diff --git a/CMakeLists.txt b/CMakeLists.txt index ba159c8e9..951a0ec7e 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -53,7 +53,7 @@ option(GTSAM_BUILD_STATIC_LIBRARY "Build a static gtsam library, instead option(GTSAM_USE_QUATERNIONS "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices. If enable, Rot3::EXPMAP is enforced by default." OFF) option(GTSAM_POSE3_EXPMAP "Enable/Disable using Pose3::EXPMAP as the default mode. If disabled, Pose3::FIRST_ORDER will be used." OFF) option(GTSAM_ROT3_EXPMAP "Ignore if GTSAM_USE_QUATERNIONS is OFF (Rot3::EXPMAP by default). Otherwise, enable Rot3::EXPMAP, or if disabled, use Rot3::CAYLEY." OFF) -option(GTSAM_ENABLE_CONSISTENCY_CHECKS "Enable/Disable expensive consistency checks" OFF) +option(GTSAM_ENABLE_CONSISTENCY_CHECKS "Enable/Disable expensive consistency checks" OFF) option(GTSAM_WITH_TBB "Use Intel Threaded Building Blocks (TBB) if available" ON) option(GTSAM_WITH_EIGEN_MKL "Eigen will use Intel MKL if available" ON) option(GTSAM_WITH_EIGEN_MKL_OPENMP "Eigen, when using Intel MKL, will also use OpenMP for multithreading if available" ON) @@ -197,13 +197,13 @@ set(GTSAM_USE_SYSTEM_EIGEN OFF) if(GTSAM_USE_SYSTEM_EIGEN) # Use generic Eigen include paths e.g. set(GTSAM_EIGEN_INCLUDE_PREFIX "") - + find_package(Eigen3 REQUIRED) include_directories(AFTER "${EIGEN3_INCLUDE_DIR}") else() # Use bundled Eigen include paths e.g. set(GTSAM_EIGEN_INCLUDE_PREFIX "gtsam/3rdparty/Eigen/") - + # Clear any variables set by FindEigen3 if(EIGEN3_INCLUDE_DIR) set(EIGEN3_INCLUDE_DIR NOTFOUND CACHE STRING "" FORCE) @@ -262,7 +262,7 @@ include_directories(BEFORE ${Boost_INCLUDE_DIR}) # paths so that the compiler uses GTSAM headers in our source directory instead # of any previously installed GTSAM headers. include_directories(BEFORE - gtsam/3rdparty/UFconfig + gtsam/3rdparty/UFconfig gtsam/3rdparty/CCOLAMD/Include gtsam/3rdparty/metis-5.1.0/include gtsam/3rdparty/metis-5.1.0/libmetis @@ -322,8 +322,10 @@ endif(GTSAM_BUILD_UNSTABLE) # Install config and export files GtsamMakeConfigFile(GTSAM "${CMAKE_CURRENT_SOURCE_DIR}/gtsam_extra.cmake.in") +message("GTSAM export: ${GTSAM_EXPORTED_TARGETS}") export(TARGETS ${GTSAM_EXPORTED_TARGETS} FILE GTSAM-exports.cmake) + # Check for doxygen availability - optional dependency find_package(Doxygen) diff --git a/gtsam/3rdparty/CMakeLists.txt b/gtsam/3rdparty/CMakeLists.txt index 576da93bd..38c084e25 100644 --- a/gtsam/3rdparty/CMakeLists.txt +++ b/gtsam/3rdparty/CMakeLists.txt @@ -18,7 +18,7 @@ if(NOT GTSAM_USE_SYSTEM_EIGEN) # do the same for the unsupported eigen folder file(GLOB_RECURSE unsupported_eigen_headers "${CMAKE_CURRENT_SOURCE_DIR}/Eigen/unsupported/Eigen/*.h") - + file(GLOB unsupported_eigen_dir_headers_all "Eigen/unsupported/Eigen/*") foreach(unsupported_eigen_dir ${unsupported_eigen_dir_headers_all}) get_filename_component(filename ${unsupported_eigen_dir} NAME) @@ -36,7 +36,7 @@ if(NOT GTSAM_USE_SYSTEM_EIGEN) install(DIRECTORY Eigen/Eigen DESTINATION include/gtsam/3rdparty/Eigen FILES_MATCHING PATTERN "*.h") - + install(DIRECTORY Eigen/unsupported/Eigen DESTINATION include/gtsam/3rdparty/Eigen/unsupported/ FILES_MATCHING PATTERN "*.h") @@ -73,3 +73,5 @@ endif() if(GTSAM_INSTALL_GEOGRAPHICLIB) add_subdirectory(GeographicLib) endif() + +set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE) diff --git a/gtsam/3rdparty/metis-5.1.0/CMakeLists.txt b/gtsam/3rdparty/metis-5.1.0/CMakeLists.txt index d3f2f1b0f..fd9c7eaf7 100644 --- a/gtsam/3rdparty/metis-5.1.0/CMakeLists.txt +++ b/gtsam/3rdparty/metis-5.1.0/CMakeLists.txt @@ -47,3 +47,5 @@ if(GTSAM_BUILD_METIS_EXECUTABLES) add_subdirectory("programs") endif() +set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE) + diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/ms_stdint.h b/gtsam/3rdparty/metis-5.1.0/GKlib/ms_stdint.h index 7e200dc6f..39b8aed9d 100644 --- a/gtsam/3rdparty/metis-5.1.0/GKlib/ms_stdint.h +++ b/gtsam/3rdparty/metis-5.1.0/GKlib/ms_stdint.h @@ -1,7 +1,7 @@ // ISO C9x compliant stdint.h for Microsoft Visual Studio // Based on ISO/IEC 9899:TC2 Committee draft (May 6, 2005) WG14/N1124 // -// Copyright (c) 2006 Alexander Chemeris +// Copyright (c) 2006-2013 Alexander Chemeris // // Redistribution and use in source and binary forms, with or without // modification, are permitted provided that the following conditions are met: @@ -13,8 +13,9 @@ // notice, this list of conditions and the following disclaimer in the // documentation and/or other materials provided with the distribution. // -// 3. The name of the author may be used to endorse or promote products -// derived from this software without specific prior written permission. +// 3. Neither the name of the product nor the names of its contributors may +// be used to endorse or promote products derived from this software +// without specific prior written permission. // // THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED // WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF @@ -40,30 +41,59 @@ #pragma once #endif +#if _MSC_VER >= 1600 // [ +#include +#else // ] _MSC_VER >= 1600 [ + #include -// For Visual Studio 6 in C++ mode wrap include with 'extern "C++" {}' +// For Visual Studio 6 in C++ mode and for many Visual Studio versions when +// compiling for ARM we should wrap include with 'extern "C++" {}' // or compiler give many errors like this: // error C2733: second C linkage of overloaded function 'wmemchr' not allowed -#if (_MSC_VER < 1300) && defined(__cplusplus) - extern "C++" { -#endif -# include -#if (_MSC_VER < 1300) && defined(__cplusplus) - } +#ifdef __cplusplus +extern "C" { #endif +# include +#ifdef __cplusplus +} +#endif + +// Define _W64 macros to mark types changing their size, like intptr_t. +#ifndef _W64 +# if !defined(__midl) && (defined(_X86_) || defined(_M_IX86)) && _MSC_VER >= 1300 +# define _W64 __w64 +# else +# define _W64 +# endif +#endif + // 7.18.1 Integer types // 7.18.1.1 Exact-width integer types -typedef __int8 int8_t; -typedef __int16 int16_t; -typedef __int32 int32_t; -typedef __int64 int64_t; + +// Visual Studio 6 and Embedded Visual C++ 4 doesn't +// realize that, e.g. char has the same size as __int8 +// so we give up on __intX for them. +#if (_MSC_VER < 1300) +typedef signed char int8_t; +typedef signed short int16_t; +typedef signed int int32_t; +typedef unsigned char uint8_t; +typedef unsigned short uint16_t; +typedef unsigned int uint32_t; +#else +typedef signed __int8 int8_t; +typedef signed __int16 int16_t; +typedef signed __int32 int32_t; typedef unsigned __int8 uint8_t; typedef unsigned __int16 uint16_t; typedef unsigned __int32 uint32_t; -typedef unsigned __int64 uint64_t; +#endif +typedef signed __int64 int64_t; +typedef unsigned __int64 uint64_t; + // 7.18.1.2 Minimum-width integer types typedef int8_t int_least8_t; @@ -87,11 +117,11 @@ typedef uint64_t uint_fast64_t; // 7.18.1.4 Integer types capable of holding object pointers #ifdef _WIN64 // [ - typedef __int64 intptr_t; - typedef unsigned __int64 uintptr_t; +typedef signed __int64 intptr_t; +typedef unsigned __int64 uintptr_t; #else // _WIN64 ][ - typedef int intptr_t; - typedef unsigned int uintptr_t; +typedef _W64 signed int intptr_t; +typedef _W64 unsigned int uintptr_t; #endif // _WIN64 ] // 7.18.1.5 Greatest-width integer types @@ -213,10 +243,17 @@ typedef uint64_t uintmax_t; #define UINT64_C(val) val##ui64 // 7.18.4.2 Macros for greatest-width integer constants -#define INTMAX_C INT64_C -#define UINTMAX_C UINT64_C +// These #ifndef's are needed to prevent collisions with . +// Check out Issue 9 for the details. +#ifndef INTMAX_C // [ +# define INTMAX_C INT64_C +#endif // INTMAX_C ] +#ifndef UINTMAX_C // [ +# define UINTMAX_C UINT64_C +#endif // UINTMAX_C ] #endif // __STDC_CONSTANT_MACROS ] +#endif // _MSC_VER >= 1600 ] -#endif // _MSC_STDINT_H_ ] +#endif // _MSC_STDINT_H_ ] \ No newline at end of file diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/CMakeLists.txt b/gtsam/3rdparty/metis-5.1.0/libmetis/CMakeLists.txt index df67d26b4..a18973427 100644 --- a/gtsam/3rdparty/metis-5.1.0/libmetis/CMakeLists.txt +++ b/gtsam/3rdparty/metis-5.1.0/libmetis/CMakeLists.txt @@ -14,4 +14,7 @@ install(TARGETS metis RUNTIME DESTINATION include/gtsam/3rdparty/metis/lib ARCHIVE DESTINATION include/gtsam/3rdparty/metis/lib) +install(TARGETS metis EXPORT GTSAM-exports ARCHIVE DESTINATION lib) +list(APPEND GTSAM_EXPORTED_TARGETS metis) +set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE) diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt index ced644545..2d5706f33 100644 --- a/gtsam/CMakeLists.txt +++ b/gtsam/CMakeLists.txt @@ -1,14 +1,14 @@ # We split the library in to separate subfolders, each containing # tests, timing, and an optional convenience library. # The following variable is the master list of subdirs to add -set (gtsam_subdirs - base - geometry - inference - symbolic - discrete - linear - nonlinear +set (gtsam_subdirs + base + geometry + inference + symbolic + discrete + linear + nonlinear slam navigation ) @@ -16,12 +16,12 @@ set (gtsam_subdirs set(gtsam_srcs) # Build 3rdparty separately -message(STATUS "Building 3rdparty") +message(STATUS "Building 3rdparty") add_subdirectory(3rdparty) -set (3rdparty_srcs +set (3rdparty_srcs ${eigen_headers} # Set by 3rdparty/CMakeLists.txt - ${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/CCOLAMD/Source/ccolamd.c + ${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/CCOLAMD/Source/ccolamd.c ${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/CCOLAMD/Source/ccolamd_global.c ${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/UFconfig/UFconfig.c) gtsam_assign_source_folders("${3rdparty_srcs}") # Create MSVC structure @@ -36,7 +36,7 @@ set (excluded_sources #"") set (excluded_headers #"") "${CMAKE_CURRENT_SOURCE_DIR}/slam/serialization.h" ) - + if(GTSAM_USE_QUATERNIONS) set(excluded_sources ${excluded_sources} "${CMAKE_CURRENT_SOURCE_DIR}/geometry/Rot3M.cpp") else() @@ -58,10 +58,10 @@ foreach(subdir ${gtsam_subdirs}) set(${subdir}_srcs ${subdir_srcs}) # Build local library and tests - message(STATUS "Building ${subdir}") + message(STATUS "Building ${subdir}") add_subdirectory(${subdir}) endforeach(subdir) - + # To add additional sources to gtsam when building the full library (static or shared) # Add the subfolder with _srcs appended to the end to this list set(gtsam_srcs @@ -77,7 +77,7 @@ set(gtsam_srcs ${navigation_srcs} ${gtsam_core_headers} ) - + # Generate and install config and dllexport files configure_file(config.h.in config.h) set(library_name GTSAM) # For substitution in dllexport.h.in @@ -85,18 +85,22 @@ configure_file("${PROJECT_SOURCE_DIR}/cmake/dllexport.h.in" "dllexport.h") list(APPEND gtsam_srcs "${PROJECT_BINARY_DIR}/gtsam/config.h" "${PROJECT_BINARY_DIR}/gtsam/dllexport.h") install(FILES "${PROJECT_BINARY_DIR}/gtsam/config.h" "${PROJECT_BINARY_DIR}/gtsam/dllexport.h" DESTINATION include/gtsam) +list(APPEND GTSAM_ADDITIONAL_LIBRARIES metis) + # Versions set(gtsam_version ${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}) set(gtsam_soversion ${GTSAM_VERSION_MAJOR}) message(STATUS "GTSAM Version: ${gtsam_version}") message(STATUS "Install prefix: ${CMAKE_INSTALL_PREFIX}") -message(STATUS "GTSAM Additional: ${GTSAM_ADDITIONAL_LIBRARIES}") +message("GTSAM Additional: ${GTSAM_ADDITIONAL_LIBRARIES}") +message("GTSAM Exports: ${GTSAM_EXPORTED_TARGETS}") + # build shared and static versions of the library if (GTSAM_BUILD_STATIC_LIBRARY) message(STATUS "Building GTSAM - static") add_library(gtsam STATIC ${gtsam_srcs}) - target_link_libraries(gtsam ${GTSAM_BOOST_LIBRARIES} metis ${GTSAM_ADDITIONAL_LIBRARIES}) - set_target_properties(gtsam PROPERTIES + target_link_libraries(gtsam ${GTSAM_BOOST_LIBRARIES} ${GTSAM_ADDITIONAL_LIBRARIES}) + set_target_properties(gtsam PROPERTIES OUTPUT_NAME gtsam CLEAN_DIRECT_OUTPUT 1 VERSION ${gtsam_version} @@ -112,8 +116,8 @@ if (GTSAM_BUILD_STATIC_LIBRARY) else() message(STATUS "Building GTSAM - shared") add_library(gtsam SHARED ${gtsam_srcs}) - target_link_libraries(gtsam ${GTSAM_BOOST_LIBRARIES} metis ${GTSAM_ADDITIONAL_LIBRARIES}) - set_target_properties(gtsam PROPERTIES + target_link_libraries(gtsam ${GTSAM_BOOST_LIBRARIES} ${GTSAM_ADDITIONAL_LIBRARIES}) + set_target_properties(gtsam PROPERTIES OUTPUT_NAME gtsam CLEAN_DIRECT_OUTPUT 1 VERSION ${gtsam_version} @@ -134,7 +138,7 @@ set_property(SOURCE "${CMAKE_CURRENT_SOURCE_DIR}/slam/dataset.cpp" APPEND PROPERTY COMPILE_DEFINITIONS "SOURCE_TREE_DATASET_DIR=\"${PROJECT_SOURCE_DIR}/examples/Data\"" "INSTALLED_DATASET_DIR=\"${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam_examples/Data\"") - + # Special cases if(MSVC) set_property(SOURCE @@ -147,7 +151,7 @@ endif() if (GTSAM_INSTALL_MATLAB_TOOLBOX) # Set up codegen include(GtsamMatlabWrap) - + # Generate, build and install toolbox set(mexFlags "${GTSAM_BUILD_MEX_BINARY_FLAGS}") if(GTSAM_BUILD_STATIC_LIBRARY) diff --git a/gtsam/inference/Ordering.h b/gtsam/inference/Ordering.h index 86038b028..45f53f2ad 100644 --- a/gtsam/inference/Ordering.h +++ b/gtsam/inference/Ordering.h @@ -155,7 +155,7 @@ namespace gtsam { static GTSAM_EXPORT Ordering METIS(const MetisIndex& met); template - static GTSAM_EXPORT Ordering METIS(const FactorGraph& graph) + static Ordering METIS(const FactorGraph& graph) { return METIS(MetisIndex(graph)); }