204 lines
7.9 KiB
CMake
204 lines
7.9 KiB
CMake
set(GTSAM_PYTHON_BUILD_DIRECTORY ${PROJECT_BINARY_DIR}/python)
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if (NOT GTSAM_BUILD_PYTHON)
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return()
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endif()
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# Generate setup.py.
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file(READ "${PROJECT_SOURCE_DIR}/README.md" README_CONTENTS)
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configure_file(${PROJECT_SOURCE_DIR}/python/setup.py.in
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${GTSAM_PYTHON_BUILD_DIRECTORY}/setup.py)
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# Supply MANIFEST.in for older versions of Python
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file(COPY ${PROJECT_SOURCE_DIR}/python/MANIFEST.in
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DESTINATION ${GTSAM_PYTHON_BUILD_DIRECTORY})
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set(WRAP_BUILD_TYPE_POSTFIXES ${GTSAM_BUILD_TYPE_POSTFIXES})
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include(PybindWrap)
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############################################################
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## Load the necessary files to compile the wrapper
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# Load the pybind11 code
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add_subdirectory(${PROJECT_SOURCE_DIR}/wrap/pybind11 pybind11)
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# Set the wrapping script variable
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set(PYBIND_WRAP_SCRIPT "${PROJECT_SOURCE_DIR}/wrap/scripts/pybind_wrap.py")
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############################################################
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add_custom_target(gtsam_header DEPENDS "${PROJECT_SOURCE_DIR}/gtsam/gtsam.i")
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add_custom_target(gtsam_unstable_header DEPENDS "${PROJECT_SOURCE_DIR}/gtsam_unstable/gtsam_unstable.i")
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# ignoring the non-concrete types (type aliases)
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set(ignore
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gtsam::Point2
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gtsam::Point3
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gtsam::ISAM2ThresholdMapValue
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gtsam::FactorIndices
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gtsam::FactorIndexSet
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gtsam::IndexPairSetMap
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gtsam::IndexPairVector
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gtsam::BetweenFactorPose2s
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gtsam::BetweenFactorPose3s
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gtsam::Point2Vector
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gtsam::Point2Pairs
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gtsam::Point3Pairs
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gtsam::Pose3Pairs
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gtsam::Pose3Vector
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gtsam::Rot3Vector
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gtsam::KeyVector
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gtsam::BinaryMeasurementsPoint3
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gtsam::BinaryMeasurementsUnit3
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gtsam::BinaryMeasurementsRot3
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gtsam::DiscreteKey
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gtsam::KeyPairDoubleMap)
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set(interface_headers
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${PROJECT_SOURCE_DIR}/gtsam/gtsam.i
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${PROJECT_SOURCE_DIR}/gtsam/base/base.i
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${PROJECT_SOURCE_DIR}/gtsam/inference/inference.i
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${PROJECT_SOURCE_DIR}/gtsam/discrete/discrete.i
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${PROJECT_SOURCE_DIR}/gtsam/geometry/geometry.i
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${PROJECT_SOURCE_DIR}/gtsam/linear/linear.i
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${PROJECT_SOURCE_DIR}/gtsam/nonlinear/nonlinear.i
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${PROJECT_SOURCE_DIR}/gtsam/symbolic/symbolic.i
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${PROJECT_SOURCE_DIR}/gtsam/sam/sam.i
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${PROJECT_SOURCE_DIR}/gtsam/slam/slam.i
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${PROJECT_SOURCE_DIR}/gtsam/sfm/sfm.i
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${PROJECT_SOURCE_DIR}/gtsam/navigation/navigation.i
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${PROJECT_SOURCE_DIR}/gtsam/basis/basis.i
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)
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set(GTSAM_PYTHON_TARGET gtsam_py)
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set(GTSAM_PYTHON_UNSTABLE_TARGET gtsam_unstable_py)
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pybind_wrap(${GTSAM_PYTHON_TARGET} # target
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"${interface_headers}" # interface_headers
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"gtsam.cpp" # generated_cpp
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"gtsam" # module_name
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"gtsam" # top_namespace
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"${ignore}" # ignore_classes
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${PROJECT_SOURCE_DIR}/python/gtsam/gtsam.tpl
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gtsam # libs
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"gtsam;gtsam_header" # dependencies
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ON # use_boost
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)
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set_target_properties(${GTSAM_PYTHON_TARGET} PROPERTIES
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INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
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INSTALL_RPATH_USE_LINK_PATH TRUE
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OUTPUT_NAME "gtsam"
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LIBRARY_OUTPUT_DIRECTORY "${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam"
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DEBUG_POSTFIX "" # Otherwise you will have a wrong name
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RELWITHDEBINFO_POSTFIX "" # Otherwise you will have a wrong name
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)
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# Set the path for the GTSAM python module
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set(GTSAM_MODULE_PATH ${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam)
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# Copy all python files to build folder.
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copy_directory("${CMAKE_CURRENT_SOURCE_DIR}/gtsam"
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"${GTSAM_MODULE_PATH}")
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# Hack to get python test and util files copied every time they are modified
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file(GLOB GTSAM_PYTHON_TEST_FILES "${CMAKE_CURRENT_SOURCE_DIR}/gtsam/tests/*.py")
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foreach(test_file ${GTSAM_PYTHON_TEST_FILES})
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configure_file(${test_file} "${GTSAM_MODULE_PATH}/tests/${test_file}" COPYONLY)
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endforeach()
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file(GLOB GTSAM_PYTHON_UTIL_FILES "${CMAKE_CURRENT_SOURCE_DIR}/gtsam/utils/*.py")
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foreach(util_file ${GTSAM_PYTHON_UTIL_FILES})
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configure_file(${util_file} "${GTSAM_MODULE_PATH}/utils/${test_file}" COPYONLY)
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endforeach()
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file(GLOB GTSAM_PYTHON_PREAMBLE_FILES "${CMAKE_CURRENT_SOURCE_DIR}/gtsam/preamble/*.h")
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foreach(util_file ${GTSAM_PYTHON_PREAMBLE_FILES})
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configure_file(${util_file} "${GTSAM_MODULE_PATH}/preamble/${test_file}" COPYONLY)
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endforeach()
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file(GLOB GTSAM_PYTHON_SPECIALIZATION_FILES "${CMAKE_CURRENT_SOURCE_DIR}/gtsam/specializations/*.h")
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foreach(util_file ${GTSAM_PYTHON_SPECIALIZATION_FILES})
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configure_file(${util_file} "${GTSAM_MODULE_PATH}/specializations/${test_file}" COPYONLY)
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endforeach()
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# Common directory for data/datasets stored with the package.
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# This will store the data in the Python site package directly.
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file(COPY "${GTSAM_SOURCE_DIR}/examples/Data" DESTINATION "${GTSAM_MODULE_PATH}")
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# Add gtsam as a dependency to the install target
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set(GTSAM_PYTHON_DEPENDENCIES ${GTSAM_PYTHON_TARGET})
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if(GTSAM_UNSTABLE_BUILD_PYTHON)
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set(ignore
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gtsam::Point2
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gtsam::Point3
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gtsam::ISAM2ThresholdMapValue
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gtsam::FactorIndices
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gtsam::FactorIndexSet
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gtsam::BetweenFactorPose3s
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gtsam::Point2Vector
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gtsam::Pose3Vector
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gtsam::KeyVector
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gtsam::FixedLagSmootherKeyTimestampMapValue
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gtsam::BinaryMeasurementsPoint3
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gtsam::BinaryMeasurementsUnit3
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gtsam::BinaryMeasurementsRot3
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gtsam::CameraSetCal3_S2
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gtsam::CameraSetCal3Bundler
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gtsam::CameraSetCal3Unified
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gtsam::CameraSetCal3Fisheye
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gtsam::KeyPairDoubleMap)
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pybind_wrap(${GTSAM_PYTHON_UNSTABLE_TARGET} # target
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${PROJECT_SOURCE_DIR}/gtsam_unstable/gtsam_unstable.i # interface_header
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"gtsam_unstable.cpp" # generated_cpp
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"gtsam_unstable" # module_name
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"gtsam" # top_namespace
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"${ignore}" # ignore_classes
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${PROJECT_SOURCE_DIR}/python/gtsam_unstable/gtsam_unstable.tpl
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gtsam_unstable # libs
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"gtsam_unstable;gtsam_unstable_header" # dependencies
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ON # use_boost
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)
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set_target_properties(${GTSAM_PYTHON_UNSTABLE_TARGET} PROPERTIES
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INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
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INSTALL_RPATH_USE_LINK_PATH TRUE
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OUTPUT_NAME "gtsam_unstable"
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LIBRARY_OUTPUT_DIRECTORY "${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam_unstable"
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DEBUG_POSTFIX "" # Otherwise you will have a wrong name
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RELWITHDEBINFO_POSTFIX "" # Otherwise you will have a wrong name
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)
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set(GTSAM_UNSTABLE_MODULE_PATH ${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam_unstable)
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# Copy all python files to build folder.
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copy_directory("${CMAKE_CURRENT_SOURCE_DIR}/gtsam_unstable"
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"${GTSAM_UNSTABLE_MODULE_PATH}")
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# Hack to get python test files copied every time they are modified
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file(GLOB GTSAM_UNSTABLE_PYTHON_TEST_FILES "${CMAKE_CURRENT_SOURCE_DIR}/gtsam_unstable/tests/*.py")
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foreach(test_file ${GTSAM_UNSTABLE_PYTHON_TEST_FILES})
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configure_file(${test_file} "${GTSAM_UNSTABLE_MODULE_PATH}/tests/${test_file}" COPYONLY)
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endforeach()
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# Add gtsam_unstable to the install target
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list(APPEND GTSAM_PYTHON_DEPENDENCIES ${GTSAM_PYTHON_UNSTABLE_TARGET})
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endif()
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# Add custom target so we can install with `make python-install`
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set(GTSAM_PYTHON_INSTALL_TARGET python-install)
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add_custom_target(${GTSAM_PYTHON_INSTALL_TARGET}
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COMMAND ${PYTHON_EXECUTABLE} -m pip install .
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DEPENDS ${GTSAM_PYTHON_DEPENDENCIES}
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WORKING_DIRECTORY ${GTSAM_PYTHON_BUILD_DIRECTORY})
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# Custom make command to run all GTSAM Python tests
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add_custom_target(
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python-test
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COMMAND
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${CMAKE_COMMAND} -E env # add package to python path so no need to install
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"PYTHONPATH=${GTSAM_PYTHON_BUILD_DIRECTORY}/$ENV{PYTHONPATH}"
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${PYTHON_EXECUTABLE} -m unittest discover -v -s .
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DEPENDS ${GTSAM_PYTHON_DEPENDENCIES} ${GTSAM_PYTHON_TEST_FILES}
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WORKING_DIRECTORY "${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam/tests")
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