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Merge branch 'develop' into feature/wrap_SfmData

release/4.3a0
Sushmita Warrier 2020-11-08 17:11:39 -05:00 committed by GitHub
parent 65a6d06bf1 a7652317c8
commit cc0433827e
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
40 changed files with 865 additions and 581 deletions
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9
.github/workflows/build-linux.yml vendored
View File

@ -48,8 +48,15 @@ jobs:
- name: Install (Linux)
if: runner.os == 'Linux'
run: |
# LLVM 9 is not in Bionic's repositories so we add the official LLVM repository.
# LLVM (clang) 9 is not in Bionic's repositories so we add the official LLVM repository.
if [ "${{ matrix.compiler }}" = "clang" ] && [ "${{ matrix.version }}" = "9" ]; then
# (ipv4|ha).pool.sks-keyservers.net is the SKS GPG global keyserver pool
# ipv4 avoids potential timeouts because of crappy IPv6 infrastructure
# 15CF4D18AF4F7421 is the GPG key for the LLVM apt repository
# This key is not in the keystore by default for Ubuntu so we need to add it.
LLVM_KEY=15CF4D18AF4F7421
gpg --keyserver ipv4.pool.sks-keyservers.net --recv-key $LLVM_KEY || gpg --keyserver ha.pool.sks-keyservers.net --recv-key $LLVM_KEY
gpg -a --export $LLVM_KEY | sudo apt-key add -
sudo add-apt-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-9 main"
fi
sudo apt-get -y update

6
.github/workflows/build-macos.yml vendored
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@ -35,7 +35,9 @@ jobs:
- name: Install (macOS)
if: runner.os == 'macOS'
run: |
brew install cmake ninja boost
brew tap ProfFan/robotics
brew install cmake ninja
brew install ProfFan/robotics/boost
if [ "${{ matrix.compiler }}" = "gcc" ]; then
brew install gcc@${{ matrix.version }}
echo "::set-env name=CC::gcc-${{ matrix.version }}"
@ -48,4 +50,4 @@ jobs:
- name: Build and Test (macOS)
if: runner.os == 'macOS'
run: |
bash .github/scripts/unix.sh -t
bash .github/scripts/unix.sh -t

14
.github/workflows/build-python.yml vendored
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@ -61,8 +61,14 @@ jobs:
- name: Install (Linux)
if: runner.os == 'Linux'
run: |
# LLVM 9 is not in Bionic's repositories so we add the official LLVM repository.
if [ "${{ matrix.compiler }}" = "clang" ] && [ "${{ matrix.version }}" = "9" ]; then
# (ipv4|ha).pool.sks-keyservers.net is the SKS GPG global keyserver pool
# ipv4 avoids potential timeouts because of crappy IPv6 infrastructure
# 15CF4D18AF4F7421 is the GPG key for the LLVM apt repository
# This key is not in the keystore by default for Ubuntu so we need to add it.
LLVM_KEY=15CF4D18AF4F7421
gpg --keyserver ipv4.pool.sks-keyservers.net --recv-key $LLVM_KEY || gpg --keyserver ha.pool.sks-keyservers.net --recv-key $LLVM_KEY
gpg -a --export $LLVM_KEY | sudo apt-key add -
sudo add-apt-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-9 main"
fi
sudo apt-get -y update
@ -81,7 +87,9 @@ jobs:
- name: Install (macOS)
if: runner.os == 'macOS'
run: |
brew install cmake ninja boost
brew tap ProfFan/robotics
brew install cmake ninja
brew install ProfFan/robotics/boost
if [ "${{ matrix.compiler }}" = "gcc" ]; then
brew install gcc@${{ matrix.version }}
echo "::set-env name=CC::gcc-${{ matrix.version }}"
@ -103,4 +111,4 @@ jobs:
- name: Build (macOS)
if: runner.os == 'macOS'
run: |
bash .github/scripts/python.sh
bash .github/scripts/python.sh

2
.github/workflows/build-special.yml vendored
View File

@ -56,6 +56,8 @@ jobs:
run: |
# LLVM 9 is not in Bionic's repositories so we add the official LLVM repository.
if [ "${{ matrix.compiler }}" = "clang" ] && [ "${{ matrix.version }}" = "9" ]; then
gpg --keyserver pool.sks-keyservers.net --recv-key 15CF4D18AF4F7421
gpg -a --export 15CF4D18AF4F7421 | sudo apt-key add -
sudo add-apt-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-9 main"
fi
sudo apt-get -y update

551
CMakeLists.txt
View File

@ -22,17 +22,10 @@ set (CMAKE_PROJECT_VERSION_PATCH ${GTSAM_VERSION_PATCH})
###############################################################################
# Gather information, perform checks, set defaults
# Set the default install path to home
#set (CMAKE_INSTALL_PREFIX ${HOME} CACHE PATH "Install prefix for library")
set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
include(GtsamMakeConfigFile)
include(GNUInstallDirs)
# Record the root dir for gtsam - needed during external builds, e.g., ROS
set(GTSAM_SOURCE_ROOT_DIR ${CMAKE_CURRENT_SOURCE_DIR})
message(STATUS "GTSAM_SOURCE_ROOT_DIR: [${GTSAM_SOURCE_ROOT_DIR}]")
# Load build type flags and default to Debug mode
include(GtsamBuildTypes)
@ -45,399 +38,21 @@ if(${CMAKE_SOURCE_DIR} STREQUAL ${CMAKE_BINARY_DIR})
message(FATAL_ERROR "In-source builds not allowed. Please make a new directory (called a build directory) and run CMake from there. You may need to remove CMakeCache.txt. ")
endif()
# See whether gtsam_unstable is available (it will be present only if we're using a git checkout)
if(EXISTS "${PROJECT_SOURCE_DIR}/gtsam_unstable" AND IS_DIRECTORY "${PROJECT_SOURCE_DIR}/gtsam_unstable")
set(GTSAM_UNSTABLE_AVAILABLE 1)
else()
set(GTSAM_UNSTABLE_AVAILABLE 0)
endif()
include(cmake/HandleBoost.cmake) # Boost
include(cmake/HandleCCache.cmake) # ccache
include(cmake/HandleCPack.cmake) # CPack
include(cmake/HandleEigen.cmake) # Eigen3
include(cmake/HandleGeneralOptions.cmake) # CMake build options
include(cmake/HandleMKL.cmake) # MKL
include(cmake/HandleOpenMP.cmake) # OpenMP
include(cmake/HandlePerfTools.cmake) # Google perftools
include(cmake/HandlePython.cmake) # Python options and commands
include(cmake/HandleTBB.cmake) # TBB
include(cmake/HandleUninstall.cmake) # for "make uninstall"
# ----------------------------------------------------------------------------
# Uninstall target, for "make uninstall"
# ----------------------------------------------------------------------------
configure_file(
"${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake_uninstall.cmake.in"
"${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
IMMEDIATE @ONLY)
include(cmake/HandleAllocators.cmake) # Must be after tbb, pertools
add_custom_target(uninstall
"${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")
###############################################################################
# Set up options
# Configurable Options
if(GTSAM_UNSTABLE_AVAILABLE)
option(GTSAM_BUILD_UNSTABLE "Enable/Disable libgtsam_unstable" ON)
option(GTSAM_UNSTABLE_BUILD_PYTHON "Enable/Disable Python wrapper for libgtsam_unstable" ON)
option(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX "Enable/Disable MATLAB wrapper for libgtsam_unstable" OFF)
endif()
option(BUILD_SHARED_LIBS "Build shared gtsam library, instead of static" ON)
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." ON)
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." ON)
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" OFF)
option(GTSAM_WITH_EIGEN_MKL_OPENMP "Eigen, when using Intel MKL, will also use OpenMP for multithreading if available" OFF)
option(GTSAM_THROW_CHEIRALITY_EXCEPTION "Throw exception when a triangulated point is behind a camera" ON)
option(GTSAM_BUILD_PYTHON "Enable/Disable building & installation of Python module with pybind11" OFF)
option(GTSAM_ALLOW_DEPRECATED_SINCE_V41 "Allow use of methods/functions deprecated in GTSAM 4.1" ON)
option(GTSAM_SUPPORT_NESTED_DISSECTION "Support Metis-based nested dissection" ON)
option(GTSAM_TANGENT_PREINTEGRATION "Use new ImuFactor with integration on tangent space" ON)
if(NOT MSVC AND NOT XCODE_VERSION)
option(GTSAM_BUILD_WITH_CCACHE "Use ccache compiler cache" ON)
endif()
if(NOT MSVC AND NOT XCODE_VERSION)
# Set the build type to upper case for downstream use
string(TOUPPER "${CMAKE_BUILD_TYPE}" CMAKE_BUILD_TYPE_UPPER)
# Set the GTSAM_BUILD_TAG variable.
# If build type is Release, set to blank (""), else set to the build type.
if(${CMAKE_BUILD_TYPE_UPPER} STREQUAL "RELEASE")
set(GTSAM_BUILD_TAG "") # Don't create release mode tag on installed directory
else()
set(GTSAM_BUILD_TAG "${CMAKE_BUILD_TYPE}")
endif()
endif()
# Options relating to MATLAB wrapper
# TODO: Check for matlab mex binary before handling building of binaries
option(GTSAM_INSTALL_MATLAB_TOOLBOX "Enable/Disable installation of matlab toolbox" OFF)
set(GTSAM_PYTHON_VERSION "Default" CACHE STRING "The version of Python to build the wrappers against.")
# Check / set dependent variables for MATLAB wrapper
if(GTSAM_INSTALL_MATLAB_TOOLBOX AND GTSAM_BUILD_TYPE_POSTFIXES)
set(CURRENT_POSTFIX ${CMAKE_${CMAKE_BUILD_TYPE_UPPER}_POSTFIX})
endif()
if(GTSAM_INSTALL_MATLAB_TOOLBOX AND NOT BUILD_SHARED_LIBS)
message(FATAL_ERROR "GTSAM_INSTALL_MATLAB_TOOLBOX and BUILD_SHARED_LIBS=OFF. The MATLAB wrapper cannot be compiled with a static GTSAM library because mex modules are themselves shared libraries. If you want a self-contained mex module, enable GTSAM_MEX_BUILD_STATIC_MODULE instead of BUILD_SHARED_LIBS=OFF.")
endif()
if(GTSAM_BUILD_PYTHON)
if(${GTSAM_PYTHON_VERSION} STREQUAL "Default")
# Get info about the Python3 interpreter
# https://cmake.org/cmake/help/latest/module/FindPython3.html#module:FindPython3
find_package(Python3 COMPONENTS Interpreter Development)
if(NOT ${Python3_FOUND})
message(FATAL_ERROR "Cannot find Python3 interpreter. Please install Python >= 3.6.")
endif()
set(GTSAM_PYTHON_VERSION "${Python3_VERSION_MAJOR}.${Python3_VERSION_MINOR}"
CACHE
STRING
"The version of Python to build the wrappers against."
FORCE)
endif()
if(GTSAM_UNSTABLE_BUILD_PYTHON)
if (NOT GTSAM_BUILD_UNSTABLE)
message(WARNING "GTSAM_UNSTABLE_BUILD_PYTHON requires the unstable module to be enabled.")
set(GTSAM_UNSTABLE_BUILD_PYTHON OFF)
endif()
endif()
set(GTSAM_PY_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/python")
endif()
# Flags for choosing default packaging tools
set(CPACK_SOURCE_GENERATOR "TGZ" CACHE STRING "CPack Default Source Generator")
set(CPACK_GENERATOR "TGZ" CACHE STRING "CPack Default Binary Generator")
if (CMAKE_GENERATOR STREQUAL "Ninja" AND
((CMAKE_CXX_COMPILER_ID STREQUAL "GNU" AND NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 4.9) OR
(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" AND NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 3.5)))
# Force colored warnings in Ninja's output, if the compiler has -fdiagnostics-color support.
# Rationale in https://github.com/ninja-build/ninja/issues/814
add_compile_options(-fdiagnostics-color=always)
endif()
###############################################################################
# Find boost
# To change the path for boost, you will need to set:
# BOOST_ROOT: path to install prefix for boost
# Boost_NO_SYSTEM_PATHS: set to true to keep the find script from ignoring BOOST_ROOT
if(MSVC)
# By default, boost only builds static libraries on windows
set(Boost_USE_STATIC_LIBS ON) # only find static libs
# If we ever reset above on windows and, ...
# If we use Boost shared libs, disable auto linking.
# Some libraries, at least Boost Program Options, rely on this to export DLL symbols.
if(NOT Boost_USE_STATIC_LIBS)
list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC BOOST_ALL_NO_LIB BOOST_ALL_DYN_LINK)
endif()
# Virtual memory range for PCH exceeded on VS2015
if(MSVC_VERSION LESS 1910) # older than VS2017
list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE -Zm295)
endif()
endif()
# If building DLLs in MSVC, we need to avoid EIGEN_STATIC_ASSERT()
# or explicit instantiation will generate build errors.
# See: https://bitbucket.org/gtborg/gtsam/issues/417/fail-to-build-on-msvc-2017
#
if(MSVC AND BUILD_SHARED_LIBS)
list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC EIGEN_NO_STATIC_ASSERT)
endif()
# Store these in variables so they are automatically replicated in GTSAMConfig.cmake and such.
set(BOOST_FIND_MINIMUM_VERSION 1.58)
set(BOOST_FIND_MINIMUM_COMPONENTS serialization system filesystem thread program_options date_time timer chrono regex)
find_package(Boost ${BOOST_FIND_MINIMUM_VERSION} COMPONENTS ${BOOST_FIND_MINIMUM_COMPONENTS})
# Required components
if(NOT Boost_SERIALIZATION_LIBRARY OR NOT Boost_SYSTEM_LIBRARY OR NOT Boost_FILESYSTEM_LIBRARY OR
NOT Boost_THREAD_LIBRARY OR NOT Boost_DATE_TIME_LIBRARY)
message(FATAL_ERROR "Missing required Boost components >= v1.58, please install/upgrade Boost or configure your search paths.")
endif()
option(GTSAM_DISABLE_NEW_TIMERS "Disables using Boost.chrono for timing" OFF)
# Allow for not using the timer libraries on boost < 1.48 (GTSAM timing code falls back to old timer library)
set(GTSAM_BOOST_LIBRARIES
Boost::serialization
Boost::system
Boost::filesystem
Boost::thread
Boost::date_time
Boost::regex
)
if (GTSAM_DISABLE_NEW_TIMERS)
message("WARNING: GTSAM timing instrumentation manually disabled")
list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC DGTSAM_DISABLE_NEW_TIMERS)
else()
if(Boost_TIMER_LIBRARY)
list(APPEND GTSAM_BOOST_LIBRARIES Boost::timer Boost::chrono)
else()
list(APPEND GTSAM_BOOST_LIBRARIES rt) # When using the header-only boost timer library, need -lrt
message("WARNING: GTSAM timing instrumentation will use the older, less accurate, Boost timer library because boost older than 1.48 was found.")
endif()
endif()
###############################################################################
# Find TBB
find_package(TBB 4.4 COMPONENTS tbb tbbmalloc)
# Set up variables if we're using TBB
if(TBB_FOUND AND GTSAM_WITH_TBB)
set(GTSAM_USE_TBB 1) # This will go into config.h
if ((${TBB_VERSION_MAJOR} GREATER 2020) OR (${TBB_VERSION_MAJOR} EQUAL 2020))
set(TBB_GREATER_EQUAL_2020 1)
else()
set(TBB_GREATER_EQUAL_2020 0)
endif()
# all definitions and link requisites will go via imported targets:
# tbb & tbbmalloc
list(APPEND GTSAM_ADDITIONAL_LIBRARIES tbb tbbmalloc)
else()
set(GTSAM_USE_TBB 0) # This will go into config.h
endif()
###############################################################################
# Prohibit Timing build mode in combination with TBB
if(GTSAM_USE_TBB AND (CMAKE_BUILD_TYPE STREQUAL "Timing"))
message(FATAL_ERROR "Timing build mode cannot be used together with TBB. Use a sampling profiler such as Instruments or Intel VTune Amplifier instead.")
endif()
###############################################################################
# Find Google perftools
find_package(GooglePerfTools)
###############################################################################
# Support ccache, if installed
if(NOT MSVC AND NOT XCODE_VERSION)
find_program(CCACHE_FOUND ccache)
if(CCACHE_FOUND)
if(GTSAM_BUILD_WITH_CCACHE)
set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE ccache)
set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK ccache)
else()
set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "")
set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK "")
endif()
endif(CCACHE_FOUND)
endif()
###############################################################################
# Find MKL
find_package(MKL)
if(MKL_FOUND AND GTSAM_WITH_EIGEN_MKL)
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
list(APPEND GTSAM_ADDITIONAL_LIBRARIES ${MKL_LIBRARIES})
# --no-as-needed is required with gcc according to the MKL link advisor
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--no-as-needed")
endif()
else()
set(GTSAM_USE_EIGEN_MKL 0)
set(EIGEN_USE_MKL_ALL 0)
endif()
###############################################################################
# Find OpenMP (if we're also using MKL)
find_package(OpenMP) # do this here to generate correct message if disabled
if(GTSAM_WITH_EIGEN_MKL AND GTSAM_WITH_EIGEN_MKL_OPENMP AND GTSAM_USE_EIGEN_MKL)
if(OPENMP_FOUND AND GTSAM_USE_EIGEN_MKL AND GTSAM_WITH_EIGEN_MKL_OPENMP)
set(GTSAM_USE_EIGEN_MKL_OPENMP 1) # This will go into config.h
list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC ${OpenMP_CXX_FLAGS})
endif()
endif()
###############################################################################
# Option for using system Eigen or GTSAM-bundled Eigen
### These patches only affect usage of MKL. If you want to enable MKL, you *must*
### use our patched version of Eigen
### See: http://eigen.tuxfamily.org/bz/show_bug.cgi?id=704 (Householder QR MKL selection)
### http://eigen.tuxfamily.org/bz/show_bug.cgi?id=705 (Fix MKL LLT return code)
option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" OFF)
option(GTSAM_WITH_EIGEN_UNSUPPORTED "Install Eigen's unsupported modules" OFF)
# Switch for using system Eigen or GTSAM-bundled Eigen
if(GTSAM_USE_SYSTEM_EIGEN)
find_package(Eigen3 REQUIRED)
# Use generic Eigen include paths e.g. <Eigen/Core>
set(GTSAM_EIGEN_INCLUDE_FOR_INSTALL "${EIGEN3_INCLUDE_DIR}")
# check if MKL is also enabled - can have one or the other, but not both!
# Note: Eigen >= v3.2.5 includes our patches
if(EIGEN_USE_MKL_ALL AND (EIGEN3_VERSION VERSION_LESS 3.2.5))
message(FATAL_ERROR "MKL requires at least Eigen 3.2.5, and your system appears to have an older version. Disable GTSAM_USE_SYSTEM_EIGEN to use GTSAM's copy of Eigen, or disable GTSAM_WITH_EIGEN_MKL")
endif()
# Check for Eigen version which doesn't work with MKL
# See http://eigen.tuxfamily.org/bz/show_bug.cgi?id=1527 for details.
if(EIGEN_USE_MKL_ALL AND (EIGEN3_VERSION VERSION_EQUAL 3.3.4))
message(FATAL_ERROR "MKL does not work with Eigen 3.3.4 because of a bug in Eigen. See http://eigen.tuxfamily.org/bz/show_bug.cgi?id=1527. Disable GTSAM_USE_SYSTEM_EIGEN to use GTSAM's copy of Eigen, disable GTSAM_WITH_EIGEN_MKL, or upgrade/patch your installation of Eigen.")
endif()
# The actual include directory (for BUILD cmake target interface):
set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${EIGEN3_INCLUDE_DIR}")
else()
# Use bundled Eigen include path.
# Clear any variables set by FindEigen3
if(EIGEN3_INCLUDE_DIR)
set(EIGEN3_INCLUDE_DIR NOTFOUND CACHE STRING "" FORCE)
endif()
# set full path to be used by external projects
# this will be added to GTSAM_INCLUDE_DIR by gtsam_extra.cmake.in
set(GTSAM_EIGEN_INCLUDE_FOR_INSTALL "include/gtsam/3rdparty/Eigen/")
# The actual include directory (for BUILD cmake target interface):
set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${CMAKE_SOURCE_DIR}/gtsam/3rdparty/Eigen/")
endif()
# Detect Eigen version:
set(EIGEN_VER_H "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}/Eigen/src/Core/util/Macros.h")
if (EXISTS ${EIGEN_VER_H})
file(READ "${EIGEN_VER_H}" STR_EIGEN_VERSION)
# Extract the Eigen version from the Macros.h file, lines "#define EIGEN_WORLD_VERSION XX", etc...
string(REGEX MATCH "EIGEN_WORLD_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_WORLD "${STR_EIGEN_VERSION}")
string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_WORLD "${GTSAM_EIGEN_VERSION_WORLD}")
string(REGEX MATCH "EIGEN_MAJOR_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_MAJOR "${STR_EIGEN_VERSION}")
string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_MAJOR "${GTSAM_EIGEN_VERSION_MAJOR}")
string(REGEX MATCH "EIGEN_MINOR_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_MINOR "${STR_EIGEN_VERSION}")
string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_MINOR "${GTSAM_EIGEN_VERSION_MINOR}")
set(GTSAM_EIGEN_VERSION "${GTSAM_EIGEN_VERSION_WORLD}.${GTSAM_EIGEN_VERSION_MAJOR}.${GTSAM_EIGEN_VERSION_MINOR}")
message(STATUS "Found Eigen version: ${GTSAM_EIGEN_VERSION}")
else()
message(WARNING "Cannot determine Eigen version, missing file: `${EIGEN_VER_H}`")
endif ()
if (MSVC)
if (BUILD_SHARED_LIBS)
# mute eigen static assert to avoid errors in shared lib
list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC EIGEN_NO_STATIC_ASSERT)
endif()
list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE "/wd4244") # Disable loss of precision which is thrown all over our Eigen
endif()
if (APPLE AND BUILD_SHARED_LIBS)
# Set the default install directory on macOS
set(CMAKE_INSTALL_NAME_DIR "${CMAKE_INSTALL_PREFIX}/lib")
endif()
###############################################################################
# Global compile options
# Build list of possible allocators
set(possible_allocators "")
if(GTSAM_USE_TBB)
list(APPEND possible_allocators TBB)
set(preferred_allocator TBB)
else()
list(APPEND possible_allocators BoostPool STL)
set(preferred_allocator STL)
endif()
if(GOOGLE_PERFTOOLS_FOUND)
list(APPEND possible_allocators tcmalloc)
endif()
# Check if current allocator choice is valid and set cache option
list(FIND possible_allocators "${GTSAM_DEFAULT_ALLOCATOR}" allocator_valid)
if(allocator_valid EQUAL -1)
set(GTSAM_DEFAULT_ALLOCATOR ${preferred_allocator} CACHE STRING "Default allocator" FORCE)
else()
set(GTSAM_DEFAULT_ALLOCATOR ${preferred_allocator} CACHE STRING "Default allocator")
endif()
set_property(CACHE GTSAM_DEFAULT_ALLOCATOR PROPERTY STRINGS ${possible_allocators})
mark_as_advanced(GTSAM_DEFAULT_ALLOCATOR)
# Define compile flags depending on allocator
if("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "BoostPool")
set(GTSAM_ALLOCATOR_BOOSTPOOL 1)
elseif("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "STL")
set(GTSAM_ALLOCATOR_STL 1)
elseif("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "TBB")
set(GTSAM_ALLOCATOR_TBB 1)
elseif("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "tcmalloc")
set(GTSAM_ALLOCATOR_STL 1) # tcmalloc replaces malloc, so to use it we use the STL allocator
list(APPEND GTSAM_ADDITIONAL_LIBRARIES "tcmalloc")
endif()
if(MSVC)
list_append_cache(GTSAM_COMPILE_DEFINITIONS_PRIVATE _CRT_SECURE_NO_WARNINGS _SCL_SECURE_NO_WARNINGS)
list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE /wd4251 /wd4275 /wd4251 /wd4661 /wd4344 /wd4503) # Disable non-DLL-exported base class and other warnings
list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE /bigobj) # Allow large object files for template-based code
endif()
# GCC 4.8+ complains about local typedefs which we use for shared_ptr etc.
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
if (NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 4.8)
list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE -Wno-unused-local-typedefs)
endif()
endif()
# As of XCode 7, clang also complains about this
if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
if (NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 7.0)
list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE -Wno-unused-local-typedefs)
endif()
endif()
if(GTSAM_ENABLE_CONSISTENCY_CHECKS)
# This should be made PUBLIC if GTSAM_EXTRA_CONSISTENCY_CHECKS is someday used in a public .h
list_append_cache(GTSAM_COMPILE_DEFINITIONS_PRIVATE GTSAM_EXTRA_CONSISTENCY_CHECKS)
endif()
include(cmake/HandleGlobalBuildFlags.cmake) # Build flags
###############################################################################
# Add components
@ -477,7 +92,6 @@ endif()
GtsamMakeConfigFile(GTSAM "${CMAKE_CURRENT_SOURCE_DIR}/gtsam_extra.cmake.in")
export(TARGETS ${GTSAM_EXPORTED_TARGETS} FILE GTSAM-exports.cmake)
# Check for doxygen availability - optional dependency
find_package(Doxygen)
@ -489,146 +103,11 @@ endif()
# CMake Tools
add_subdirectory(cmake)
###############################################################################
# Set up CPack
set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "GTSAM")
set(CPACK_PACKAGE_VENDOR "Frank Dellaert, Georgia Institute of Technology")
set(CPACK_PACKAGE_CONTACT "Frank Dellaert, dellaert@cc.gatech.edu")
set(CPACK_PACKAGE_DESCRIPTION_FILE "${CMAKE_CURRENT_SOURCE_DIR}/README.md")
set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE")
set(CPACK_PACKAGE_VERSION_MAJOR ${GTSAM_VERSION_MAJOR})
set(CPACK_PACKAGE_VERSION_MINOR ${GTSAM_VERSION_MINOR})
set(CPACK_PACKAGE_VERSION_PATCH ${GTSAM_VERSION_PATCH})
set(CPACK_PACKAGE_INSTALL_DIRECTORY "CMake ${CMake_VERSION_MAJOR}.${CMake_VERSION_MINOR}")
#set(CPACK_INSTALLED_DIRECTORIES "doc;.") # Include doc directory
#set(CPACK_INSTALLED_DIRECTORIES ".") # FIXME: throws error
set(CPACK_SOURCE_IGNORE_FILES "/build*;/\\\\.;/makestats.sh$")
set(CPACK_SOURCE_IGNORE_FILES "${CPACK_SOURCE_IGNORE_FILES}" "/gtsam_unstable/")
set(CPACK_SOURCE_IGNORE_FILES "${CPACK_SOURCE_IGNORE_FILES}" "/package_scripts/")
set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}")
#set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-aspn${GTSAM_VERSION_PATCH}") # Used for creating ASPN tarballs
# Deb-package specific cpack
set(CPACK_DEBIAN_PACKAGE_NAME "libgtsam-dev")
set(CPACK_DEBIAN_PACKAGE_DEPENDS "libboost-dev (>= 1.58)") #Example: "libc6 (>= 2.3.1-6), libgcc1 (>= 1:3.4.2-12)")
###############################################################################
# Print configuration variables
message(STATUS "===============================================================")
message(STATUS "================ Configuration Options ======================")
print_config("CMAKE_CXX_COMPILER_ID type" "${CMAKE_CXX_COMPILER_ID}")
print_config("CMAKE_CXX_COMPILER_VERSION" "${CMAKE_CXX_COMPILER_VERSION}")
print_config("CMake version" "${CMAKE_VERSION}")
print_config("CMake generator" "${CMAKE_GENERATOR}")
print_config("CMake build tool" "${CMAKE_BUILD_TOOL}")
message(STATUS "Build flags ")
print_enabled_config(${GTSAM_BUILD_TESTS} "Build Tests")
print_enabled_config(${GTSAM_BUILD_EXAMPLES_ALWAYS} "Build examples with 'make all'")
print_enabled_config(${GTSAM_BUILD_TIMING_ALWAYS} "Build timing scripts with 'make all'")
if (DOXYGEN_FOUND)
print_enabled_config(${GTSAM_BUILD_DOCS} "Build Docs")
endif()
print_enabled_config(${BUILD_SHARED_LIBS} "Build shared GTSAM libraries")
print_enabled_config(${GTSAM_BUILD_TYPE_POSTFIXES} "Put build type in library name")
if(GTSAM_UNSTABLE_AVAILABLE)
print_enabled_config(${GTSAM_BUILD_UNSTABLE} "Build libgtsam_unstable ")
print_enabled_config(${GTSAM_UNSTABLE_BUILD_PYTHON} "Build GTSAM unstable Python ")
print_enabled_config(${GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX} "Build MATLAB Toolbox for unstable")
endif()
if(NOT MSVC AND NOT XCODE_VERSION)
print_enabled_config(${GTSAM_BUILD_WITH_MARCH_NATIVE} "Build for native architecture ")
print_config("Build type" "${CMAKE_BUILD_TYPE}")
print_config("C compilation flags" "${CMAKE_C_FLAGS} ${CMAKE_C_FLAGS_${CMAKE_BUILD_TYPE_UPPER}}")
print_config("C++ compilation flags" "${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_${CMAKE_BUILD_TYPE_UPPER}}")
endif()
print_build_options_for_target(gtsam)
print_config("Use System Eigen" "${GTSAM_USE_SYSTEM_EIGEN} (Using version: ${GTSAM_EIGEN_VERSION})")
if(GTSAM_USE_TBB)
print_config("Use Intel TBB" "Yes (Version: ${TBB_VERSION})")
elseif(TBB_FOUND)
print_config("Use Intel TBB" "TBB (Version: ${TBB_VERSION}) found but GTSAM_WITH_TBB is disabled")
else()
print_config("Use Intel TBB" "TBB not found")
endif()
if(GTSAM_USE_EIGEN_MKL)
print_config("Eigen will use MKL" "Yes")
elseif(MKL_FOUND)
print_config("Eigen will use MKL" "MKL found but GTSAM_WITH_EIGEN_MKL is disabled")
else()
print_config("Eigen will use MKL" "MKL not found")
endif()
if(GTSAM_USE_EIGEN_MKL_OPENMP)
print_config("Eigen will use MKL and OpenMP" "Yes")
elseif(OPENMP_FOUND AND NOT GTSAM_WITH_EIGEN_MKL)
print_config("Eigen will use MKL and OpenMP" "OpenMP found but GTSAM_WITH_EIGEN_MKL is disabled")
elseif(OPENMP_FOUND AND NOT MKL_FOUND)
print_config("Eigen will use MKL and OpenMP" "OpenMP found but MKL not found")
elseif(OPENMP_FOUND)
print_config("Eigen will use MKL and OpenMP" "OpenMP found but GTSAM_WITH_EIGEN_MKL_OPENMP is disabled")
else()
print_config("Eigen will use MKL and OpenMP" "OpenMP not found")
endif()
print_config("Default allocator" "${GTSAM_DEFAULT_ALLOCATOR}")
if(GTSAM_THROW_CHEIRALITY_EXCEPTION)
print_config("Cheirality exceptions enabled" "YES")
else()
print_config("Cheirality exceptions enabled" "NO")
endif()
if(NOT MSVC AND NOT XCODE_VERSION)
if(CCACHE_FOUND AND GTSAM_BUILD_WITH_CCACHE)
print_config("Build with ccache" "Yes")
elseif(CCACHE_FOUND)
print_config("Build with ccache" "ccache found but GTSAM_BUILD_WITH_CCACHE is disabled")
else()
print_config("Build with ccache" "No")
endif()
endif()
message(STATUS "Packaging flags")
print_config("CPack Source Generator" "${CPACK_SOURCE_GENERATOR}")
print_config("CPack Generator" "${CPACK_GENERATOR}")
message(STATUS "GTSAM flags ")
print_enabled_config(${GTSAM_USE_QUATERNIONS} "Quaternions as default Rot3 ")
print_enabled_config(${GTSAM_ENABLE_CONSISTENCY_CHECKS} "Runtime consistency checking ")
print_enabled_config(${GTSAM_ROT3_EXPMAP} "Rot3 retract is full ExpMap ")
print_enabled_config(${GTSAM_POSE3_EXPMAP} "Pose3 retract is full ExpMap ")
print_enabled_config(${GTSAM_ALLOW_DEPRECATED_SINCE_V41} "Allow features deprecated in GTSAM 4.1")
print_enabled_config(${GTSAM_SUPPORT_NESTED_DISSECTION} "Metis-based Nested Dissection ")
print_enabled_config(${GTSAM_TANGENT_PREINTEGRATION} "Use tangent-space preintegration")
message(STATUS "MATLAB toolbox flags")
print_enabled_config(${GTSAM_INSTALL_MATLAB_TOOLBOX} "Install MATLAB toolbox ")
if (${GTSAM_INSTALL_MATLAB_TOOLBOX})
print_config("MATLAB root" "${MATLAB_ROOT}")
print_config("MEX binary" "${MEX_COMMAND}")
endif()
message(STATUS "Python toolbox flags ")
print_enabled_config(${GTSAM_BUILD_PYTHON} "Build Python module with pybind ")
if(GTSAM_BUILD_PYTHON)
print_config("Python version" ${GTSAM_PYTHON_VERSION})
endif()
message(STATUS "===============================================================")
include(cmake/HandlePrintConfiguration.cmake)
# Print warnings at the end
if(GTSAM_WITH_TBB AND NOT TBB_FOUND)
message(WARNING "TBB 4.4 or newer was not found - this is ok, but note that GTSAM parallelization will be disabled. Set GTSAM_WITH_TBB to 'Off' to avoid this warning.")
endif()
if(GTSAM_WITH_EIGEN_MKL AND NOT MKL_FOUND)
message(WARNING "MKL was not found - this is ok, but note that MKL will be disabled. Set GTSAM_WITH_EIGEN_MKL to 'Off' to disable this warning. See INSTALL.md for notes on performance.")
endif()
if(GTSAM_WITH_EIGEN_MKL_OPENMP AND NOT OPENMP_FOUND AND MKL_FOUND)
message(WARNING "Your compiler does not support OpenMP. Set GTSAM_WITH_EIGEN_MKL_OPENMP to 'Off' to avoid this warning. See INSTALL.md for notes on performance.")
endif()
include(cmake/HandleFinalChecks.cmake)
# Include CPack *after* all flags
include(CPack)

29
cmake/GtsamBuildTypes.cmake
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@ -1,3 +1,5 @@
include(CheckCXXCompilerFlag) # for check_cxx_compiler_flag()
# Set cmake policy to recognize the AppleClang compiler
# independently from the Clang compiler.
if(POLICY CMP0025)
@ -105,11 +107,14 @@ if(MSVC)
else()
# Common to all configurations, next for each configuration:
if (
((CMAKE_CXX_COMPILER_ID MATCHES "Clang") AND (NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 12.0.0)) OR
(CMAKE_CXX_COMPILER_ID MATCHES "GNU")
)
set(flag_override_ -Wsuggest-override) # -Werror=suggest-override: Add again someday
if (NOT MSVC)
check_cxx_compiler_flag(-Wsuggest-override COMPILER_HAS_WSUGGEST_OVERRIDE)
check_cxx_compiler_flag(-Wmissing COMPILER_HAS_WMISSING_OVERRIDE)
if (COMPILER_HAS_WSUGGEST_OVERRIDE)
set(flag_override_ -Wsuggest-override) # -Werror=suggest-override: Add again someday
elseif(COMPILER_HAS_WMISSING_OVERRIDE)
set(flag_override_ -Wmissing-override) # -Werror=missing-override: Add again someday
endif()
endif()
set(GTSAM_COMPILE_OPTIONS_PRIVATE_COMMON
@ -263,3 +268,17 @@ function(gtsam_apply_build_flags target_name_)
target_compile_options(${target_name_} PRIVATE ${GTSAM_COMPILE_OPTIONS_PRIVATE})
endfunction(gtsam_apply_build_flags)
if(NOT MSVC AND NOT XCODE_VERSION)
# Set the build type to upper case for downstream use
string(TOUPPER "${CMAKE_BUILD_TYPE}" CMAKE_BUILD_TYPE_UPPER)
# Set the GTSAM_BUILD_TAG variable.
# If build type is Release, set to blank (""), else set to the build type.
if(${CMAKE_BUILD_TYPE_UPPER} STREQUAL "RELEASE")
set(GTSAM_BUILD_TAG "") # Don't create release mode tag on installed directory
else()
set(GTSAM_BUILD_TAG "${CMAKE_BUILD_TYPE}")
endif()
endif()

34
cmake/HandleAllocators.cmake Normal file
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@ -0,0 +1,34 @@
# Build list of possible allocators
set(possible_allocators "")
if(GTSAM_USE_TBB)
list(APPEND possible_allocators TBB)
set(preferred_allocator TBB)
else()
list(APPEND possible_allocators BoostPool STL)
set(preferred_allocator STL)
endif()
if(GOOGLE_PERFTOOLS_FOUND)
list(APPEND possible_allocators tcmalloc)
endif()
# Check if current allocator choice is valid and set cache option
list(FIND possible_allocators "${GTSAM_DEFAULT_ALLOCATOR}" allocator_valid)
if(allocator_valid EQUAL -1)
set(GTSAM_DEFAULT_ALLOCATOR ${preferred_allocator} CACHE STRING "Default allocator" FORCE)
else()
set(GTSAM_DEFAULT_ALLOCATOR ${preferred_allocator} CACHE STRING "Default allocator")
endif()
set_property(CACHE GTSAM_DEFAULT_ALLOCATOR PROPERTY STRINGS ${possible_allocators})
mark_as_advanced(GTSAM_DEFAULT_ALLOCATOR)
# Define compile flags depending on allocator
if("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "BoostPool")
set(GTSAM_ALLOCATOR_BOOSTPOOL 1)
elseif("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "STL")
set(GTSAM_ALLOCATOR_STL 1)
elseif("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "TBB")
set(GTSAM_ALLOCATOR_TBB 1)
elseif("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "tcmalloc")
set(GTSAM_ALLOCATOR_STL 1) # tcmalloc replaces malloc, so to use it we use the STL allocator
list(APPEND GTSAM_ADDITIONAL_LIBRARIES "tcmalloc")
endif()

56
cmake/HandleBoost.cmake Normal file
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@ -0,0 +1,56 @@
###############################################################################
# Find boost
# To change the path for boost, you will need to set:
# BOOST_ROOT: path to install prefix for boost
# Boost_NO_SYSTEM_PATHS: set to true to keep the find script from ignoring BOOST_ROOT
if(MSVC)
# By default, boost only builds static libraries on windows
set(Boost_USE_STATIC_LIBS ON) # only find static libs
# If we ever reset above on windows and, ...
# If we use Boost shared libs, disable auto linking.
# Some libraries, at least Boost Program Options, rely on this to export DLL symbols.
if(NOT Boost_USE_STATIC_LIBS)
list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC BOOST_ALL_NO_LIB BOOST_ALL_DYN_LINK)
endif()
# Virtual memory range for PCH exceeded on VS2015
if(MSVC_VERSION LESS 1910) # older than VS2017
list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE -Zm295)
endif()
endif()
# Store these in variables so they are automatically replicated in GTSAMConfig.cmake and such.
set(BOOST_FIND_MINIMUM_VERSION 1.58)
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
if(NOT Boost_SERIALIZATION_LIBRARY OR NOT Boost_SYSTEM_LIBRARY OR NOT Boost_FILESYSTEM_LIBRARY OR
NOT Boost_THREAD_LIBRARY OR NOT Boost_DATE_TIME_LIBRARY)
message(FATAL_ERROR "Missing required Boost components >= v1.58, please install/upgrade Boost or configure your search paths.")
endif()
option(GTSAM_DISABLE_NEW_TIMERS "Disables using Boost.chrono for timing" OFF)
# Allow for not using the timer libraries on boost < 1.48 (GTSAM timing code falls back to old timer library)
set(GTSAM_BOOST_LIBRARIES
Boost::serialization
Boost::system
Boost::filesystem
Boost::thread
Boost::date_time
Boost::regex
)
if (GTSAM_DISABLE_NEW_TIMERS)
message("WARNING: GTSAM timing instrumentation manually disabled")
list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC DGTSAM_DISABLE_NEW_TIMERS)
else()
if(Boost_TIMER_LIBRARY)
list(APPEND GTSAM_BOOST_LIBRARIES Boost::timer Boost::chrono)
else()
list(APPEND GTSAM_BOOST_LIBRARIES rt) # When using the header-only boost timer library, need -lrt
message("WARNING: GTSAM timing instrumentation will use the older, less accurate, Boost timer library because boost older than 1.48 was found.")
endif()
endif()

14
cmake/HandleCCache.cmake Normal file
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@ -0,0 +1,14 @@
###############################################################################
# Support ccache, if installed
if(NOT MSVC AND NOT XCODE_VERSION)
find_program(CCACHE_FOUND ccache)
if(CCACHE_FOUND)
if(GTSAM_BUILD_WITH_CCACHE)
set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE ccache)
set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK ccache)
else()
set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "")
set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK "")
endif()
endif(CCACHE_FOUND)
endif()

28
cmake/HandleCPack.cmake Normal file
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@ -0,0 +1,28 @@
#JLBC: is all this actually used by someone? could it be removed?
# Flags for choosing default packaging tools
set(CPACK_SOURCE_GENERATOR "TGZ" CACHE STRING "CPack Default Source Generator")
set(CPACK_GENERATOR "TGZ" CACHE STRING "CPack Default Binary Generator")
###############################################################################
# Set up CPack
set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "GTSAM")
set(CPACK_PACKAGE_VENDOR "Frank Dellaert, Georgia Institute of Technology")
set(CPACK_PACKAGE_CONTACT "Frank Dellaert, dellaert@cc.gatech.edu")
set(CPACK_PACKAGE_DESCRIPTION_FILE "${CMAKE_CURRENT_SOURCE_DIR}/README.md")
set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE")
set(CPACK_PACKAGE_VERSION_MAJOR ${GTSAM_VERSION_MAJOR})
set(CPACK_PACKAGE_VERSION_MINOR ${GTSAM_VERSION_MINOR})
set(CPACK_PACKAGE_VERSION_PATCH ${GTSAM_VERSION_PATCH})
set(CPACK_PACKAGE_INSTALL_DIRECTORY "CMake ${CMake_VERSION_MAJOR}.${CMake_VERSION_MINOR}")
#set(CPACK_INSTALLED_DIRECTORIES "doc;.") # Include doc directory
#set(CPACK_INSTALLED_DIRECTORIES ".") # FIXME: throws error
set(CPACK_SOURCE_IGNORE_FILES "/build*;/\\\\.;/makestats.sh$")
set(CPACK_SOURCE_IGNORE_FILES "${CPACK_SOURCE_IGNORE_FILES}" "/gtsam_unstable/")
set(CPACK_SOURCE_IGNORE_FILES "${CPACK_SOURCE_IGNORE_FILES}" "/package_scripts/")
set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}")
#set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-aspn${GTSAM_VERSION_PATCH}") # Used for creating ASPN tarballs
# Deb-package specific cpack
set(CPACK_DEBIAN_PACKAGE_NAME "libgtsam-dev")
set(CPACK_DEBIAN_PACKAGE_DEPENDS "libboost-dev (>= 1.58)") #Example: "libc6 (>= 2.3.1-6), libgcc1 (>= 1:3.4.2-12)")

77
cmake/HandleEigen.cmake Normal file
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@ -0,0 +1,77 @@
###############################################################################
# Option for using system Eigen or GTSAM-bundled Eigen
option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" OFF)
if(NOT GTSAM_USE_SYSTEM_EIGEN)
# This option only makes sense if using the embedded copy of Eigen, it is
# used to decide whether to *install* the "unsupported" module:
option(GTSAM_WITH_EIGEN_UNSUPPORTED "Install Eigen's unsupported modules" OFF)
endif()
# Switch for using system Eigen or GTSAM-bundled Eigen
if(GTSAM_USE_SYSTEM_EIGEN)
find_package(Eigen3 REQUIRED)
# Use generic Eigen include paths e.g. <Eigen/Core>
set(GTSAM_EIGEN_INCLUDE_FOR_INSTALL "${EIGEN3_INCLUDE_DIR}")
# check if MKL is also enabled - can have one or the other, but not both!
# Note: Eigen >= v3.2.5 includes our patches
if(EIGEN_USE_MKL_ALL AND (EIGEN3_VERSION VERSION_LESS 3.2.5))
message(FATAL_ERROR "MKL requires at least Eigen 3.2.5, and your system appears to have an older version. Disable GTSAM_USE_SYSTEM_EIGEN to use GTSAM's copy of Eigen, or disable GTSAM_WITH_EIGEN_MKL")
endif()
# Check for Eigen version which doesn't work with MKL
# See http://eigen.tuxfamily.org/bz/show_bug.cgi?id=1527 for details.
if(EIGEN_USE_MKL_ALL AND (EIGEN3_VERSION VERSION_EQUAL 3.3.4))
message(FATAL_ERROR "MKL does not work with Eigen 3.3.4 because of a bug in Eigen. See http://eigen.tuxfamily.org/bz/show_bug.cgi?id=1527. Disable GTSAM_USE_SYSTEM_EIGEN to use GTSAM's copy of Eigen, disable GTSAM_WITH_EIGEN_MKL, or upgrade/patch your installation of Eigen.")
endif()
# The actual include directory (for BUILD cmake target interface):
set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${EIGEN3_INCLUDE_DIR}")
else()
# Use bundled Eigen include path.
# Clear any variables set by FindEigen3
if(EIGEN3_INCLUDE_DIR)
set(EIGEN3_INCLUDE_DIR NOTFOUND CACHE STRING "" FORCE)
endif()
# set full path to be used by external projects
# this will be added to GTSAM_INCLUDE_DIR by gtsam_extra.cmake.in
set(GTSAM_EIGEN_INCLUDE_FOR_INSTALL "include/gtsam/3rdparty/Eigen/")
# The actual include directory (for BUILD cmake target interface):
set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${CMAKE_SOURCE_DIR}/gtsam/3rdparty/Eigen/")
endif()
# Detect Eigen version:
set(EIGEN_VER_H "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}/Eigen/src/Core/util/Macros.h")
if (EXISTS ${EIGEN_VER_H})
file(READ "${EIGEN_VER_H}" STR_EIGEN_VERSION)
# Extract the Eigen version from the Macros.h file, lines "#define EIGEN_WORLD_VERSION XX", etc...
string(REGEX MATCH "EIGEN_WORLD_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_WORLD "${STR_EIGEN_VERSION}")
string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_WORLD "${GTSAM_EIGEN_VERSION_WORLD}")
string(REGEX MATCH "EIGEN_MAJOR_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_MAJOR "${STR_EIGEN_VERSION}")
string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_MAJOR "${GTSAM_EIGEN_VERSION_MAJOR}")
string(REGEX MATCH "EIGEN_MINOR_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_MINOR "${STR_EIGEN_VERSION}")
string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_MINOR "${GTSAM_EIGEN_VERSION_MINOR}")
set(GTSAM_EIGEN_VERSION "${GTSAM_EIGEN_VERSION_WORLD}.${GTSAM_EIGEN_VERSION_MAJOR}.${GTSAM_EIGEN_VERSION_MINOR}")
message(STATUS "Found Eigen version: ${GTSAM_EIGEN_VERSION}")
else()
message(WARNING "Cannot determine Eigen version, missing file: `${EIGEN_VER_H}`")
endif ()
if (MSVC)
if (BUILD_SHARED_LIBS)
# mute eigen static assert to avoid errors in shared lib
list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC EIGEN_NO_STATIC_ASSERT)
endif()
list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE "/wd4244") # Disable loss of precision which is thrown all over our Eigen
endif()

10
cmake/HandleFinalChecks.cmake Normal file
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@ -0,0 +1,10 @@
# Print warnings at the end
if(GTSAM_WITH_TBB AND NOT TBB_FOUND)
message(WARNING "TBB 4.4 or newer was not found - this is ok, but note that GTSAM parallelization will be disabled. Set GTSAM_WITH_TBB to 'Off' to avoid this warning.")
endif()
if(GTSAM_WITH_EIGEN_MKL AND NOT MKL_FOUND)
message(WARNING "MKL was not found - this is ok, but note that MKL will be disabled. Set GTSAM_WITH_EIGEN_MKL to 'Off' to disable this warning. See INSTALL.md for notes on performance.")
endif()
if(GTSAM_WITH_EIGEN_MKL_OPENMP AND NOT OPENMP_FOUND AND MKL_FOUND)
message(WARNING "Your compiler does not support OpenMP. Set GTSAM_WITH_EIGEN_MKL_OPENMP to 'Off' to avoid this warning. See INSTALL.md for notes on performance.")
endif()

46
cmake/HandleGeneralOptions.cmake Normal file
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@ -0,0 +1,46 @@
###############################################################################
# Set up options
# See whether gtsam_unstable is available (it will be present only if we're using a git checkout)
if(EXISTS "${PROJECT_SOURCE_DIR}/gtsam_unstable" AND IS_DIRECTORY "${PROJECT_SOURCE_DIR}/gtsam_unstable")
set(GTSAM_UNSTABLE_AVAILABLE 1)
else()
set(GTSAM_UNSTABLE_AVAILABLE 0)
endif()
# Configurable Options
if(GTSAM_UNSTABLE_AVAILABLE)
option(GTSAM_BUILD_UNSTABLE "Enable/Disable libgtsam_unstable" ON)
option(GTSAM_UNSTABLE_BUILD_PYTHON "Enable/Disable Python wrapper for libgtsam_unstable" ON)
option(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX "Enable/Disable MATLAB wrapper for libgtsam_unstable" OFF)
endif()
option(BUILD_SHARED_LIBS "Build shared gtsam library, instead of static" ON)
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." ON)
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." ON)
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" OFF)
option(GTSAM_WITH_EIGEN_MKL_OPENMP "Eigen, when using Intel MKL, will also use OpenMP for multithreading if available" OFF)
option(GTSAM_THROW_CHEIRALITY_EXCEPTION "Throw exception when a triangulated point is behind a camera" ON)
option(GTSAM_BUILD_PYTHON "Enable/Disable building & installation of Python module with pybind11" OFF)
option(GTSAM_ALLOW_DEPRECATED_SINCE_V41 "Allow use of methods/functions deprecated in GTSAM 4.1" ON)
option(GTSAM_SUPPORT_NESTED_DISSECTION "Support Metis-based nested dissection" ON)
option(GTSAM_TANGENT_PREINTEGRATION "Use new ImuFactor with integration on tangent space" ON)
if(NOT MSVC AND NOT XCODE_VERSION)
option(GTSAM_BUILD_WITH_CCACHE "Use ccache compiler cache" ON)
endif()
# Options relating to MATLAB wrapper
# TODO: Check for matlab mex binary before handling building of binaries
option(GTSAM_INSTALL_MATLAB_TOOLBOX "Enable/Disable installation of matlab toolbox" OFF)
set(GTSAM_PYTHON_VERSION "Default" CACHE STRING "The version of Python to build the wrappers against.")
# Check / set dependent variables for MATLAB wrapper
if(GTSAM_INSTALL_MATLAB_TOOLBOX AND GTSAM_BUILD_TYPE_POSTFIXES)
set(CURRENT_POSTFIX ${CMAKE_${CMAKE_BUILD_TYPE_UPPER}_POSTFIX})
endif()
if(GTSAM_INSTALL_MATLAB_TOOLBOX AND NOT BUILD_SHARED_LIBS)
message(FATAL_ERROR "GTSAM_INSTALL_MATLAB_TOOLBOX and BUILD_SHARED_LIBS=OFF. The MATLAB wrapper cannot be compiled with a static GTSAM library because mex modules are themselves shared libraries. If you want a self-contained mex module, enable GTSAM_MEX_BUILD_STATIC_MODULE instead of BUILD_SHARED_LIBS=OFF.")
endif()

52
cmake/HandleGlobalBuildFlags.cmake Normal file
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@ -0,0 +1,52 @@
# JLBC: These should ideally be ported to "modern cmake" via target properties.
#
if (CMAKE_GENERATOR STREQUAL "Ninja" AND
((CMAKE_CXX_COMPILER_ID STREQUAL "GNU" AND NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 4.9) OR
(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" AND NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 3.5)))
# Force colored warnings in Ninja's output, if the compiler has -fdiagnostics-color support.
# Rationale in https://github.com/ninja-build/ninja/issues/814
add_compile_options(-fdiagnostics-color=always)
endif()
# If building DLLs in MSVC, we need to avoid EIGEN_STATIC_ASSERT()
# or explicit instantiation will generate build errors.
# See: https://bitbucket.org/gtborg/gtsam/issues/417/fail-to-build-on-msvc-2017
#
if(MSVC AND BUILD_SHARED_LIBS)
list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC EIGEN_NO_STATIC_ASSERT)
endif()
if (APPLE AND BUILD_SHARED_LIBS)
# Set the default install directory on macOS
set(CMAKE_INSTALL_NAME_DIR "${CMAKE_INSTALL_PREFIX}/lib")
endif()
###############################################################################
# Global compile options
if(MSVC)
list_append_cache(GTSAM_COMPILE_DEFINITIONS_PRIVATE _CRT_SECURE_NO_WARNINGS _SCL_SECURE_NO_WARNINGS)
list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE /wd4251 /wd4275 /wd4251 /wd4661 /wd4344 /wd4503) # Disable non-DLL-exported base class and other warnings
list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE /bigobj) # Allow large object files for template-based code
endif()
# GCC 4.8+ complains about local typedefs which we use for shared_ptr etc.
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
if (NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 4.8)
list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE -Wno-unused-local-typedefs)
endif()
endif()
# As of XCode 7, clang also complains about this
if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
if (NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 7.0)
list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE -Wno-unused-local-typedefs)
endif()
endif()
if(GTSAM_ENABLE_CONSISTENCY_CHECKS)
# This should be made PUBLIC if GTSAM_EXTRA_CONSISTENCY_CHECKS is someday used in a public .h
list_append_cache(GTSAM_COMPILE_DEFINITIONS_PRIVATE GTSAM_EXTRA_CONSISTENCY_CHECKS)
endif()

17
cmake/HandleMKL.cmake Normal file
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@ -0,0 +1,17 @@
###############################################################################
# Find MKL
find_package(MKL)
if(MKL_FOUND AND GTSAM_WITH_EIGEN_MKL)
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
list(APPEND GTSAM_ADDITIONAL_LIBRARIES ${MKL_LIBRARIES})
# --no-as-needed is required with gcc according to the MKL link advisor
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--no-as-needed")
endif()
else()
set(GTSAM_USE_EIGEN_MKL 0)
set(EIGEN_USE_MKL_ALL 0)
endif()

11
cmake/HandleOpenMP.cmake Normal file
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@ -0,0 +1,11 @@
###############################################################################
# Find OpenMP (if we're also using MKL)
find_package(OpenMP) # do this here to generate correct message if disabled
if(GTSAM_WITH_EIGEN_MKL AND GTSAM_WITH_EIGEN_MKL_OPENMP AND GTSAM_USE_EIGEN_MKL)
if(OPENMP_FOUND AND GTSAM_USE_EIGEN_MKL AND GTSAM_WITH_EIGEN_MKL_OPENMP)
set(GTSAM_USE_EIGEN_MKL_OPENMP 1) # This will go into config.h
list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC ${OpenMP_CXX_FLAGS})
endif()
endif()

4
cmake/HandlePerfTools.cmake Normal file
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@ -0,0 +1,4 @@
###############################################################################
# Find Google perftools
find_package(GooglePerfTools)

104
cmake/HandlePrintConfiguration.cmake Normal file
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@ -0,0 +1,104 @@
###############################################################################
# Print configuration variables
message(STATUS "===============================================================")
message(STATUS "================ Configuration Options ======================")
print_config("CMAKE_CXX_COMPILER_ID type" "${CMAKE_CXX_COMPILER_ID}")
print_config("CMAKE_CXX_COMPILER_VERSION" "${CMAKE_CXX_COMPILER_VERSION}")
print_config("CMake version" "${CMAKE_VERSION}")
print_config("CMake generator" "${CMAKE_GENERATOR}")
print_config("CMake build tool" "${CMAKE_BUILD_TOOL}")
message(STATUS "Build flags ")
print_enabled_config(${GTSAM_BUILD_TESTS} "Build Tests")
print_enabled_config(${GTSAM_BUILD_EXAMPLES_ALWAYS} "Build examples with 'make all'")
print_enabled_config(${GTSAM_BUILD_TIMING_ALWAYS} "Build timing scripts with 'make all'")
if (DOXYGEN_FOUND)
print_enabled_config(${GTSAM_BUILD_DOCS} "Build Docs")
endif()
print_enabled_config(${BUILD_SHARED_LIBS} "Build shared GTSAM libraries")
print_enabled_config(${GTSAM_BUILD_TYPE_POSTFIXES} "Put build type in library name")
if(GTSAM_UNSTABLE_AVAILABLE)
print_enabled_config(${GTSAM_BUILD_UNSTABLE} "Build libgtsam_unstable ")
print_enabled_config(${GTSAM_UNSTABLE_BUILD_PYTHON} "Build GTSAM unstable Python ")
print_enabled_config(${GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX} "Build MATLAB Toolbox for unstable")
endif()
if(NOT MSVC AND NOT XCODE_VERSION)
print_enabled_config(${GTSAM_BUILD_WITH_MARCH_NATIVE} "Build for native architecture ")
print_config("Build type" "${CMAKE_BUILD_TYPE}")
print_config("C compilation flags" "${CMAKE_C_FLAGS} ${CMAKE_C_FLAGS_${CMAKE_BUILD_TYPE_UPPER}}")
print_config("C++ compilation flags" "${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_${CMAKE_BUILD_TYPE_UPPER}}")
endif()
print_build_options_for_target(gtsam)
print_config("Use System Eigen" "${GTSAM_USE_SYSTEM_EIGEN} (Using version: ${GTSAM_EIGEN_VERSION})")
if(GTSAM_USE_TBB)
print_config("Use Intel TBB" "Yes (Version: ${TBB_VERSION})")
elseif(TBB_FOUND)
print_config("Use Intel TBB" "TBB (Version: ${TBB_VERSION}) found but GTSAM_WITH_TBB is disabled")
else()
print_config("Use Intel TBB" "TBB not found")
endif()
if(GTSAM_USE_EIGEN_MKL)
print_config("Eigen will use MKL" "Yes")
elseif(MKL_FOUND)
print_config("Eigen will use MKL" "MKL found but GTSAM_WITH_EIGEN_MKL is disabled")
else()
print_config("Eigen will use MKL" "MKL not found")
endif()
if(GTSAM_USE_EIGEN_MKL_OPENMP)
print_config("Eigen will use MKL and OpenMP" "Yes")
elseif(OPENMP_FOUND AND NOT GTSAM_WITH_EIGEN_MKL)
print_config("Eigen will use MKL and OpenMP" "OpenMP found but GTSAM_WITH_EIGEN_MKL is disabled")
elseif(OPENMP_FOUND AND NOT MKL_FOUND)
print_config("Eigen will use MKL and OpenMP" "OpenMP found but MKL not found")
elseif(OPENMP_FOUND)
print_config("Eigen will use MKL and OpenMP" "OpenMP found but GTSAM_WITH_EIGEN_MKL_OPENMP is disabled")
else()
print_config("Eigen will use MKL and OpenMP" "OpenMP not found")
endif()
print_config("Default allocator" "${GTSAM_DEFAULT_ALLOCATOR}")
if(GTSAM_THROW_CHEIRALITY_EXCEPTION)
print_config("Cheirality exceptions enabled" "YES")
else()
print_config("Cheirality exceptions enabled" "NO")
endif()
if(NOT MSVC AND NOT XCODE_VERSION)
if(CCACHE_FOUND AND GTSAM_BUILD_WITH_CCACHE)
print_config("Build with ccache" "Yes")
elseif(CCACHE_FOUND)
print_config("Build with ccache" "ccache found but GTSAM_BUILD_WITH_CCACHE is disabled")
else()
print_config("Build with ccache" "No")
endif()
endif()
message(STATUS "Packaging flags")
print_config("CPack Source Generator" "${CPACK_SOURCE_GENERATOR}")
print_config("CPack Generator" "${CPACK_GENERATOR}")
message(STATUS "GTSAM flags ")
print_enabled_config(${GTSAM_USE_QUATERNIONS} "Quaternions as default Rot3 ")
print_enabled_config(${GTSAM_ENABLE_CONSISTENCY_CHECKS} "Runtime consistency checking ")
print_enabled_config(${GTSAM_ROT3_EXPMAP} "Rot3 retract is full ExpMap ")
print_enabled_config(${GTSAM_POSE3_EXPMAP} "Pose3 retract is full ExpMap ")
print_enabled_config(${GTSAM_ALLOW_DEPRECATED_SINCE_V41} "Allow features deprecated in GTSAM 4.1")
print_enabled_config(${GTSAM_SUPPORT_NESTED_DISSECTION} "Metis-based Nested Dissection ")
print_enabled_config(${GTSAM_TANGENT_PREINTEGRATION} "Use tangent-space preintegration")
message(STATUS "MATLAB toolbox flags")
print_enabled_config(${GTSAM_INSTALL_MATLAB_TOOLBOX} "Install MATLAB toolbox ")
if (${GTSAM_INSTALL_MATLAB_TOOLBOX})
print_config("MATLAB root" "${MATLAB_ROOT}")
print_config("MEX binary" "${MEX_COMMAND}")
endif()
message(STATUS "Python toolbox flags ")
print_enabled_config(${GTSAM_BUILD_PYTHON} "Build Python module with pybind ")
if(GTSAM_BUILD_PYTHON)
print_config("Python version" ${GTSAM_PYTHON_VERSION})
endif()
message(STATUS "===============================================================")

26
cmake/HandlePython.cmake Normal file
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@ -0,0 +1,26 @@
if(GTSAM_BUILD_PYTHON)
if(${GTSAM_PYTHON_VERSION} STREQUAL "Default")
# Get info about the Python3 interpreter
# https://cmake.org/cmake/help/latest/module/FindPython3.html#module:FindPython3
find_package(Python3 COMPONENTS Interpreter Development)
if(NOT ${Python3_FOUND})
message(FATAL_ERROR "Cannot find Python3 interpreter. Please install Python >= 3.6.")
endif()
set(GTSAM_PYTHON_VERSION "${Python3_VERSION_MAJOR}.${Python3_VERSION_MINOR}"
CACHE
STRING
"The version of Python to build the wrappers against."
FORCE)
endif()
if(GTSAM_UNSTABLE_BUILD_PYTHON)
if (NOT GTSAM_BUILD_UNSTABLE)
message(WARNING "GTSAM_UNSTABLE_BUILD_PYTHON requires the unstable module to be enabled.")
set(GTSAM_UNSTABLE_BUILD_PYTHON OFF)
endif()
endif()
set(GTSAM_PY_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/python")
endif()

24
cmake/HandleTBB.cmake Normal file
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@ -0,0 +1,24 @@
###############################################################################
# Find TBB
find_package(TBB 4.4 COMPONENTS tbb tbbmalloc)
# Set up variables if we're using TBB
if(TBB_FOUND AND GTSAM_WITH_TBB)
set(GTSAM_USE_TBB 1) # This will go into config.h
if ((${TBB_VERSION_MAJOR} GREATER 2020) OR (${TBB_VERSION_MAJOR} EQUAL 2020))
set(TBB_GREATER_EQUAL_2020 1)
else()
set(TBB_GREATER_EQUAL_2020 0)
endif()
# all definitions and link requisites will go via imported targets:
# tbb & tbbmalloc
list(APPEND GTSAM_ADDITIONAL_LIBRARIES tbb tbbmalloc)
else()
set(GTSAM_USE_TBB 0) # This will go into config.h
endif()
###############################################################################
# Prohibit Timing build mode in combination with TBB
if(GTSAM_USE_TBB AND (CMAKE_BUILD_TYPE STREQUAL "Timing"))
message(FATAL_ERROR "Timing build mode cannot be used together with TBB. Use a sampling profiler such as Instruments or Intel VTune Amplifier instead.")
endif()

10
cmake/HandleUninstall.cmake Normal file
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@ -0,0 +1,10 @@
# ----------------------------------------------------------------------------
# Uninstall target, for "make uninstall"
# ----------------------------------------------------------------------------
configure_file(
"${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake_uninstall.cmake.in"
"${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
IMMEDIATE @ONLY)
add_custom_target(uninstall
"${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")

12
gtsam/geometry/Cal3Bundler.h
View File

@ -98,6 +98,17 @@ public:
return k2_;
}
/// image center in x
inline double px() const {
return u0_;
}
/// image center in y
inline double py() const {
return v0_;
}
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V41
/// get parameter u0
inline double u0() const {
return u0_;
@ -107,6 +118,7 @@ public:
inline double v0() const {
return v0_;
}
#endif
/**

24
gtsam/geometry/Rot3.h
View File

@ -262,9 +262,29 @@ namespace gtsam {
static Rot3 AlignTwoPairs(const Unit3& a_p, const Unit3& b_p, //
const Unit3& a_q, const Unit3& b_q);
/// Static, named constructor that finds Rot3 element closest to M in Frobenius norm.
/**
* Static, named constructor that finds Rot3 element closest to M in Frobenius norm.
*
* Uses Full SVD to compute the orthogonal matrix, thus is highly accurate and robust.
*
* N. J. Higham. Matrix nearness problems and applications.
* In M. J. C. Gover and S. Barnett, editors, Applications of Matrix Theory, pages 1–27.
* Oxford University Press, 1989.
*/
static Rot3 ClosestTo(const Matrix3& M) { return Rot3(SO3::ClosestTo(M)); }
/**
* Normalize rotation so that its determinant is 1.
* This means either re-orthogonalizing the Matrix representation or
* normalizing the quaternion representation.
*
* This method is akin to `ClosestTo` but uses a computationally cheaper
* algorithm.
*
* Ref: https://drive.google.com/file/d/0B9rLLz1XQKmaZTlQdV81QjNoZTA/view
*/
Rot3 normalized() const;
/// @}
/// @name Testable
/// @{
@ -506,7 +526,7 @@ namespace gtsam {
/**
* @brief Spherical Linear intERPolation between *this and other
* @param s a value between 0 and 1
* @param t a value between 0 and 1
* @param other final point of iterpolation geodesic on manifold
*/
Rot3 slerp(double t, const Rot3& other) const;

27
gtsam/geometry/Rot3M.cpp
View File

@ -108,6 +108,33 @@ Rot3 Rot3::RzRyRx(double x, double y, double z, OptionalJacobian<3, 1> Hx,
);
}
/* ************************************************************************* */
Rot3 Rot3::normalized() const {
/// Implementation from here: https://stackoverflow.com/a/23082112/1236990
/// Essentially, this computes the orthogonalization error, distributes the
/// error to the x and y rows, and then performs a Taylor expansion to
/// orthogonalize.
Matrix3 rot = rot_.matrix(), rot_orth;
// Check if determinant is already 1.
// If yes, then return the current Rot3.
if (std::fabs(rot.determinant()-1) < 1e-12) return Rot3(rot_);
Vector3 x = rot.block<1, 3>(0, 0), y = rot.block<1, 3>(1, 0);
double error = x.dot(y);
Vector3 x_ort = x - (error / 2) * y, y_ort = y - (error / 2) * x;
Vector3 z_ort = x_ort.cross(y_ort);
rot_orth.block<1, 3>(0, 0) = 0.5 * (3 - x_ort.dot(x_ort)) * x_ort;
rot_orth.block<1, 3>(1, 0) = 0.5 * (3 - y_ort.dot(y_ort)) * y_ort;
rot_orth.block<1, 3>(2, 0) = 0.5 * (3 - z_ort.dot(z_ort)) * z_ort;
return Rot3(rot_orth);
}
/* ************************************************************************* */
Rot3 Rot3::operator*(const Rot3& R2) const {
return Rot3(rot_*R2.rot_);

4
gtsam/geometry/Rot3Q.cpp
View File

@ -86,6 +86,10 @@ namespace gtsam {
gtsam::Quaternion(Eigen::AngleAxisd(x, Eigen::Vector3d::UnitX())));
}
/* ************************************************************************* */
Rot3 Rot3::normalized() const {
return Rot3(quaternion_.normalized());
}
/* ************************************************************************* */
Rot3 Rot3::operator*(const Rot3& R2) const {
return Rot3(quaternion_ * R2.quaternion_);

20
gtsam/geometry/tests/testRot3.cpp
View File

@ -910,6 +910,26 @@ TEST(Rot3, yaw_derivative) {
CHECK(assert_equal(num, calc));
}
/* ************************************************************************* */
TEST(Rot3, determinant) {
size_t degree = 1;
Rot3 R_w0; // Zero rotation
Rot3 R_w1 = Rot3::Ry(degree * M_PI / 180);
Rot3 R_01, R_w2;
double actual, expected = 1.0;
for (size_t i = 2; i < 360; ++i) {
R_01 = R_w0.between(R_w1);
R_w2 = R_w1 * R_01;
R_w0 = R_w1;
R_w1 = R_w2.normalized();
actual = R_w2.matrix().determinant();
EXPECT_DOUBLES_EQUAL(expected, actual, 1e-7);
}
}
/* ************************************************************************* */
int main() {
TestResult tr;

6
gtsam/geometry/tests/testSerializationGeometry.cpp
View File

@ -57,7 +57,7 @@ static StereoCamera cam2(pose3, cal4ptr);
static StereoPoint2 spt(1.0, 2.0, 3.0);
/* ************************************************************************* */
TEST_DISABLED (Serialization, text_geometry) {
TEST (Serialization, text_geometry) {
EXPECT(equalsObj<gtsam::Point2>(Point2(1.0, 2.0)));
EXPECT(equalsObj<gtsam::Pose2>(Pose2(1.0, 2.0, 0.3)));
EXPECT(equalsObj<gtsam::Rot2>(Rot2::fromDegrees(30.0)));
@ -82,7 +82,7 @@ TEST_DISABLED (Serialization, text_geometry) {
}
/* ************************************************************************* */
TEST_DISABLED (Serialization, xml_geometry) {
TEST (Serialization, xml_geometry) {
EXPECT(equalsXML<gtsam::Point2>(Point2(1.0, 2.0)));
EXPECT(equalsXML<gtsam::Pose2>(Pose2(1.0, 2.0, 0.3)));
EXPECT(equalsXML<gtsam::Rot2>(Rot2::fromDegrees(30.0)));
@ -106,7 +106,7 @@ TEST_DISABLED (Serialization, xml_geometry) {
}
/* ************************************************************************* */
TEST_DISABLED (Serialization, binary_geometry) {
TEST (Serialization, binary_geometry) {
EXPECT(equalsBinary<gtsam::Point2>(Point2(1.0, 2.0)));
EXPECT(equalsBinary<gtsam::Pose2>(Pose2(1.0, 2.0, 0.3)));
EXPECT(equalsBinary<gtsam::Rot2>(Rot2::fromDegrees(30.0)));

28
gtsam/gtsam.i
View File

@ -597,6 +597,7 @@ class Rot3 {
Rot3(double R11, double R12, double R13,
double R21, double R22, double R23,
double R31, double R32, double R33);
Rot3(double w, double x, double y, double z);
static gtsam::Rot3 Rx(double t);
static gtsam::Rot3 Ry(double t);
@ -980,8 +981,8 @@ class Cal3Bundler {
double fy() const;
double k1() const;
double k2() const;
double u0() const;
double v0() const;
double px() const;
double py() const;
Vector vector() const;
Vector k() const;
Matrix K() const;
@ -2068,7 +2069,7 @@ class NonlinearFactorGraph {
gtsam::KeySet keys() const;
gtsam::KeyVector keyVector() const;
template<T = {Vector, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2,gtsam::CalibratedCamera, gtsam::SimpleCamera, gtsam::PinholeCameraCal3_S2, gtsam::imuBias::ConstantBias}>
template<T = {Vector, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2,gtsam::CalibratedCamera, gtsam::SimpleCamera, gtsam::PinholeCameraCal3_S2, gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::imuBias::ConstantBias}>
void addPrior(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
// NonlinearFactorGraph
@ -2157,12 +2158,13 @@ class Values {
void insert(size_t j, const gtsam::SOn& P);
void insert(size_t j, const gtsam::Rot3& rot3);
void insert(size_t j, const gtsam::Pose3& pose3);
void insert(size_t j, const gtsam::Unit3& unit3);
void insert(size_t j, const gtsam::Cal3_S2& cal3_s2);
void insert(size_t j, const gtsam::Cal3DS2& cal3ds2);
void insert(size_t j, const gtsam::Cal3Bundler& cal3bundler);
void insert(size_t j, const gtsam::EssentialMatrix& essential_matrix);
void insert(size_t j, const gtsam::PinholeCameraCal3_S2& simple_camera);
// void insert(size_t j, const gtsam::PinholeCameraCal3Bundler& camera);
void insert(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Bundler>& camera);
void insert(size_t j, const gtsam::imuBias::ConstantBias& constant_bias);
void insert(size_t j, const gtsam::NavState& nav_state);
@ -2175,18 +2177,19 @@ class Values {
void update(size_t j, const gtsam::SOn& P);
void update(size_t j, const gtsam::Rot3& rot3);
void update(size_t j, const gtsam::Pose3& pose3);
void update(size_t j, const gtsam::Unit3& unit3);
void update(size_t j, const gtsam::Cal3_S2& cal3_s2);
void update(size_t j, const gtsam::Cal3DS2& cal3ds2);
void update(size_t j, const gtsam::Cal3Bundler& cal3bundler);
void update(size_t j, const gtsam::EssentialMatrix& essential_matrix);
void update(size_t j, const gtsam::PinholeCameraCal3_S2& simple_camera);
// void update(size_t j, const gtsam::PinholeCameraCal3Bundler& camera);
void update(size_t j, const gtsam::PinholeCamera<gtsam::Cal3Bundler>& camera);
void update(size_t j, const gtsam::imuBias::ConstantBias& constant_bias);
void update(size_t j, const gtsam::NavState& nav_state);
void update(size_t j, Vector vector);
void update(size_t j, Matrix matrix);
template<T = {gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Pose2, gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler, gtsam::EssentialMatrix, gtsam::PinholeCameraCal3_S2, gtsam::imuBias::ConstantBias, gtsam::NavState, Vector, Matrix}>
template<T = {gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Pose2, gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose3, gtsam::Unit3, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler, gtsam::EssentialMatrix, gtsam::PinholeCameraCal3_S2, gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::imuBias::ConstantBias, gtsam::NavState, Vector, Matrix}>
T at(size_t j);
/// version for double
@ -2490,7 +2493,8 @@ class ISAM2 {
template <VALUE = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2,
gtsam::Cal3Bundler, gtsam::EssentialMatrix,
gtsam::SimpleCamera, gtsam::PinholeCameraCal3_S2, Vector, Matrix}>
gtsam::SimpleCamera, gtsam::PinholeCameraCal3_S2, gtsam::PinholeCamera<gtsam::Cal3Bundler>,
Vector, Matrix}>
VALUE calculateEstimate(size_t key) const;
gtsam::Values calculateBestEstimate() const;
Matrix marginalCovariance(size_t key) const;
@ -2528,7 +2532,7 @@ class NonlinearISAM {
#include <gtsam/geometry/StereoPoint2.h>
#include <gtsam/nonlinear/PriorFactor.h>
template<T = {Vector, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2,gtsam::CalibratedCamera, gtsam::SimpleCamera, gtsam::PinholeCameraCal3_S2, gtsam::imuBias::ConstantBias}>
template<T = {Vector, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Unit3, gtsam::Cal3_S2,gtsam::CalibratedCamera, gtsam::SimpleCamera, gtsam::PinholeCameraCal3_S2, gtsam::imuBias::ConstantBias, gtsam::PinholeCamera<gtsam::Cal3Bundler>}>
virtual class PriorFactor : gtsam::NoiseModelFactor {
PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
T prior() const;
@ -2673,6 +2677,7 @@ virtual class GeneralSFMFactor : gtsam::NoiseModelFactor {
typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3_S2, gtsam::Point3> GeneralSFMFactorCal3_S2;
//TODO (Issue 237) due to lack of jacobians of Cal3DS2_Base::calibrate, GeneralSFMFactor does not apply to Cal3DS2
//typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2;
typedef gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3> GeneralSFMFactorCal3Bundler;
template<CALIBRATION = {gtsam::Cal3_S2}>
virtual class GeneralSFMFactor2 : gtsam::NoiseModelFactor {
@ -2764,6 +2769,13 @@ class SfmTrack {
SfmTrack();
SfmTrack(const gtsam::Point3& pt);
const Point3& point3() const;
double r;
double g;
double b;
// TODO Need to close wrap#10 to allow this to work.
// std::vector<pair<size_t, gtsam::Point2>> measurements;
size_t number_measurements() const;
pair<size_t, gtsam::Point2> measurement(size_t idx) const;
pair<size_t, size_t> siftIndex(size_t idx) const;

10
gtsam/inference/Symbol.h
View File

@ -164,8 +164,16 @@ inline Key Y(std::uint64_t j) { return Symbol('y', j); }
inline Key Z(std::uint64_t j) { return Symbol('z', j); }
}
/** Generates symbol shorthands with alternative names different than the
* one-letter predefined ones. */
class SymbolGenerator {
const char c_;
public:
SymbolGenerator(const char c) : c_(c) {}
Symbol operator()(const std::uint64_t j) const { return Symbol(c_, j); }
};
/// traits
template<> struct traits<Symbol> : public Testable<Symbol> {};
} // \ namespace gtsam

20
gtsam/inference/tests/testKey.cpp
View File

@ -40,6 +40,25 @@ TEST(Key, KeySymbolConversion) {
EXPECT(assert_equal(original, actual))
}
/* ************************************************************************* */
TEST(Key, SymbolGenerator) {
const auto x1 = gtsam::symbol_shorthand::X(1);
const auto v1 = gtsam::symbol_shorthand::V(1);
const auto a1 = gtsam::symbol_shorthand::A(1);
const auto Z = gtsam::SymbolGenerator('x');
const auto DZ = gtsam::SymbolGenerator('v');
const auto DDZ = gtsam::SymbolGenerator('a');
const auto z1 = Z(1);
const auto dz1 = DZ(1);
const auto ddz1 = DDZ(1);
EXPECT(assert_equal(x1, z1));
EXPECT(assert_equal(v1, dz1));
EXPECT(assert_equal(a1, ddz1));
}
/* ************************************************************************* */
template<int KeySize>
Key KeyTestValue();
@ -106,4 +125,3 @@ int main() {
return TestRegistry::runAllTests(tr);
}
/* ************************************************************************* */

10
gtsam/nonlinear/NonlinearOptimizer.cpp
View File

@ -88,20 +88,24 @@ void NonlinearOptimizer::defaultOptimize() {
}
// Iterative loop
double newError = currentError; // used to avoid repeated calls to error()
do {
// Do next iteration
currentError = error(); // TODO(frank): don't do this twice at first !? Computed above!
currentError = newError;
iterate();
tictoc_finishedIteration();
// Update newError for either printouts or conditional-end checks:
newError = error();
// Maybe show output
if (params.verbosity >= NonlinearOptimizerParams::VALUES)
values().print("newValues");
if (params.verbosity >= NonlinearOptimizerParams::ERROR)
cout << "newError: " << error() << endl;
cout << "newError: " << newError << endl;
} while (iterations() < params.maxIterations &&
!checkConvergence(params.relativeErrorTol, params.absoluteErrorTol, params.errorTol,
currentError, error(), params.verbosity) && std::isfinite(currentError));
currentError, newError, params.verbosity) && std::isfinite(currentError));
// Printing if verbose
if (params.verbosity >= NonlinearOptimizerParams::TERMINATION) {

2
gtsam/nonlinear/tests/testAdaptAutoDiff.cpp
View File

@ -41,7 +41,7 @@ struct Cal3Bundler0 : public Cal3Bundler {
double v0 = 0)
: Cal3Bundler(f, k1, k2, u0, v0) {}
Cal3Bundler0 retract(const Vector& d) const {
return Cal3Bundler0(fx() + d(0), k1() + d(1), k2() + d(2), u0(), v0());
return Cal3Bundler0(fx() + d(0), k1() + d(1), k2() + d(2), px(), py());
}
Vector3 localCoordinates(const Cal3Bundler0& T2) const {
return T2.vector() - vector();

4
gtsam/slam/dataset.cpp
View File

@ -1164,8 +1164,8 @@ bool writeBAL(const string &filename, SfmData &data) {
for (size_t k = 0; k < track.number_measurements();
k++) { // for each observation of the 3D point j
size_t i = track.measurements[k].first; // camera id
double u0 = data.cameras[i].calibration().u0();
double v0 = data.cameras[i].calibration().v0();
double u0 = data.cameras[i].calibration().px();
double v0 = data.cameras[i].calibration().py();
if (u0 != 0 || v0 != 0) {
cout << "writeBAL has not been tested for calibration with nonzero "

7
matlab/CMakeLists.txt
View File

@ -2,6 +2,10 @@
include(GtsamMatlabWrap)
# Record the root dir for gtsam - needed during external builds, e.g., ROS
set(GTSAM_SOURCE_ROOT_DIR ${GTSAM_SOURCE_DIR})
message(STATUS "GTSAM_SOURCE_ROOT_DIR: [${GTSAM_SOURCE_ROOT_DIR}]")
# Tests
#message(STATUS "Installing Matlab Toolbox")
install_matlab_scripts("${GTSAM_SOURCE_ROOT_DIR}/matlab/" "*.m;*.fig")
@ -21,7 +25,7 @@ install_matlab_scripts("${GTSAM_SOURCE_ROOT_DIR}/matlab/" "README-gtsam-toolbox.
file(GLOB matlab_examples_data_graph "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.graph")
file(GLOB matlab_examples_data_mat "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.mat")
file(GLOB matlab_examples_data_txt "${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.txt")
set(matlab_examples_data ${matlab_examples_data_graph} ${matlab_examples_data_mat} ${matlab_examples_data_txt})
set(matlab_examples_data ${matlab_examples_data_graph} ${matlab_examples_data_mat} ${matlab_examples_data_txt})
if(GTSAM_BUILD_TYPE_POSTFIXES)
foreach(build_type ${CMAKE_CONFIGURATION_TYPES})
string(TOUPPER "${build_type}" build_type_upper)
@ -38,4 +42,3 @@ if(GTSAM_BUILD_TYPE_POSTFIXES)
else()
install(FILES ${matlab_examples_data} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam_examples/Data)
endif()

2
python/gtsam/examples/README.md
View File

@ -39,7 +39,7 @@
| SelfCalibrationExample | |
| SFMdata | |
| SFMExample_bal_COLAMD_METIS | |
| SFMExample_bal | |
| SFMExample_bal | :heavy_check_mark: |
| SFMExample | :heavy_check_mark: |
| SFMExampleExpressions_bal | |
| SFMExampleExpressions | |

118
python/gtsam/examples/SFMExample_bal.py Normal file
View File

@ -0,0 +1,118 @@
"""
GTSAM Copyright 2010, Georgia Tech Research Corporation,
Atlanta, Georgia 30332-0415
All Rights Reserved
Authors: Frank Dellaert, et al. (see THANKS for the full author list)
See LICENSE for the license information
Solve a structure-from-motion problem from a "Bundle Adjustment in the Large" file
Author: Frank Dellaert (Python: Akshay Krishnan, John Lambert)
"""
import argparse
import logging
import sys
import matplotlib.pyplot as plt
import numpy as np
import gtsam
from gtsam import (
GeneralSFMFactorCal3Bundler,
PinholeCameraCal3Bundler,
PriorFactorPinholeCameraCal3Bundler,
readBal,
symbol_shorthand
)
C = symbol_shorthand.C
P = symbol_shorthand.P
logging.basicConfig(stream=sys.stdout, level=logging.DEBUG)
def run(args):
""" Run LM optimization with BAL input data and report resulting error """
input_file = gtsam.findExampleDataFile(args.input_file)
# Load the SfM data from file
scene_data = readBal(input_file)
logging.info(f"read {scene_data.number_tracks()} tracks on {scene_data.number_cameras()} cameras\n")
# Create a factor graph
graph = gtsam.NonlinearFactorGraph()
# We share *one* noiseModel between all projection factors
noise = gtsam.noiseModel.Isotropic.Sigma(2, 1.0) # one pixel in u and v
# Add measurements to the factor graph
j = 0
for t_idx in range(scene_data.number_tracks()):
track = scene_data.track(t_idx) # SfmTrack
# retrieve the SfmMeasurement objects
for m_idx in range(track.number_measurements()):
# i represents the camera index, and uv is the 2d measurement
i, uv = track.measurement(m_idx)
# note use of shorthand symbols C and P
graph.add(GeneralSFMFactorCal3Bundler(uv, noise, C(i), P(j)))
j += 1
# Add a prior on pose x1. This indirectly specifies where the origin is.
graph.push_back(
gtsam.PriorFactorPinholeCameraCal3Bundler(
C(0), scene_data.camera(0), gtsam.noiseModel.Isotropic.Sigma(9, 0.1)
)
)
# Also add a prior on the position of the first landmark to fix the scale
graph.push_back(
gtsam.PriorFactorPoint3(
P(0), scene_data.track(0).point3(), gtsam.noiseModel.Isotropic.Sigma(3, 0.1)
)
)
# Create initial estimate
initial = gtsam.Values()
i = 0
# add each PinholeCameraCal3Bundler
for cam_idx in range(scene_data.number_cameras()):
camera = scene_data.camera(cam_idx)
initial.insert(C(i), camera)
i += 1
j = 0
# add each SfmTrack
for t_idx in range(scene_data.number_tracks()):
track = scene_data.track(t_idx)
initial.insert(P(j), track.point3())
j += 1
# Optimize the graph and print results
try:
params = gtsam.LevenbergMarquardtParams()
params.setVerbosityLM("ERROR")
lm = gtsam.LevenbergMarquardtOptimizer(graph, initial, params)
result = lm.optimize()
except Exception as e:
logging.exception("LM Optimization failed")
return
# Error drops from ~2764.22 to ~0.046
logging.info(f"final error: {graph.error(result)}")
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument(
'-i',
'--input_file',
type=str,
default="dubrovnik-3-7-pre",
help='Read SFM data from the specified BAL file'
'The data format is described here: https://grail.cs.washington.edu/projects/bal/.'
'BAL files contain (nrPoses, nrPoints, nrObservations), followed by (i,j,u,v) tuples, '
'then (wx,wy,wz,tx,ty,tz,f,k1,k1) as Bundler camera calibrations w/ Rodrigues vector'
'and (x,y,z) 3d point initializations.'
)
run(parser.parse_args())

8
python/gtsam/tests/test_Pose3.py
View File

@ -65,6 +65,14 @@ class TestPose3(GtsamTestCase):
actual = Pose3.adjoint_(xi, xi)
np.testing.assert_array_equal(actual, expected)
def test_serialization(self):
"""Test if serialization is working normally"""
expected = Pose3(Rot3.Ypr(0.0, 1.0, 0.0), Point3(1, 1, 0))
actual = Pose3()
serialized = expected.serialize()
actual.deserialize(serialized)
self.gtsamAssertEquals(expected, actual, 1e-10)
if __name__ == "__main__":
unittest.main()

2
wrap/cmake/PybindWrap.cmake
View File

@ -146,7 +146,7 @@ function(install_python_scripts
else()
set(build_type_tag "")
endif()
# Split up filename to strip trailing '/' in WRAP_CYTHON_INSTALL_PATH if
# Split up filename to strip trailing '/' in GTSAM_PY_INSTALL_PATH if
# there is one
get_filename_component(location "${dest_directory}" PATH)
get_filename_component(name "${dest_directory}" NAME)

6
wrap/pybind_wrapper.py
View File

@ -69,13 +69,13 @@ class PybindWrapper(object):
return textwrap.dedent('''
.def("serialize",
[]({class_inst} self){{
return gtsam::serialize(self);
return gtsam::serialize(*self);
}}
)
.def("deserialize",
[]({class_inst} self, string serialized){{
return gtsam::deserialize(serialized, self);
}})
gtsam::deserialize(serialized, *self);
}}, py::arg("serialized"))
'''.format(class_inst=cpp_class + '*'))
is_method = isinstance(method, instantiator.InstantiatedMethod)

12
wrap/tests/expected-python/geometry_pybind.cpp
View File

@ -40,13 +40,13 @@ PYBIND11_MODULE(geometry_py, m_) {
.def("vectorConfusion",[](gtsam::Point2* self){return self->vectorConfusion();})
.def("serialize",
[](gtsam::Point2* self){
return gtsam::serialize(self);
return gtsam::serialize(*self);
}
)
.def("deserialize",
[](gtsam::Point2* self, string serialized){
return gtsam::deserialize(serialized, self);
})
gtsam::deserialize(serialized, *self);
}, py::arg("serialized"))
;
py::class_<gtsam::Point3, std::shared_ptr<gtsam::Point3>>(m_gtsam, "Point3")
@ -54,13 +54,13 @@ PYBIND11_MODULE(geometry_py, m_) {
.def("norm",[](gtsam::Point3* self){return self->norm();})
.def("serialize",
[](gtsam::Point3* self){
return gtsam::serialize(self);
return gtsam::serialize(*self);
}
)
.def("deserialize",
[](gtsam::Point3* self, string serialized){
return gtsam::deserialize(serialized, self);
})
gtsam::deserialize(serialized, *self);
}, py::arg("serialized"))
.def_static("staticFunction",[](){return gtsam::Point3::staticFunction();})
.def_static("StaticFunctionRet",[]( double z){return gtsam::Point3::StaticFunctionRet(z);}, py::arg("z"));