refactor cmake scripts into smaller files
Jose Luis Blanco Claraco
parent
a0c298a123
commit
e9e87526c4
551
CMakeLists.txt
551
CMakeLists.txt
|
|
@ -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 "${PROJECT_SOURCE_DIR}/gtsam_unstable")
|
||||
set(GTSAM_UNSTABLE_AVAILABLE 1)
|
||||
else()
|
||||
set(GTSAM_UNSTABLE_AVAILABLE 0)
|
||||
endif()
|
||||
include(cmake/handle_boost.cmake) # Boost
|
||||
include(cmake/handle_ccache.cmake) # ccache
|
||||
include(cmake/handle_cpack.cmake) # CPack
|
||||
include(cmake/handle_eigen.cmake) # Eigen3
|
||||
include(cmake/handle_general_options.cmake) # CMake build options
|
||||
include(cmake/handle_mkl.cmake) # MKL
|
||||
include(cmake/handle_openmp.cmake) # OpenMP
|
||||
include(cmake/handle_perftools.cmake) # Google perftools
|
||||
include(cmake/handle_python.cmake) # Python options and commands
|
||||
include(cmake/handle_tbb.cmake) # TBB
|
||||
include(cmake/handle_uninstall.cmake) # for "make uninstall"
|
||||
|
||||
# ----------------------------------------------------------------------------
|
||||
# Uninstall target, for "make uninstall"
|
||||
# ----------------------------------------------------------------------------
|
||||
configure_file(
|
||||
"${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake_uninstall.cmake.in"
|
||||
"${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
|
||||
IMMEDIATE @ONLY)
|
||||
include(cmake/handle_allocators.cmake) # Must be after tbb, pertools
|
||||
|
||||
add_custom_target(uninstall
|
||||
"${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("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "tcmalloc")
|
||||
set(GTSAM_ALLOCATOR_STL 1) # tcmalloc replaces malloc, so to use it we use the STL allocator
|
||||
list(APPEND GTSAM_ADDITIONAL_LIBRARIES "tcmalloc")
|
||||
endif()
|
||||
|
||||
if(MSVC)
|
||||
list_append_cache(GTSAM_COMPILE_DEFINITIONS_PRIVATE _CRT_SECURE_NO_WARNINGS _SCL_SECURE_NO_WARNINGS)
|
||||
list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE /wd4251 /wd4275 /wd4251 /wd4661 /wd4344 /wd4503) # Disable non-DLL-exported base class and other warnings
|
||||
list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE /bigobj) # Allow large object files for template-based code
|
||||
endif()
|
||||
|
||||
# GCC 4.8+ complains about local typedefs which we use for shared_ptr etc.
|
||||
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
|
||||
if (NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 4.8)
|
||||
list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE -Wno-unused-local-typedefs)
|
||||
endif()
|
||||
endif()
|
||||
|
||||
# As of XCode 7, clang also complains about this
|
||||
if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
|
||||
if (NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 7.0)
|
||||
list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE -Wno-unused-local-typedefs)
|
||||
endif()
|
||||
endif()
|
||||
|
||||
if(GTSAM_ENABLE_CONSISTENCY_CHECKS)
|
||||
# This should be made PUBLIC if GTSAM_EXTRA_CONSISTENCY_CHECKS is someday used in a public .h
|
||||
list_append_cache(GTSAM_COMPILE_DEFINITIONS_PRIVATE GTSAM_EXTRA_CONSISTENCY_CHECKS)
|
||||
endif()
|
||||
include(cmake/handle_global_build_flags.cmake) # Build flags
|
||||
|
||||
###############################################################################
|
||||
# Add components
|
||||
|
|
@ -477,7 +92,6 @@ endif()
|
|||
GtsamMakeConfigFile(GTSAM "${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" ${GTSAM_PYTHON_VERSION})
|
||||
endif()
|
||||
|
||||
message(STATUS "===============================================================")
|
||||
include(cmake/handle_print_configuration.cmake)
|
||||
|
||||
# Print warnings at the end
|
||||
if(GTSAM_WITH_TBB AND NOT TBB_FOUND)
|
||||
message(WARNING "TBB 4.4 or newer was not found - this is ok, but note that GTSAM parallelization will be disabled. Set GTSAM_WITH_TBB to 'Off' to avoid this warning.")
|
||||
endif()
|
||||
if(GTSAM_WITH_EIGEN_MKL AND NOT MKL_FOUND)
|
||||
message(WARNING "MKL was not found - this is ok, but note that MKL will be disabled. Set GTSAM_WITH_EIGEN_MKL to 'Off' to disable this warning. See INSTALL.md for notes on performance.")
|
||||
endif()
|
||||
if(GTSAM_WITH_EIGEN_MKL_OPENMP AND NOT OPENMP_FOUND AND MKL_FOUND)
|
||||
message(WARNING "Your compiler does not support OpenMP. Set GTSAM_WITH_EIGEN_MKL_OPENMP to 'Off' to avoid this warning. See INSTALL.md for notes on performance.")
|
||||
endif()
|
||||
include(cmake/handle_final_checks.cmake)
|
||||
|
||||
# Include CPack *after* all flags
|
||||
include(CPack)
|
||||
|
|
|
|||
|
|
@ -263,3 +263,17 @@ function(gtsam_apply_build_flags target_name_)
|
|||
target_compile_options(${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()
|
||||
|
|
|
|||
|
|
@ -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()
|
||||
|
|
@ -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()
|
||||
|
|
@ -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()
|
||||
|
|
@ -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${GTSAM_VERSION_PATCH}") # Used for creating ASPN tarballs
|
||||
|
||||
# Deb-package specific cpack
|
||||
set(CPACK_DEBIAN_PACKAGE_NAME "libgtsam-dev")
|
||||
set(CPACK_DEBIAN_PACKAGE_DEPENDS "libboost-dev (>= 1.58)") #Example: "libc6 (>= 2.3.1-6), libgcc1 (>= 1:3.4.2-12)")
|
||||
|
|
@ -0,0 +1,75 @@
|
|||
###############################################################################
|
||||
# Option for using system Eigen or GTSAM-bundled Eigen
|
||||
### These patches only affect usage of MKL. If you want to enable MKL, you *must*
|
||||
### use our patched version of Eigen
|
||||
### See: http://eigen.tuxfamily.org/bz/show_bug.cgi?id=704 (Householder QR MKL selection)
|
||||
### http://eigen.tuxfamily.org/bz/show_bug.cgi?id=705 (Fix MKL LLT return code)
|
||||
option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" OFF)
|
||||
option(GTSAM_WITH_EIGEN_UNSUPPORTED "Install Eigen's unsupported modules" OFF)
|
||||
|
||||
# Switch for using system Eigen or GTSAM-bundled Eigen
|
||||
if(GTSAM_USE_SYSTEM_EIGEN)
|
||||
find_package(Eigen3 REQUIRED)
|
||||
|
||||
# Use generic Eigen include paths e.g. <Eigen/Core>
|
||||
set(GTSAM_EIGEN_INCLUDE_FOR_INSTALL "${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()
|
||||
|
|
@ -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()
|
||||
|
|
@ -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()
|
||||
|
|
@ -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()
|
||||
|
|
@ -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()
|
||||
|
|
@ -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 ${OpenMP_CXX_FLAGS})
|
||||
endif()
|
||||
endif()
|
||||
|
|
@ -0,0 +1,4 @@
|
|||
|
||||
###############################################################################
|
||||
# Find Google perftools
|
||||
find_package(GooglePerfTools)
|
||||
|
|
@ -0,0 +1,104 @@
|
|||
###############################################################################
|
||||
# Print configuration variables
|
||||
message(STATUS "===============================================================")
|
||||
message(STATUS "================ Configuration Options ======================")
|
||||
print_config("CMAKE_CXX_COMPILER_ID type" "${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" ${GTSAM_PYTHON_VERSION})
|
||||
endif()
|
||||
|
||||
message(STATUS "===============================================================")
|
||||
|
|
@ -0,0 +1,26 @@
|
|||
if(GTSAM_BUILD_PYTHON)
|
||||
if(${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()
|
||||
|
|
@ -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()
|
||||
|
|
@ -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")
|
||||
|
|
@ -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()
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue