Revert python module to use old handwritten files
Just noticed several handwritten files here. I'm reverting the python module to use these handwritten files to later add the files I was wrapping to the same framework. Classes from geometry were wrapped for an old C++ interface, so several boost python's .def(...) were commented out. Conflicts: python/gtsam/.gitignorerelease/4.3a0
Ellon Mendes
parent
7680b533ac
commit
ffae37a675
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@ -347,8 +347,16 @@ endif()
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# Python wrap
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if (GTSAM_BUILD_PYTHON)
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include(GtsamPythonWrap)
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# NOTE: The automatic generation of python wrapper from the gtsampy.h interface is
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# not working yet, so we're using a handwritten wrapper files on python/handwritten.
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# Once the python wrapping from the interface file is working, you can _swap_ the
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# comments on the next lines
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# include(GtsamPythonWrap)
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# wrap_and_install_python(gtsampy.h "${GTSAM_ADDITIONAL_LIBRARIES}" "")
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add_subdirectory(python)
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endif()
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# Build gtsam_unstable
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@ -0,0 +1,13 @@
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# Obtain Dependencies
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# Boost Python
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find_package(Boost COMPONENTS python REQUIRED)
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include_directories(${Boost_INCLUDE_DIRS})
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# Find Python
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find_package(PythonLibs 2.7 REQUIRED)
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include_directories(${PYTHON_INCLUDE_DIRS})
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# Numpy_Eigen
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include_directories(${CMAKE_SOURCE_DIR}/gtsam/3rdparty/numpy_eigen/include/)
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add_subdirectory(handwritten)
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@ -0,0 +1 @@
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/libgtsam_python.so
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@ -1,5 +1 @@
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import registernumpyeigen
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import noiseModel
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from geometry import *
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from nonlinear import *
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from slam import *
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from libgtsam_python import *
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@ -1,27 +1,48 @@
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include_directories("${PROJECT_SOURCE_DIR}/gtsam")
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# Macro to get list of subdirectories
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MACRO(SUBDIRLIST result curdir)
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FILE(GLOB children RELATIVE ${curdir} ${curdir}/*)
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SET(dirlist "")
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FOREACH(child ${children})
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IF(IS_DIRECTORY ${curdir}/${child})
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LIST(APPEND dirlist ${child})
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ENDIF()
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ENDFOREACH()
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SET(${result} ${dirlist})
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ENDMACRO()
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#set the default path for built executables to the "bin" directory
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set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
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#set the default path for built libraries to the "lib" directory
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set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
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# get subdirectories list
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SUBDIRLIST(SUBDIRS ${CMAKE_CURRENT_SOURCE_DIR})
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list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../cmake)
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# get the sources needed to compile gtsam python module
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SET(gtsam_python_srcs "")
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FOREACH(subdir ${SUBDIRS})
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file(GLOB ${subdir}_src "${subdir}/*.cpp")
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LIST(APPEND gtsam_python_srcs ${${subdir}_src})
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ENDFOREACH()
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#include_directories(${EIGEN_INCLUDE_DIRS})
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# Create the library
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set(moduleName gtsam)
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set(gtsamLib gtsam)
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add_library(${moduleName}_python SHARED exportgtsam.cpp ${gtsam_python_srcs})
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file(GLOB base_src "base/*.cpp")
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file(GLOB geometry_src "geometry/*.cpp")
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file(GLOB inference_src "inference/*.cpp")
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file(GLOB linear_src "linear/*.cpp")
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file(GLOB nonlinear_src "nonlinear/*.cpp")
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file(GLOB slam_src "slam/*.cpp")
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file(GLOB symbolic_src "symbolic/*.cpp")
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set_target_properties(${moduleName}_python PROPERTIES
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OUTPUT_NAME ${moduleName}_python
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CLEAN_DIRECT_OUTPUT 1)
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#wrap_python("base" ${PROJECT_SOURCE_DIR}/python/${PROJECT_NAME} ${base_src})
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wrap_python("pygtsam" ${PROJECT_SOURCE_DIR}/python/gtsam exportgtsam.cpp
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${geometry_src} ${linear_src} ${nonlinear_src} ${slam_src})
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#wrap_python("nonlinear" ${PROJECT_SOURCE_DIR}/python/gtsam ${nonlinear_src})
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#wrap_python("slam" ${PROJECT_SOURCE_DIR}/python/gtsam ${slam_src})
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#add_python_export_library(${PROJECT_NAME}_test ${PROJECT_SOURCE_DIR}/python/${PROJECT_NAME}
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# ${AUTOGEN_TEST_FILES}
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#)
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target_link_libraries(${moduleName}_python ${Boost_PYTHON_LIBRARY} ${PYTHON_LIBRARY} ${gtsamLib}) #temp
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# On OSX and Linux, the python library must end in the extension .so. Build this
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# filename here.
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get_property(PYLIB_OUTPUT_FILE TARGET ${moduleName}_python PROPERTY LOCATION)
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set(PYLIB_OUTPUT_FILE $<TARGET_FILE:${moduleName}_python>)
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get_filename_component(PYLIB_OUTPUT_NAME ${PYLIB_OUTPUT_FILE} NAME_WE)
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set(PYLIB_SO_NAME lib${moduleName}_python.so)
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# Installs the library in the gtsam folder, which is used by setup.py to create the gtsam package
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set(PYTHON_MODULE_DIRECTORY ${CMAKE_SOURCE_DIR}/python/gtsam)
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# Cause the library to be output in the correct directory.
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add_custom_command(TARGET ${moduleName}_python
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POST_BUILD
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COMMAND cp -v ${PYLIB_OUTPUT_FILE} ${PYTHON_MODULE_DIRECTORY}/${PYLIB_SO_NAME}
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WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}
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COMMENT "Copying library files to python directory" )
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@ -45,7 +45,7 @@ typedef gtsam::BetweenFactor<gtsam::Pose2> Pose2BetweenFactor;
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//-----------------------------------//
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BOOST_PYTHON_MODULE(libgtsam){
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BOOST_PYTHON_MODULE(libgtsam_python){
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using namespace boost::python;
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exportPoint2();
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exportRot2();
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@ -15,9 +15,9 @@ void exportPoint2(){
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.def("print", &Point2::print, print_overloads(args("s")))
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.def("equals", &Point2::equals, equals_overloads(args("q","tol")))
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.def("inverse", &Point2::inverse)
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.def("compose", &Point2::compose, compose_overloads(args("q", "H1", "H2")))
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// .def("compose", &Point2::compose, compose_overloads(args("q", "H1", "H2")))
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.def("between", &Point2::between)
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.def("dim", &Point2::dim)
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// .def("dim", &Point2::dim)
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.def("retract", &Point2::retract)
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.def("x", &Point2::x)
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.def("y", &Point2::y)
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@ -17,15 +17,15 @@ BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(range_overloads, Pose2::range, 1, 3)
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void exportPose2(){
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double (Pose2::*range1)(const Pose2&, boost::optional<Matrix&>, boost::optional<Matrix&>) const
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= &Pose2::range;
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double (Pose2::*range2)(const Point2&, boost::optional<Matrix&>, boost::optional<Matrix&>) const
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= &Pose2::range;
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// double (Pose2::*range1)(const Pose2&, boost::optional<Matrix&>, boost::optional<Matrix&>) const
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// = &Pose2::range;
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// double (Pose2::*range2)(const Point2&, boost::optional<Matrix&>, boost::optional<Matrix&>) const
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// = &Pose2::range;
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Rot2 (Pose2::*bearing1)(const Pose2&, boost::optional<Matrix&>, boost::optional<Matrix&>) const
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= &Pose2::bearing;
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Rot2 (Pose2::*bearing2)(const Point2&, boost::optional<Matrix&>, boost::optional<Matrix&>) const
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= &Pose2::bearing;
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// Rot2 (Pose2::*bearing1)(const Pose2&, boost::optional<Matrix&>, boost::optional<Matrix&>) const
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// = &Pose2::bearing;
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// Rot2 (Pose2::*bearing2)(const Point2&, boost::optional<Matrix&>, boost::optional<Matrix&>) const
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// = &Pose2::bearing;
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class_<Pose2>("Pose2", init<>())
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.def(init<Pose2>())
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@ -34,11 +34,11 @@ void exportPose2(){
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.def("print", &Pose2::print, print_overloads(args("s")))
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.def("equals", &Pose2::equals, equals_overloads(args("pose","tol")))
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.def("inverse", &Pose2::inverse)
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.def("compose", &Pose2::compose, compose_overloads(args("p2", "H1", "H2")))
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.def("between", &Pose2::between, between_overloads(args("p2", "H1", "H2")))
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.def("dim", &Pose2::dim)
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.def("retract", &Pose2::retract)
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// .def("inverse", &Pose2::inverse)
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// .def("compose", &Pose2::compose, compose_overloads(args("p2", "H1", "H2")))
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// .def("between", &Pose2::between, between_overloads(args("p2", "H1", "H2")))
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// .def("dim", &Pose2::dim)
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// .def("retract", &Pose2::retract)
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.def("transform_to", &Pose2::transform_to,
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transform_to_overloads(args("point", "H1", "H2")))
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@ -55,12 +55,12 @@ void exportPose2(){
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.def("translation", &Pose2::translation, return_value_policy<copy_const_reference>())
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.def("rotation", &Pose2::rotation, return_value_policy<copy_const_reference>())
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.def("bearing", bearing1, bearing_overloads())
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.def("bearing", bearing2, bearing_overloads())
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// .def("bearing", bearing1, bearing_overloads())
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// .def("bearing", bearing2, bearing_overloads())
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// Function overload example
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.def("range", range1, range_overloads())
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.def("range", range2, range_overloads())
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// .def("range", range1, range_overloads())
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// .def("range", range2, range_overloads())
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.def("Expmap", &Pose2::Expmap)
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@ -28,11 +28,11 @@ void exportRot2(){
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.def("print", &Rot2::print, print_overloads(args("s")))
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.def("equals", &Rot2::equals, equals_overloads(args("q","tol")))
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.def("inverse", &Rot2::inverse)
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.def("compose", &Rot2::compose, compose_overloads(args("q", "H1", "H2")))
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.def("between", &Rot2::between)
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.def("dim", &Rot2::dim)
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.def("retract", &Rot2::retract)
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// .def("inverse", &Rot2::inverse)
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// .def("compose", &Rot2::compose, compose_overloads(args("q", "H1", "H2")))
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// .def("between", &Rot2::between)
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// .def("dim", &Rot2::dim)
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// .def("retract", &Rot2::retract)
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.def("Expmap", &Rot2::Expmap)
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.staticmethod("Expmap")
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