12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Updated: Build tests, fixed some unit tests. Floating points still off.

release/4.3a0
Jai Moraes 2024-12-02 16:00:26 -05:00
parent 4eff178352
commit b78a29650e
11 changed files with 35 additions and 49 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
cmake/GtsamTesting.cmake
View File

@ -195,13 +195,10 @@ macro(gtsamAddTestsGlob_impl groupName globPatterns excludedFiles linkLibraries)
# Add TOPSRCDIR # Add TOPSRCDIR
set_property(SOURCE ${script_src} APPEND PROPERTY COMPILE_DEFINITIONS "TOPSRCDIR=\"${GTSAM_SOURCE_DIR}\"") set_property(SOURCE ${script_src} APPEND PROPERTY COMPILE_DEFINITIONS "TOPSRCDIR=\"${GTSAM_SOURCE_DIR}\"")
if(QNX)
# Do not exclude from 'make all' and 'make install'
set_target_properties(${target_name} PROPERTIES EXCLUDE_FROM_ALL OFF)
else()
# Exclude from 'make all' and 'make install' # Exclude from 'make all' and 'make install'
set_target_properties(${target_name} PROPERTIES EXCLUDE_FROM_ALL ON) if(NOT QNX OR NOT DEFINED ENV{QNX_BUILD_TESTS})
set_target_properties(${script_name} PROPERTIES EXCLUDE_FROM_ALL ON)
endif() endif()
# Configure target folder (for MSVC and Xcode) # Configure target folder (for MSVC and Xcode)
@ -242,14 +239,11 @@ macro(gtsamAddTestsGlob_impl groupName globPatterns excludedFiles linkLibraries)
# Add TOPSRCDIR # Add TOPSRCDIR
set_property(SOURCE ${script_srcs} APPEND PROPERTY COMPILE_DEFINITIONS "TOPSRCDIR=\"${GTSAM_SOURCE_DIR}\"") set_property(SOURCE ${script_srcs} APPEND PROPERTY COMPILE_DEFINITIONS "TOPSRCDIR=\"${GTSAM_SOURCE_DIR}\"")
if(QNX)
# Do not exclude from 'make all' and 'make install'
set_target_properties(${target_name} PROPERTIES EXCLUDE_FROM_ALL OFF)
else()
# Exclude from 'make all' and 'make install' # Exclude from 'make all' and 'make install'
set_target_properties(${target_name} PROPERTIES EXCLUDE_FROM_ALL ON) if(NOT QNX OR NOT DEFINED ENV{QNX_BUILD_TESTS})
set_target_properties(${target_name} PROPERTIES EXCLUDE_FROM_ALL ON)
endif() endif()
# Configure target folder (for MSVC and Xcode) # Configure target folder (for MSVC and Xcode)
set_property(TARGET ${script_name} PROPERTY FOLDER "Unit tests") set_property(TARGET ${script_name} PROPERTY FOLDER "Unit tests")
endif() endif()

7
gtsam/3rdparty/ceres/CMakeLists.txt vendored
View File

@ -1,6 +1,7 @@
file(GLOB ceres_headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h") file(GLOB ceres_headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h")
if(QNX) if(NOT QNX)
install(FILES ${ceres_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/3rdparty/ceres)
else()
install(FILES ${ceres_headers} DESTINATION include/gtsam/3rdparty/ceres) install(FILES ${ceres_headers} DESTINATION include/gtsam/3rdparty/ceres)
else()
#Install in the install include directory rather than at the install prefix.
install(FILES ${ceres_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/3rdparty/ceres)
endif() endif()

5
gtsam/3rdparty/metis/include/CMakeLists.txt vendored
View File

@ -1,5 +1,6 @@
if(QNX) if(NOT QNX)
install(FILES metis.h DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/3rdparty/metis) install(FILES metis.h DESTINATION include/gtsam/3rdparty/metis)
else() else()
#Install in the install include directory rather than at the install prefix.
install(FILES metis.h DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/3rdparty/metis) install(FILES metis.h DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/3rdparty/metis)
endif() endif()

2
gtsam/CMakeLists.txt
View File

@ -83,7 +83,7 @@ ENDIF(MSVC)
# Generate and install config and dllexport files # Generate and install config and dllexport files
#For config.in searches #For config.in searches
if(DEFINED ENV{QNX}) if(QNX)
set(QNX_TARGET_DATASET_DIR "$ENV{QNX_TARGET_DATASET_DIR}") set(QNX_TARGET_DATASET_DIR "$ENV{QNX_TARGET_DATASET_DIR}")
endif() endif()
configure_file(config.h.in config.h) configure_file(config.h.in config.h)

26
gtsam/base/CMakeLists.txt
View File

@ -1,23 +1,19 @@
# Install headers # Install headers
# Header groups
file(GLOB base_headers "*.h") file(GLOB base_headers "*.h")
if(QNX)
install(FILES ${base_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/base)
else()
install(FILES ${base_headers} DESTINATION include/gtsam/base)
endif()
file(GLOB base_headers_tree "treeTraversal/*.h") file(GLOB base_headers_tree "treeTraversal/*.h")
if(QNX)
install(FILES ${base_headers_tree} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/base/treeTraversal)
else()
install(FILES ${base_headers_tree} DESTINATION include/gtsam/base/treeTraversal)
endif()
file(GLOB deprecated_headers "deprecated/*.h") file(GLOB deprecated_headers "deprecated/*.h")
if(QNX)
install(FILES ${deprecated_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/base/deprecated) # Installation
else() if(NOT QNX)
install(FILES ${base_headers} DESTINATION include/gtsam/base)
install(FILES ${base_headers_tree} DESTINATION include/gtsam/base/treeTraversal)
install(FILES ${deprecated_headers} DESTINATION include/gtsam/base/deprecated) install(FILES ${deprecated_headers} DESTINATION include/gtsam/base/deprecated)
else()
# For QNX, Install in the Installation's Include Directory
install(FILES ${base_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/base)
install(FILES ${base_headers_tree} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/base/treeTraversal)
install(FILES ${deprecated_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/base/deprecated)
endif() endif()
# Build tests # Build tests

6
gtsam/basis/CMakeLists.txt
View File

@ -1,9 +1,9 @@
# Install headers # Install headers
file(GLOB basis_headers "*.h") file(GLOB basis_headers "*.h")
if(QNX) if(NOT QNX)
install(FILES ${basis_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/basis) install(FILES ${basis_headers} DESTINATION include/gtsam/basis)
else() else()
install(FILES ${basis_headers} DESTINATION include/gtsam/basis) install(FILES ${basis_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam/basis)
endif() endif()
# Build tests # Build tests

6
gtsam/config.h.in
View File

@ -26,9 +26,11 @@
// Paths to example datasets distributed with GTSAM // Paths to example datasets distributed with GTSAM
#define GTSAM_SOURCE_TREE_DATASET_DIR "@GTSAM_SOURCE_DIR@/examples/Data" #define GTSAM_SOURCE_TREE_DATASET_DIR "@GTSAM_SOURCE_DIR@/examples/Data"
#ifndef __QNX__
#define GTSAM_INSTALLED_DATASET_DIR "@GTSAM_TOOLBOX_INSTALL_PATH@/gtsam_examples/Data" #define GTSAM_INSTALLED_DATASET_DIR "@GTSAM_TOOLBOX_INSTALL_PATH@/gtsam_examples/Data"
#ifdef __QNX__ #else
#define QNX_INSTALLED_DATASET_DIR "@QNX_TARGET_DATASET_DIR@/gtsam_examples/Data" //Set toolbox path to the path on the target.
#define GTSAM_INSTALLED_DATASET_DIR "@QNX_TARGET_DATASET_DIR@/gtsam_examples/Data"
#endif #endif
// Whether GTSAM is compiled to use quaternions for Rot3 (otherwise uses rotation matrices) // Whether GTSAM is compiled to use quaternions for Rot3 (otherwise uses rotation matrices)

2
gtsam/inference/tests/testOrdering.cpp
View File

@ -270,7 +270,7 @@ TEST(Ordering, MetisLoop) {
symbolicGraph.push_factor(0, 5); symbolicGraph.push_factor(0, 5);
// METIS // METIS
#if !defined(__APPLE__) #if !defined(__APPLE__) && !defined(__QNX__)
{ {
Ordering actual = Ordering::Create(Ordering::METIS, symbolicGraph); Ordering actual = Ordering::Create(Ordering::METIS, symbolicGraph);
// - P( 0 4 1) // - P( 0 4 1)

3
gtsam/slam/dataset.cpp
View File

@ -69,9 +69,6 @@ string findExampleDataFile(const string &name) {
// Constants below are defined by CMake, see gtsam/gtsam/CMakeLists.txt // Constants below are defined by CMake, see gtsam/gtsam/CMakeLists.txt
rootsToSearch.push_back(GTSAM_SOURCE_TREE_DATASET_DIR); rootsToSearch.push_back(GTSAM_SOURCE_TREE_DATASET_DIR);
rootsToSearch.push_back(GTSAM_INSTALLED_DATASET_DIR); rootsToSearch.push_back(GTSAM_INSTALLED_DATASET_DIR);
#ifdef __QNX__
rootsToSearch.push_back(QNX_INSTALLED_DATASET_DIR);
#endif
// Search for filename as given, and with .graph and .txt extensions // Search for filename as given, and with .graph and .txt extensions
vector<string> namesToSearch; vector<string> namesToSearch;

4
gtsam/symbolic/tests/testSymbolicBayesTree.cpp
View File

@ -731,7 +731,7 @@ TEST(SymbolicBayesTree, COLAMDvsMETIS) {
{ {
Ordering ordering = Ordering::Create(Ordering::METIS, sfg); Ordering ordering = Ordering::Create(Ordering::METIS, sfg);
// Linux and Mac split differently when using mettis // Linux and Mac split differently when using mettis
#if !defined(__APPLE__) #if !defined(__APPLE__) && !defined(__QNX__)
EXPECT(assert_equal(Ordering(list_of(3)(2)(5)(0)(4)(1)), ordering)); EXPECT(assert_equal(Ordering(list_of(3)(2)(5)(0)(4)(1)), ordering));
#else #else
EXPECT(assert_equal(Ordering(list_of(5)(4)(2)(1)(0)(3)), ordering)); EXPECT(assert_equal(Ordering(list_of(5)(4)(2)(1)(0)(3)), ordering));
@ -742,7 +742,7 @@ TEST(SymbolicBayesTree, COLAMDvsMETIS) {
// | | - P( 5 | 0 4) // | | - P( 5 | 0 4)
// | - P( 2 | 1 3) // | - P( 2 | 1 3)
SymbolicBayesTree expected; SymbolicBayesTree expected;
#if !defined(__APPLE__) #if !defined(__APPLE__) && !defined(__QNX__)
expected.insertRoot( expected.insertRoot(
MakeClique(list_of(2)(4)(1), 3, MakeClique(list_of(2)(4)(1), 3,
list_of( list_of(

5
tests/CMakeLists.txt
View File

@ -14,8 +14,3 @@ if(MSVC)
set_property(SOURCE "${CMAKE_CURRENT_SOURCE_DIR}/testSerializationSLAM.cpp" set_property(SOURCE "${CMAKE_CURRENT_SOURCE_DIR}/testSerializationSLAM.cpp"
APPEND PROPERTY COMPILE_FLAGS "/bigobj") APPEND PROPERTY COMPILE_FLAGS "/bigobj")
endif() endif()
if(QNX)
file(GLOB built_tests "${PROJECT_BINARY_DIR}/tests/test*")
install(FILES ${built_tests} DESTINATION ${CMAKE_INSTALL_BINDIR}/gtsam_tests/)
endif()