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Merge pull request #893 from borglab/feature/clean-import

release/4.3a0
Varun Agrawal 2021-10-18 17:43:07 -04:00 committed by GitHub
parent 12f32187f1 21c1945334
commit 9e032e4511
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 19 additions and 11 deletions
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14
python/CMakeLists.txt
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@ -65,8 +65,10 @@ set(interface_headers
${PROJECT_SOURCE_DIR}/gtsam/basis/basis.i ${PROJECT_SOURCE_DIR}/gtsam/basis/basis.i
) )
set(GTSAM_PYTHON_TARGET gtsam_py)
set(GTSAM_PYTHON_UNSTABLE_TARGET gtsam_unstable_py)
pybind_wrap(gtsam_py # target pybind_wrap(${GTSAM_PYTHON_TARGET} # target
"${interface_headers}" # interface_headers "${interface_headers}" # interface_headers
"gtsam.cpp" # generated_cpp "gtsam.cpp" # generated_cpp
"gtsam" # module_name "gtsam" # module_name
@ -78,7 +80,7 @@ pybind_wrap(gtsam_py # target
ON # use_boost ON # use_boost
) )
set_target_properties(gtsam_py PROPERTIES set_target_properties(${GTSAM_PYTHON_TARGET} PROPERTIES
INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib" INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
INSTALL_RPATH_USE_LINK_PATH TRUE INSTALL_RPATH_USE_LINK_PATH TRUE
OUTPUT_NAME "gtsam" OUTPUT_NAME "gtsam"
@ -98,7 +100,7 @@ create_symlinks("${CMAKE_CURRENT_SOURCE_DIR}/gtsam"
file(COPY "${GTSAM_SOURCE_DIR}/examples/Data" DESTINATION "${GTSAM_MODULE_PATH}") file(COPY "${GTSAM_SOURCE_DIR}/examples/Data" DESTINATION "${GTSAM_MODULE_PATH}")
# Add gtsam as a dependency to the install target # Add gtsam as a dependency to the install target
set(GTSAM_PYTHON_DEPENDENCIES gtsam_py) set(GTSAM_PYTHON_DEPENDENCIES ${GTSAM_PYTHON_TARGET})
if(GTSAM_UNSTABLE_BUILD_PYTHON) if(GTSAM_UNSTABLE_BUILD_PYTHON)
@ -122,7 +124,7 @@ if(GTSAM_UNSTABLE_BUILD_PYTHON)
gtsam::CameraSetCal3Fisheye gtsam::CameraSetCal3Fisheye
gtsam::KeyPairDoubleMap) gtsam::KeyPairDoubleMap)
pybind_wrap(gtsam_unstable_py # target pybind_wrap(${GTSAM_PYTHON_UNSTABLE_TARGET} # target
${PROJECT_SOURCE_DIR}/gtsam_unstable/gtsam_unstable.i # interface_header ${PROJECT_SOURCE_DIR}/gtsam_unstable/gtsam_unstable.i # interface_header
"gtsam_unstable.cpp" # generated_cpp "gtsam_unstable.cpp" # generated_cpp
"gtsam_unstable" # module_name "gtsam_unstable" # module_name
@ -134,7 +136,7 @@ if(GTSAM_UNSTABLE_BUILD_PYTHON)
ON # use_boost ON # use_boost
) )
set_target_properties(gtsam_unstable_py PROPERTIES set_target_properties(${GTSAM_PYTHON_UNSTABLE_TARGET} PROPERTIES
INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib" INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
INSTALL_RPATH_USE_LINK_PATH TRUE INSTALL_RPATH_USE_LINK_PATH TRUE
OUTPUT_NAME "gtsam_unstable" OUTPUT_NAME "gtsam_unstable"
@ -150,7 +152,7 @@ if(GTSAM_UNSTABLE_BUILD_PYTHON)
"${GTSAM_UNSTABLE_MODULE_PATH}") "${GTSAM_UNSTABLE_MODULE_PATH}")
# Add gtsam_unstable to the install target # Add gtsam_unstable to the install target
list(APPEND GTSAM_PYTHON_DEPENDENCIES gtsam_unstable_py) list(APPEND GTSAM_PYTHON_DEPENDENCIES ${GTSAM_PYTHON_UNSTABLE_TARGET})
endif() endif()

16
python/gtsam/__init__.py
View File

@ -1,6 +1,12 @@
from . import utils """Module definition file for GTSAM"""
from .gtsam import *
from .utils import findExampleDataFile # pylint: disable=import-outside-toplevel, global-variable-not-assigned, possibly-unused-variable, import-error, import-self
import sys
from gtsam import gtsam, utils
from gtsam.gtsam import *
from gtsam.utils import findExampleDataFile
def _init(): def _init():
@ -13,7 +19,7 @@ def _init():
def Point2(x=np.nan, y=np.nan): def Point2(x=np.nan, y=np.nan):
"""Shim for the deleted Point2 type.""" """Shim for the deleted Point2 type."""
if isinstance(x, np.ndarray): if isinstance(x, np.ndarray):
assert x.shape == (2,), "Point2 takes 2-vector" assert x.shape == (2, ), "Point2 takes 2-vector"
return x # "copy constructor" return x # "copy constructor"
return np.array([x, y], dtype=float) return np.array([x, y], dtype=float)
@ -22,7 +28,7 @@ def _init():
def Point3(x=np.nan, y=np.nan, z=np.nan): def Point3(x=np.nan, y=np.nan, z=np.nan):
"""Shim for the deleted Point3 type.""" """Shim for the deleted Point3 type."""
if isinstance(x, np.ndarray): if isinstance(x, np.ndarray):
assert x.shape == (3,), "Point3 takes 3-vector" assert x.shape == (3, ), "Point3 takes 3-vector"
return x # "copy constructor" return x # "copy constructor"
return np.array([x, y, z], dtype=float) return np.array([x, y, z], dtype=float)