12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity
gtsam/CMakeLists.txt

333 lines
14 KiB
CMake
Raw Blame History

project(GTSAM CXX C)
cmake_minimum_required(VERSION 2.6)
# Set the version number for the library
set (GTSAM_VERSION_MAJOR 2)
set (GTSAM_VERSION_MINOR 3)
set (GTSAM_VERSION_PATCH 0)
###############################################################################
# Gather information, perform checks, set defaults
# Set the default install path to home
#set (CMAKE_INSTALL_PREFIX ${HOME} CACHE PATH "Install prefix for library")
set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
include(GtsamMakeConfigFile)
# Record the root dir for gtsam - needed during external builds, e.g., ROS
set(GTSAM_SOURCE_ROOT_DIR ${CMAKE_CURRENT_SOURCE_DIR})
message(STATUS "GTSAM_SOURCE_ROOT_DIR: [${GTSAM_SOURCE_ROOT_DIR}]")
# Load build type flags and default to Debug mode
include(GtsamBuildTypes)
# Use macros for creating tests/timing scripts
include(GtsamTesting)
include(GtsamPrinting)
# guard against in-source builds
if(${CMAKE_SOURCE_DIR} STREQUAL ${CMAKE_BINARY_DIR})
message(FATAL_ERROR "In-source builds not allowed. Please make a new directory (called a build directory) and run CMake from there. You may need to remove CMakeCache.txt. ")
endif()
# See whether gtsam_unstable is available (it will be present only if we're using an SVN checkout)
if(EXISTS "${PROJECT_SOURCE_DIR}/gtsam_unstable" AND IS_DIRECTORY "${PROJECT_SOURCE_DIR}/gtsam_unstable")
set(GTSAM_UNSTABLE_AVAILABLE 1)
else()
set(GTSAM_UNSTABLE_AVAILABLE 0)
endif()
###############################################################################
# Set up options
# Configurable Options
option(GTSAM_BUILD_TESTS "Enable/Disable building of tests" ON)
option(GTSAM_BUILD_TIMING "Enable/Disable building of timing scripts" OFF) # These do not currently work
option(GTSAM_BUILD_EXAMPLES "Enable/Disable building of examples" ON)
if(GTSAM_UNSTABLE_AVAILABLE)
option(GTSAM_BUILD_UNSTABLE "Enable/Disable libgtsam_unstable" ON)
endif()
option(GTSAM_BUILD_SHARED_LIBRARY "Enable/Disable building of a shared version of gtsam" ON)
option(GTSAM_BUILD_STATIC_LIBRARY "Enable/Disable building of a static version of gtsam" OFF)
option(GTSAM_USE_QUATERNIONS "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices" OFF)
if(NOT MSVC)
option(GTSAM_BUILD_CONVENIENCE_LIBRARIES "Enable/Disable use of convenience libraries for faster development rebuilds, but slower install" OFF)
endif()
option(GTSAM_POSE3_EXPMAP "Enable/Disable using Pose3::EXPMAP as the default mode. If disabled, Pose3::FIRST_ORDER will be used." OFF)
option(GTSAM_ENABLE_CONSISTENCY_CHECKS "Enable/Disable expensive consistency checks" OFF)
# Options relating to MATLAB wrapper
# TODO: Check for matlab mex binary before handling building of binaries
option(GTSAM_INSTALL_MATLAB_TOOLBOX "Enable/Disable installation of matlab toolbox" OFF)
option(GTSAM_BUILD_WRAP "Enable/Disable building of matlab wrap utility (necessary for matlab interface)" ON)
option(GTSAM_INSTALL_WRAP "Enable/Disable installation of wrap utility for wrapping other libraries" ON)
# Check / set dependent variables for MATLAB wrapper
set(GTSAM_WRAP_HEADER_PATH "${PROJECT_SOURCE_DIR}/wrap")
if(GTSAM_INSTALL_MATLAB_TOOLBOX AND NOT GTSAM_BUILD_WRAP)
message(FATAL_ERROR "GTSAM_INSTALL_MATLAB_TOOLBOX is enabled, please also enable GTSAM_BUILD_WRAP")
endif()
if(GTSAM_INSTALL_WRAP AND NOT GTSAM_BUILD_WRAP)
message(FATAL_ERROR "GTSAM_INSTALL_WRAP is enabled, please also enable GTSAM_BUILD_WRAP")
endif()
# Flags for choosing default packaging tools
set(CPACK_SOURCE_GENERATOR "TGZ" CACHE STRING "CPack Default Source Generator")
set(CPACK_GENERATOR "TGZ" CACHE STRING "CPack Default Binary Generator")
# Sanity check building of libraries
if (NOT GTSAM_BUILD_SHARED_LIBRARY AND NOT GTSAM_BUILD_STATIC_LIBRARY)
message(FATAL_ERROR "Both shared and static version of GTSAM library disabled - need to choose at least one!")
endif()
# Flags to determine whether tests and examples are build during 'make install'
# Note that these remove the targets from the 'all'
option(GTSAM_DISABLE_TESTS_ON_INSTALL "Disables building tests during install" ON)
option(GTSAM_DISABLE_EXAMPLES_ON_INSTALL "Disables building examples during install" OFF)
# Pull in infrastructure
if (GTSAM_BUILD_TESTS)
enable_testing()
include(Dart)
include(CTest)
endif()
###############################################################################
# Find boost
# If using Boost shared libs, set up auto linking for shared libs
if(MSVC AND NOT Boost_USE_STATIC_LIBS)
add_definitions(-DBOOST_ALL_DYN_LINK)
endif()
add_definitions(-DBOOST_ALL_NO_LIB)
find_package(Boost 1.43 COMPONENTS serialization system filesystem thread program_options date_time regex timer chrono)
# Required components
if(NOT Boost_SERIALIZATION_LIBRARY OR NOT Boost_SYSTEM_LIBRARY OR NOT Boost_FILESYSTEM_LIBRARY OR
NOT Boost_THREAD_LIBRARY OR NOT Boost_DATE_TIME_LIBRARY OR NOT Boost_REGEX_LIBRARY)
message(FATAL_ERROR "Missing required Boost components >= v1.43, please install/upgrade Boost or configure your search paths.")
endif()
option(GTSAM_DISABLE_NEW_TIMERS "Disables using Boost.chrono for timing" OFF)
# Allow for not using the timer libraries on boost < 1.48 (GTSAM timing code falls back to old timer library)
set(GTSAM_BOOST_LIBRARIES
${Boost_SERIALIZATION_LIBRARY} ${Boost_SYSTEM_LIBRARY} ${Boost_FILESYSTEM_LIBRARY}
${Boost_THREAD_LIBRARY} ${Boost_DATE_TIME_LIBRARY} ${Boost_REGEX_LIBRARY})
if (GTSAM_DISABLE_NEW_TIMERS)
message("WARNING: GTSAM timing instrumentation manually disabled")
add_definitions(-DGTSAM_DISABLE_NEW_TIMERS)
else()
if(Boost_TIMER_LIBRARY)
list(APPEND GTSAM_BOOST_LIBRARIES ${Boost_TIMER_LIBRARY} ${Boost_CHRONO_LIBRARY})
else()
message("WARNING: GTSAM timing instrumentation will use the older, less accurate, Boost timer library because boost older than 1.48 was found.")
endif()
endif()
###############################################################################
# Option for using system Eigen or GTSAM-bundled Eigen
option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" OFF)
# Switch for using system Eigen or GTSAM-bundled Eigen
if(GTSAM_USE_SYSTEM_EIGEN)
# Use generic Eigen include paths e.g. <Eigen/Core>
set(GTSAM_EIGEN_INCLUDE_PREFIX "")
find_package(Eigen3 REQUIRED)
include_directories(AFTER "${EIGEN3_INCLUDE_DIR}")
else()
# Use bundled Eigen include paths e.g. <gtsam/3rdparty/Eigen/Eigen/Core>
set(GTSAM_EIGEN_INCLUDE_PREFIX "gtsam/3rdparty/Eigen/")
# Clear any variables set by FindEigen3
if(EIGEN3_INCLUDE_DIR)
set(EIGEN3_INCLUDE_DIR NOTFOUND CACHE STRING "" FORCE)
endif()
endif()
# Write Eigen include file with the paths for either the system Eigen or the GTSAM-bundled Eigen
configure_file(gtsam/3rdparty/gtsam_eigen_includes.h.in gtsam/3rdparty/gtsam_eigen_includes.h)
# Install the configuration file for Eigen
install(FILES ${CMAKE_BINARY_DIR}/gtsam/3rdparty/gtsam_eigen_includes.h DESTINATION include/gtsam/3rdparty)
###############################################################################
# Find TBB
set(ENV{TBB_ARCH_PLATFORM} "intel64/vc11")
set(ENV{TBB_BIN_DIR} "C:/Program Files/Intel/TBB/bin")
set(ENV{TBB_TARGET_ARCH} intel64)
set(ENV{TBB_TARGET_VS} vc11)
find_package(TBB REQUIRED)
set(TBB_LIBS "")
foreach(lib ${TBB_LIBRARIES})
list(APPEND TBB_LIBS optimized "${lib}")
endforeach()
foreach(lib ${TBB_DEBUG_LIBRARIES})
list(APPEND TBB_LIBS debug "${lib}")
endforeach()
###############################################################################
# Global compile options
# Include boost - use 'BEFORE' so that a specific boost specified to CMake
# takes precedence over a system-installed one.
include_directories(BEFORE ${TBB_INCLUDE_DIRS} ${Boost_INCLUDE_DIR})
# Add includes for source directories 'BEFORE' boost and any system include
# paths so that the compiler uses GTSAM headers in our source directory instead
# of any previously installed GTSAM headers.
include_directories(BEFORE
gtsam/3rdparty/UFconfig
gtsam/3rdparty/CCOLAMD/Include
${CMAKE_SOURCE_DIR}
${CMAKE_BINARY_DIR} # So we can include generated config header files
CppUnitLite)
if(MSVC)
add_definitions(-D_CRT_SECURE_NO_WARNINGS -D_SCL_SECURE_NO_WARNINGS)
add_definitions(/wd4251 /wd4275 /wd4251 /wd4661) # Disable non-DLL-exported base class and other warnings
endif()
if(GTSAM_ENABLE_CONSISTENCY_CHECKS)
add_definitions(-DGTSAM_EXTRA_CONSISTENCY_CHECKS)
endif()
if(GTSAM_POSE3_EXPMAP)
add_definitions(-DGTSAM_POSE3_EXPMAP)
endif()
###############################################################################
# Add components
# Set default library - static or shared, before adding subdirectories
if(GTSAM_BUILD_SHARED_LIBRARY)
set(gtsam-default gtsam-shared)
if(GTSAM_BUILD_UNSTABLE)
set(gtsam_unstable-default gtsam_unstable-shared)
endif()
else()
set(gtsam-default gtsam-static)
if(GTSAM_BUILD_UNSTABLE)
set(gtsam_unstable-default gtsam_unstable-static)
endif()
endif()
# Build CppUnitLite
add_subdirectory(CppUnitLite)
# Build wrap
if (GTSAM_BUILD_WRAP)
add_subdirectory(wrap)
endif(GTSAM_BUILD_WRAP)
# Build GTSAM library
add_subdirectory(gtsam)
# Build Tests
add_subdirectory(tests)
# Build examples
if (GTSAM_BUILD_EXAMPLES)
add_subdirectory(examples)
endif(GTSAM_BUILD_EXAMPLES)
# Matlab toolbox
if (GTSAM_INSTALL_MATLAB_TOOLBOX)
add_subdirectory(matlab)
endif()
# Build gtsam_unstable
if (GTSAM_BUILD_UNSTABLE)
add_subdirectory(gtsam_unstable)
endif(GTSAM_BUILD_UNSTABLE)
# Install config and export files
GtsamMakeConfigFile(GTSAM)
export(TARGETS ${GTSAM_EXPORTED_TARGETS} FILE GTSAM-exports.cmake)
# Check for doxygen availability - optional dependency
find_package(Doxygen)
# Doxygen documentation - enabling options in subfolder
if (DOXYGEN_FOUND)
add_subdirectory(doc)
endif()
###############################################################################
# Set up CPack
set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "GTSAM")
set(CPACK_PACKAGE_VENDOR "Frank Dellaert, Georgia Institute of Technology")
set(CPACK_PACKAGE_CONTACT "Frank Dellaert, dellaert@cc.gatech.edu")
set(CPACK_PACKAGE_DESCRIPTION_FILE "${CMAKE_CURRENT_SOURCE_DIR}/README")
set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE")
set(CPACK_PACKAGE_VERSION_MAJOR ${GTSAM_VERSION_MAJOR})
set(CPACK_PACKAGE_VERSION_MINOR ${GTSAM_VERSION_MINOR})
set(CPACK_PACKAGE_VERSION_PATCH ${GTSAM_VERSION_PATCH})
set(CPACK_PACKAGE_INSTALL_DIRECTORY "CMake ${CMake_VERSION_MAJOR}.${CMake_VERSION_MINOR}")
#set(CPACK_INSTALLED_DIRECTORIES "doc;.") # Include doc directory
#set(CPACK_INSTALLED_DIRECTORIES ".") # FIXME: throws error
set(CPACK_SOURCE_IGNORE_FILES "/build*;/\\\\.;/makestats.sh$")
set(CPACK_SOURCE_IGNORE_FILES "${CPACK_SOURCE_IGNORE_FILES}" "/gtsam_unstable/")
set(CPACK_SOURCE_IGNORE_FILES "${CPACK_SOURCE_IGNORE_FILES}" "/package_scripts/")
set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}")
#set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-aspn${GTSAM_VERSION_PATCH}") # Used for creating ASPN tarballs
# Deb-package specific cpack
set(CPACK_DEBIAN_PACKAGE_NAME "libgtsam-dev")
set(CPACK_DEBIAN_PACKAGE_DEPENDS "libboost-dev (>= 1.43)") #Example: "libc6 (>= 2.3.1-6), libgcc1 (>= 1:3.4.2-12)")
###############################################################################
# Print configuration variables
message(STATUS "===============================================================")
message(STATUS "================ Configuration Options ======================")
message(STATUS "Build flags ")
print_config_flag(${GTSAM_BUILD_TIMING} "Build Timing scripts ")
print_config_flag(${GTSAM_BUILD_EXAMPLES} "Build Examples ")
print_config_flag(${GTSAM_BUILD_TESTS} "Build Tests ")
if (DOXYGEN_FOUND)
print_config_flag(${GTSAM_BUILD_DOCS} "Build Docs ")
endif()
print_config_flag(${GTSAM_BUILD_SHARED_LIBRARY} "Build shared GTSAM Library ")
print_config_flag(${GTSAM_BUILD_STATIC_LIBRARY} "Build static GTSAM Library ")
if(NOT MSVC)
print_config_flag(${GTSAM_BUILD_CONVENIENCE_LIBRARIES} "Build Convenience Libraries ")
endif()
print_config_flag(${GTSAM_BUILD_TYPE_POSTFIXES} "Put build-type in library name ")
if(GTSAM_UNSTABLE_AVAILABLE)
print_config_flag(${GTSAM_BUILD_UNSTABLE} "Build libgtsam_unstable ")
endif()
print_config_flag(${GTSAM_DISABLE_TESTS_ON_INSTALL} "Tests excluded from all/install target ")
print_config_flag(${GTSAM_DISABLE_EXAMPLES_ON_INSTALL} "Examples excluded from all/install target ")
string(TOUPPER "${CMAKE_BUILD_TYPE}" cmake_build_type_toupper)
message(STATUS " Build type : ${CMAKE_BUILD_TYPE}")
message(STATUS " C compilation flags : ${CMAKE_C_FLAGS} ${CMAKE_C_FLAGS_${cmake_build_type_toupper}}")
message(STATUS " C++ compilation flags : ${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_${cmake_build_type_toupper}}")
message(STATUS "Packaging flags ")
message(STATUS " CPack Source Generator : ${CPACK_SOURCE_GENERATOR}")
message(STATUS " CPack Generator : ${CPACK_GENERATOR}")
message(STATUS "GTSAM flags ")
print_config_flag(${GTSAM_USE_QUATERNIONS} "Quaternions as default Rot3 ")
print_config_flag(${GTSAM_ENABLE_CONSISTENCY_CHECKS} "Runtime consistency checking ")
print_config_flag(${GTSAM_POSE3_EXPMAP} "Using full expmap as defaul retract for Pose3 ")
message(STATUS "MATLAB toolbox flags ")
print_config_flag(${GTSAM_INSTALL_MATLAB_TOOLBOX} "Install matlab toolbox ")
print_config_flag(${GTSAM_BUILD_WRAP} "Build Wrap ")
print_config_flag(${GTSAM_INSTALL_WRAP} "Install wrap utility ")
message(STATUS "===============================================================")
# Include CPack *after* all flags
include(CPack)
Reference in New Issue View Git Blame Copy Permalink