ADDED: Test Installation when building with QNX (Review this for upstreaming)

cmake/GtsamTesting.cmake

@@ -196,8 +196,13 @@ macro(gtsamAddTestsGlob_impl groupName globPatterns excludedFiles linkLibraries)
 				# Add TOPSRCDIR
 				set_property(SOURCE ${script_src} APPEND PROPERTY COMPILE_DEFINITIONS "TOPSRCDIR=\"${GTSAM_SOURCE_DIR}\"")
 
+				if(QNX)
+				# Do not exclude from 'make all' and 'make install'
+				set_target_properties(${target_name} PROPERTIES EXCLUDE_FROM_ALL OFF)
+				else()
 				# Exclude from 'make all' and 'make install'
-				set_target_properties(${script_name} PROPERTIES EXCLUDE_FROM_ALL ON)
+				set_target_properties(${target_name} PROPERTIES EXCLUDE_FROM_ALL ON)
+				endif()
 
 				# Configure target folder (for MSVC and Xcode)
 				set_property(TARGET ${script_name} PROPERTY FOLDER "Unit tests/${groupName}")

gtsam/CMakeLists.txt

@@ -82,6 +82,10 @@ IF(MSVC)
 ENDIF(MSVC)
 
 # Generate and install config and dllexport files
+#For config.in searches
+if(DEFINED ENV{QNX})
+set(QNX_TARGET_DATASET_DIR "$ENV{QNX_TARGET_DATASET_DIR}")
+endif()
 configure_file(config.h.in config.h)
 set(library_name GTSAM) # For substitution in dllexport.h.in
 configure_file("${GTSAM_SOURCE_DIR}/cmake/dllexport.h.in" "dllexport.h")

gtsam/config.h.in

@@ -27,6 +27,9 @@
 // Paths to example datasets distributed with GTSAM
 #define GTSAM_SOURCE_TREE_DATASET_DIR "@GTSAM_SOURCE_DIR@/examples/Data"
 #define GTSAM_INSTALLED_DATASET_DIR "@GTSAM_TOOLBOX_INSTALL_PATH@/gtsam_examples/Data"
+#ifdef __QNX__
+#define QNX_INSTALLED_DATASET_DIR "@QNX_TARGET_DATASET_DIR@/gtsam_examples/Data"
+#endif
 
 // Whether GTSAM is compiled to use quaternions for Rot3 (otherwise uses rotation matrices)
 #cmakedefine GTSAM_USE_QUATERNIONS

gtsam/slam/dataset.cpp

@@ -69,6 +69,9 @@ string findExampleDataFile(const string &name) {
   // Constants below are defined by CMake, see gtsam/gtsam/CMakeLists.txt
   rootsToSearch.push_back(GTSAM_SOURCE_TREE_DATASET_DIR);
   rootsToSearch.push_back(GTSAM_INSTALLED_DATASET_DIR);
+  #ifdef __QNX__
+  rootsToSearch.push_back(QNX_INSTALLED_DATASET_DIR);
+  #endif
 
   // Search for filename as given, and with .graph and .txt extensions
   vector<string> namesToSearch;

tests/CMakeLists.txt

@@ -14,3 +14,8 @@ if(MSVC)
 	set_property(SOURCE "${CMAKE_CURRENT_SOURCE_DIR}/testSerializationSLAM.cpp"
 		APPEND PROPERTY COMPILE_FLAGS "/bigobj")
 endif()
+
+if(QNX)
+file(GLOB built_tests "${PROJECT_BINARY_DIR}/tests/test*")
+install(FILES ${built_tests} DESTINATION ${CMAKE_INSTALL_BINDIR}/gtsam_tests/)
+endif()