Merge branch 'develop'

.gitignore

@@ -26,3 +26,6 @@ ros/src/py_detector/py_detector/weights/yolov3.weights
 .python-version
 
 compile_commands.json
+
+*.log
+*.so

gtsam_quadrics/gtsam_quadrics.i

@@ -42,7 +42,6 @@
 
 namespace gtsam_quadrics {
 
-#include <gtsam/nonlinear/NonlinearFactor.h>
 #include <gtsam_quadrics/base/Utilities.h>
 namespace utils {
 gtsam::Pose3 interpolate(const gtsam::Pose3& p1, const gtsam::Pose3& p2,
@@ -81,7 +80,7 @@ class ConstrainedDualQuadric {
 };
 
 #include <gtsam_quadrics/geometry/BoundingBoxFactor.h>
-virtual class BoundingBoxFactor : gtsam::NoiseModelFactor {
+virtual class BoundingBoxFactor {
   BoundingBoxFactor();
   BoundingBoxFactor(const gtsam_quadrics::AlignedBox2& measured,
                     const gtsam::Cal3_S2* calibration, const size_t& poseKey,
@@ -109,14 +108,13 @@ virtual class BoundingBoxFactor : gtsam::NoiseModelFactor {
 };
 
 #include <gtsam_quadrics/geometry/QuadricAngleFactor.h>
-virtual class QuadricAngleFactor : gtsam::NoiseModelFactor {
+virtual class QuadricAngleFactor {
   QuadricAngleFactor(const size_t& quadricKey, const gtsam::Rot3& measured,
                      const gtsam::noiseModel::Base* model);
   Vector evaluateError(
       const gtsam_quadrics::ConstrainedDualQuadric& quadric) const;
 };
 
-#include <gtsam/nonlinear/PriorFactor.h>
 // TODO need to figure out how to get this to import...
 // template <T = {gtsam_quadrics::ConstrainedDualQuadric}>
 // virtual class gtsam::PriorFactor : gtsam::NoiseModelFactor {

setup.py

@@ -15,44 +15,50 @@ class cmake_build_ext(build_ext):
 
     def run(self):
         self.build_cmake(self.extensions)
-        super().run()
+        # super().run()
 
     def build_cmake(self, exts):
         # This code assumes 'gtsam' & 'gtsam_quadrics' extensions are specified
         # in that order...
         gtsam_ext = exts[0]
         gtsam_quadrics_ext = exts[1]
 
+        gtsam_so = self.get_ext_filename(gtsam_ext.name)
+        gtsam_quadrics_so = self.get_ext_filename(gtsam_quadrics_ext.name)
+
         # Build our CPython shared objects
         source_dir = os.getcwd()
         build_dir = self.build_temp
+        build_lib_dir = self.build_lib
 
         self.spawn([
-            'cmake', '-DBUILD_SHARED_LIBS=OFF',
+            'cmake', '-DBUILD_SHARED_LIBS=OFF', '-UCMAKE_MAKE_PROGRAM',
             '-DCMAKE_POSITION_INDEPENDENT_CODE=ON', '-G', 'Ninja', '-B',
             build_dir, '-S', source_dir
         ])
         self.spawn(['cmake', '--build', build_dir])
 
-        # Move shared objects to the expected output location
-        lib_dir = os.path.dirname(self.get_ext_fullpath(gtsam_ext.name))
-        os.makedirs(lib_dir, exist_ok=True)
-
+        # Move shared objects to the build lib location
+        # TODO probably should just output them there from CMake... but eh
         shutil.copy(
-            os.path.join(build_dir, 'gtsam', 'python', 'gtsam',
-                         self.get_ext_filename(gtsam_ext.name)),
-            self.get_ext_fullpath(gtsam_ext.name))
-        shutil.copy(
-            os.path.join(build_dir,
-                         self.get_ext_filename(gtsam_quadrics_ext.name)),
-            self.get_ext_fullpath(gtsam_quadrics_ext.name))
+            os.path.join(build_dir, 'gtsam', 'python', 'gtsam', gtsam_so),
+            os.path.join(build_lib_dir, gtsam_so))
+        shutil.copy(os.path.join(build_dir, gtsam_quadrics_so),
+                    os.path.join(build_lib_dir, gtsam_quadrics_so))
+
+        # Move shared objects to the shared source location
+        # TODO probably should be behind an '--inplace' flag or something...
+        shutil.copy(os.path.join(build_lib_dir, gtsam_so),
+                    os.path.join(source_dir, gtsam_so))
+        shutil.copy(os.path.join(build_lib_dir, gtsam_quadrics_so),
+                    os.path.join(source_dir, gtsam_quadrics_so))
 
 
 with open("README.md", 'r') as f:
     long_description = f.read()
 
 setup(name='gtsam_quadrics',
-      version='0.2.0',
+      version='0.2.1',
       author='Lachlan Nicholson',
       author_email='[email protected]',
       maintainer='Ben Talbot',