132 lines
4.8 KiB
CMake
132 lines
4.8 KiB
CMake
# Build full gtsam_unstable library as a single library
|
|
# and also build tests
|
|
set (gtsam_unstable_subdirs
|
|
base
|
|
geometry
|
|
discrete
|
|
linear
|
|
dynamics
|
|
nonlinear
|
|
slam
|
|
)
|
|
|
|
set(GTSAM_UNSTABLE_BOOST_LIBRARIES ${GTSAM_BOOST_LIBRARIES})
|
|
|
|
add_custom_target(check.unstable COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure)
|
|
|
|
# To exclude a source from the library build (in any subfolder)
|
|
# Add the full name to this list, as in the following example
|
|
# Sources to remove from builds
|
|
set (excluded_sources # "")
|
|
"${CMAKE_CURRENT_SOURCE_DIR}/slam/serialization.cpp"
|
|
)
|
|
|
|
set (excluded_headers # "")
|
|
"${CMAKE_CURRENT_SOURCE_DIR}/slam/serialization.h"
|
|
)
|
|
|
|
# assemble core libaries
|
|
foreach(subdir ${gtsam_unstable_subdirs})
|
|
# Build convenience libraries
|
|
file(GLOB subdir_srcs "${subdir}/*.cpp")
|
|
file(GLOB subdir_headers "${subdir}/*.h")
|
|
list(REMOVE_ITEM subdir_srcs ${excluded_sources})
|
|
list(REMOVE_ITEM subdir_headers ${excluded_headers})
|
|
set(${subdir}_srcs ${subdir_srcs} ${subdir_headers})
|
|
gtsam_assign_source_folders("${${subdir}_srcs}") # Create MSVC structure
|
|
if (subdir_srcs AND GTSAM_BUILD_CONVENIENCE_LIBRARIES)
|
|
message(STATUS "Building Convenience Library: ${subdir}_unstable")
|
|
add_library("${subdir}_unstable" STATIC ${${subdir}_srcs})
|
|
endif()
|
|
|
|
# Build local library and tests
|
|
message(STATUS "Building ${subdir}_unstable")
|
|
add_subdirectory(${subdir})
|
|
endforeach(subdir)
|
|
|
|
# assemble gtsam_unstable components
|
|
set(gtsam_unstable_srcs
|
|
${base_srcs}
|
|
${geometry_srcs}
|
|
${discrete_srcs}
|
|
${dynamics_srcs}
|
|
${linear_srcs}
|
|
${nonlinear_srcs}
|
|
${slam_srcs}
|
|
)
|
|
|
|
# Versions - same as core gtsam library
|
|
set(gtsam_unstable_version ${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH})
|
|
set(gtsam_unstable_soversion ${GTSAM_VERSION_MAJOR})
|
|
message(STATUS "GTSAM_UNSTABLE Version: ${gtsam_unstable_version}")
|
|
message(STATUS "Install prefix: ${CMAKE_INSTALL_PREFIX}")
|
|
|
|
# build shared and static versions of the library
|
|
if (GTSAM_BUILD_STATIC_LIBRARY)
|
|
message(STATUS "Building GTSAM_UNSTABLE - static")
|
|
add_library(gtsam_unstable-static STATIC ${gtsam_unstable_srcs})
|
|
set_target_properties(gtsam_unstable-static PROPERTIES
|
|
OUTPUT_NAME gtsam_unstable
|
|
CLEAN_DIRECT_OUTPUT 1
|
|
VERSION ${gtsam_unstable_version}
|
|
SOVERSION ${gtsam_unstable_soversion})
|
|
if(WIN32) # Add 'lib' prefix to static library to avoid filename collision with shared library
|
|
set_target_properties(gtsam_unstable-static PROPERTIES
|
|
PREFIX "lib"
|
|
COMPILE_DEFINITIONS GTSAM_UNSTABLE_IMPORT_STATIC)
|
|
endif()
|
|
target_link_libraries(gtsam_unstable-static gtsam-static ${GTSAM_UNSTABLE_BOOST_LIBRARIES})
|
|
install(TARGETS gtsam_unstable-static EXPORT GTSAM-exports ARCHIVE DESTINATION lib)
|
|
list(APPEND GTSAM_EXPORTED_TARGETS gtsam_unstable-static)
|
|
set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE)
|
|
endif()
|
|
|
|
if (GTSAM_BUILD_SHARED_LIBRARY)
|
|
message(STATUS "Building GTSAM_UNSTABLE - shared")
|
|
add_library(gtsam_unstable-shared SHARED ${gtsam_unstable_srcs})
|
|
set_target_properties(gtsam_unstable-shared PROPERTIES
|
|
OUTPUT_NAME gtsam_unstable
|
|
CLEAN_DIRECT_OUTPUT 1
|
|
VERSION ${gtsam_unstable_version}
|
|
SOVERSION ${gtsam_unstable_soversion})
|
|
if(WIN32)
|
|
set_target_properties(gtsam_unstable-shared PROPERTIES
|
|
PREFIX ""
|
|
DEFINE_SYMBOL GTSAM_UNSTABLE_EXPORTS
|
|
RUNTIME_OUTPUT_DIRECTORY "${PROJECT_BINARY_DIR}/bin")
|
|
endif()
|
|
target_link_libraries(gtsam_unstable-shared gtsam-shared ${GTSAM_UNSTABLE_BOOST_LIBRARIES})
|
|
install(TARGETS gtsam_unstable-shared EXPORT GTSAM-exports LIBRARY DESTINATION lib ARCHIVE DESTINATION lib RUNTIME DESTINATION bin)
|
|
list(APPEND GTSAM_EXPORTED_TARGETS gtsam_unstable-shared)
|
|
set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE)
|
|
endif()
|
|
|
|
# Wrap version for gtsam_unstable
|
|
if (GTSAM_INSTALL_MATLAB_TOOLBOX)
|
|
# Set up codegen
|
|
include(GtsamMatlabWrap)
|
|
|
|
# TODO: generate these includes programmatically
|
|
# Choose include flags depending on build process
|
|
set(MEX_INCLUDE_ROOT ${GTSAM_SOURCE_ROOT_DIR})
|
|
set(MEX_LIB_ROOT ${CMAKE_BINARY_DIR}) # FIXME: is this used?
|
|
set(GTSAM_LIB_DIR ${MEX_LIB_ROOT}/gtsam) # FIXME: is this used?
|
|
set(GTSAM_UNSTABLE_LIB_DIR ${MEX_LIB_ROOT}/gtsam_unstable) # FIXME: is this used?
|
|
|
|
# Generate, build and install toolbox
|
|
set(mexFlags -I${MEX_INCLUDE_ROOT} -I${Boost_INCLUDE_DIR} -I${CMAKE_BINARY_DIR})
|
|
if("${gtsam-default}" STREQUAL "gtsam-static")
|
|
list(APPEND mexFlags -DGTSAM_IMPORT_STATIC)
|
|
endif()
|
|
|
|
# Macro to handle details of setting up targets
|
|
wrap_library(gtsam_unstable "${mexFlags}" "./" gtsam)
|
|
|
|
endif(GTSAM_INSTALL_MATLAB_TOOLBOX)
|
|
|
|
|
|
# Build examples
|
|
if (GTSAM_BUILD_EXAMPLES)
|
|
add_subdirectory(examples)
|
|
endif(GTSAM_BUILD_EXAMPLES)
|