Update to GTSAM 4.2a8 and clean up

.pre-commit-config.yaml

@@ -9,7 +9,7 @@ repos:
     -   id: check-yaml
     -   id: check-added-large-files
         args: ['--maxkb=3000']
--   repo: https://gitlab.com/pycqa/flake8
+-   repo: https://github.com/pycqa/flake8
     rev: 3.8.2
     hooks:
     -   id: flake8

CMakeLists.txt

@@ -1,58 +1,36 @@
-cmake_minimum_required(VERSION 3.10)
+cmake_minimum_required(VERSION 3.15)
 project(dcsam)
 
 # Set some compilation options.
 set(CMAKE_CXX_STANDARD 17)
-add_compile_options(-Wall -Wpedantic -Wextra)
+if (NOT CMAKE_BUILD_TYPE)
+  # Options: Debug, Release, MinSizeRel, RelWithDebInfo
+  message(STATUS "No build type selected, default to Release")
+  set(CMAKE_BUILD_TYPE "Release")
+endif()
 
 # Add option to enable testing
-option(ENABLE_TESTS "Enable tests" OFF)
+option(DCSAM_ENABLE_TESTS "Enable tests" OFF)
 
 # External package dependencies.
-find_package(GTSAM 4.1 REQUIRED)
+find_package(GTSAM 4.2 REQUIRED)
 find_package(Eigen3 3.3 REQUIRED)
 
 # add_definitions(-march=native)
 # add_definitions(-std=c++1z)
 
-set(DCSAM_HDRS
-  include/dcsam/DCSAM_types.h
-  include/dcsam/DCSAM_utils.h
-  include/dcsam/DCSAM.h
-  include/dcsam/DCFactor.h
-  include/dcsam/DCContinuousFactor.h
-  include/dcsam/DCDiscreteFactor.h
-  include/dcsam/DCMixtureFactor.h
-  include/dcsam/DiscretePriorFactor.h
-  include/dcsam/SmartDiscretePriorFactor.h
-  include/dcsam/HybridFactorGraph.h
-  include/dcsam/SemanticBearingRangeFactor.h
-  include/dcsam/SmartSemanticBearingRangeFactor.h
-  include/dcsam/DCMaxMixtureFactor.h
-  include/dcsam/DCEMFactor.h
-  include/dcsam/DiscreteMarginalsOrdered.h
-  )
-
-set(DCSAM_SRCS
-  src/DCSAM.cpp
-  src/HybridFactorGraph.cpp
-  )
-
-set(DCSAM_LIBS
-  gtsam
-  Eigen3::Eigen
-  )
-
-add_library(dcsam STATIC ${DCSAM_SRCS} ${DCSAM_HDRS})
+add_library(dcsam SHARED)
+target_sources(dcsam PRIVATE src/DCSAM.cpp src/HybridFactorGraph.cpp)
 target_include_directories(dcsam PUBLIC include)
-target_link_libraries(dcsam PUBLIC ${DCSAM_LIBS})
+target_link_libraries(dcsam PUBLIC Eigen3::Eigen gtsam)
+target_compile_options(dcsam PRIVATE -Wall -Wpedantic -Wextra)
 
 # Make library accessible to other cmake projects
 export(PACKAGE dcsam)
 export(TARGETS dcsam FILE dcsamConfig.cmake)
 
 # Include unit tests directory to the project.
-if (${ENABLE_TESTS})
+if(DCSAM_ENABLE_TESTS)
   message(STATUS "Testing enabled. Building tests.")
   enable_testing()
   add_subdirectory(tests)

README.md

@@ -10,8 +10,8 @@ A technical report describing this library and our solver can be found [here](ht
 ```bibtex
 @article{doherty2022discrete,
   author={Doherty, Kevin J. and Lu, Ziqi and Singh, Kurran and Leonard, John J.},
-  journal={IEEE Robotics and Automation Letters}, 
-  title={Discrete-{C}ontinuous {S}moothing and {M}apping}, 
+  journal={IEEE Robotics and Automation Letters},
+  title={Discrete-{C}ontinuous {S}moothing and {M}apping},
   year={2022},
   volume={7},
   number={4},
@@ -22,13 +22,13 @@ A technical report describing this library and our solver can be found [here](ht
 
 ## Prerequisites
 
-- [GTSAM](https://github.com/borglab/gtsam) @ `caa14bc`
+- [GTSAM](https://github.com/borglab/gtsam) @ `4.2a8`
 
 To retrieve the appropriate version of GTSAM:
 ```sh
-~/$ git clone https://github.com/borglab/gtsam
-~/$ cd gtsam
-~/gtsam/$ git checkout caa14bc
+~ $ git clone https://github.com/borglab/gtsam
+~ $ cd gtsam
+~/gtsam $ git checkout 4.2a8
 ```
 Follow instructions in the GTSAM repository to build and install with your desired configuration.
 
@@ -44,26 +44,26 @@ Follow instructions in the GTSAM repository to build and install with your desir
 To build using `cmake`:
 
 ```bash
-~/dcsam/$ mkdir build
-~/dcsam/$ cd build
-~/dcsam/build$ cmake ..
-~/dcsam/build$ make -j
+~/dcsam $ mkdir build
+~/dcsam $ cd build
+~/dcsam/build $ cmake ..
+~/dcsam/build $ make -j
 ```
 
 ### Run tests
 
 To run unit tests, first build with testing enabled:
 ```bash
-~/$ mkdir build
-~/$ cd build
-~/build$ cmake .. -DENABLE_TESTS=ON
-~/build$ make -j
+~/dcsam $ mkdir build
+~/dcsam $ cd build
+~/dcsam/build $ cmake .. -DDCSAM_ENABLE_TESTS=ON
+~/dcsam/build $ make -j
 ```
 
 Now you can run the tests as follows:
 
 ```bash
-~/build$ make test
+~/dcsam/build $ make test
 ```
 
 ### Examples

tests/CMakeLists.txt

@@ -1,25 +1,13 @@
-option(ENABLE_PLOTTING "Enable plotting (requires matplotlibcpp)" OFF)
-
-if (ENABLE_PLOTTING)
-  message(STATUS "Plotting enabled. Building tests with plotting.")
-  find_package(matplotlibcpp REQUIRED)
-endif()
+option(DCSAM_ENABLE_PLOTTING "Enable plotting (requires matplotlib_cpp)" OFF)
 
 # The gtest/gtest_main targets carry header search path
 # dependencies automatically when using CMake 2.8.11 or
 # later. Otherwise we have to add them here ourselves.
-if (CMAKE_VERSION VERSION_LESS 2.8.11)
+if(CMAKE_VERSION VERSION_LESS 2.8.11)
   include_directories("${gtest_SOURCE_DIR}/include")
 endif()
 
-if (ENABLE_PLOTTING)
-  add_definitions(-DENABLE_PLOTTING=1)
-endif()
-
-# Include tests here...
-add_executable(testDCSAM testDCSAM.cpp)
-
-if (APPLE)
+if(APPLE)
   set(GTEST_LIBS
     /usr/local/lib/libgtest.a
     /usr/local/lib/libgtest_main.a
@@ -28,16 +16,41 @@ else()
   set(GTEST_LIBS
     gtest
     gtest_main
-)
+  )
 endif()
 
+add_executable(testDCSAM testDCSAM.cpp)
+target_link_libraries(testDCSAM dcsam gtsam ${GTEST_LIBS})
 
+# If plotting is enabled, we need to link to matplotlib_cpp
+if(DCSAM_ENABLE_PLOTTING)
+  message(STATUS "Plotting enabled. Building tests with plotting.")
+  include(FetchContent)
+  FetchContent_Declare(matplotlibcpp
+    GIT_REPOSITORY https://github.com/lava/matplotlib-cpp.git
+    GIT_TAG ef0383f1315d32e0156335e10b82e90b334f6d9f
+  )
 
-# If plotting is enabled, we need to link to matplotlibcpp
-if (ENABLE_PLOTTING)
-  target_link_libraries(testDCSAM dcsam matplotlibcpp gtsam ${GTEST_LIBS})
-else()
-  target_link_libraries(testDCSAM dcsam gtsam ${GTEST_LIBS})
+  FetchContent_GetProperties(matplotlibcpp)
+  if(NOT matplotlibcpp_POPULATED)
+    FetchContent_Populate(matplotlibcpp)
+
+    find_package(Python3 COMPONENTS Interpreter Development REQUIRED)
+    find_package(Python3 COMPONENTS NumPy)
+
+    add_library(matplotlibcpp INTERFACE)
+    target_include_directories(matplotlibcpp INTERFACE ${matplotlibcpp_SOURCE_DIR})
+    target_compile_features(matplotlibcpp INTERFACE cxx_std_11)
+    target_link_libraries(matplotlibcpp INTERFACE Python3::Python Python3::Module)
+    if(Python3_NumPy_FOUND)
+      target_link_libraries(matplotlibcpp INTERFACE Python3::NumPy)
+    else()
+      target_compile_definitions(matplotlibcpp INTERFACE WITHOUT_NUMPY)
+    endif()
+  endif()
+
+  target_compile_definitions(testDCSAM PRIVATE ENABLE_PLOTTING=1)
+  target_link_libraries(testDCSAM matplotlibcpp)
 endif()
 
 add_test(TestDCSAM testDCSAM)