diff options
Diffstat (limited to 'CMakeLists.txt')
| -rw-r--r-- | CMakeLists.txt | 963 |
1 files changed, 513 insertions, 450 deletions
diff --git a/CMakeLists.txt b/CMakeLists.txt index b89d55a..a262c5b 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -26,7 +26,8 @@ # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. # -# Author: keir@google.com (Keir Mierle) +# Authors: keir@google.com (Keir Mierle) +# alexs.mac@gmail.com (Alex Stewart) CMAKE_MINIMUM_REQUIRED(VERSION 2.8.0) CMAKE_POLICY(VERSION 2.8) @@ -63,9 +64,18 @@ IF (EXISTS ${LOCAL_GIT_DIRECTORY}) ENDIF (NOT EXISTS ${LOCAL_GIT_DIRECTORY}/hooks/commit-msg) ENDIF (EXISTS ${LOCAL_GIT_DIRECTORY}) +# Make CMake aware of the cmake folder for local FindXXX scripts, +# append rather than set in case the user has passed their own +# additional paths via -D. +LIST(APPEND CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake") +INCLUDE(UpdateCacheVariable) + SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin) SET(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib) SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib) +# Set postfixes for generated libraries based on buildtype. +SET(CMAKE_RELEASE_POSTFIX "") +SET(CMAKE_DEBUG_POSTFIX "-debug") # Important: Always bump the second number (e.g. 1.3.x to 1.4.0) for any # release that changes the ABI. The ABI changes for almost any modification to @@ -75,16 +85,19 @@ SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib) # For versions without ABI changes, bump the smallest number in CERES_VERSION, # but leave the CERES_ABI_VERSION unchanged. SET(CERES_VERSION_MAJOR 1) -SET(CERES_VERSION_MINOR 7) +SET(CERES_VERSION_MINOR 9) SET(CERES_VERSION_PATCH 0) SET(CERES_VERSION ${CERES_VERSION_MAJOR}.${CERES_VERSION_MINOR}.${CERES_VERSION_PATCH}) -SET(CERES_ABI_VERSION 1.7.0) +SET(CERES_ABI_VERSION 1.9.0) ENABLE_TESTING() -OPTION(MINIGLOG "Use a stripped down version of glog" OFF) +OPTION(MINIGLOG "Use a stripped down version of glog." OFF) OPTION(GFLAGS "Enable Google Flags." ON) +OPTION(SUITESPARSE "Enable SuiteSparse." ON) +OPTION(CXSPARSE "Enable CXSparse." ON) +OPTION(LAPACK "Enable use of LAPACK." ON) # Template specializations for the Schur complement based solvers. If # compile time, binary size or compiler performance is an issue, you # may consider disabling this. @@ -94,484 +107,445 @@ OPTION(CUSTOM_BLAS ON) # Multithreading using OpenMP OPTION(OPENMP "Enable threaded solving in Ceres (requires OpenMP)" ON) -# TODO(sameeragarwal): Replace this with a positive option instead? -OPTION(DISABLE_TR1 - "Don't use TR1. This replaces some hash tables with sets. Slower." - OFF) -# Line search minimizer is useful for large scale problems or when -# sparse linear algebra libraries are not available. If compile time, -# binary size or compiler performance is an issue, consider disabling -# this. -OPTION(LINE_SEARCH_MINIMIZER "Enable the line search minimizer." ON) +OPTION(EIGENSPARSE + "Enable the use of Eigen as a sparse linear algebra library for + solving the nonlinear least squares problems. Enabling this + option will result in an LGPL licensed version of Ceres Solver + as the Simplicial Cholesky factorization in Eigen is licensed under the LGPL. + This does not affect the covariance estimation algorithm, as it + depends on the sparse QR factorization algorithm, which is licensed + under the MPL." + OFF) OPTION(BUILD_TESTING "Enable tests" ON) OPTION(BUILD_DOCUMENTATION "Build User's Guide (html)" OFF) OPTION(BUILD_EXAMPLES "Build examples" ON) +OPTION(BUILD_SHARED_LIBS "Build Ceres as a shared library." OFF) +IF (MSVC) + OPTION(MSVC_USE_STATIC_CRT + "MS Visual Studio: Use static C-Run Time Library in place of shared." OFF) + + IF (BUILD_TESTING AND BUILD_SHARED_LIBS) + MESSAGE( + "-- Disabling tests. The flags BUILD_TESTING and BUILD_SHARED_LIBS" + " are incompatible with MSVC." + ) + UPDATE_CACHE_VARIABLE(BUILD_TESTING OFF) + ENDIF (BUILD_TESTING AND BUILD_SHARED_LIBS) +ENDIF (MSVC) -# Default locations to search for on various platforms. - -# Libraries -LIST(APPEND CMAKE_LIBRARY_PATH /opt/local/lib) -LIST(APPEND CMAKE_LIBRARY_PATH /opt/local/lib/ufsparse) # Mac OS X -LIST(APPEND CMAKE_LIBRARY_PATH /usr/lib) -LIST(APPEND CMAKE_LIBRARY_PATH /usr/lib/atlas) -LIST(APPEND CMAKE_LIBRARY_PATH /usr/lib/suitesparse) # Ubuntu -LIST(APPEND CMAKE_LIBRARY_PATH /usr/lib64/atlas) -LIST(APPEND CMAKE_LIBRARY_PATH /usr/local/homebrew/lib) # Mac OS X -LIST(APPEND CMAKE_LIBRARY_PATH /usr/local/lib) -LIST(APPEND CMAKE_LIBRARY_PATH /usr/local/lib/suitesparse) - -# Headers -LIST(APPEND CMAKE_INCLUDE_PATH /opt/local/include) -LIST(APPEND CMAKE_INCLUDE_PATH /opt/local/include/ufsparse) # Mac OS X -LIST(APPEND CMAKE_INCLUDE_PATH /opt/local/var/macports/software/eigen3/opt/local/include/eigen3) # Mac OS X -LIST(APPEND CMAKE_INCLUDE_PATH /usr/include) -LIST(APPEND CMAKE_INCLUDE_PATH /usr/include/eigen3) # Ubuntu 10.04's default location. -LIST(APPEND CMAKE_INCLUDE_PATH /usr/include/suitesparse) # Ubuntu -LIST(APPEND CMAKE_INCLUDE_PATH /usr/local/homebrew/include) # Mac OS X -LIST(APPEND CMAKE_INCLUDE_PATH /usr/local/homebrew/include/eigen3) # Mac OS X -LIST(APPEND CMAKE_INCLUDE_PATH /usr/local/include) -LIST(APPEND CMAKE_INCLUDE_PATH /usr/local/include/eigen3) -LIST(APPEND CMAKE_INCLUDE_PATH /usr/local/include/suitesparse) - -# Eigen -FIND_PATH(EIGEN_INCLUDE NAMES Eigen/Core) -IF (NOT EXISTS ${EIGEN_INCLUDE}) - MESSAGE(FATAL_ERROR "Can't find Eigen. Try passing -DEIGEN_INCLUDE=...") -ELSE (NOT EXISTS ${EIGEN_INCLUDE}) - MESSAGE("-- Found Eigen 3.x: ${EIGEN_INCLUDE}") -ENDIF (NOT EXISTS ${EIGEN_INCLUDE}) - -SET(BLAS_AND_LAPACK_FOUND TRUE) -IF ((NOT DEFINED LAPACK) OR (DEFINED LAPACK AND LAPACK)) - FIND_PACKAGE(LAPACK) +# Use ios-cmake to build a static library for iOS +# +# We need to add isysroot to force cmake to find the toolchains from the iOS SDK +# instead of using the standard ones. And add flag mios-simulator-version so clang +# knows we are building for ios simulator but not mac. +# +# You can build for OS (armv7, armv7s, arm64), SIMULATOR (i386) or SIMULATOR64 (x86_64) +# separately and use lipo to merge them into one static library. +# +# There are some features/algorithms are not available in iOS version and the +# minimum supported iOS version is 6.0 now. +# +# Use cmake ../ceres-solver -DCMAKE_TOOLCHAIN_FILE=../ceres-solver/cmake/iOS.cmake \ +# -DIOS_PLATFORM=PLATFORM -DEIGEN_INCLUDE_DIR=/path/to/eigen/header +# to config the cmake. The PLATFORM can be one of OS, SIMULATOR and SIMULATOR64. +# Check the documentation in iOS.cmake to find more options. +# +# After building, you will get a single library: libceres.a, which +# you need to add to your Xcode project. +# +# If you use the lapack and blas, then you also need to add Accelerate.framework +# to your Xcode project's linking dependency. +IF (IOS) + MESSAGE(STATUS "Building Ceres for iOS platform: ${IOS_PLATFORM}") + + UPDATE_CACHE_VARIABLE(MINIGLOG ON) + MESSAGE(STATUS "Building for iOS, forcing use of miniglog instead of glog.") + + UPDATE_CACHE_VARIABLE(SUITESPARSE OFF) + UPDATE_CACHE_VARIABLE(CXSPARSE OFF) + UPDATE_CACHE_VARIABLE(GFLAGS OFF) + UPDATE_CACHE_VARIABLE(OPENMP OFF) + + MESSAGE(STATUS "Building for iOS: SuiteSparse, CXSparse, gflags and OpenMP are not available.") + + UPDATE_CACHE_VARIABLE(BUILD_EXAMPLES OFF) + MESSAGE(STATUS "Building for iOS, will not build examples.") + + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fobjc-abi-version=2 -fobjc-arc -isysroot ${CMAKE_OSX_SYSROOT}") + SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fobjc-abi-version=2 -fobjc-arc -isysroot ${CMAKE_OSX_SYSROOT}") + + IF (${IOS_PLATFORM} STREQUAL "SIMULATOR" OR ${IOS_PLATFORM} STREQUAL "SIMULATOR64") + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mios-simulator-version-min=6.0") + ENDIF() +ENDIF (IOS) + +# Prior to October 2013, Ceres used some non-CMake standardised variables to +# hold user-specified (as opposed to FindPackage found) include directory and +# library paths for Ceres dependencies. These were were of the form: +# <DEPENDENCY>_LIB / <DEPENDENCY>_INCLUDE. Since then, Ceres now has +# FindPackage() scripts for all of its dependencies which obey the standard +# CMake variables: <DEPENDENCY>_LIBRARIES & <DEPENDENCY>_INCLUDE_DIRS. In order +# to ensure backwards compatibility, we use convert any legacy variables to +# _directory_ hints for the FindPackage() scripts. +MACRO(HANDLE_LEGACY_INCLUDE_DEPENDENCY_HINT + LEGACY_VAR DIRECTORY_HINT_VAR) + IF (DEFINED ${LEGACY_VAR}) + # Get the dependency name (all caps) from the hint directory variable + # for the warning message. + STRING(REGEX MATCH "^[^_]*" DEPENDENCY_NAME ${DIRECTORY_HINT_VAR}) + MESSAGE(WARNING "You are defining a legacy variable ${LEGACY_VAR} " + "to specify the include directory for ${DEPENDENCY_NAME}. This is " + "deprecated and support for it will be removed in a future release. " + "Please use either the search directory hints variable: " + "${DIRECTORY_HINT_VAR} or ${DEPENDENCY_NAME}_INCLUDE_DIR to specify " + "exactly the directory used (no search performed), see: " + "http://homes.cs.washington.edu/~sagarwal/ceres-solver/dev/building.html " + "for more information.") + LIST(APPEND ${DIRECTORY_HINT_VAR} ${${LEGACY_VAR}}) + ENDIF (DEFINED ${LEGACY_VAR}) +ENDMACRO(HANDLE_LEGACY_INCLUDE_DEPENDENCY_HINT) + +MACRO(HANDLE_LEGACY_LIBRARY_DEPENDENCY_HINT + LEGACY_VAR DIRECTORY_HINT_VAR) + IF (DEFINED ${LEGACY_VAR}) + # Get the dependency name (all caps) from the hint directory variable + # for the warning message. + STRING(REGEX MATCH "^[^_]*" DEPENDENCY_NAME ${DIRECTORY_HINT_VAR}) + MESSAGE(WARNING "You are defining a legacy variable ${LEGACY_VAR} " + "to specify the library for ${DEPENDENCY_NAME}. This is " + "deprecated and support for it will be removed in a future release. " + "Please use either the search directory hints variable: " + "${DIRECTORY_HINT_VAR} or ${DEPENDENCY_NAME}_LIBRARY to specify " + "exactly the library used (no search performed), see: " + "http://homes.cs.washington.edu/~sagarwal/ceres-solver/dev/building.html " + "for more information.") + IF (EXISTS ${${LEGACY_VAR}} AND + NOT IS_DIRECTORY ${${LEGACY_VAR}}) + # User specified an explicit (library) file using the legacy variable + # interface, hints to FindPackage() scripts are directories so add the + # parent directory of the specified file. + GET_FILENAME_COMPONENT(DIR_HINT ${${LEGACY_VAR}} PATH) + LIST(APPEND ${DIRECTORY_HINT_VAR} ${DIR_HINT}) + ELSEIF (EXISTS ${${LEGACY_VAR}} AND + IS_DIRECTORY ${${LEGACY_VAR}}) + # User specified a directory hint using the legacy variable, use it. + LIST(APPEND ${DIRECTORY_HINT_VAR} ${${LEGACY_VAR}}) + ENDIF() + ENDIF (DEFINED ${LEGACY_VAR}) +ENDMACRO(HANDLE_LEGACY_LIBRARY_DEPENDENCY_HINT) + +UNSET(CERES_COMPILE_OPTIONS) + +# Eigen. +HANDLE_LEGACY_INCLUDE_DEPENDENCY_HINT(EIGEN_INCLUDE EIGEN_INCLUDE_DIR_HINTS) +FIND_PACKAGE(Eigen REQUIRED) +IF (EIGEN_FOUND) + MESSAGE("-- Found Eigen version ${EIGEN_VERSION}: ${EIGEN_INCLUDE_DIRS}") + # Ensure that only MPL2 licensed code is part of the default build. + MESSAGE("") + MESSAGE(" ===============================================================") + IF (EIGENSPARSE) + LIST(APPEND CERES_COMPILE_OPTIONS CERES_USE_EIGEN_SPARSE) + MESSAGE(" Enabling the use of Eigen as a sparse linear algebra library ") + MESSAGE(" for solving the nonlinear least squares problems. Enabling ") + MESSAGE(" this option will result in an LGPL licensed version of ") + MESSAGE(" Ceres Solver as the Simplicial Cholesky factorization in Eigen") + MESSAGE(" is licensed under the LGPL. ") + ELSE (EIGENSPARSE) + MESSAGE(" Disabling the use of Eigen as a sparse linear algebra library.") + MESSAGE(" This does not affect the covariance estimation algorithm ") + MESSAGE(" which can still use the EIGEN_SPARSE_QR algorithm.") + ADD_DEFINITIONS(-DEIGEN_MPL2_ONLY) + ENDIF (EIGENSPARSE) + MESSAGE(" ===============================================================") + MESSAGE("") +ENDIF (EIGEN_FOUND) + +# LAPACK (& BLAS). +IF (LAPACK) + FIND_PACKAGE(LAPACK QUIET) IF (LAPACK_FOUND) MESSAGE("-- Found LAPACK library: ${LAPACK_LIBRARIES}") ELSE (LAPACK_FOUND) - MESSAGE("-- Did not find LAPACK library") - SET(BLAS_AND_LAPACK_FOUND FALSE) + MESSAGE("-- Did not find LAPACK library, disabling LAPACK support.") ENDIF (LAPACK_FOUND) - FIND_PACKAGE(BLAS) + FIND_PACKAGE(BLAS QUIET) IF (BLAS_FOUND) MESSAGE("-- Found BLAS library: ${BLAS_LIBRARIES}") ELSE (BLAS_FOUND) - MESSAGE("-- Did not find BLAS library") - SET(BLAS_AND_BLAS_FOUND FALSE) + MESSAGE("-- Did not find BLAS library, disabling LAPACK support.") ENDIF (BLAS_FOUND) -ELSE ((NOT DEFINED LAPACK) OR (DEFINED LAPACK AND LAPACK)) - SET(BLAS_AND_LAPACK_FOUND FALSE) -ENDIF ((NOT DEFINED LAPACK) OR (DEFINED LAPACK AND LAPACK)) - -IF (NOT BLAS_AND_LAPACK_FOUND) - ADD_DEFINITIONS(-DCERES_NO_LAPACK) -ENDIF (NOT BLAS_AND_LAPACK_FOUND) - -IF ((NOT DEFINED SUITESPARSE) OR (DEFINED SUITESPARSE AND SUITESPARSE)) -# Check for SuiteSparse dependencies - -SET(AMD_FOUND TRUE) -FIND_LIBRARY(AMD_LIB NAMES amd) -IF (EXISTS ${AMD_LIB}) - MESSAGE("-- Found AMD library: ${AMD_LIB}") -ELSE (EXISTS ${AMD_LIB}) - MESSAGE("-- Did not find AMD library") - SET(AMD_FOUND FALSE) -ENDIF (EXISTS ${AMD_LIB}) - -FIND_PATH(AMD_INCLUDE NAMES amd.h) -IF (EXISTS ${AMD_INCLUDE}) - MESSAGE("-- Found AMD header in: ${AMD_INCLUDE}") -ELSE (EXISTS ${AMD_INCLUDE}) - MESSAGE("-- Did not find AMD header") - SET(AMD_FOUND FALSE) -ENDIF (EXISTS ${AMD_INCLUDE}) - -SET(CAMD_FOUND TRUE) -FIND_LIBRARY(CAMD_LIB NAMES camd) -IF (EXISTS ${CAMD_LIB}) - MESSAGE("-- Found CAMD library: ${CAMD_LIB}") -ELSE (EXISTS ${CAMD_LIB}) - MESSAGE("-- Did not find CAMD library") - SET(CAMD_FOUND FALSE) -ENDIF (EXISTS ${CAMD_LIB}) - -FIND_PATH(CAMD_INCLUDE NAMES camd.h) -IF (EXISTS ${CAMD_INCLUDE}) - MESSAGE("-- Found CAMD header in: ${CAMD_INCLUDE}") -ELSE (EXISTS ${CAMD_INCLUDE}) - MESSAGE("-- Did not find CAMD header") - SET(CAMD_FOUND FALSE) -ENDIF (EXISTS ${CAMD_INCLUDE}) - -SET(COLAMD_FOUND TRUE) -FIND_LIBRARY(COLAMD_LIB NAMES colamd) -IF (EXISTS ${COLAMD_LIB}) - MESSAGE("-- Found COLAMD library: ${COLAMD_LIB}") -ELSE (EXISTS ${COLAMD_LIB}) - MESSAGE("-- Did not find COLAMD library") - SET(COLAMD_FOUND FALSE) -ENDIF (EXISTS ${COLAMD_LIB}) - -FIND_PATH(COLAMD_INCLUDE NAMES colamd.h) -IF (EXISTS ${COLAMD_INCLUDE}) - MESSAGE("-- Found COLAMD header in: ${COLAMD_INCLUDE}") -ELSE (EXISTS ${COLAMD_INCLUDE}) - MESSAGE("-- Did not find COLAMD header") - SET(COLAMD_FOUND FALSE) -ENDIF (EXISTS ${COLAMD_INCLUDE}) - -SET(CCOLAMD_FOUND TRUE) -FIND_LIBRARY(CCOLAMD_LIB NAMES ccolamd) -IF (EXISTS ${CCOLAMD_LIB}) - MESSAGE("-- Found CCOLAMD library: ${CCOLAMD_LIB}") -ELSE (EXISTS ${CCOLAMD_LIB}) - MESSAGE("-- Did not find CCOLAMD library") - SET(CCOLAMD_FOUND FALSE) -ENDIF (EXISTS ${CCOLAMD_LIB}) - -FIND_PATH(CCOLAMD_INCLUDE NAMES ccolamd.h) -IF (EXISTS ${CCOLAMD_INCLUDE}) - MESSAGE("-- Found CCOLAMD header in: ${CCOLAMD_INCLUDE}") -ELSE (EXISTS ${CCOLAMD_INCLUDE}) - MESSAGE("-- Did not find CCOLAMD header") - SET(CCOLAMD_FOUND FALSE) -ENDIF (EXISTS ${CCOLAMD_INCLUDE}) - -SET(CHOLMOD_FOUND TRUE) -FIND_LIBRARY(CHOLMOD_LIB NAMES cholmod) -IF (EXISTS ${CHOLMOD_LIB}) - MESSAGE("-- Found CHOLMOD library: ${CHOLMOD_LIB}") -ELSE (EXISTS ${CHOLMOD_LIB}) - MESSAGE("-- Did not find CHOLMOD library") - SET(CHOLMOD_FOUND FALSE) -ENDIF (EXISTS ${CHOLMOD_LIB}) - -FIND_PATH(CHOLMOD_INCLUDE NAMES cholmod.h) -IF (EXISTS ${CHOLMOD_INCLUDE}) - MESSAGE("-- Found CHOLMOD header in: ${CHOLMOD_INCLUDE}") -ELSE (EXISTS ${CHOLMOD_INCLUDE}) - MESSAGE("-- Did not find CHOLMOD header") - SET(CHOLMOD_FOUND FALSE) -ENDIF (EXISTS ${CHOLMOD_INCLUDE}) - -SET(SUITESPARSEQR_FOUND TRUE) -FIND_LIBRARY(SUITESPARSEQR_LIB NAMES spqr) -IF (EXISTS ${SUITESPARSEQR_LIB}) - MESSAGE("-- Found SUITESPARSEQR library: ${SUITESPARSEQR_LIB}") -ELSE (EXISTS ${SUITESPARSEQR_LIB}) - MESSAGE("-- Did not find SUITESPARSEQR library") - SET(SUITESPARSEQR_FOUND FALSE) -ENDIF (EXISTS ${SUITESPARSEQR_LIB}) - -FIND_PATH(SUITESPARSEQR_INCLUDE NAMES SuiteSparseQR.hpp) -IF (EXISTS ${SUITESPARSEQR_INCLUDE}) - MESSAGE("-- Found SUITESPARSEQR header in: ${SUITESPARSEQR_INCLUDE}") -ELSE (EXISTS ${SUITESPARSEQR_INCLUDE}) - MESSAGE("-- Did not find SUITESPARSEQR header") - SET(SUITESPARSEQR_FOUND FALSE) -ENDIF (EXISTS ${SUITESPARSEQR_INCLUDE}) - -# If SuiteSparse version is >= 4 then SuiteSparse_config is required. -# For SuiteSparse 3, UFconfig.h is required. -SET(SUITESPARSE_CONFIG_FOUND TRUE) -SET(UFCONFIG_FOUND TRUE) - -FIND_LIBRARY(SUITESPARSE_CONFIG_LIB NAMES suitesparseconfig) -IF (EXISTS ${SUITESPARSE_CONFIG_LIB}) - MESSAGE("-- Found SuiteSparse_config library: ${SUITESPARSE_CONFIG_LIB}") -ELSE (EXISTS ${SUITESPARSE_CONFIG_LIB}) - MESSAGE("-- Did not find SuiteSparse_config library") -ENDIF (EXISTS ${SUITESPARSE_CONFIG_LIB}) - -FIND_PATH(SUITESPARSE_CONFIG_INCLUDE NAMES SuiteSparse_config.h) -IF (EXISTS ${SUITESPARSE_CONFIG_INCLUDE}) - MESSAGE("-- Found SuiteSparse_config header in: ${SUITESPARSE_CONFIG_INCLUDE}") - SET(UFCONFIG_FOUND FALSE) -ELSE (EXISTS ${SUITESPARSE_CONFIG_INCLUDE}) - MESSAGE("-- Did not find SuiteSparse_config header") -ENDIF (EXISTS ${SUITESPARSE_CONFIG_INCLUDE}) - -IF (NOT EXISTS ${SUITESPARSE_CONFIG_LIB} OR - NOT EXISTS ${SUITESPARSE_CONFIG_INCLUDE}) - SET(SUITESPARSE_CONFIG_FOUND FALSE) - FIND_PATH(UFCONFIG_INCLUDE NAMES UFconfig.h) - IF (EXISTS ${UFCONFIG_INCLUDE}) - MESSAGE("-- Found UFconfig header in: ${UFCONFIG_INCLUDE}") - ELSE (EXISTS ${UFCONFIG_INCLUDE}) - MESSAGE("-- Did not find UFconfig header") - SET(UFCONFIG_FOUND FALSE) - ENDIF (EXISTS ${UFCONFIG_INCLUDE}) -ENDIF (NOT EXISTS ${SUITESPARSE_CONFIG_LIB} OR - NOT EXISTS ${SUITESPARSE_CONFIG_INCLUDE}) - -FIND_LIBRARY(METIS_LIB NAMES metis) -IF (EXISTS ${METIS_LIB}) - MESSAGE("-- Found METIS library: ${METIS_LIB}") -ELSE (EXISTS ${METIS_LIB}) - MESSAGE("-- Did not find METIS library") -ENDIF (EXISTS ${METIS_LIB}) - -# SuiteSparseQR may be compiled with Intel Threading Building Blocks. -SET(TBB_FOUND TRUE) -FIND_LIBRARY(TBB_LIB NAMES tbb) -IF (EXISTS ${TBB_LIB}) - MESSAGE("-- Found TBB library: ${TBB_LIB}") -ELSE (EXISTS ${TBB_LIB}) - MESSAGE("-- Did not find TBB library") - SET(TBB_FOUND FALSE) -ENDIF (EXISTS ${TBB_LIB}) - -FIND_LIBRARY(TBB_MALLOC_LIB NAMES tbbmalloc) -IF (EXISTS ${TBB_MALLOC_LIB}) - MESSAGE("-- Found TBB Malloc library: ${TBB_MALLOC_LIB}") -ELSE (EXISTS ${TBB_MALLOC_LIB}) - MESSAGE("-- Did not find TBB library") - SET(TBB_FOUND FALSE) -ENDIF (EXISTS ${TBB_MALLOC_LIB}) - -# We don't use SET(SUITESPARSE_FOUND ${AMD_FOUND} ...) in order to be -# able to check whether SuiteSparse is available without expanding -# SUITESPARSE_FOUND with ${}. This means further checks could be: -# -# IF (SUITESPARSE_FOUND) -# -# and not: -# -# IF (${SUITESPARSE_FOUND}) -# -IF (${AMD_FOUND} AND - ${CAMD_FOUND} AND - ${COLAMD_FOUND} AND - ${CCOLAMD_FOUND} AND - ${CHOLMOD_FOUND} AND - (${SUITESPARSE_CONFIG_FOUND} OR ${UFCONFIG_FOUND}) AND - ${BLAS_AND_LAPACK_FOUND}) - SET(SUITESPARSE_FOUND TRUE) -ELSE () - SET(SUITESPARSE_FOUND FALSE) -ENDIF () + IF (NOT (LAPACK_FOUND AND BLAS_FOUND)) + UPDATE_CACHE_VARIABLE(LAPACK OFF) + LIST(APPEND CERES_COMPILE_OPTIONS CERES_NO_LAPACK) + ENDIF (NOT (LAPACK_FOUND AND BLAS_FOUND)) +ELSE (LAPACK) + MESSAGE("-- Building without LAPACK.") + LIST(APPEND CERES_COMPILE_OPTIONS CERES_NO_LAPACK) +ENDIF (LAPACK) + +# SuiteSparse. +IF (SUITESPARSE AND NOT LAPACK) + # If user has disabled LAPACK, but left SUITESPARSE ON, turn it OFF, + # LAPACK controls whether Ceres will be linked, directly or indirectly + # via SuiteSparse to LAPACK. + MESSAGE("-- Disabling SuiteSparse as use of LAPACK has been disabled, " + "turn ON LAPACK to enable (optional) building with SuiteSparse.") + UPDATE_CACHE_VARIABLE(SUITESPARSE OFF) +ENDIF (SUITESPARSE AND NOT LAPACK) +IF (SUITESPARSE) + # By default, if SuiteSparse and all dependencies are found, Ceres is + # built with SuiteSparse support. -ENDIF ((NOT DEFINED SUITESPARSE) OR (DEFINED SUITESPARSE AND SUITESPARSE)) -# By default, if all of SuiteSparse's dependencies are found, Ceres is -# built with SuiteSparse support. -DSUITESPARSE=ON/OFF can be used to -# enable/disable SuiteSparse explicitly. -IF (DEFINED SUITESPARSE) - IF (SUITESPARSE) - IF (NOT SUITESPARSE_FOUND) - MESSAGE(FATAL_ERROR "One or more of SuiteSparse's dependencies was not found") - ENDIF (NOT SUITESPARSE_FOUND) - ELSE (SUITESPARSE) - ADD_DEFINITIONS(-DCERES_NO_SUITESPARSE) - ENDIF (SUITESPARSE) -ELSE (DEFINED SUITESPARSE) + # Check for SuiteSparse and dependencies. + FIND_PACKAGE(SuiteSparse) IF (SUITESPARSE_FOUND) - MESSAGE("-- Found all SuiteSparse dependencies. Building with SuiteSparse") - SET(SUITESPARSE ON) + # On Ubuntu the system install of SuiteSparse (v3.4.0) up to at least + # Ubuntu 13.10 cannot be used to link shared libraries. + IF (BUILD_SHARED_LIBS AND + SUITESPARSE_IS_BROKEN_SHARED_LINKING_UBUNTU_SYSTEM_VERSION) + MESSAGE(FATAL_ERROR "You are attempting to build Ceres as a shared " + "library on Ubuntu using a system package install of SuiteSparse " + "3.4.0. This package is broken and does not support the " + "construction of shared libraries (you can still build Ceres as " + "a static library). If you wish to build a shared version of Ceres " + "you should uninstall the system install of SuiteSparse " + "(libsuitesparse-dev) and perform a source install of SuiteSparse " + "(we recommend that you use the latest version), " + "see: http://homes.cs.washington.edu/~sagarwal" + "/ceres-solver/dev/building.html for more information.") + ENDIF (BUILD_SHARED_LIBS AND + SUITESPARSE_IS_BROKEN_SHARED_LINKING_UBUNTU_SYSTEM_VERSION) + + # By default, if all of SuiteSparse's dependencies are found, Ceres is + # built with SuiteSparse support. + MESSAGE("-- Found SuiteSparse ${SUITESPARSE_VERSION}, " + "building with SuiteSparse.") ELSE (SUITESPARSE_FOUND) - MESSAGE("-- Did not find all SuiteSparse dependencies. Building without SuiteSparse") - SET(SUITESPARSE OFF) - ADD_DEFINITIONS(-DCERES_NO_SUITESPARSE) + # Disable use of SuiteSparse if it cannot be found and continue. + MESSAGE("-- Did not find all SuiteSparse dependencies, disabling " + "SuiteSparse support.") + UPDATE_CACHE_VARIABLE(SUITESPARSE OFF) + LIST(APPEND CERES_COMPILE_OPTIONS CERES_NO_SUITESPARSE) ENDIF (SUITESPARSE_FOUND) -ENDIF (DEFINED SUITESPARSE) - -# By default, if all of CXSparse's dependencies are found, Ceres is -# built with CXSparse support. -DCXSPARSE=ON/OFF can be used to -# enable/disable CXSparse explicitly. -IF ((NOT DEFINED CXSPARSE) OR (DEFINED CXSPARSE AND CXSPARSE)) - -SET(CXSPARSE_FOUND ON) -FIND_LIBRARY(CXSPARSE_LIB NAMES cxsparse) -IF (EXISTS ${CXSPARSE_LIB}) - MESSAGE("-- Found CXSparse library in: ${CXSPARSE_LIB}") -ELSE (EXISTS ${CXSPARSE_LIB}) - MESSAGE("-- Did not find CXSparse header") - SET(CXSPARSE_FOUND FALSE) -ENDIF (EXISTS ${CXSPARSE_LIB}) - -FIND_PATH(CXSPARSE_INCLUDE NAMES cs.h) -IF (EXISTS ${CXSPARSE_INCLUDE}) - MESSAGE("-- Found CXSparse header in: ${CXSPARSE_INCLUDE}") -ELSE (EXISTS ${CXSPARSE_INCLUDE}) - MESSAGE("-- Did not find CXSparse header") - SET(CXSPARSE_FOUND FALSE) -ENDIF (EXISTS ${CXSPARSE_INCLUDE}) -ENDIF ((NOT DEFINED CXSPARSE) OR (DEFINED CXSPARSE AND CXSPARSE)) - -IF (DEFINED CXSPARSE) - IF (CXSPARSE) - IF (NOT CXSPARSE_FOUND) - MESSAGE(FATAL_ERROR "-- CXSparse not found.") - ENDIF (NOT CXSPARSE_FOUND) - ELSE (CXSPARSE) - ADD_DEFINITIONS(-DCERES_NO_CXSPARSE) - ENDIF (CXSPARSE) -ELSE (DEFINED CXSPARSE) +ELSE (SUITESPARSE) + MESSAGE("-- Building without SuiteSparse.") + LIST(APPEND CERES_COMPILE_OPTIONS CERES_NO_SUITESPARSE) +ENDIF (SUITESPARSE) + +# CXSparse. +IF (CXSPARSE) + # Don't search with REQUIRED as we can continue without CXSparse. + FIND_PACKAGE(CXSparse) IF (CXSPARSE_FOUND) - MESSAGE("-- Building with CXSparse support.") - SET(CXSPARSE ON) + # By default, if CXSparse and all dependencies are found, Ceres is + # built with CXSparse support. + MESSAGE("-- Found CXSparse version: ${CXSPARSE_VERSION}, " + "building with CXSparse.") ELSE (CXSPARSE_FOUND) - MESSAGE("-- Building without CXSparse.") - SET(CXSPARSE OFF) - ADD_DEFINITIONS(-DCERES_NO_CXSPARSE) + # Disable use of CXSparse if it cannot be found and continue. + MESSAGE("-- Did not find CXSparse, Building without CXSparse.") + UPDATE_CACHE_VARIABLE(CXSPARSE OFF) + LIST(APPEND CERES_COMPILE_OPTIONS CERES_NO_CXSPARSE) ENDIF (CXSPARSE_FOUND) -ENDIF (DEFINED CXSPARSE) +ELSE (CXSPARSE) + MESSAGE("-- Building without CXSparse.") + LIST(APPEND CERES_COMPILE_OPTIONS CERES_NO_CXSPARSE) + # Mark as advanced (remove from default GUI view) the CXSparse search + # variables in case user enabled CXSPARSE, FindCXSparse did not find it, so + # made search variables visible in GUI for user to set, but then user disables + # CXSPARSE instead of setting them. + MARK_AS_ADVANCED(FORCE CXSPARSE_INCLUDE_DIR + CXSPARSE_LIBRARY) +ENDIF (CXSPARSE) +# GFlags. IF (GFLAGS) - FIND_LIBRARY(GFLAGS_LIB NAMES gflags) - IF (NOT EXISTS ${GFLAGS_LIB}) - MESSAGE(FATAL_ERROR - "Can't find Google Flags. Please specify: " - "-DGFLAGS_LIB=...") - ENDIF (NOT EXISTS ${GFLAGS_LIB}) - MESSAGE("-- Found Google Flags library: ${GFLAGS_LIB}") - FIND_PATH(GFLAGS_INCLUDE NAMES gflags/gflags.h) - IF (NOT EXISTS ${GFLAGS_INCLUDE}) - MESSAGE(FATAL_ERROR - "Can't find Google Flags. Please specify: " - "-DGFLAGS_INCLUDE=...") - ENDIF (NOT EXISTS ${GFLAGS_INCLUDE}) - MESSAGE("-- Found Google Flags header in: ${GFLAGS_INCLUDE}") + HANDLE_LEGACY_INCLUDE_DEPENDENCY_HINT(GFLAGS_INCLUDE GFLAGS_INCLUDE_DIR_HINTS) + HANDLE_LEGACY_LIBRARY_DEPENDENCY_HINT(GFLAGS_LIB GFLAGS_LIBRARY_DIR_HINTS) + + # Don't search with REQUIRED as we can continue without gflags. + FIND_PACKAGE(Gflags) + IF (GFLAGS_FOUND) + MESSAGE("-- Found Google Flags header in: ${GFLAGS_INCLUDE_DIRS}") + ELSE (GFLAGS_FOUND) + MESSAGE("-- Did not find Google Flags (gflags), Building without gflags " + "- no tests or tools will be built!") + UPDATE_CACHE_VARIABLE(GFLAGS OFF) + ENDIF (GFLAGS_FOUND) ELSE (GFLAGS) MESSAGE("-- Google Flags disabled; no tests or tools will be built!") - ADD_DEFINITIONS(-DCERES_NO_GFLAGS) + # Mark as advanced (remove from default GUI view) the gflags search + # variables in case user enabled GFLAGS, FindGflags did not find it, so + # made search variables visible in GUI for user to set, but then user disables + # GFLAGS instead of setting them. + MARK_AS_ADVANCED(FORCE GFLAGS_INCLUDE_DIR + GFLAGS_LIBRARY) ENDIF (GFLAGS) +# MiniGLog. IF (MINIGLOG) - SET(GLOG_LIB miniglog) - MESSAGE("-- Using minimal Glog substitute (library): ${GLOG_LIB}") - SET(GLOG_INCLUDE internal/ceres/miniglog) - MESSAGE("-- Using minimal Glog substitute (include): ${GLOG_INCLUDE}") + MESSAGE("-- Compiling minimal glog substitute into Ceres.") + SET(GLOG_INCLUDE_DIRS internal/ceres/miniglog) + MESSAGE("-- Using minimal glog substitute (include): ${GLOG_INCLUDE_DIRS}") + + # Mark as advanced (remove from default GUI view) the glog search + # variables in case user disables MINIGLOG, FindGlog did not find it, so + # made search variables visible in GUI for user to set, but then user enables + # MINIGLOG instead of setting them. + MARK_AS_ADVANCED(FORCE GLOG_INCLUDE_DIR + GLOG_LIBRARY) ELSE (MINIGLOG) - FIND_LIBRARY(GLOG_LIB NAMES glog) - IF (EXISTS ${GLOG_LIB}) - MESSAGE("-- Found Google Log library: ${GLOG_LIB}") - ELSE (EXISTS ${GLOG_LIB}) - MESSAGE(FATAL_ERROR - "Can't find Google Log. Please specify: -DGLOG_LIB=...") - ENDIF (EXISTS ${GLOG_LIB}) - - FIND_PATH(GLOG_INCLUDE NAMES glog/logging.h) - IF (EXISTS ${GLOG_INCLUDE}) - MESSAGE("-- Found Google Log header in: ${GLOG_INCLUDE}") - ELSE (EXISTS ${GLOG_INCLUDE}) - MESSAGE(FATAL_ERROR - "Can't find Google Log. Please specify: -DGLOG_INCLUDE=...") - ENDIF (EXISTS ${GLOG_INCLUDE}) + HANDLE_LEGACY_INCLUDE_DEPENDENCY_HINT(GLOG_INCLUDE GLOG_INCLUDE_DIR_HINTS) + HANDLE_LEGACY_LIBRARY_DEPENDENCY_HINT(GLOG_LIB GLOG_LIBRARY_DIR_HINTS) + + # Don't search with REQUIRED so that configuration continues if not found and + # we can output an error messages explaining MINIGLOG option. + FIND_PACKAGE(Glog) + IF (GLOG_FOUND) + MESSAGE("-- Found Google Log header in: ${GLOG_INCLUDE_DIRS}") + ELSE (GLOG_FOUND) + MESSAGE(FATAL_ERROR "Can't find Google Log. Please set GLOG_INCLUDE_DIR & " + "GLOG_LIBRARY or enable MINIGLOG option to use minimal glog " + "implementation.") + ENDIF (GLOG_FOUND) ENDIF (MINIGLOG) IF (NOT SCHUR_SPECIALIZATIONS) - ADD_DEFINITIONS(-DCERES_RESTRICT_SCHUR_SPECIALIZATION) + LIST(APPEND CERES_COMPILE_OPTIONS CERES_RESTRICT_SCHUR_SPECIALIZATION) MESSAGE("-- Disabling Schur specializations (faster compiles)") ENDIF (NOT SCHUR_SPECIALIZATIONS) -IF (NOT LINE_SEARCH_MINIMIZER) - ADD_DEFINITIONS(-DCERES_NO_LINE_SEARCH_MINIMIZER) - MESSAGE("-- Disabling line search minimizer") -ENDIF (NOT LINE_SEARCH_MINIMIZER) - IF (NOT CUSTOM_BLAS) - ADD_DEFINITIONS(-DCERES_NO_CUSTOM_BLAS) + LIST(APPEND CERES_COMPILE_OPTIONS CERES_NO_CUSTOM_BLAS) MESSAGE("-- Disabling custom blas") ENDIF (NOT CUSTOM_BLAS) -IF (CMAKE_CXX_COMPILER_ID STREQUAL "Clang") - SET(OPENMP_FOUND FALSE) -ELSE (CMAKE_CXX_COMPILER_ID STREQUAL "Clang") - IF (OPENMP) - FIND_PACKAGE(OpenMP) - ENDIF (OPENMP) -ENDIF (CMAKE_CXX_COMPILER_ID STREQUAL "Clang") - -IF (OPENMP_FOUND) - MESSAGE("-- Found OpenMP.") - ADD_DEFINITIONS(-DCERES_USE_OPENMP) - SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}") - IF (UNIX) - # At least on Linux, we need pthreads to be enabled for mutex to - # compile. This may not work on Windows or Android. - FIND_PACKAGE(Threads REQUIRED) - SET(STATIC_LIBRARY_FLAGS - "${STATIC_LIBRARY_FLAGS} ${CMAKE_THREAD_LIBS_INIT}") - SET(CMAKE_SHARED_LINKER_FLAGS - "${CMAKE_SHARED_LINKER_FLAGS} ${CMAKE_THREAD_LIBS_INIT}") - ADD_DEFINITIONS(-DCERES_HAVE_PTHREAD) - ADD_DEFINITIONS(-DCERES_HAVE_RWLOCK) - ENDIF (UNIX) -ELSE (OPENMP_FOUND) - MESSAGE("-- Can't find OpenMP. Disabling multithreading.") - ADD_DEFINITIONS(-DCERES_NO_THREADS) -ENDIF (OPENMP_FOUND) - -IF (DISABLE_TR1) - MESSAGE("-- Replacing unordered_map/set with map/set (warning: slower!)") - ADD_DEFINITIONS(-DCERES_NO_TR1) -ELSE (DISABLE_TR1) - MESSAGE("-- Using normal TR1 unordered_map/set") - # Use the std namespace for the hash<> and related templates. This may vary by - # system. - IF (MSVC) - IF (MSVC90) - # Special case for Visual Studio 2008. - # Newer versions have got tr1 symbols in another namespace, - # and this is being handled in Else branch of this condition. - # Probably Visual studio 2003 and 2005 also shall be handled here, - # but don't have by hand to verify and most likely they're not - # used by Ceres users anyway. - ADD_DEFINITIONS("\"-DCERES_HASH_NAMESPACE_START=namespace std { namespace tr1 {\"") - ADD_DEFINITIONS("\"-DCERES_HASH_NAMESPACE_END=}}\"") - ELSE (MSVC90) - # This is known to work with Visual Studio 2010 Express. - # Further, for as long Visual Studio 2012 didn't move tr1 to - # just another namespace, the same define will work for it as well. - # Hopefully all further versions will also keep working with this define. - ADD_DEFINITIONS("\"-DCERES_HASH_NAMESPACE_START=namespace std {\"") - ADD_DEFINITIONS("\"-DCERES_HASH_NAMESPACE_END=}\"") - ENDIF(MSVC90) - ELSE (MSVC) - # This is known to work with recent versions of Linux and Mac OS X. - ADD_DEFINITIONS("\"-DCERES_HASH_NAMESPACE_START=namespace std { namespace tr1 {\"") - ADD_DEFINITIONS("\"-DCERES_HASH_NAMESPACE_END=}}\"") - ENDIF (MSVC) -ENDIF (DISABLE_TR1) +IF (OPENMP) + # Clang does not (yet) support OpenMP. + IF (CMAKE_CXX_COMPILER_ID STREQUAL "Clang") + UPDATE_CACHE_VARIABLE(OPENMP OFF) + MESSAGE("-- Compiler is Clang, disabling OpenMP.") + LIST(APPEND CERES_COMPILE_OPTIONS CERES_NO_THREADS) + ELSE (CMAKE_CXX_COMPILER_ID STREQUAL "Clang") + # Find quietly s/t as we can continue without OpenMP if it is not found. + FIND_PACKAGE(OpenMP QUIET) + IF (OPENMP_FOUND) + MESSAGE("-- Building with OpenMP.") + LIST(APPEND CERES_COMPILE_OPTIONS CERES_USE_OPENMP) + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}") + IF (UNIX) + # At least on Linux, we need pthreads to be enabled for mutex to + # compile. This may not work on Windows or Android. + FIND_PACKAGE(Threads REQUIRED) + LIST(APPEND CERES_COMPILE_OPTIONS CERES_HAVE_PTHREAD) + LIST(APPEND CERES_COMPILE_OPTIONS CERES_HAVE_RWLOCK) + ENDIF (UNIX) + ELSE (OPENMP_FOUND) + MESSAGE("-- Failed to find OpenMP, disabling.") + UPDATE_CACHE_VARIABLE(OPENMP OFF) + LIST(APPEND CERES_COMPILE_OPTIONS CERES_NO_THREADS) + ENDIF (OPENMP_FOUND) + ENDIF (CMAKE_CXX_COMPILER_ID STREQUAL "Clang") +ELSE (OPENMP) + MESSAGE("-- Building without OpenMP (disabling multithreading).") + LIST(APPEND CERES_COMPILE_OPTIONS CERES_NO_THREADS) +ENDIF (OPENMP) + +INCLUDE(CheckIncludeFileCXX) +CHECK_INCLUDE_FILE_CXX(unordered_map HAVE_STD_UNORDERED_MAP_HEADER) +IF (HAVE_STD_UNORDERED_MAP_HEADER) + # Finding the unordered_map header doesn't mean that unordered_map + # is in std namespace. + # + # In particular, MSVC 2008 has unordered_map declared in std::tr1. + # In order to support this, we do an extra check to see which + # namespace should be used. + INCLUDE(CheckCXXSourceCompiles) + CHECK_CXX_SOURCE_COMPILES("#include <unordered_map> + int main() { + std::unordered_map<int, int> map; + return 0; + }" + HAVE_UNORDERED_MAP_IN_STD_NAMESPACE) + IF (HAVE_UNORDERED_MAP_IN_STD_NAMESPACE) + LIST(APPEND CERES_COMPILE_OPTIONS CERES_STD_UNORDERED_MAP) + MESSAGE("-- Found unordered_map/set in std namespace.") + ELSE (HAVE_UNORDERED_MAP_IN_STD_NAMESPACE) + CHECK_CXX_SOURCE_COMPILES("#include <unordered_map> + int main() { + std::tr1::unordered_map<int, int> map; + return 0; + }" + HAVE_UNORDERED_MAP_IN_TR1_NAMESPACE) + IF (HAVE_UNORDERED_MAP_IN_TR1_NAMESPACE) + LIST(APPEND CERES_COMPILE_OPTIONS CERES_STD_UNORDERED_MAP_IN_TR1_NAMESPACE) + MESSAGE("-- Found unordered_map/set in std::tr1 namespace.") + ELSE (HAVE_UNORDERED_MAP_IN_TR1_NAMESPACE) + MESSAGE("-- Found <unordered_map> but cannot find either std::unordered_map " + "or std::tr1::unordered_map.") + MESSAGE("-- Replacing unordered_map/set with map/set (warning: slower!)") + LIST(APPEND CERES_COMPILE_OPTIONS CERES_NO_UNORDERED_MAP) + ENDIF (HAVE_UNORDERED_MAP_IN_TR1_NAMESPACE) + ENDIF (HAVE_UNORDERED_MAP_IN_STD_NAMESPACE) +ELSE (HAVE_STD_UNORDERED_MAP_HEADER) + CHECK_INCLUDE_FILE_CXX("tr1/unordered_map" HAVE_TR1_UNORDERED_MAP_HEADER) + IF (HAVE_TR1_UNORDERED_MAP_HEADER) + LIST(APPEND CERES_COMPILE_OPTIONS CERES_TR1_UNORDERED_MAP) + MESSAGE("-- Found tr1/unordered_map/set in std::tr1 namespace.") + ELSE (HAVE_TR1_UNORDERED_MAP_HEADE) + MESSAGE("-- Unable to find <unordered_map> or <tr1/unordered_map>. ") + MESSAGE("-- Replacing unordered_map/set with map/set (warning: slower!)") + LIST(APPEND CERES_COMPILE_OPTIONS CERES_NO_UNORDERED_MAP) + ENDIF (HAVE_TR1_UNORDERED_MAP_HEADER) +ENDIF (HAVE_STD_UNORDERED_MAP_HEADER) + +INCLUDE(FindSharedPtr) +FIND_SHARED_PTR() +IF (SHARED_PTR_FOUND) + IF (SHARED_PTR_TR1_MEMORY_HEADER) + LIST(APPEND CERES_COMPILE_OPTIONS CERES_TR1_MEMORY_HEADER) + ENDIF (SHARED_PTR_TR1_MEMORY_HEADER) + IF (SHARED_PTR_TR1_NAMESPACE) + LIST(APPEND CERES_COMPILE_OPTIONS CERES_TR1_SHARED_PTR) + ENDIF (SHARED_PTR_TR1_NAMESPACE) +ELSE (SHARED_PTR_FOUND) + MESSAGE(FATAL_ERROR "Unable to find shared_ptr.") +ENDIF (SHARED_PTR_FOUND) INCLUDE_DIRECTORIES( include internal internal/ceres - ${GLOG_INCLUDE} - ${EIGEN_INCLUDE} - ) - -FILE(GLOB CERES_HDRS ${CMAKE_SOURCE_DIR}/include/ceres/*.h) -INSTALL(FILES ${CERES_HDRS} DESTINATION include/ceres) - -FILE(GLOB CERES_PUBLIC_INTERNAL_HDRS ${CMAKE_SOURCE_DIR}/include/ceres/internal/*.h) -INSTALL(FILES ${CERES_PUBLIC_INTERNAL_HDRS} DESTINATION include/ceres/internal) + ${GLOG_INCLUDE_DIRS} + ${EIGEN_INCLUDE_DIRS}) IF (SUITESPARSE) - INCLUDE_DIRECTORIES(${AMD_INCLUDE}) - INCLUDE_DIRECTORIES(${CAMD_INCLUDE}) - INCLUDE_DIRECTORIES(${COLAMD_INCLUDE}) - INCLUDE_DIRECTORIES(${CCOLAMD_INCLUDE}) - INCLUDE_DIRECTORIES(${CHOLMOD_INCLUDE}) - INCLUDE_DIRECTORIES(${SUITESPARSEQR_INCLUDE}) - IF (SUITESPARSE_CONFIG_FOUND) - INCLUDE_DIRECTORIES(${SUITESPARSE_CONFIG_INCLUDE}) - ENDIF (SUITESPARSE_CONFIG_FOUND) - IF (UFCONFIG_FOUND) - INCLUDE_DIRECTORIES(${UFCONFIG_INCLUDE}) - ENDIF (UFCONFIG_FOUND) + INCLUDE_DIRECTORIES(${SUITESPARSE_INCLUDE_DIRS}) ENDIF (SUITESPARSE) IF (CXSPARSE) - INCLUDE_DIRECTORIES(${CXSPARSE_INCLUDE}) + INCLUDE_DIRECTORIES(${CXSPARSE_INCLUDE_DIRS}) ENDIF (CXSPARSE) IF (GFLAGS) - INCLUDE_DIRECTORIES(${GFLAGS_INCLUDE}) + INCLUDE_DIRECTORIES(${GFLAGS_INCLUDE_DIRS}) ENDIF (GFLAGS) +IF (BUILD_SHARED_LIBS) + MESSAGE("-- Building Ceres as a shared library.") + # The CERES_BUILDING_SHARED_LIBRARY compile definition is NOT stored in + # CERES_COMPILE_OPTIONS as it must only be defined when Ceres is compiled + # not when it is used as it controls the CERES_EXPORT macro which provides + # dllimport/export support in MSVC. + ADD_DEFINITIONS(-DCERES_BUILDING_SHARED_LIBRARY) + LIST(APPEND CERES_COMPILE_OPTIONS CERES_USING_SHARED_LIBRARY) +ELSE (BUILD_SHARED_LIBS) + MESSAGE("-- Building Ceres as a static library.") +ENDIF (BUILD_SHARED_LIBS) + # Change the default build type from Debug to Release, while still # supporting overriding the build type. # @@ -598,30 +572,35 @@ IF (CMAKE_BUILD_TYPE STREQUAL "Release") IF (CMAKE_COMPILER_IS_GNUCXX) # Linux IF (CMAKE_SYSTEM_NAME MATCHES "Linux") - SET (CERES_CXX_FLAGS "${CERES_CXX_FLAGS} -march=native -mtune=native") + IF (NOT GCC_VERSION VERSION_LESS 4.2) + SET (CERES_CXX_FLAGS "${CERES_CXX_FLAGS} -march=native -mtune=native") + ENDIF (NOT GCC_VERSION VERSION_LESS 4.2) ENDIF (CMAKE_SYSTEM_NAME MATCHES "Linux") # Mac OS X IF (CMAKE_SYSTEM_NAME MATCHES "Darwin") SET (CERES_CXX_FLAGS "${CERES_CXX_FLAGS} -msse3") # Use of -fast only applicable for Apple's GCC # Assume this is being used if GCC version < 4.3 on OSX - EXECUTE_PROCESS(COMMAND ${CMAKE_C_COMPILER} -dumpversion OUTPUT_VARIABLE GCC_VERSION) + EXECUTE_PROCESS(COMMAND ${CMAKE_C_COMPILER} + ARGS ${CMAKE_CXX_COMPILER_ARG1} -dumpversion + OUTPUT_VARIABLE GCC_VERSION + OUTPUT_STRIP_TRAILING_WHITESPACE) IF (GCC_VERSION VERSION_LESS 4.3) SET (CERES_CXX_FLAGS "${CERES_CXX_FLAGS} -fast") ENDIF (GCC_VERSION VERSION_LESS 4.3) ENDIF (CMAKE_SYSTEM_NAME MATCHES "Darwin") ENDIF (CMAKE_COMPILER_IS_GNUCXX) IF (CMAKE_CXX_COMPILER_ID STREQUAL "Clang") - # Use of -O4 requires use of gold linker & LLVM-gold plugin, which might + # Use of -flto requires use of gold linker & LLVM-gold plugin, which might # well not be present / in use and without which files will compile, but # not link ('file not recognized') so explicitly check for support INCLUDE(CheckCXXCompilerFlag) - CHECK_CXX_COMPILER_FLAG("-O4" HAVE_LTO_SUPPORT) + CHECK_CXX_COMPILER_FLAG("-flto" HAVE_LTO_SUPPORT) IF (HAVE_LTO_SUPPORT) - MESSAGE(STATUS "Enabling link-time optimization (-O4)") - SET(CERES_CXX_FLAGS "${CERES_CXX_FLAGS} -O4") + MESSAGE(STATUS "Enabling link-time optimization (-flto)") + SET(CERES_CXX_FLAGS "${CERES_CXX_FLAGS} -flto") ELSE () - MESSAGE(STATUS "Compiler/linker does not support link-time optimization (-O4), disabling.") + MESSAGE(STATUS "Compiler/linker does not support link-time optimization (-flto), disabling.") ENDIF (HAVE_LTO_SUPPORT) ENDIF () ENDIF (CMAKE_BUILD_TYPE STREQUAL "Release") @@ -656,6 +635,29 @@ IF (MSVC) # the warnings. SET(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /ignore:4049") + # Update the C/CXX flags for MSVC to use either the static or shared + # C-Run Time (CRT) library based on the user option: MSVC_USE_STATIC_CRT. + LIST(APPEND C_CXX_FLAGS + CMAKE_CXX_FLAGS + CMAKE_CXX_FLAGS_DEBUG + CMAKE_CXX_FLAGS_RELEASE + CMAKE_CXX_FLAGS_MINSIZEREL + CMAKE_CXX_FLAGS_RELWITHDEBINFO) + + FOREACH(FLAG_VAR ${C_CXX_FLAGS}) + IF (MSVC_USE_STATIC_CRT) + # Use static CRT. + IF (${FLAG_VAR} MATCHES "/MD") + STRING(REGEX REPLACE "/MD" "/MT" ${FLAG_VAR} "${${FLAG_VAR}}") + ENDIF (${FLAG_VAR} MATCHES "/MD") + ELSE (MSVC_USE_STATIC_CRT) + # Use shared, not static, CRT. + IF (${FLAG_VAR} MATCHES "/MT") + STRING(REGEX REPLACE "/MT" "/MD" ${FLAG_VAR} "${${FLAG_VAR}}") + ENDIF (${FLAG_VAR} MATCHES "/MT") + ENDIF (MSVC_USE_STATIC_CRT) + ENDFOREACH() + # Tuple sizes of 10 are used by Gtest. ADD_DEFINITIONS("-D_VARIADIC_MAX=10") ENDIF (MSVC) @@ -672,17 +674,52 @@ ENDIF (UNIX) # threshold to the linker and clang complains about it and dies. IF (CMAKE_CXX_COMPILER_ID STREQUAL "Clang") SET(CMAKE_CXX_FLAGS - "${CMAKE_CXX_FLAGS} -Qunused-arguments -mllvm -inline-threshold=600 -Wno-return-type-c-linkage") + "${CMAKE_CXX_FLAGS} -Qunused-arguments -mllvm -inline-threshold=600") + # Older versions of Clang (<= 2.9) do not support the 'return-type-c-linkage' + # option, so check for its presence before adding it to the default flags set. + INCLUDE(CheckCXXCompilerFlag) + CHECK_CXX_COMPILER_FLAG("-Wno-return-type-c-linkage" + HAVE_RETURN_TYPE_C_LINKAGE) + IF (HAVE_RETURN_TYPE_C_LINKAGE) + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-return-type-c-linkage") + ENDIF(HAVE_RETURN_TYPE_C_LINKAGE) ENDIF () +# Xcode 4.5.x used Clang 4.1 (Apple version), this has a bug that prevents +# compilation of Ceres. +IF (APPLE AND CMAKE_CXX_COMPILER_ID STREQUAL "Clang") + EXECUTE_PROCESS(COMMAND ${CMAKE_CXX_COMPILER} + ARGS ${CMAKE_CXX_COMPILER_ARG1} -dumpversion + OUTPUT_VARIABLE CLANG_VERSION + OUTPUT_STRIP_TRAILING_WHITESPACE) + # Use version > 4.0 & < 4.2 to catch all 4.1(.x) versions. + IF (CLANG_VERSION VERSION_GREATER 4.0 AND + CLANG_VERSION VERSION_LESS 4.2) + MESSAGE(FATAL_ERROR "You are attempting to build Ceres on OS X using Xcode " + "4.5.x (Clang version: ${CLANG_VERSION}). This version of Clang has a " + "bug that prevents compilation of Ceres, please update to " + "Xcode >= 4.6.3.") + ENDIF (CLANG_VERSION VERSION_GREATER 4.0 AND + CLANG_VERSION VERSION_LESS 4.2) +ENDIF (APPLE AND CMAKE_CXX_COMPILER_ID STREQUAL "Clang") + +# Configure the Ceres config.h compile options header using the current +# compile options and put the configured header into the Ceres build +# directory. Note that the ceres/internal subdir in <build>/config where +# the configured config.h is placed is important, because Ceres will be +# built against this configured header, it needs to have the same relative +# include path as it would if it were in the source tree (or installed). +LIST(REMOVE_DUPLICATES CERES_COMPILE_OPTIONS) +INCLUDE(CreateCeresConfig) +CREATE_CERES_CONFIG("${CERES_COMPILE_OPTIONS}" + ${CMAKE_CURRENT_BINARY_DIR}/config/ceres/internal) +INCLUDE_DIRECTORIES(${CMAKE_CURRENT_BINARY_DIR}/config) + ADD_SUBDIRECTORY(internal/ceres) IF (BUILD_DOCUMENTATION) MESSAGE("-- Documentation building is enabled") - # Make CMake aware of the cmake folder, in order to find 'FindSphinx.cmake' - SET (CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake") - # Generate the User's Guide (html). # The corresponding target is UserGuide, but is included in ALL. ADD_SUBDIRECTORY(docs) @@ -695,6 +732,26 @@ ELSE (BUILD_EXAMPLES) MESSAGE("-- Do not build any example.") ENDIF (BUILD_EXAMPLES) +# Setup installation of Ceres public headers. +FILE(GLOB CERES_HDRS ${CMAKE_SOURCE_DIR}/include/ceres/*.h) +INSTALL(FILES ${CERES_HDRS} DESTINATION include/ceres) + +FILE(GLOB CERES_PUBLIC_INTERNAL_HDRS ${CMAKE_SOURCE_DIR}/include/ceres/internal/*.h) +INSTALL(FILES ${CERES_PUBLIC_INTERNAL_HDRS} DESTINATION include/ceres/internal) + +# Also setup installation of Ceres config.h configured with the current +# build options into the installed headers directory. +INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/config/ceres/internal/config.h + DESTINATION include/ceres/internal) + + +IF (MINIGLOG) + # Install miniglog header if being used as logging #includes appear in + # installed public Ceres headers. + INSTALL(FILES ${CMAKE_SOURCE_DIR}/internal/ceres/miniglog/glog/logging.h + DESTINATION include/ceres/internal/miniglog/glog) +ENDIF (MINIGLOG) + # Add an uninstall target to remove all installed files. CONFIGURE_FILE("${CMAKE_SOURCE_DIR}/cmake/uninstall.cmake.in" "${CMAKE_BINARY_DIR}/cmake/uninstall.cmake" @@ -703,11 +760,13 @@ CONFIGURE_FILE("${CMAKE_SOURCE_DIR}/cmake/uninstall.cmake.in" ADD_CUSTOM_TARGET(uninstall COMMAND ${CMAKE_COMMAND} -P ${CMAKE_BINARY_DIR}/cmake/uninstall.cmake) -# Set up install directories. INCLUDE_INSTALL_DIR, LIB_INSTALL_DIR and -# CMAKECONFIG_INSTALL_DIR must not be absolute paths. -SET(INCLUDE_INSTALL_DIR include) -SET(LIB_INSTALL_DIR lib) -SET(CMAKECONFIG_INSTALL_DIR share/Ceres) +# Set relative install paths, which are appended to CMAKE_INSTALL_PREFIX to +# generate the absolute install paths. +IF (WIN32) + SET(RELATIVE_CMAKECONFIG_INSTALL_DIR CMake) +ELSE () + SET(RELATIVE_CMAKECONFIG_INSTALL_DIR share/Ceres) +ENDIF () # This "exports" all targets which have been put into the export set # "CeresExport". This means that CMake generates a file with the given @@ -717,14 +776,15 @@ SET(CMAKECONFIG_INSTALL_DIR share/Ceres) # library targets from these, which can be used in many ways in the same way # as a normal library target created via a normal ADD_LIBRARY(). INSTALL(EXPORT CeresExport - DESTINATION ${CMAKECONFIG_INSTALL_DIR} FILE CeresTargets.cmake) + DESTINATION ${RELATIVE_CMAKECONFIG_INSTALL_DIR} FILE CeresTargets.cmake) # Figure out the relative path from the installed Config.cmake file to the # install prefix (which may be at runtime different from the chosen # CMAKE_INSTALL_PREFIX if under Windows the package was installed anywhere) # This relative path will be configured into the CeresConfig.cmake. -FILE(RELATIVE_PATH relInstallDir - ${CMAKE_INSTALL_PREFIX}/${CMAKECONFIG_INSTALL_DIR} ${CMAKE_INSTALL_PREFIX}) +FILE(RELATIVE_PATH INSTALL_ROOT_REL_CONFIG_INSTALL_DIR + ${CMAKE_INSTALL_PREFIX}/${RELATIVE_CMAKECONFIG_INSTALL_DIR} + ${CMAKE_INSTALL_PREFIX}) # Create a CeresConfig.cmake file. <name>Config.cmake files are searched by # FIND_PACKAGE() automatically. We configure that file so that we can put any @@ -739,8 +799,11 @@ CONFIGURE_FILE("${CMAKE_SOURCE_DIR}/cmake/CeresConfig.cmake.in" CONFIGURE_FILE("${CMAKE_SOURCE_DIR}/cmake/CeresConfigVersion.cmake.in" "${CMAKE_CURRENT_BINARY_DIR}/CeresConfigVersion.cmake" @ONLY) -# Install these two files into the same directory as the generated exports-file. +# Install these files into the same directory as the generated exports-file, +# we include the FindPackage scripts for libraries whose headers are included +# in the public API of Ceres and should thus be present in CERES_INCLUDE_DIRS. INSTALL(FILES "${CMAKE_CURRENT_BINARY_DIR}/CeresConfig.cmake" "${CMAKE_CURRENT_BINARY_DIR}/CeresConfigVersion.cmake" - "${CMAKE_SOURCE_DIR}/cmake/depend.cmake" - DESTINATION ${CMAKECONFIG_INSTALL_DIR}) + "${CMAKE_SOURCE_DIR}/cmake/FindEigen.cmake" + "${CMAKE_SOURCE_DIR}/cmake/FindGlog.cmake" + DESTINATION ${RELATIVE_CMAKECONFIG_INSTALL_DIR}) |