351 lines
16 KiB
CMake
351 lines
16 KiB
CMake
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project(GTSAM CXX C)
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cmake_minimum_required(VERSION 2.6)
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# Set the version number for the library
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set (GTSAM_VERSION_MAJOR 3)
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set (GTSAM_VERSION_MINOR 0)
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set (GTSAM_VERSION_PATCH 0)
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math (EXPR GTSAM_VERSION_NUMERIC "10000 * ${GTSAM_VERSION_MAJOR} + 100 * ${GTSAM_VERSION_MINOR} + ${GTSAM_VERSION_PATCH}")
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set (GTSAM_VERSION_STRING "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}")
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###############################################################################
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# Gather information, perform checks, set defaults
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# Set the default install path to home
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#set (CMAKE_INSTALL_PREFIX ${HOME} CACHE PATH "Install prefix for library")
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set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
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include(GtsamMakeConfigFile)
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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 ${CMAKE_CURRENT_SOURCE_DIR})
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message(STATUS "GTSAM_SOURCE_ROOT_DIR: [${GTSAM_SOURCE_ROOT_DIR}]")
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# Load build type flags and default to Debug mode
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include(GtsamBuildTypes)
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# Use macros for creating tests/timing scripts
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include(GtsamTesting)
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include(GtsamPrinting)
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# guard against in-source builds
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if(${CMAKE_SOURCE_DIR} STREQUAL ${CMAKE_BINARY_DIR})
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message(FATAL_ERROR "In-source builds not allowed. Please make a new directory (called a build directory) and run CMake from there. You may need to remove CMakeCache.txt. ")
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endif()
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# See whether gtsam_unstable is available (it will be present only if we're using an SVN checkout)
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if(EXISTS "${PROJECT_SOURCE_DIR}/gtsam_unstable" AND IS_DIRECTORY "${PROJECT_SOURCE_DIR}/gtsam_unstable")
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set(GTSAM_UNSTABLE_AVAILABLE 1)
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else()
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set(GTSAM_UNSTABLE_AVAILABLE 0)
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endif()
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###############################################################################
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# Set up options
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# Configurable Options
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option(GTSAM_BUILD_TESTS "Enable/Disable building of tests" ON)
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option(GTSAM_BUILD_TIMING "Enable/Disable building of timing scripts" OFF) # These do not currently work
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option(GTSAM_BUILD_EXAMPLES "Enable/Disable building of examples" ON)
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if(GTSAM_UNSTABLE_AVAILABLE)
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option(GTSAM_BUILD_UNSTABLE "Enable/Disable libgtsam_unstable" ON)
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endif()
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option(GTSAM_BUILD_SHARED_LIBRARY "Enable/Disable building of a shared version of gtsam" ON)
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option(GTSAM_BUILD_STATIC_LIBRARY "Enable/Disable building of a static version of gtsam" OFF)
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option(GTSAM_USE_QUATERNIONS "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices. If enable, Rot3::EXPMAP is enforced by default." OFF)
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option(GTSAM_POSE3_EXPMAP "Enable/Disable using Pose3::EXPMAP as the default mode. If disabled, Pose3::FIRST_ORDER will be used." OFF)
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option(GTSAM_ROT3_EXPMAP "Ignore if GTSAM_USE_QUATERNIONS is OFF (Rot3::EXPMAP by default). Otherwise, enable Rot3::EXPMAP, or if disabled, use Rot3::CAYLEY." OFF)
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option(GTSAM_ENABLE_CONSISTENCY_CHECKS "Enable/Disable expensive consistency checks" OFF)
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option(GTSAM_WITH_TBB "Use Intel Threaded Building Blocks (TBB) if available" ON)
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# Options relating to MATLAB wrapper
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# TODO: Check for matlab mex binary before handling building of binaries
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option(GTSAM_INSTALL_MATLAB_TOOLBOX "Enable/Disable installation of matlab toolbox" OFF)
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option(GTSAM_BUILD_WRAP "Enable/Disable building of matlab wrap utility (necessary for matlab interface)" ON)
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option(GTSAM_INSTALL_WRAP "Enable/Disable installation of wrap utility for wrapping other libraries" ON)
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# Check / set dependent variables for MATLAB wrapper
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set(GTSAM_WRAP_HEADER_PATH "${PROJECT_SOURCE_DIR}/wrap")
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if(GTSAM_INSTALL_MATLAB_TOOLBOX AND NOT GTSAM_BUILD_WRAP)
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message(FATAL_ERROR "GTSAM_INSTALL_MATLAB_TOOLBOX is enabled, please also enable GTSAM_BUILD_WRAP")
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endif()
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if(GTSAM_INSTALL_WRAP AND NOT GTSAM_BUILD_WRAP)
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message(FATAL_ERROR "GTSAM_INSTALL_WRAP is enabled, please also enable GTSAM_BUILD_WRAP")
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endif()
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# Flags for choosing default packaging tools
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set(CPACK_SOURCE_GENERATOR "TGZ" CACHE STRING "CPack Default Source Generator")
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set(CPACK_GENERATOR "TGZ" CACHE STRING "CPack Default Binary Generator")
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# Sanity check building of libraries
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if (NOT GTSAM_BUILD_SHARED_LIBRARY AND NOT GTSAM_BUILD_STATIC_LIBRARY)
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message(FATAL_ERROR "Both shared and static version of GTSAM library disabled - need to choose at least one!")
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endif()
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# Flags to determine whether tests and examples are build during 'make install'
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# Note that these remove the targets from the 'all'
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option(GTSAM_DISABLE_TESTS_ON_INSTALL "Disables building tests during install" ON)
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option(GTSAM_DISABLE_EXAMPLES_ON_INSTALL "Disables building examples during install" OFF)
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# Pull in infrastructure
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if (GTSAM_BUILD_TESTS)
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enable_testing()
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include(Dart)
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include(CTest)
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endif()
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###############################################################################
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# Find boost
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# To change the path for boost, you will need to set:
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# BOOST_ROOT: path to install prefix for boost
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# Boost_NO_SYSTEM_PATHS: set to true to keep the find script from ignoring BOOST_ROOT
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# If using Boost shared libs, disable auto linking
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if(MSVC)
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# Some libraries, at least Boost Program Options, rely on this to export DLL symbols
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add_definitions(-DBOOST_ALL_DYN_LINK)
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# Disable autolinking
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if(NOT Boost_USE_STATIC_LIBS)
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add_definitions(-DBOOST_ALL_NO_LIB)
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endif()
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endif()
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find_package(Boost 1.43 COMPONENTS serialization system filesystem thread program_options date_time regex timer chrono)
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# Required components
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if(NOT Boost_SERIALIZATION_LIBRARY OR NOT Boost_SYSTEM_LIBRARY OR NOT Boost_FILESYSTEM_LIBRARY OR
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NOT Boost_THREAD_LIBRARY OR NOT Boost_DATE_TIME_LIBRARY OR NOT Boost_REGEX_LIBRARY)
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message(FATAL_ERROR "Missing required Boost components >= v1.43, please install/upgrade Boost or configure your search paths.")
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endif()
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option(GTSAM_DISABLE_NEW_TIMERS "Disables using Boost.chrono for timing" OFF)
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# Allow for not using the timer libraries on boost < 1.48 (GTSAM timing code falls back to old timer library)
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set(GTSAM_BOOST_LIBRARIES
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${Boost_SERIALIZATION_LIBRARY} ${Boost_SYSTEM_LIBRARY} ${Boost_FILESYSTEM_LIBRARY}
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${Boost_THREAD_LIBRARY} ${Boost_DATE_TIME_LIBRARY} ${Boost_REGEX_LIBRARY})
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if (GTSAM_DISABLE_NEW_TIMERS)
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message("WARNING: GTSAM timing instrumentation manually disabled")
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add_definitions(-DGTSAM_DISABLE_NEW_TIMERS)
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else()
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if(Boost_TIMER_LIBRARY)
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list(APPEND GTSAM_BOOST_LIBRARIES ${Boost_TIMER_LIBRARY} ${Boost_CHRONO_LIBRARY})
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else()
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message("WARNING: GTSAM timing instrumentation will use the older, less accurate, Boost timer library because boost older than 1.48 was found.")
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endif()
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endif()
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###############################################################################
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# Find TBB
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find_package(TBB)
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# Set up variables if we're using TBB
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if(TBB_FOUND AND GTSAM_WITH_TBB)
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set(GTSAM_USE_TBB 1) # This will go into config.h
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set(GTSAM_TBB_LIBRARIES "")
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if(TBB_DEBUG_LIBRARIES)
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foreach(lib ${TBB_LIBRARIES})
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list(APPEND GTSAM_TBB_LIBRARIES optimized "${lib}")
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endforeach()
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foreach(lib ${TBB_DEBUG_LIBRARIES})
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list(APPEND GTSAM_TBB_LIBRARIES debug "${lib}")
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endforeach()
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else()
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set(GTSAM_TBB_LIBRARIES ${TBB_LIBRARIES})
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endif()
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endif()
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###############################################################################
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# Option for using system Eigen or GTSAM-bundled Eigen
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option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" OFF)
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# Switch for using system Eigen or GTSAM-bundled Eigen
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if(GTSAM_USE_SYSTEM_EIGEN)
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# Use generic Eigen include paths e.g. <Eigen/Core>
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set(GTSAM_EIGEN_INCLUDE_PREFIX "")
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find_package(Eigen3 REQUIRED)
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include_directories(AFTER "${EIGEN3_INCLUDE_DIR}")
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else()
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# Use bundled Eigen include paths e.g. <gtsam/3rdparty/Eigen/Eigen/Core>
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set(GTSAM_EIGEN_INCLUDE_PREFIX "gtsam/3rdparty/Eigen/")
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# Clear any variables set by FindEigen3
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if(EIGEN3_INCLUDE_DIR)
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set(EIGEN3_INCLUDE_DIR NOTFOUND CACHE STRING "" FORCE)
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endif()
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endif()
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# Write Eigen include file with the paths for either the system Eigen or the GTSAM-bundled Eigen
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configure_file(gtsam/3rdparty/gtsam_eigen_includes.h.in gtsam/3rdparty/gtsam_eigen_includes.h)
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# Install the configuration file for Eigen
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install(FILES ${CMAKE_BINARY_DIR}/gtsam/3rdparty/gtsam_eigen_includes.h DESTINATION include/gtsam/3rdparty)
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###############################################################################
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# Global compile options
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# Include boost - use 'BEFORE' so that a specific boost specified to CMake
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# takes precedence over a system-installed one.
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include_directories(BEFORE ${TBB_INCLUDE_DIRS} ${Boost_INCLUDE_DIR})
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# Add includes for source directories 'BEFORE' boost and any system include
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# paths so that the compiler uses GTSAM headers in our source directory instead
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# of any previously installed GTSAM headers.
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include_directories(BEFORE
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gtsam/3rdparty/UFconfig
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gtsam/3rdparty/CCOLAMD/Include
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${CMAKE_SOURCE_DIR}
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${CMAKE_BINARY_DIR} # So we can include generated config header files
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CppUnitLite)
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if(MSVC)
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add_definitions(-D_CRT_SECURE_NO_WARNINGS -D_SCL_SECURE_NO_WARNINGS)
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add_definitions(/wd4251 /wd4275 /wd4251 /wd4661) # Disable non-DLL-exported base class and other warnings
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endif()
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if(GTSAM_ENABLE_CONSISTENCY_CHECKS)
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add_definitions(-DGTSAM_EXTRA_CONSISTENCY_CHECKS)
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endif()
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###############################################################################
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# Add components
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# Set default library - static or shared, before adding subdirectories
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if(GTSAM_BUILD_SHARED_LIBRARY)
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set(gtsam-default gtsam-shared)
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if(GTSAM_BUILD_UNSTABLE)
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set(gtsam_unstable-default gtsam_unstable-shared)
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endif()
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else()
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set(gtsam-default gtsam-static)
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if(GTSAM_BUILD_UNSTABLE)
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set(gtsam_unstable-default gtsam_unstable-static)
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endif()
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endif()
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# Build CppUnitLite
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add_subdirectory(CppUnitLite)
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# Build wrap
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if (GTSAM_BUILD_WRAP)
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add_subdirectory(wrap)
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endif(GTSAM_BUILD_WRAP)
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# Build GTSAM library
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add_subdirectory(gtsam)
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# Build Tests
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add_subdirectory(tests)
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# Build examples
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if (GTSAM_BUILD_EXAMPLES)
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add_subdirectory(examples)
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endif(GTSAM_BUILD_EXAMPLES)
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# Matlab toolbox
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if (GTSAM_INSTALL_MATLAB_TOOLBOX)
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add_subdirectory(matlab)
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endif()
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# Build gtsam_unstable
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if (GTSAM_BUILD_UNSTABLE)
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add_subdirectory(gtsam_unstable)
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endif(GTSAM_BUILD_UNSTABLE)
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# Install config and export files
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GtsamMakeConfigFile(GTSAM "${CMAKE_CURRENT_SOURCE_DIR}/gtsam_extra.cmake.in")
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export(TARGETS ${GTSAM_EXPORTED_TARGETS} FILE GTSAM-exports.cmake)
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# Check for doxygen availability - optional dependency
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find_package(Doxygen)
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# Doxygen documentation - enabling options in subfolder
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if (DOXYGEN_FOUND)
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add_subdirectory(doc)
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endif()
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###############################################################################
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# Set up CPack
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set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "GTSAM")
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set(CPACK_PACKAGE_VENDOR "Frank Dellaert, Georgia Institute of Technology")
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set(CPACK_PACKAGE_CONTACT "Frank Dellaert, dellaert@cc.gatech.edu")
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set(CPACK_PACKAGE_DESCRIPTION_FILE "${CMAKE_CURRENT_SOURCE_DIR}/README")
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set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE")
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set(CPACK_PACKAGE_VERSION_MAJOR ${GTSAM_VERSION_MAJOR})
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set(CPACK_PACKAGE_VERSION_MINOR ${GTSAM_VERSION_MINOR})
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set(CPACK_PACKAGE_VERSION_PATCH ${GTSAM_VERSION_PATCH})
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set(CPACK_PACKAGE_INSTALL_DIRECTORY "CMake ${CMake_VERSION_MAJOR}.${CMake_VERSION_MINOR}")
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#set(CPACK_INSTALLED_DIRECTORIES "doc;.") # Include doc directory
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#set(CPACK_INSTALLED_DIRECTORIES ".") # FIXME: throws error
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set(CPACK_SOURCE_IGNORE_FILES "/build*;/\\\\.;/makestats.sh$")
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set(CPACK_SOURCE_IGNORE_FILES "${CPACK_SOURCE_IGNORE_FILES}" "/gtsam_unstable/")
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set(CPACK_SOURCE_IGNORE_FILES "${CPACK_SOURCE_IGNORE_FILES}" "/package_scripts/")
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set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}")
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#set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-aspn${GTSAM_VERSION_PATCH}") # Used for creating ASPN tarballs
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# Deb-package specific cpack
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set(CPACK_DEBIAN_PACKAGE_NAME "libgtsam-dev")
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set(CPACK_DEBIAN_PACKAGE_DEPENDS "libboost-dev (>= 1.43)") #Example: "libc6 (>= 2.3.1-6), libgcc1 (>= 1:3.4.2-12)")
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###############################################################################
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# Print configuration variables
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message(STATUS "===============================================================")
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message(STATUS "================ Configuration Options ======================")
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message(STATUS "Build flags ")
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print_config_flag(${GTSAM_BUILD_TIMING} "Build Timing scripts ")
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print_config_flag(${GTSAM_BUILD_EXAMPLES} "Build Examples ")
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print_config_flag(${GTSAM_BUILD_TESTS} "Build Tests ")
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if (DOXYGEN_FOUND)
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print_config_flag(${GTSAM_BUILD_DOCS} "Build Docs ")
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endif()
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print_config_flag(${GTSAM_BUILD_SHARED_LIBRARY} "Build shared GTSAM Library ")
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print_config_flag(${GTSAM_BUILD_STATIC_LIBRARY} "Build static GTSAM Library ")
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print_config_flag(${GTSAM_BUILD_TYPE_POSTFIXES} "Put build type in library name ")
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if(GTSAM_UNSTABLE_AVAILABLE)
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print_config_flag(${GTSAM_BUILD_UNSTABLE} "Build libgtsam_unstable ")
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endif()
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print_config_flag(${GTSAM_DISABLE_TESTS_ON_INSTALL} "No tests in all or install ")
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print_config_flag(${GTSAM_DISABLE_EXAMPLES_ON_INSTALL} "No examples in all or install ")
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string(TOUPPER "${CMAKE_BUILD_TYPE}" cmake_build_type_toupper)
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message(STATUS " Build type : ${CMAKE_BUILD_TYPE}")
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message(STATUS " C compilation flags : ${CMAKE_C_FLAGS} ${CMAKE_C_FLAGS_${cmake_build_type_toupper}}")
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message(STATUS " C++ compilation flags : ${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_${cmake_build_type_toupper}}")
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if(GTSAM_USE_TBB)
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message(STATUS " Use Intel TBB : Yes")
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elseif(TBB_FOUND)
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message(STATUS " Use Intel TBB : TBB found but GTSAM_WITH_TBB is disabled")
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else()
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message(STATUS " Use Intel TBB : TBB not found")
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endif()
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message(STATUS "Packaging flags ")
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message(STATUS " CPack Source Generator : ${CPACK_SOURCE_GENERATOR}")
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message(STATUS " CPack Generator : ${CPACK_GENERATOR}")
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message(STATUS "GTSAM flags ")
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print_config_flag(${GTSAM_USE_QUATERNIONS} "Quaternions as default Rot3 ")
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print_config_flag(${GTSAM_ENABLE_CONSISTENCY_CHECKS} "Runtime consistency checking ")
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print_config_flag(${GTSAM_POSE3_EXPMAP} "Pose3 retract is full ExpMap ")
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message(STATUS "MATLAB toolbox flags ")
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print_config_flag(${GTSAM_INSTALL_MATLAB_TOOLBOX} "Install matlab toolbox ")
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print_config_flag(${GTSAM_BUILD_WRAP} "Build Wrap ")
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print_config_flag(${GTSAM_INSTALL_WRAP} "Install wrap utility ")
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message(STATUS "===============================================================")
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if(GTSAM_WITH_TBB AND NOT TBB_FOUND)
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message(WARNING "GTSAM_USE_TBB is set to 'On' but TBB was not found. This is ok, but GTSAM parallelization will be disabled. Set GTSAM_USE_TBB to 'Off' to avoid this warning.")
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endif()
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# Include CPack *after* all flags
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include(CPack)
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