBLIC ${GTSAM_ADDITIONAL_LIBRARIES})
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target_compile_definitions(gtsam PUBLIC ${GTSAM_COMPILE_DEFINITIONS})
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target_compile_options(gtsam PUBLIC ${GTSAM_COMPILE_OPTIONS})
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target_compile_definitions(gtsam PRIVATE ${GTSAM_COMPILE_DEFINITIONS_PRIVATE})
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target_compile_definitions(gtsam PUBLIC ${GTSAM_COMPILE_DEFINITIONS_PUBLIC})
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if (NOT "${GTSAM_COMPILE_OPTIONS_PUBLIC}" STREQUAL "")
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target_compile_options(gtsam PUBLIC ${GTSAM_COMPILE_OPTIONS_PUBLIC})
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endif()
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target_compile_options(gtsam PRIVATE ${GTSAM_COMPILE_OPTIONS_PRIVATE})
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set_target_properties(gtsam PROPERTIES
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OUTPUT_NAME gtsam
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CLEAN_DIRECT_OUTPUT 1
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VERSION ${gtsam_version}
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SOVERSION ${gtsam_soversion})
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# Append Eigen include path, set in top-level CMakeLists.txt to either
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# system-eigen, or GTSAM eigen path
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if (GTSAM_USE_SYSTEM_EIGEN)
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target_include_directories(gtsam PUBLIC
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$<BUILD_INTERFACE:${EIGEN3_INCLUDE_DIR}>
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)
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else()
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target_include_directories(gtsam PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/Eigen/>
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)
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endif()
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target_include_directories(gtsam PUBLIC
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$<INSTALL_INTERFACE:${GTSAM_EIGEN_INCLUDE_PREFIX}>
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)
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# MKL include dir:
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if (GTSAM_USE_EIGEN_MKL)
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target_include_directories(gtsam PUBLIC ${MKL_INCLUDE_DIR})
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endif()
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if(GTSAM_USE_TBB)
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target_include_directories(gtsam PUBLIC ${TBB_INCLUDE_DIRS})
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endif()
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# Add includes for source directories 'BEFORE' boost and any system include
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# paths so that the compiler uses GTSAM headers in our source directory instead
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# of any previously installed GTSAM headers.
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target_include_directories(gtsam BEFORE PUBLIC
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# SuiteSparse_config
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/SuiteSparse_config>
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$<INSTALL_INTERFACE:${CMAKE_INSTALL_PREFIX}/include/gtsam/3rdparty/SuiteSparse_config>
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# CCOLAMD
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/CCOLAMD/Include>
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$<INSTALL_INTERFACE:${CMAKE_INSTALL_PREFIX}/include/gtsam/3rdparty/CCOLAMD>
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# main gtsam includes:
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$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}>
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$<INSTALL_INTERFACE:${CMAKE_INSTALL_PREFIX}/include/>
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# config.h
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$<BUILD_INTERFACE:${CMAKE_BINARY_DIR}>
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# unit tests:
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$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/CppUnitLite>
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)
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if(GTSAM_SUPPORT_NESTED_DISSECTION)
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target_include_directories(gtsam BEFORE PUBLIC
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$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/gtsam/3rdparty/metis/include>
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$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/gtsam/3rdparty/metis/libmetis>
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$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/gtsam/3rdparty/metis/GKlib>
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$<INSTALL_INTERFACE:${CMAKE_INSTALL_PREFIX}/include/gtsam/3rdparty/metis/>
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)
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endif()
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if(WIN32) # Add 'lib' prefix to static library to avoid filename collision with shared library
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if (NOT BUILD_SHARED_LIBS)
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set_target_properties(gtsam PROPERTIES
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@ -9,18 +9,6 @@ set (GTSAM_VERSION_STRING "@GTSAM_VERSION_STRING@")
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set (GTSAM_USE_TBB @GTSAM_USE_TBB@)
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set (GTSAM_DEFAULT_ALLOCATOR @GTSAM_DEFAULT_ALLOCATOR@)
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if("@GTSAM_USE_TBB@")
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list(APPEND GTSAM_INCLUDE_DIR "@TBB_INCLUDE_DIRS@")
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endif()
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# Append Eigen include path, set in top-level CMakeLists.txt to either
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# system-eigen, or GTSAM eigen path
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list(APPEND GTSAM_INCLUDE_DIR "@GTSAM_EIGEN_INCLUDE_PREFIX@")
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if("@GTSAM_USE_EIGEN_MKL@")
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list(APPEND GTSAM_INCLUDE_DIR "@MKL_INCLUDE_DIR@")
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endif()
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if("@GTSAM_INSTALL_CYTHON_TOOLBOX@")
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list(APPEND GTSAM_EIGENCY_INSTALL_PATH "@GTSAM_EIGENCY_INSTALL_PATH@")
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endif()
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@ -1,22 +1,30 @@
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# Build/install Wrap
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set(WRAP_BOOST_LIBRARIES ${Boost_SYSTEM_LIBRARY} ${Boost_FILESYSTEM_LIBRARY} ${Boost_THREAD_LIBRARY})
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set(WRAP_BOOST_LIBRARIES
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Boost::system
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Boost::filesystem
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Boost::thread
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)
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# Allow for disabling serialization to handle errors related to Clang's linker
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option(GTSAM_WRAP_SERIALIZATION "If enabled, allows for wrapped objects to be saved via boost.serialization" ON)
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if (NOT GTSAM_WRAP_SERIALIZATION)
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add_definitions(-DWRAP_DISABLE_SERIALIZE)
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endif()
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# Build the executable itself
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file(GLOB wrap_srcs "*.cpp")
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file(GLOB wrap_headers "*.h")
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list(REMOVE_ITEM wrap_srcs ${CMAKE_CURRENT_SOURCE_DIR}/wrap.cpp)
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add_library(wrap_lib STATIC ${wrap_srcs} ${wrap_headers})
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target_include_directories(wrap_lib PUBLIC
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$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}>
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)
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if (NOT GTSAM_WRAP_SERIALIZATION)
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target_compile_definitions(wrap_lib PUBLIC -DWRAP_DISABLE_SERIALIZE)
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endif()
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target_link_libraries(wrap_lib ${WRAP_BOOST_LIBRARIES})
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gtsam_assign_source_folders(${wrap_srcs} ${wrap_headers})
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add_executable(wrap wrap.cpp)
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target_link_libraries(wrap wrap_lib ${WRAP_BOOST_LIBRARIES})
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target_link_libraries(wrap PRIVATE wrap_lib)
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# Set folder in Visual Studio
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file(RELATIVE_PATH relative_path "${PROJECT_SOURCE_DIR}" "${CMAKE_CURRENT_SOURCE_DIR}")
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@ -32,4 +40,3 @@ install(FILES matlab.h DESTINATION include/wrap)
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# Build tests
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add_subdirectory(tests)
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