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gtsam/python/CMakeLists.txt

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CMake
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set(PROJECT_PYTHON_SOURCE_DIR ${PROJECT_SOURCE_DIR}/python)
set(GTSAM_PYTHON_BUILD_DIRECTORY ${PROJECT_BINARY_DIR}/python)
if (NOT GTSAM_BUILD_PYTHON)
return()
endif()
# Generate setup.py.
file(READ "${PROJECT_SOURCE_DIR}/README.md" README_CONTENTS)
configure_file(${PROJECT_PYTHON_SOURCE_DIR}/setup.py.in
${GTSAM_PYTHON_BUILD_DIRECTORY}/setup.py)
# Supply MANIFEST.in for older versions of Python
file(COPY ${PROJECT_PYTHON_SOURCE_DIR}/MANIFEST.in
DESTINATION ${GTSAM_PYTHON_BUILD_DIRECTORY})
set(WRAP_BUILD_TYPE_POSTFIXES ${GTSAM_BUILD_TYPE_POSTFIXES})
include(PybindWrap)
############################################################
## Load the necessary files to compile the wrapper
# Load the pybind11 code
# This is required to avoid an error in modern pybind11 cmake scripts:
if(POLICY CMP0057)
cmake_policy(SET CMP0057 NEW)
endif()
# Use bundled pybind11 version
add_subdirectory(${PROJECT_SOURCE_DIR}/wrap/pybind11 pybind11)
# Set the wrapping script variable
set(PYBIND_WRAP_SCRIPT "${PROJECT_SOURCE_DIR}/wrap/scripts/pybind_wrap.py")
############################################################
add_custom_target(gtsam_header DEPENDS "${PROJECT_SOURCE_DIR}/gtsam/gtsam.i")
add_custom_target(gtsam_unstable_header DEPENDS "${PROJECT_SOURCE_DIR}/gtsam_unstable/gtsam_unstable.i")
# ignoring the non-concrete types (type aliases)
set(ignore
gtsam::Point2
gtsam::Point3
gtsam::ISAM2ThresholdMapValue
gtsam::FactorIndices
gtsam::FactorIndexSet
gtsam::IndexPairSet
gtsam::IndexPairSetMap
gtsam::IndexPairVector
gtsam::BetweenFactorPose2s
gtsam::BetweenFactorPose3s
gtsam::FixedLagSmootherKeyTimestampMap
gtsam::FixedLagSmootherKeyTimestampMapValue
gtsam::Point2Vector
gtsam::Point2Pairs
gtsam::Point3Pairs
gtsam::Pose3Pairs
gtsam::Pose3Vector
gtsam::Rot3Vector
gtsam::KeyVector
gtsam::BinaryMeasurementsPoint3
gtsam::BinaryMeasurementsUnit3
gtsam::BinaryMeasurementsRot3
gtsam::DiscreteKey
gtsam::KeyPairDoubleMap
gtsam::gtsfm::MatchIndicesMap
gtsam::gtsfm::KeypointsVector
gtsam::gtsfm::SfmTrack2dVector)
set(interface_headers
${PROJECT_SOURCE_DIR}/gtsam/gtsam.i
${PROJECT_SOURCE_DIR}/gtsam/base/base.i
${PROJECT_SOURCE_DIR}/gtsam/inference/inference.i
${PROJECT_SOURCE_DIR}/gtsam/discrete/discrete.i
${PROJECT_SOURCE_DIR}/gtsam/geometry/geometry.i
${PROJECT_SOURCE_DIR}/gtsam/linear/linear.i
${PROJECT_SOURCE_DIR}/gtsam/nonlinear/nonlinear.i
${PROJECT_SOURCE_DIR}/gtsam/nonlinear/values.i
${PROJECT_SOURCE_DIR}/gtsam/nonlinear/custom.i
${PROJECT_SOURCE_DIR}/gtsam/symbolic/symbolic.i
${PROJECT_SOURCE_DIR}/gtsam/sam/sam.i
${PROJECT_SOURCE_DIR}/gtsam/slam/slam.i
${PROJECT_SOURCE_DIR}/gtsam/sfm/sfm.i
${PROJECT_SOURCE_DIR}/gtsam/navigation/navigation.i
${PROJECT_SOURCE_DIR}/gtsam/basis/basis.i
${PROJECT_SOURCE_DIR}/gtsam/hybrid/hybrid.i
)
set(GTSAM_PYTHON_TARGET gtsam_py)
set(GTSAM_PYTHON_UNSTABLE_TARGET gtsam_unstable_py)
set(GTSAM_OUTPUT_NAME "gtsam")
set(GTSAM_UNSTABLE_OUTPUT_NAME "gtsam_unstable")
if(MSVC)
set(GTSAM_OUTPUT_NAME "gtsam_py")
set(GTSAM_UNSTABLE_OUTPUT_NAME "gtsam_unstable_py")
endif()
pybind_wrap(${GTSAM_PYTHON_TARGET} # target
"${interface_headers}" # interface_headers
"gtsam.cpp" # generated_cpp
"gtsam" # module_name
"gtsam" # top_namespace
"${ignore}" # ignore_classes
${PROJECT_PYTHON_SOURCE_DIR}/gtsam/gtsam.tpl
gtsam # libs
"gtsam;gtsam_header" # dependencies
${GTSAM_ENABLE_BOOST_SERIALIZATION} # use_boost_serialization
)
set_target_properties(${GTSAM_PYTHON_TARGET} PROPERTIES
INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
INSTALL_RPATH_USE_LINK_PATH TRUE
OUTPUT_NAME "${GTSAM_OUTPUT_NAME}"
LIBRARY_OUTPUT_DIRECTORY "${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam"
DEBUG_POSTFIX "" # Otherwise you will have a wrong name
RELWITHDEBINFO_POSTFIX "" # Otherwise you will have a wrong name
)
if(WIN32)
set_target_properties(${GTSAM_PYTHON_TARGET} PROPERTIES
SUFFIX ".pyd"
)
ADD_CUSTOM_COMMAND(TARGET ${GTSAM_PYTHON_TARGET} POST_BUILD
COMMAND ${CMAKE_COMMAND} -E copy_if_different
"${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam/${GTSAM_OUTPUT_NAME}.pyd"
"${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam/gtsam.pyd"
)
ADD_CUSTOM_COMMAND(TARGET ${GTSAM_PYTHON_TARGET} POST_BUILD
COMMAND ${CMAKE_COMMAND} -E copy_if_different
"$<TARGET_FILE:gtsam>;$<TARGET_RUNTIME_DLLS:gtsam>"
"${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam/"
COMMAND_EXPAND_LISTS
VERBATIM
)
endif()
# Set the path for the GTSAM python module
set(GTSAM_MODULE_PATH ${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam)
# Copy all python files to build folder.
copy_directory("${CMAKE_CURRENT_SOURCE_DIR}/gtsam"
"${GTSAM_MODULE_PATH}")
# Hack to get python test and util files copied every time they are modified
file(GLOB GTSAM_PYTHON_TEST_FILES "${CMAKE_CURRENT_SOURCE_DIR}/gtsam/tests/*.py")
foreach(test_file ${GTSAM_PYTHON_TEST_FILES})
get_filename_component(test_file_name ${test_file} NAME)
configure_file(${test_file} "${GTSAM_MODULE_PATH}/tests/${test_file_name}" COPYONLY)
endforeach()
file(GLOB GTSAM_PYTHON_UTIL_FILES "${CMAKE_CURRENT_SOURCE_DIR}/gtsam/utils/*.py")
foreach(util_file ${GTSAM_PYTHON_UTIL_FILES})
configure_file(${util_file} "${GTSAM_MODULE_PATH}/utils/${test_file}" COPYONLY)
endforeach()
file(GLOB GTSAM_PYTHON_PREAMBLE_FILES "${CMAKE_CURRENT_SOURCE_DIR}/gtsam/preamble/*.h")
foreach(util_file ${GTSAM_PYTHON_PREAMBLE_FILES})
configure_file(${util_file} "${GTSAM_MODULE_PATH}/preamble/${test_file}" COPYONLY)
endforeach()
file(GLOB GTSAM_PYTHON_SPECIALIZATION_FILES "${CMAKE_CURRENT_SOURCE_DIR}/gtsam/specializations/*.h")
foreach(util_file ${GTSAM_PYTHON_SPECIALIZATION_FILES})
configure_file(${util_file} "${GTSAM_MODULE_PATH}/specializations/${test_file}" COPYONLY)
endforeach()
# Common directory for data/datasets stored with the package.
# This will store the data in the Python site package directly.
file(COPY "${GTSAM_SOURCE_DIR}/examples/Data" DESTINATION "${GTSAM_MODULE_PATH}")
# Add gtsam as a dependency to the install target
set(GTSAM_PYTHON_DEPENDENCIES ${GTSAM_PYTHON_TARGET})
set(GTSAM_PYTHON_INSTALL_EXTRA "")
if(GTSAM_UNSTABLE_BUILD_PYTHON)
set(ignore
gtsam::Point2
gtsam::Point3
gtsam::ISAM2ThresholdMapValue
gtsam::FactorIndices
gtsam::FactorIndexSet
gtsam::BetweenFactorPose3s
gtsam::Point2Vector
gtsam::Pose3Vector
gtsam::KeyVector
gtsam::BinaryMeasurementsPoint3
gtsam::BinaryMeasurementsUnit3
gtsam::BinaryMeasurementsRot3
gtsam::SimWall2DVector
gtsam::SimPolygon2DVector
gtsam::CameraSetCal3_S2
gtsam::CameraSetCal3Bundler
gtsam::CameraSetCal3Unified
gtsam::CameraSetCal3Fisheye
gtsam::KeyPairDoubleMap
gtsam::gtsfm::MatchIndicesMap
gtsam::gtsfm::KeypointsVector
gtsam::gtsfm::SfmTrack2dVector)
pybind_wrap(${GTSAM_PYTHON_UNSTABLE_TARGET} # target
${PROJECT_SOURCE_DIR}/gtsam_unstable/gtsam_unstable.i # interface_header
"gtsam_unstable.cpp" # generated_cpp
"gtsam_unstable" # module_name
"gtsam" # top_namespace
"${ignore}" # ignore_classes
${PROJECT_PYTHON_SOURCE_DIR}/gtsam_unstable/gtsam_unstable.tpl
gtsam_unstable # libs
"gtsam_unstable;gtsam_unstable_header" # dependencies
${GTSAM_ENABLE_BOOST_SERIALIZATION} # use_boost_serialization
)
set_target_properties(${GTSAM_PYTHON_UNSTABLE_TARGET} PROPERTIES
INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
INSTALL_RPATH_USE_LINK_PATH TRUE
OUTPUT_NAME "${GTSAM_UNSTABLE_OUTPUT_NAME}"
LIBRARY_OUTPUT_DIRECTORY "${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam_unstable"
DEBUG_POSTFIX "" # Otherwise you will have a wrong name
RELWITHDEBINFO_POSTFIX "" # Otherwise you will have a wrong name
)
set(GTSAM_UNSTABLE_MODULE_PATH ${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam_unstable)
# Copy all python files to build folder.
copy_directory("${CMAKE_CURRENT_SOURCE_DIR}/gtsam_unstable"
"${GTSAM_UNSTABLE_MODULE_PATH}")
# Hack to get python test files copied every time they are modified
file(GLOB GTSAM_UNSTABLE_PYTHON_TEST_FILES RELATIVE "${CMAKE_CURRENT_SOURCE_DIR}/gtsam_unstable/" "${CMAKE_CURRENT_SOURCE_DIR}/gtsam_unstable/tests/*.py")
foreach(test_file ${GTSAM_UNSTABLE_PYTHON_TEST_FILES})
configure_file("${CMAKE_CURRENT_SOURCE_DIR}/gtsam_unstable/${test_file}" "${GTSAM_UNSTABLE_MODULE_PATH}/${test_file}" COPYONLY)
endforeach()
# Add gtsam_unstable to the install target
list(APPEND GTSAM_PYTHON_DEPENDENCIES ${GTSAM_PYTHON_UNSTABLE_TARGET})
if(WIN32)
set_target_properties(${GTSAM_PYTHON_UNSTABLE_TARGET} PROPERTIES
SUFFIX ".pyd"
)
ADD_CUSTOM_COMMAND(TARGET ${GTSAM_PYTHON_UNSTABLE_TARGET} POST_BUILD
COMMAND ${CMAKE_COMMAND} -E copy_if_different
"${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam_unstable/${GTSAM_UNSTABLE_OUTPUT_NAME}.pyd"
"${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam_unstable/gtsam_unstable.pyd"
)
ADD_CUSTOM_COMMAND(TARGET ${GTSAM_PYTHON_UNSTABLE_TARGET} POST_BUILD
COMMAND ${CMAKE_COMMAND} -E copy_if_different
"$<TARGET_FILE:gtsam_unstable>;$<TARGET_RUNTIME_DLLS:gtsam_unstable>"
"${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam_unstable/"
COMMAND_EXPAND_LISTS
VERBATIM
)
endif()
add_custom_target(
python-unstable-stubs
COMMAND
${CMAKE_COMMAND} -E env
"PYTHONPATH=${GTSAM_PYTHON_BUILD_DIRECTORY}/$ENV{PYTHONPATH}"
pybind11-stubgen -o . --enum-class-locations \"KernelFunctionType|NoiseFormat:gtsam.gtsam\" --enum-class-locations \"OrderingType:gtsam.gtsam.Ordering\" --numpy-array-use-type-var gtsam_unstable
DEPENDS ${GTSAM_PYTHON_DEPENDENCIES} ${GTSAM_PYTHON_TEST_FILES} ${GTSAM_PYTHON_UNSTABLE_TARGET}
WORKING_DIRECTORY "${GTSAM_PYTHON_BUILD_DIRECTORY}/"
)
if(NOT WIN32)
# Add the stubgen target as a dependency to the install target
list(APPEND GTSAM_PYTHON_INSTALL_EXTRA python-unstable-stubs)
endif()
# Custom make command to run all GTSAM_UNSTABLE Python tests
add_custom_target(
python-test-unstable
COMMAND
${CMAKE_COMMAND} -E env # add package to python path so no need to install
"PYTHONPATH=${GTSAM_PYTHON_BUILD_DIRECTORY}/$ENV{PYTHONPATH}"
${PYTHON_EXECUTABLE} -m unittest discover -v -s .
DEPENDS ${GTSAM_PYTHON_DEPENDENCIES} ${GTSAM_PYTHON_TEST_FILES}
WORKING_DIRECTORY "${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam_unstable/tests"
)
endif()
add_custom_target(
python-stubs
COMMAND
${CMAKE_COMMAND} -E env
"PYTHONPATH=${GTSAM_PYTHON_BUILD_DIRECTORY}/$ENV{PYTHONPATH}"
pybind11-stubgen -o . --enum-class-locations \"KernelFunctionType|NoiseFormat:gtsam.gtsam\" --enum-class-locations \"OrderingType:gtsam.gtsam.Ordering\" --numpy-array-use-type-var gtsam
DEPENDS ${GTSAM_PYTHON_DEPENDENCIES} ${GTSAM_PYTHON_TEST_FILES} ${GTSAM_PYTHON_TARGET}
WORKING_DIRECTORY "${GTSAM_PYTHON_BUILD_DIRECTORY}/"
)
if(NOT WIN32)
# Add the stubgen target as a dependency to the install target
list(APPEND GTSAM_PYTHON_INSTALL_EXTRA python-stubs)
endif()
# Add custom target so we can install with `make python-install`
# Note below we make sure to install with --user iff not in a virtualenv
set(GTSAM_PYTHON_INSTALL_TARGET python-install)
add_custom_target(${GTSAM_PYTHON_INSTALL_TARGET}
COMMAND ${PYTHON_EXECUTABLE} -c "import sys, subprocess; cmd = [sys.executable, '-m', 'pip', 'install']; has_venv = hasattr(sys, 'real_prefix') or (hasattr(sys, 'base_prefix') and sys.base_prefix != sys.prefix); cmd.append('--user' if not has_venv else ''); cmd.append('.'); subprocess.check_call([c for c in cmd if c])"
DEPENDS ${GTSAM_PYTHON_DEPENDENCIES} ${GTSAM_PYTHON_INSTALL_EXTRA}
WORKING_DIRECTORY ${GTSAM_PYTHON_BUILD_DIRECTORY}
VERBATIM)
# Custom make command to run all GTSAM Python tests
add_custom_target(
python-test
COMMAND
${CMAKE_COMMAND} -E env # add package to python path so no need to install
"PYTHONPATH=${GTSAM_PYTHON_BUILD_DIRECTORY}/$ENV{PYTHONPATH}"
${PYTHON_EXECUTABLE} -m unittest discover -v -s .
DEPENDS ${GTSAM_PYTHON_DEPENDENCIES} ${GTSAM_PYTHON_TEST_FILES}
WORKING_DIRECTORY "${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam/tests")
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