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