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Fleshed out support for building MEX binaries during gtsam build

release/4.3a0
Alex Cunningham 2012-06-04 15:33:16 +00:00
parent 2f9ed9abf2
commit e1725fb8e3
5 changed files with 79 additions and 34 deletions
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52
.cproject
View File

@ -1653,10 +1653,10 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="PlanarSLAMExample.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="PlanarSLAMExample_easy.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j2</buildArguments>
<buildTarget>PlanarSLAMExample.run</buildTarget> <buildTarget>PlanarSLAMExample_easy.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
@ -1685,10 +1685,10 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="PlanarSLAMExample_selfcontained.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="PlanarSLAMSelfContained_advanced.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j2</buildArguments>
<buildTarget>PlanarSLAMExample_selfcontained.run</buildTarget> <buildTarget>PlanarSLAMSelfContained_advanced.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
@ -1701,18 +1701,18 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="Pose2SLAMExample.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="Pose2SLAMExample_easy.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j2</buildArguments>
<buildTarget>Pose2SLAMExample.run</buildTarget> <buildTarget>Pose2SLAMExample_easy.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="Pose2SLAMwSPCG.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="Pose2SLAMwSPCG_easy.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j2</buildArguments>
<buildTarget>Pose2SLAMwSPCG.run</buildTarget> <buildTarget>Pose2SLAMwSPCG_easy.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
@ -1741,10 +1741,10 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="Pose2SLAMExample_graph.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="Pose2SLAMwSPCG_advanced.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j5</buildArguments>
<buildTarget>Pose2SLAMExample_graph.run</buildTarget> <buildTarget>Pose2SLAMwSPCG_advanced.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
@ -2152,6 +2152,30 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="wrap_gtsam_build" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>wrap_gtsam_build</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="wrap_gtsam_unstable_build" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>wrap_gtsam_unstable_build</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="wrap_gtsam_unstable" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>wrap_gtsam_unstable</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="wrap.testSpirit.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="wrap.testSpirit.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j5</buildArguments>

10
CMakeLists.txt
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@ -61,8 +61,12 @@ option(GTSAM_INSTALL_MATLAB_EXAMPLES "Enable/Disable installation of matlab
option(GTSAM_INSTALL_MATLAB_TESTS "Enable/Disable installation of matlab tests" ON) option(GTSAM_INSTALL_MATLAB_TESTS "Enable/Disable installation of matlab tests" ON)
option(GTSAM_INSTALL_WRAP "Enable/Disable installation of wrap utility" ON) option(GTSAM_INSTALL_WRAP "Enable/Disable installation of wrap utility" ON)
# Experimental - features disabled by default # TODO: Check for matlab mex binary before handling building of binaries
option(GTSAM_ENABLE_BUILD_MEX_BINARIES "Enable/Disable building of matlab mex files" OFF)
# Flags for building/installing mex files
option(GTSAM_ENABLE_BUILD_MEX_BINARIES "Enable/Disable building of matlab mex files" OFF)
option(GTSAM_ENABLE_BUILD_MEX_BINARIES_ALL "Enable/Disable adding building of mex files to ALL target" OFF)
set(GTSAM_BUILD_MEX_BINARY_FLAGS "-j2" CACHE STRING "Flags for running make on toolbox MEX files")
# Flags for choosing default packaging tools # Flags for choosing default packaging tools
set(CPACK_SOURCE_GENERATOR "TGZ" CACHE STRING "CPack Default Source Generator") set(CPACK_SOURCE_GENERATOR "TGZ" CACHE STRING "CPack Default Source Generator")
@ -184,6 +188,8 @@ print_config_flag(${GTSAM_INSTALL_MATLAB_TOOLBOX} "Install matlab toolbox
print_config_flag(${GTSAM_INSTALL_MATLAB_EXAMPLES} "Install matlab examples ") print_config_flag(${GTSAM_INSTALL_MATLAB_EXAMPLES} "Install matlab examples ")
print_config_flag(${GTSAM_INSTALL_MATLAB_TESTS} "Install matlab tests ") print_config_flag(${GTSAM_INSTALL_MATLAB_TESTS} "Install matlab tests ")
print_config_flag(${GTSAM_INSTALL_WRAP} "Install wrap utility ") print_config_flag(${GTSAM_INSTALL_WRAP} "Install wrap utility ")
print_config_flag(${GTSAM_ENABLE_BUILD_MEX_BINARIES} "Build MEX binaries ")
print_config_flag(${GTSAM_ENABLE_BUILD_MEX_BINARIES_ALL} "Build MEX binaries on ALL target ")
message(STATUS "===============================================================") message(STATUS "===============================================================")
# Include CPack *after* all flags # Include CPack *after* all flags

4
gtsam.h
View File

@ -201,7 +201,7 @@ class Pose3 {
Pose3(); Pose3();
Pose3(const gtsam::Pose3& pose); Pose3(const gtsam::Pose3& pose);
Pose3(const gtsam::Rot3& r, const gtsam::Point3& t); Pose3(const gtsam::Rot3& r, const gtsam::Point3& t);
Pose3(const gtsam::Pose2& pose2); Pose3(const gtsam::Pose2& pose2); // FIXME: shadows Pose3(Pose3 pose)
Pose3(Matrix t); Pose3(Matrix t);
// Testable // Testable
@ -239,7 +239,7 @@ class Pose3 {
double y() const; double y() const;
double z() const; double z() const;
Matrix matrix() const; Matrix matrix() const;
gtsam::Pose3 transform_to(const gtsam::Pose3& pose) const; gtsam::Pose3 transform_to(const gtsam::Pose3& pose) const; // FIXME: shadows other transform_to()
double range(const gtsam::Point3& point); double range(const gtsam::Point3& point);
// double range(const gtsam::Pose3& pose); // double range(const gtsam::Pose3& pose);
}; };

17
gtsam_unstable/CMakeLists.txt
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@ -91,14 +91,19 @@ if (GTSAM_BUILD_WRAP)
DEPENDS wrap) DEPENDS wrap)
# Build command # Build command
# Experimental: requires matlab to be on your path
if (GTSAM_ENABLE_BUILD_MEX_BINARIES) if (GTSAM_ENABLE_BUILD_MEX_BINARIES)
# Actually compile the mex files when building the library # Actually compile the mex files when building the library
set(TOOLBOX_MAKE_FLAGS "-j2") if (GTSAM_ENABLE_BUILD_MEX_BINARIES_ALL)
add_custom_target(wrap_gtsam_unstable_build add_custom_target(wrap_gtsam_unstable_build ALL
COMMAND make ${TOOLBOX_MAKE_FLAGS} COMMAND make ${GTSAM_BUILD_MEX_BINARY_FLAGS}
WORKING_DIRECTORY ${toolbox_path} WORKING_DIRECTORY ${toolbox_path}
DEPENDS wrap_gtsam_unstable) DEPENDS wrap_gtsam_unstable)
else()
add_custom_target(wrap_gtsam_unstable_build
COMMAND make ${GTSAM_BUILD_MEX_BINARY_FLAGS}
WORKING_DIRECTORY ${toolbox_path}
DEPENDS wrap_gtsam_unstable)
endif()
endif (GTSAM_ENABLE_BUILD_MEX_BINARIES) endif (GTSAM_ENABLE_BUILD_MEX_BINARIES)
if (GTSAM_INSTALL_MATLAB_TOOLBOX) if (GTSAM_INSTALL_MATLAB_TOOLBOX)

30
wrap/CMakeLists.txt
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@ -30,7 +30,7 @@ endif(GTSAM_BUILD_TESTS)
# toolboxPath : the directory in which to generate the wrappers # toolboxPath : the directory in which to generate the wrappers
# [mexFlags] : extra flags for the mex command # [mexFlags] : extra flags for the mex command
set(mexFlags "-I${Boost_INCLUDE_DIR} -I${CMAKE_INSTALL_PREFIX}/include -I${CMAKE_INSTALL_PREFIX}/include/gtsam -I${CMAKE_INSTALL_PREFIX}/include/gtsam/base -I${CMAKE_INSTALL_PREFIX}/include/gtsam/geometry -I${CMAKE_INSTALL_PREFIX}/include/gtsam/linear -I${CMAKE_INSTALL_PREFIX}/include/gtsam/nonlinear -I${CMAKE_INSTALL_PREFIX}/include/gtsam/slam -L${CMAKE_INSTALL_PREFIX}/lib -lgtsam") set(mexFlags "-I${Boost_INCLUDE_DIR} -I${CMAKE_INSTALL_PREFIX}/include -I${CMAKE_INSTALL_PREFIX}/include/gtsam -I${CMAKE_INSTALL_PREFIX}/include/gtsam/base -I${CMAKE_INSTALL_PREFIX}/include/gtsam/geometry -I${CMAKE_INSTALL_PREFIX}/include/gtsam/linear -I${CMAKE_INSTALL_PREFIX}/include/gtsam/discrete -I${CMAKE_INSTALL_PREFIX}/include/gtsam/inference -I${CMAKE_INSTALL_PREFIX}/include/gtsam/nonlinear -I${CMAKE_INSTALL_PREFIX}/include/gtsam/slam -L${CMAKE_INSTALL_PREFIX}/lib -lgtsam")
set(toolbox_path ${CMAKE_BINARY_DIR}/wrap/gtsam) set(toolbox_path ${CMAKE_BINARY_DIR}/wrap/gtsam)
set(moduleName gtsam) set(moduleName gtsam)
@ -48,20 +48,29 @@ add_custom_target(wrap_gtsam ALL COMMAND
DEPENDS wrap) DEPENDS wrap)
# Build command # Build command
# Experimental: requires matlab to be on your path
if (GTSAM_ENABLE_BUILD_MEX_BINARIES) if (GTSAM_ENABLE_BUILD_MEX_BINARIES)
# Actually compile the mex files when building the library # Actually compile the mex files when building the library
set(TOOLBOX_MAKE_FLAGS "-j2") # TODO: pass correct make flags from parent process
add_custom_target(wrap_gtsam_build message(STATUS "Building Matlab MEX binaries for toolbox with flags ${GTSAM_BUILD_MEX_BINARY_FLAGS}")
COMMAND make ${TOOLBOX_MAKE_FLAGS} if (GTSAM_ENABLE_BUILD_MEX_BINARIES_ALL)
WORKING_DIRECTORY ${toolbox_path} add_custom_target(wrap_gtsam_build ALL
DEPENDS wrap_gtsam) COMMAND make ${GTSAM_BUILD_MEX_BINARY_FLAGS}
WORKING_DIRECTORY ${toolbox_path}
DEPENDS wrap_gtsam)
else()
add_custom_target(wrap_gtsam_build
COMMAND make ${GTSAM_BUILD_MEX_BINARY_FLAGS}
WORKING_DIRECTORY ${toolbox_path}
DEPENDS wrap_gtsam)
endif()
endif (GTSAM_ENABLE_BUILD_MEX_BINARIES) endif (GTSAM_ENABLE_BUILD_MEX_BINARIES)
set(GTSAM_TOOLBOX_INSTALL_PATH ${CMAKE_INSTALL_PREFIX}/borg/toolbox CACHE DOCSTRING "Path to install matlab toolbox") set(GTSAM_TOOLBOX_INSTALL_PATH ${CMAKE_INSTALL_PREFIX}/borg/toolbox CACHE DOCSTRING "Path to install matlab toolbox")
if (GTSAM_INSTALL_MATLAB_TOOLBOX) if (GTSAM_INSTALL_MATLAB_TOOLBOX)
# Primary toolbox files # Primary toolbox files
# Note that we copy the entire contents of the folder blindly - this is because
# the generated files won't exist at configuration time
message(STATUS "Installing Matlab Toolbox to ${GTSAM_TOOLBOX_INSTALL_PATH}") message(STATUS "Installing Matlab Toolbox to ${GTSAM_TOOLBOX_INSTALL_PATH}")
install(DIRECTORY DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}) # make an empty folder install(DIRECTORY DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}) # make an empty folder
# exploit need for trailing slash to specify a full folder, rather than just its contents to copy # exploit need for trailing slash to specify a full folder, rather than just its contents to copy
@ -74,9 +83,10 @@ if (GTSAM_INSTALL_MATLAB_TOOLBOX)
install(FILES ${matlab_examples} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/examples) install(FILES ${matlab_examples} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/examples)
message(STATUS "Installing Matlab Toolbox Examples (Data)") message(STATUS "Installing Matlab Toolbox Examples (Data)")
set(data_excludes "${CMAKE_SOURCE_DIR}/examples/Data/.svn") # Data files: *.graph and *.txt
file(GLOB matlab_examples_data "${CMAKE_SOURCE_DIR}/examples/Data/*.*") file(GLOB matlab_examples_data_graph "${CMAKE_SOURCE_DIR}/examples/Data/*.graph")
list(REMOVE_ITEM matlab_examples_data ${data_excludes}) file(GLOB matlab_examples_data_txt "${CMAKE_SOURCE_DIR}/examples/Data/*.txt")
set(matlab_examples_data ${matlab_examples_data_graph} ${matlab_examples_data_txt})
install(FILES ${matlab_examples_data} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/Data) install(FILES ${matlab_examples_data} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/Data)
endif (GTSAM_INSTALL_MATLAB_EXAMPLES) endif (GTSAM_INSTALL_MATLAB_EXAMPLES)