149 lines
5.2 KiB
CMake
149 lines
5.2 KiB
CMake
# Install matlab components
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# Check if flag is enabled
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if(NOT GTSAM_INSTALL_MATLAB_TOOLBOX)
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return()
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endif()
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# Create the matlab toolbox for the gtsam library
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# Set the wrapping script variable
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set(MATLAB_WRAP_SCRIPT "${GTSAM_SOURCE_DIR}/wrap/scripts/matlab_wrap.py")
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# Set up cache options
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option(GTSAM_MEX_BUILD_STATIC_MODULE
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"Build MATLAB wrapper statically (increases build time)" OFF)
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set(GTSAM_BUILD_MEX_BINARY_FLAGS
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""
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CACHE STRING "Extra flags for running Matlab MEX compilation")
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set(GTSAM_TOOLBOX_INSTALL_PATH
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""
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CACHE
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PATH
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"Matlab toolbox destination, blank defaults to CMAKE_INSTALL_PREFIX/gtsam_toolbox"
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)
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if(NOT GTSAM_TOOLBOX_INSTALL_PATH)
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set(GTSAM_TOOLBOX_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/gtsam_toolbox")
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endif()
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set(WRAP_MEX_BUILD_STATIC_MODULE ${GTSAM_MEX_BUILD_STATIC_MODULE})
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set(WRAP_BUILD_MEX_BINARY_FLAGS ${GTSAM_BUILD_MEX_BINARY_FLAGS})
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set(WRAP_TOOLBOX_INSTALL_PATH ${GTSAM_TOOLBOX_INSTALL_PATH})
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set(WRAP_CUSTOM_MATLAB_PATH ${GTSAM_CUSTOM_MATLAB_PATH})
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set(WRAP_BUILD_TYPE_POSTFIXES ${GTSAM_BUILD_TYPE_POSTFIXES})
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# Fixup the Python paths
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if(GTWRAP_DIR)
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# packaged
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set(GTWRAP_PACKAGE_DIR ${GTWRAP_DIR})
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else()
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set(GTWRAP_PACKAGE_DIR ${GTSAM_SOURCE_DIR}/wrap)
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endif()
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include(MatlabWrap)
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if(NOT BUILD_SHARED_LIBS)
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message(
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FATAL_ERROR
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"GTSAM_INSTALL_MATLAB_TOOLBOX and BUILD_SHARED_LIBS=OFF."
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"The MATLAB wrapper cannot be compiled with a static GTSAM library because mex modules are themselves shared libraries."
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"If you want a self-contained mex module, enable GTSAM_MEX_BUILD_STATIC_MODULE instead of BUILD_SHARED_LIBS=OFF."
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)
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endif()
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# ##############################################################################
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# Generate, build and install toolbox
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set(mexFlags "${GTSAM_BUILD_MEX_BINARY_FLAGS}")
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if(NOT BUILD_SHARED_LIBS)
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list(APPEND mexFlags -DGTSAM_IMPORT_STATIC)
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endif()
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# ignoring the non-concrete types (type aliases)
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set(ignore
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gtsam::Point2
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gtsam::Point3
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gtsam::CustomFactor)
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set(interface_files
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${GTSAM_SOURCE_DIR}/gtsam/gtsam.i
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${GTSAM_SOURCE_DIR}/gtsam/base/base.i
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${GTSAM_SOURCE_DIR}/gtsam/basis/basis.i
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${PROJECT_SOURCE_DIR}/gtsam/inference/inference.i
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${PROJECT_SOURCE_DIR}/gtsam/discrete/discrete.i
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${GTSAM_SOURCE_DIR}/gtsam/geometry/geometry.i
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${GTSAM_SOURCE_DIR}/gtsam/linear/linear.i
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${GTSAM_SOURCE_DIR}/gtsam/nonlinear/nonlinear.i
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${GTSAM_SOURCE_DIR}/gtsam/nonlinear/custom.i
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${GTSAM_SOURCE_DIR}/gtsam/symbolic/symbolic.i
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${GTSAM_SOURCE_DIR}/gtsam/sam/sam.i
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${GTSAM_SOURCE_DIR}/gtsam/slam/slam.i
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${GTSAM_SOURCE_DIR}/gtsam/sfm/sfm.i
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${GTSAM_SOURCE_DIR}/gtsam/navigation/navigation.i
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)
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# Wrap
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matlab_wrap("${interface_files}" "gtsam" "${GTSAM_ADDITIONAL_LIBRARIES}"
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"" "${mexFlags}" "${ignore}")
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# Wrap version for gtsam_unstable
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if(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX)
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# Generate, build and install toolbox
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set(mexFlags "${GTSAM_BUILD_MEX_BINARY_FLAGS}")
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if(NOT BUILD_SHARED_LIBS)
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list(APPEND mexFlags -DGTSAM_IMPORT_STATIC)
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endif()
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# Wrap
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matlab_wrap(${GTSAM_SOURCE_DIR}/gtsam_unstable/gtsam_unstable.i "gtsam_unstable"
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"${GTSAM_ADDITIONAL_LIBRARIES}" "" "${mexFlags}" "${ignore}")
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endif(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX)
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# Record the root dir for gtsam - needed during external builds, e.g., ROS
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set(GTSAM_SOURCE_ROOT_DIR ${GTSAM_SOURCE_DIR})
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# Tests message(STATUS "Installing Matlab Toolbox")
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install_matlab_scripts("${GTSAM_SOURCE_ROOT_DIR}/matlab/" "*.m;*.fig")
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install_matlab_scripts("${GTSAM_SOURCE_ROOT_DIR}/matlab/"
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"README-gtsam-toolbox.txt")
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# Examples message(STATUS "Installing Matlab Toolbox Examples") Matlab files:
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# *.m and *.fig
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# install_matlab_scripts("${GTSAM_SOURCE_ROOT_DIR}/matlab/gtsam_examples"
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# "*.m;*.fig")
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# Utilities message(STATUS "Installing Matlab Toolbox Utilities")
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# install_matlab_scripts("${GTSAM_SOURCE_ROOT_DIR}/matlab/+gtsam" "*.m")
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# message(STATUS "Installing Matlab Toolbox Example Data") Data files: *.graph,
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# *.mat, and *.txt
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file(GLOB matlab_examples_data_graph
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"${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.graph")
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file(GLOB matlab_examples_data_mat
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"${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.mat")
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file(GLOB matlab_examples_data_txt
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"${GTSAM_SOURCE_ROOT_DIR}/examples/Data/*.txt")
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set(matlab_examples_data
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${matlab_examples_data_graph} ${matlab_examples_data_mat}
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${matlab_examples_data_txt})
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if(GTSAM_BUILD_TYPE_POSTFIXES)
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foreach(build_type ${CMAKE_CONFIGURATION_TYPES})
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string(TOUPPER "${build_type}" build_type_upper)
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if(${build_type_upper} STREQUAL "RELEASE")
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set(build_type_tag "") # Don't create release mode tag on installed
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# directory
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else()
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set(build_type_tag "${build_type}")
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endif()
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# Split up filename to strip trailing '/' in GTSAM_TOOLBOX_INSTALL_PATH if
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# there is one
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get_filename_component(location "${GTSAM_TOOLBOX_INSTALL_PATH}" PATH)
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get_filename_component(name "${GTSAM_TOOLBOX_INSTALL_PATH}" NAME)
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install(
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FILES ${matlab_examples_data}
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DESTINATION "${location}/${name}${build_type_tag}/gtsam_examples/Data"
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CONFIGURATIONS "${build_type}")
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endforeach()
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else()
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install(FILES ${matlab_examples_data}
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DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam_examples/Data)
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endif()
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