Merge branch 'borglab-develop' into develop

.github/scripts/unix.sh

@@ -68,6 +68,8 @@ function configure()
       -DGTSAM_USE_QUATERNIONS=${GTSAM_USE_QUATERNIONS:-OFF} \
       -DGTSAM_ROT3_EXPMAP=${GTSAM_ROT3_EXPMAP:-ON} \
       -DGTSAM_POSE3_EXPMAP=${GTSAM_POSE3_EXPMAP:-ON} \
+      -DGTSAM_USE_SYSTEM_EIGEN=${GTSAM_USE_SYSTEM_EIGEN:-OFF} \
+      -DGTSAM_USE_SYSTEM_METIS=${GTSAM_USE_SYSTEM_METIS:-OFF} \
       -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
       -DBOOST_ROOT=$BOOST_ROOT \
       -DBoost_NO_SYSTEM_PATHS=ON \

.github/workflows/build-special.yml

@@ -55,6 +55,12 @@ jobs:
             version: "9"
             flag: cayley
 
+          - name: ubuntu-system-libs
+            os: ubuntu-18.04
+            compiler: gcc
+            version: "9"
+            flag: system-libs
+
     steps:
       - name: Checkout
         uses: actions/checkout@v2
@@ -126,6 +132,12 @@ jobs:
           echo "GTSAM_ROT3_EXPMAP=OFF" >> $GITHUB_ENV
           echo "GTSAM Uses Cayley map for Rot3"
 
+      - name: Use system versions of 3rd party libraries
+        if: matrix.flag == 'system'
+        run: |
+          echo "GTSAM_USE_SYSTEM_EIGEN=ON" >> $GITHUB_ENV
+          echo "GTSAM_USE_SYSTEM_METIS=ON" >> $GITHUB_ENV
+
       - name: Build & Test
         run: |
           bash .github/scripts/unix.sh -t

CMakeLists.txt

@@ -38,11 +38,14 @@ if(${GTSAM_SOURCE_DIR} STREQUAL ${GTSAM_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()
 
+include(cmake/HandleGeneralOptions.cmake)   # CMake build options
+
+# Libraries:
 include(cmake/HandleBoost.cmake)            # Boost
 include(cmake/HandleCCache.cmake)           # ccache
 include(cmake/HandleCPack.cmake)            # CPack
 include(cmake/HandleEigen.cmake)            # Eigen3
-include(cmake/HandleGeneralOptions.cmake)  # CMake build options
+include(cmake/HandleMetis.cmake)            # metis
 include(cmake/HandleMKL.cmake)              # MKL
 include(cmake/HandleOpenMP.cmake)           # OpenMP
 include(cmake/HandlePerfTools.cmake)        # Google perftools

cmake/HandleMetis.cmake

@@ -0,0 +1,44 @@
+###############################################################################
+# Metis library
+
+# For both system or bundle version, a cmake target "metis-gtsam-if" is defined (interface library)
+
+# Dont try to use metis if GTSAM_SUPPORT_NESTED_DISSECTION is disabled:
+if (NOT GTSAM_SUPPORT_NESTED_DISSECTION)
+  return()
+endif()
+
+option(GTSAM_USE_SYSTEM_METIS "Find and use system-installed libmetis. If 'off', use the one bundled with GTSAM" OFF)
+
+if(GTSAM_USE_SYSTEM_METIS)
+  # Debian package: libmetis-dev
+
+  find_path(METIS_INCLUDE_DIR metis.h REQUIRED)
+  find_library(METIS_LIBRARY metis REQUIRED)
+
+  if(METIS_INCLUDE_DIR AND METIS_LIBRARY)
+    mark_as_advanced(METIS_INCLUDE_DIR)
+    mark_as_advanced(METIS_LIBRARY)
+
+    add_library(metis-gtsam-if INTERFACE)
+    target_include_directories(metis-gtsam-if BEFORE INTERFACE ${METIS_INCLUDE_DIR})
+    target_link_libraries(metis-gtsam-if INTERFACE ${METIS_LIBRARY})
+  endif()
+else()
+  # Bundled version:
+  option(GTSAM_BUILD_METIS_EXECUTABLES "Build metis library executables" OFF)
+  add_subdirectory(${GTSAM_SOURCE_DIR}/gtsam/3rdparty/metis)
+
+  target_include_directories(metis-gtsam BEFORE PUBLIC
+    $<BUILD_INTERFACE:${GTSAM_SOURCE_DIR}/gtsam/3rdparty/metis/include>
+    $<BUILD_INTERFACE:${GTSAM_SOURCE_DIR}/gtsam/3rdparty/metis/libmetis>
+    $<BUILD_INTERFACE:${GTSAM_SOURCE_DIR}/gtsam/3rdparty/metis/GKlib>
+    $<INSTALL_INTERFACE:include/gtsam/3rdparty/metis/>
+  )
+
+  add_library(metis-gtsam-if INTERFACE)
+  target_link_libraries(metis-gtsam-if INTERFACE metis-gtsam)
+endif()
+
+list(APPEND GTSAM_EXPORTED_TARGETS metis-gtsam-if)
+install(TARGETS metis-gtsam-if EXPORT GTSAM-exports ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR})

cmake/HandlePrintConfiguration.cmake

@@ -32,6 +32,7 @@ endif()
 print_build_options_for_target(gtsam)
 
 print_config("Use System Eigen" "${GTSAM_USE_SYSTEM_EIGEN} (Using version: ${GTSAM_EIGEN_VERSION})")
+print_config("Use System Metis" "${GTSAM_USE_SYSTEM_METIS}")
 
 if(GTSAM_USE_TBB)
     print_config("Use Intel TBB" "Yes (Version: ${TBB_VERSION})")

cmake/HandleTBB.cmake

@@ -1,28 +1,32 @@
 ###############################################################################
-# Find TBB
-find_package(TBB 4.4 COMPONENTS tbb tbbmalloc)
+if (GTSAM_WITH_TBB)
+    # Find TBB
+    find_package(TBB 4.4 COMPONENTS tbb tbbmalloc)
 
-# Set up variables if we're using TBB
-if(TBB_FOUND AND GTSAM_WITH_TBB)
-    set(GTSAM_USE_TBB 1)  # This will go into config.h
-    if ((${TBB_VERSION} VERSION_GREATER "2021.1") OR (${TBB_VERSION} VERSION_EQUAL "2021.1"))
-        message(FATAL_ERROR "TBB version greater than 2021.1 (oneTBB API) is not yet supported. Use an older version instead.")
-    endif()
+    # Set up variables if we're using TBB
+    if(TBB_FOUND)
+        set(GTSAM_USE_TBB 1)  # This will go into config.h
+
+        if ((${TBB_VERSION} VERSION_GREATER "2021.1") OR (${TBB_VERSION} VERSION_EQUAL "2021.1"))
+            message(FATAL_ERROR "TBB version greater than 2021.1 (oneTBB API) is not yet supported. Use an older version instead.")
+        endif()
 
-    if ((${TBB_VERSION_MAJOR} GREATER 2020) OR (${TBB_VERSION_MAJOR} EQUAL 2020))
-        set(TBB_GREATER_EQUAL_2020 1)
+        if ((${TBB_VERSION_MAJOR} GREATER 2020) OR (${TBB_VERSION_MAJOR} EQUAL 2020))
+            set(TBB_GREATER_EQUAL_2020 1)
+        else()
+            set(TBB_GREATER_EQUAL_2020 0)
+        endif()
+        # all definitions and link requisites will go via imported targets:
+        # tbb & tbbmalloc
+        list(APPEND GTSAM_ADDITIONAL_LIBRARIES tbb tbbmalloc)
     else()
-        set(TBB_GREATER_EQUAL_2020 0)
+        set(GTSAM_USE_TBB 0)  # This will go into config.h
+    endif()
+
+    ###############################################################################
+    # Prohibit Timing build mode in combination with TBB
+    if(GTSAM_USE_TBB AND (CMAKE_BUILD_TYPE  STREQUAL "Timing"))
+        message(FATAL_ERROR "Timing build mode cannot be used together with TBB. Use a sampling profiler such as Instruments or Intel VTune Amplifier instead.")
     endif()
-    # all definitions and link requisites will go via imported targets:
-    # tbb & tbbmalloc
-    list(APPEND GTSAM_ADDITIONAL_LIBRARIES tbb tbbmalloc)
-else()
-    set(GTSAM_USE_TBB 0)  # This will go into config.h
-endif()
 
-###############################################################################
-# Prohibit Timing build mode in combination with TBB
-if(GTSAM_USE_TBB AND (CMAKE_BUILD_TYPE  STREQUAL "Timing"))
-      message(FATAL_ERROR "Timing build mode cannot be used together with TBB. Use a sampling profiler such as Instruments or Intel VTune Amplifier instead.")
 endif()

gtsam/3rdparty/CMakeLists.txt

@@ -49,10 +49,7 @@ if(NOT GTSAM_USE_SYSTEM_EIGEN)
 
 endif()
 
-option(GTSAM_BUILD_METIS_EXECUTABLES "Build metis library executables" OFF)
-if(GTSAM_SUPPORT_NESTED_DISSECTION)
-	add_subdirectory(metis)
-endif()
+# metis: already handled in ROOT/cmake/HandleMetis.cmake
 
 add_subdirectory(ceres)
 

gtsam/CMakeLists.txt

@@ -89,7 +89,8 @@ list(APPEND gtsam_srcs "${PROJECT_BINARY_DIR}/config.h" "${PROJECT_BINARY_DIR}/d
 install(FILES "${PROJECT_BINARY_DIR}/config.h" "${PROJECT_BINARY_DIR}/dllexport.h" DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam)
 
 if(GTSAM_SUPPORT_NESTED_DISSECTION)
-    list(APPEND GTSAM_ADDITIONAL_LIBRARIES metis-gtsam)
+    # target metis-gtsam-if is defined in both cases: embedded metis or system version:
+    list(APPEND GTSAM_ADDITIONAL_LIBRARIES metis-gtsam-if)
 endif()
 
 # Versions
@@ -155,16 +156,6 @@ target_include_directories(gtsam SYSTEM BEFORE PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/CCOLAMD/Include>
   $<INSTALL_INTERFACE:include/gtsam/3rdparty/CCOLAMD>
 )
-if(GTSAM_SUPPORT_NESTED_DISSECTION)
-  target_include_directories(gtsam BEFORE PUBLIC
-    $<BUILD_INTERFACE:${GTSAM_SOURCE_DIR}/gtsam/3rdparty/metis/include>
-    $<BUILD_INTERFACE:${GTSAM_SOURCE_DIR}/gtsam/3rdparty/metis/libmetis>
-    $<BUILD_INTERFACE:${GTSAM_SOURCE_DIR}/gtsam/3rdparty/metis/GKlib>
-    $<INSTALL_INTERFACE:include/gtsam/3rdparty/metis/>
-  )
-endif()
-
-
 
 if(WIN32) # Add 'lib' prefix to static library to avoid filename collision with shared library
 	if (NOT BUILD_SHARED_LIBS)

gtsam/config.h.in

@@ -77,3 +77,6 @@
 
 // Support Metis-based nested dissection
 #cmakedefine GTSAM_TANGENT_PREINTEGRATION
+
+// Whether to use the system installed Metis instead of the provided one
+#cmakedefine GTSAM_USE_SYSTEM_METIS

gtsam/inference/Ordering.cpp

@@ -25,8 +25,12 @@
 #include <gtsam/3rdparty/CCOLAMD/Include/ccolamd.h>
 
 #ifdef GTSAM_SUPPORT_NESTED_DISSECTION
+#ifdef GTSAM_USE_SYSTEM_METIS
+#include <metis.h>
+#else
 #include <gtsam/3rdparty/metis/include/metis.h>
 #endif
+#endif
 
 using namespace std;
 

gtsam/nonlinear/nonlinear.i

@@ -530,7 +530,14 @@ template<PARAMS>
 virtual class GncParams {
   GncParams(const PARAMS& baseOptimizerParams);
   GncParams();
+  void setVerbosityGNC(const This::Verbosity value);
   void print(const string& str) const;
+
+  enum Verbosity {
+    SILENT,
+    SUMMARY,
+    VALUES
+  };
 };
 
 typedef gtsam::GncParams<gtsam::GaussNewtonParams> GncGaussNewtonParams;

gtsam_unstable/partition/FindSeparator-inl.h

@@ -20,6 +20,8 @@
 
 #include "FindSeparator.h"
 
+#ifndef GTSAM_USE_SYSTEM_METIS
+
 extern "C" {
 #include <metis.h>
 #include "metislib.h"
@@ -564,3 +566,5 @@ namespace gtsam { namespace partition {
   }
 
 }} //namespace
+
+#endif

gtsam_unstable/partition/tests/testFindSeparator.cpp

@@ -20,6 +20,8 @@ using namespace std;
 using namespace gtsam;
 using namespace gtsam::partition;
 
+#ifndef GTSAM_USE_SYSTEM_METIS
+
 /* ************************************************************************* */
 // x0 - x1 - x2
 // l3        l4
@@ -227,6 +229,8 @@ TEST ( Partition, findSeparator3_with_reduced_camera )
   LONGS_EQUAL(2, partitionTable[28]);
 }
 
+#endif
+
 /* ************************************************************************* */
 int main() { TestResult tr; return TestRegistry::runAllTests(tr);}
 /* ************************************************************************* */

wrap/gtwrap/interface_parser/classes.py

@@ -119,24 +119,27 @@ class Constructor:
     Can have 0 or more arguments.
     """
     rule = (
-        IDENT("name")  #
+        Optional(Template.rule("template"))  #
+        + IDENT("name")  #
         + LPAREN  #
         + ArgumentList.rule("args_list")  #
         + RPAREN  #
         + SEMI_COLON  # BR
-    ).setParseAction(lambda t: Constructor(t.name, t.args_list))
+    ).setParseAction(lambda t: Constructor(t.name, t.args_list, t.template))
 
     def __init__(self,
                  name: str,
                  args: ArgumentList,
+                 template: Union[Template, Any],
                  parent: Union["Class", Any] = ''):
         self.name = name
         self.args = args
+        self.template = template
 
         self.parent = parent
 
     def __repr__(self) -> str:
-        return "Constructor: {}".format(self.name)
+        return "Constructor: {}{}".format(self.name, self.args)
 
 
 class Operator:
@@ -260,17 +263,9 @@ def __init__(self,
         + RBRACE  #
         + SEMI_COLON  # BR
     ).setParseAction(lambda t: Class(
-        t.template,
-        t.is_virtual,
-        t.name,
-        t.parent_class,
-        t.members.ctors,
-        t.members.methods,
-        t.members.static_methods,
-        t.members.properties,
-        t.members.operators,
-        t.members.enums
-    ))
+        t.template, t.is_virtual, t.name, t.parent_class, t.members.ctors, t.
+        members.methods, t.members.static_methods, t.members.properties, t.
+        members.operators, t.members.enums))
 
     def __init__(
         self,

wrap/gtwrap/interface_parser/function.py

@@ -81,7 +81,7 @@ def from_parse_result(parse_result: ParseResults):
             return ArgumentList([])
 
     def __repr__(self) -> str:
-        return self.args_list.__repr__()
+        return repr(tuple(self.args_list))
 
     def __len__(self) -> int:
         return len(self.args_list)