diff options
Diffstat (limited to 'CMakeLists.txt')
| -rw-r--r-- | CMakeLists.txt | 324 |
1 files changed, 139 insertions, 185 deletions
diff --git a/CMakeLists.txt b/CMakeLists.txt index db5acba..b89d55a 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -83,59 +83,95 @@ SET(CERES_ABI_VERSION 1.7.0) ENABLE_TESTING() -OPTION(BUILD_TESTING - "Enable tests" +OPTION(MINIGLOG "Use a stripped down version of glog" OFF) +OPTION(GFLAGS "Enable Google Flags." 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. +OPTION(SCHUR_SPECIALIZATIONS "Enable fixed-size schur specializations." ON) +OPTION(CUSTOM_BLAS + "Use handcoded BLAS routines (usually faster) instead of Eigen." ON) - -OPTION(BUILD_ANDROID - "Build for Android. Use build_android.sh instead of setting this." +# 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(BUILD_TESTING "Enable tests" ON) +OPTION(BUILD_DOCUMENTATION "Build User's Guide (html)" OFF) +OPTION(BUILD_EXAMPLES "Build examples" ON) -OPTION(BUILD_SHARED - "Build a dynamically linkable version of Ceres Solver." - ON) +# Default locations to search for on various platforms. -# To get a more static build, try the following line on Mac and Linux: -# SET(CMAKE_FIND_LIBRARY_SUFFIXES .a ${CMAKE_FIND_LIBRARY_SUFFIXES}) +# 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) -# Default locations to search for on various platforms. -LIST(APPEND SEARCH_LIBS /usr/lib) -LIST(APPEND SEARCH_LIBS /usr/local/lib) -LIST(APPEND SEARCH_LIBS /usr/local/homebrew/lib) # Mac OS X -LIST(APPEND SEARCH_LIBS /opt/local/lib) - -LIST(APPEND SEARCH_HEADERS /usr/include) -LIST(APPEND SEARCH_HEADERS /usr/local/include) -LIST(APPEND SEARCH_HEADERS /usr/local/homebrew/include) # Mac OS X -LIST(APPEND SEARCH_HEADERS /opt/local/include) - -# Locations to search for Eigen -SET(EIGEN_SEARCH_HEADERS ${SEARCH_HEADERS}) -LIST(APPEND EIGEN_SEARCH_HEADERS /usr/include/eigen3) # Ubuntu 10.04's default location. -LIST(APPEND EIGEN_SEARCH_HEADERS /usr/local/include/eigen3) -LIST(APPEND EIGEN_SEARCH_HEADERS /usr/local/homebrew/include/eigen3) # Mac OS X -LIST(APPEND EIGEN_SEARCH_HEADERS /opt/local/var/macports/software/eigen3/opt/local/include/eigen3) # Mac OS X - -# Locations to search for SuiteSparse -SET(SUITESPARSE_SEARCH_LIBS ${SEARCH_LIBS}) -LIST(APPEND SUITESPARSE_SEARCH_LIBS /usr/lib/suitesparse) # Ubuntu -LIST(APPEND SUITESPARSE_SEARCH_LIBS /usr/local/lib/suitesparse) -LIST(APPEND SUITESPARSE_SEARCH_LIBS /opt/local/lib/ufsparse) # Mac OS X - -SET(SUITESPARSE_SEARCH_HEADERS ${SEARCH_HEADERS}) -LIST(APPEND SUITESPARSE_SEARCH_HEADERS /usr/include/suitesparse) # Ubuntu -LIST(APPEND SUITESPARSE_SEARCH_HEADERS /usr/local/include/suitesparse) -LIST(APPEND SUITESPARSE_SEARCH_HEADERS /opt/local/include/ufsparse) # Mac OS X - -SET(CXSPARSE_SEARCH_LIBS ${SEARCH_LIBS}) -SET(CXSPARSE_SEARCH_HEADERS ${SEARCH_HEADERS}) -LIST(APPEND CXSPARSE_SEARCH_HEADERS /usr/include/suitesparse) # Ubuntu +# 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) + IF (LAPACK_FOUND) + MESSAGE("-- Found LAPACK library: ${LAPACK_LIBRARIES}") + ELSE (LAPACK_FOUND) + MESSAGE("-- Did not find LAPACK library") + SET(BLAS_AND_LAPACK_FOUND FALSE) + ENDIF (LAPACK_FOUND) + + FIND_PACKAGE(BLAS) + IF (BLAS_FOUND) + MESSAGE("-- Found BLAS library: ${BLAS_LIBRARIES}") + ELSE (BLAS_FOUND) + MESSAGE("-- Did not find BLAS library") + SET(BLAS_AND_BLAS_FOUND FALSE) + 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 PATHS ${SUITESPARSE_SEARCH_LIBS}) +FIND_LIBRARY(AMD_LIB NAMES amd) IF (EXISTS ${AMD_LIB}) MESSAGE("-- Found AMD library: ${AMD_LIB}") ELSE (EXISTS ${AMD_LIB}) @@ -143,7 +179,7 @@ ELSE (EXISTS ${AMD_LIB}) SET(AMD_FOUND FALSE) ENDIF (EXISTS ${AMD_LIB}) -FIND_PATH(AMD_INCLUDE NAMES amd.h PATHS ${SUITESPARSE_SEARCH_HEADERS}) +FIND_PATH(AMD_INCLUDE NAMES amd.h) IF (EXISTS ${AMD_INCLUDE}) MESSAGE("-- Found AMD header in: ${AMD_INCLUDE}") ELSE (EXISTS ${AMD_INCLUDE}) @@ -152,7 +188,7 @@ ELSE (EXISTS ${AMD_INCLUDE}) ENDIF (EXISTS ${AMD_INCLUDE}) SET(CAMD_FOUND TRUE) -FIND_LIBRARY(CAMD_LIB NAMES camd PATHS ${SUITESPARSE_SEARCH_LIBS}) +FIND_LIBRARY(CAMD_LIB NAMES camd) IF (EXISTS ${CAMD_LIB}) MESSAGE("-- Found CAMD library: ${CAMD_LIB}") ELSE (EXISTS ${CAMD_LIB}) @@ -160,7 +196,7 @@ ELSE (EXISTS ${CAMD_LIB}) SET(CAMD_FOUND FALSE) ENDIF (EXISTS ${CAMD_LIB}) -FIND_PATH(CAMD_INCLUDE NAMES camd.h PATHS ${SUITESPARSE_SEARCH_HEADERS}) +FIND_PATH(CAMD_INCLUDE NAMES camd.h) IF (EXISTS ${CAMD_INCLUDE}) MESSAGE("-- Found CAMD header in: ${CAMD_INCLUDE}") ELSE (EXISTS ${CAMD_INCLUDE}) @@ -169,7 +205,7 @@ ELSE (EXISTS ${CAMD_INCLUDE}) ENDIF (EXISTS ${CAMD_INCLUDE}) SET(COLAMD_FOUND TRUE) -FIND_LIBRARY(COLAMD_LIB NAMES colamd PATHS ${SUITESPARSE_SEARCH_LIBS}) +FIND_LIBRARY(COLAMD_LIB NAMES colamd) IF (EXISTS ${COLAMD_LIB}) MESSAGE("-- Found COLAMD library: ${COLAMD_LIB}") ELSE (EXISTS ${COLAMD_LIB}) @@ -177,7 +213,7 @@ ELSE (EXISTS ${COLAMD_LIB}) SET(COLAMD_FOUND FALSE) ENDIF (EXISTS ${COLAMD_LIB}) -FIND_PATH(COLAMD_INCLUDE NAMES colamd.h PATHS ${SUITESPARSE_SEARCH_HEADERS}) +FIND_PATH(COLAMD_INCLUDE NAMES colamd.h) IF (EXISTS ${COLAMD_INCLUDE}) MESSAGE("-- Found COLAMD header in: ${COLAMD_INCLUDE}") ELSE (EXISTS ${COLAMD_INCLUDE}) @@ -186,7 +222,7 @@ ELSE (EXISTS ${COLAMD_INCLUDE}) ENDIF (EXISTS ${COLAMD_INCLUDE}) SET(CCOLAMD_FOUND TRUE) -FIND_LIBRARY(CCOLAMD_LIB NAMES ccolamd PATHS ${SUITESPARSE_SEARCH_LIBS}) +FIND_LIBRARY(CCOLAMD_LIB NAMES ccolamd) IF (EXISTS ${CCOLAMD_LIB}) MESSAGE("-- Found CCOLAMD library: ${CCOLAMD_LIB}") ELSE (EXISTS ${CCOLAMD_LIB}) @@ -194,7 +230,7 @@ ELSE (EXISTS ${CCOLAMD_LIB}) SET(CCOLAMD_FOUND FALSE) ENDIF (EXISTS ${CCOLAMD_LIB}) -FIND_PATH(CCOLAMD_INCLUDE NAMES ccolamd.h PATHS ${SUITESPARSE_SEARCH_HEADERS}) +FIND_PATH(CCOLAMD_INCLUDE NAMES ccolamd.h) IF (EXISTS ${CCOLAMD_INCLUDE}) MESSAGE("-- Found CCOLAMD header in: ${CCOLAMD_INCLUDE}") ELSE (EXISTS ${CCOLAMD_INCLUDE}) @@ -203,7 +239,7 @@ ELSE (EXISTS ${CCOLAMD_INCLUDE}) ENDIF (EXISTS ${CCOLAMD_INCLUDE}) SET(CHOLMOD_FOUND TRUE) -FIND_LIBRARY(CHOLMOD_LIB NAMES cholmod PATHS ${SUITESPARSE_SEARCH_LIBS}) +FIND_LIBRARY(CHOLMOD_LIB NAMES cholmod) IF (EXISTS ${CHOLMOD_LIB}) MESSAGE("-- Found CHOLMOD library: ${CHOLMOD_LIB}") ELSE (EXISTS ${CHOLMOD_LIB}) @@ -211,7 +247,7 @@ ELSE (EXISTS ${CHOLMOD_LIB}) SET(CHOLMOD_FOUND FALSE) ENDIF (EXISTS ${CHOLMOD_LIB}) -FIND_PATH(CHOLMOD_INCLUDE NAMES cholmod.h PATHS ${SUITESPARSE_SEARCH_HEADERS}) +FIND_PATH(CHOLMOD_INCLUDE NAMES cholmod.h) IF (EXISTS ${CHOLMOD_INCLUDE}) MESSAGE("-- Found CHOLMOD header in: ${CHOLMOD_INCLUDE}") ELSE (EXISTS ${CHOLMOD_INCLUDE}) @@ -220,7 +256,7 @@ ELSE (EXISTS ${CHOLMOD_INCLUDE}) ENDIF (EXISTS ${CHOLMOD_INCLUDE}) SET(SUITESPARSEQR_FOUND TRUE) -FIND_LIBRARY(SUITESPARSEQR_LIB NAMES spqr PATHS ${SUITESPARSE_SEARCH_LIBS}) +FIND_LIBRARY(SUITESPARSEQR_LIB NAMES spqr) IF (EXISTS ${SUITESPARSEQR_LIB}) MESSAGE("-- Found SUITESPARSEQR library: ${SUITESPARSEQR_LIB}") ELSE (EXISTS ${SUITESPARSEQR_LIB}) @@ -228,7 +264,7 @@ ELSE (EXISTS ${SUITESPARSEQR_LIB}) SET(SUITESPARSEQR_FOUND FALSE) ENDIF (EXISTS ${SUITESPARSEQR_LIB}) -FIND_PATH(SUITESPARSEQR_INCLUDE NAMES SuiteSparseQR.hpp PATHS ${SUITESPARSE_SEARCH_HEADERS}) +FIND_PATH(SUITESPARSEQR_INCLUDE NAMES SuiteSparseQR.hpp) IF (EXISTS ${SUITESPARSEQR_INCLUDE}) MESSAGE("-- Found SUITESPARSEQR header in: ${SUITESPARSEQR_INCLUDE}") ELSE (EXISTS ${SUITESPARSEQR_INCLUDE}) @@ -241,18 +277,14 @@ ENDIF (EXISTS ${SUITESPARSEQR_INCLUDE}) SET(SUITESPARSE_CONFIG_FOUND TRUE) SET(UFCONFIG_FOUND TRUE) -FIND_LIBRARY(SUITESPARSE_CONFIG_LIB - NAMES suitesparseconfig - PATHS ${SUITESPARSE_SEARCH_LIBS}) +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 - PATHS ${SUITESPARSE_SEARCH_HEADERS}) +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) @@ -260,20 +292,20 @@ 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}) +IF (NOT EXISTS ${SUITESPARSE_CONFIG_LIB} OR + NOT EXISTS ${SUITESPARSE_CONFIG_INCLUDE}) SET(SUITESPARSE_CONFIG_FOUND FALSE) - FIND_PATH(UFCONFIG_INCLUDE - NAMES UFconfig.h - PATHS ${SUITESPARSE_SEARCH_HEADERS}) + 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}) +ENDIF (NOT EXISTS ${SUITESPARSE_CONFIG_LIB} OR + NOT EXISTS ${SUITESPARSE_CONFIG_INCLUDE}) -FIND_LIBRARY(METIS_LIB NAMES metis PATHS ${SUITESPARSE_SEARCH_LIBS}) +FIND_LIBRARY(METIS_LIB NAMES metis) IF (EXISTS ${METIS_LIB}) MESSAGE("-- Found METIS library: ${METIS_LIB}") ELSE (EXISTS ${METIS_LIB}) @@ -282,7 +314,7 @@ ENDIF (EXISTS ${METIS_LIB}) # SuiteSparseQR may be compiled with Intel Threading Building Blocks. SET(TBB_FOUND TRUE) -FIND_LIBRARY(TBB_LIB NAMES tbb PATHS ${SEARCH_LIBS}) +FIND_LIBRARY(TBB_LIB NAMES tbb) IF (EXISTS ${TBB_LIB}) MESSAGE("-- Found TBB library: ${TBB_LIB}") ELSE (EXISTS ${TBB_LIB}) @@ -290,7 +322,7 @@ ELSE (EXISTS ${TBB_LIB}) SET(TBB_FOUND FALSE) ENDIF (EXISTS ${TBB_LIB}) -FIND_LIBRARY(TBB_MALLOC_LIB NAMES tbbmalloc PATHS ${SEARCH_LIBS}) +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}) @@ -298,32 +330,8 @@ ELSE (EXISTS ${TBB_MALLOC_LIB}) SET(TBB_FOUND FALSE) ENDIF (EXISTS ${TBB_MALLOC_LIB}) -SET(BLAS_AND_LAPACK_FOUND TRUE) -IF (APPLE) - # Mac OS X has LAPACK/BLAS bundled in a framework called - # "vecLib". Search for that instead of for the normal "lapack" - # library. - FIND_LIBRARY(LAPACK_LIB NAMES vecLib) -ELSE (APPLE) - FIND_LIBRARY(BLAS_LIB NAMES blas) - IF (EXISTS ${BLAS_LIB}) - MESSAGE("-- Found BLAS library: ${BLAS_LIB}") - ELSE (EXISTS ${BLAS_LIB}) - MESSAGE("-- Did not find BLAS library") - SET(BLAS_AND_LAPACK_FOUND FALSE) - ENDIF (EXISTS ${BLAS_LIB}) - FIND_LIBRARY(LAPACK_LIB NAMES lapack) -ENDIF (APPLE) - -IF (EXISTS ${LAPACK_LIB}) - MESSAGE("-- Found LAPACK library: ${LAPACK_LIB}") -ELSE (EXISTS ${LAPACK_LIB}) - SET(BLAS_AND_LAPACK_FOUND FALSE) - MESSAGE("-- Did not find LAPACK library") -ENDIF (EXISTS ${LAPACK_LIB}) - -# We don't use SET(SUITESPARSE_FOUND ${AMD_FOUND} ...) in order to -# be able to check whether SuiteSparse is available withou expanding +# 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) @@ -373,7 +381,7 @@ ENDIF (DEFINED SUITESPARSE) IF ((NOT DEFINED CXSPARSE) OR (DEFINED CXSPARSE AND CXSPARSE)) SET(CXSPARSE_FOUND ON) -FIND_LIBRARY(CXSPARSE_LIB NAMES cxsparse PATHS ${CXSPARSE_SEARCH_LIBS}) +FIND_LIBRARY(CXSPARSE_LIB NAMES cxsparse) IF (EXISTS ${CXSPARSE_LIB}) MESSAGE("-- Found CXSparse library in: ${CXSPARSE_LIB}") ELSE (EXISTS ${CXSPARSE_LIB}) @@ -381,7 +389,7 @@ ELSE (EXISTS ${CXSPARSE_LIB}) SET(CXSPARSE_FOUND FALSE) ENDIF (EXISTS ${CXSPARSE_LIB}) -FIND_PATH(CXSPARSE_INCLUDE NAMES cs.h PATHS ${CXSPARSE_SEARCH_HEADERS}) +FIND_PATH(CXSPARSE_INCLUDE NAMES cs.h) IF (EXISTS ${CXSPARSE_INCLUDE}) MESSAGE("-- Found CXSparse header in: ${CXSPARSE_INCLUDE}") ELSE (EXISTS ${CXSPARSE_INCLUDE}) @@ -409,20 +417,15 @@ ELSE (DEFINED CXSPARSE) ENDIF (CXSPARSE_FOUND) ENDIF (DEFINED CXSPARSE) -# Google Flags -OPTION(GFLAGS - "Enable Google Flags." - ON) - IF (GFLAGS) - FIND_LIBRARY(GFLAGS_LIB NAMES gflags PATHS ${SEARCH_LIBS}) + 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 PATHS ${SEARCH_HEADERS}) + FIND_PATH(GFLAGS_INCLUDE NAMES gflags/gflags.h) IF (NOT EXISTS ${GFLAGS_INCLUDE}) MESSAGE(FATAL_ERROR "Can't find Google Flags. Please specify: " @@ -434,77 +437,44 @@ ELSE (GFLAGS) ADD_DEFINITIONS(-DCERES_NO_GFLAGS) ENDIF (GFLAGS) -# Google Logging -IF (NOT BUILD_ANDROID) - FIND_LIBRARY(GLOG_LIB NAMES glog PATHS ${SEARCH_LIBS}) - IF (NOT EXISTS ${GLOG_LIB}) - MESSAGE(FATAL_ERROR - "Can't find Google Log. Please specify: " - "-DGLOG_LIB=...") - ENDIF (NOT EXISTS ${GLOG_LIB}) - MESSAGE("-- Found Google Log library: ${GLOG_LIB}") - - FIND_PATH(GLOG_INCLUDE NAMES glog/logging.h PATHS ${SEARCH_HEADERS}) - IF (NOT EXISTS ${GLOG_INCLUDE}) - MESSAGE(FATAL_ERROR - "Can't find Google Log. Please specify: " - "-DGLOG_INCLUDE=...") - ENDIF (NOT EXISTS ${GLOG_INCLUDE}) - MESSAGE("-- Found Google Log header in: ${GLOG_INCLUDE}") -ELSE (NOT BUILD_ANDROID) +IF (MINIGLOG) SET(GLOG_LIB miniglog) - MESSAGE("-- Using minimal Glog substitute for Android (library): ${GLOG_LIB}") + MESSAGE("-- Using minimal Glog substitute (library): ${GLOG_LIB}") SET(GLOG_INCLUDE internal/ceres/miniglog) - MESSAGE("-- Using minimal Glog substitute for Android (include): ${GLOG_INCLUDE}") -ENDIF (NOT BUILD_ANDROID) - -# Eigen -FIND_PATH(EIGEN_INCLUDE NAMES Eigen/Core PATHS ${EIGEN_SEARCH_HEADERS}) -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}) + MESSAGE("-- Using minimal Glog substitute (include): ${GLOG_INCLUDE}") +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}) -# Template specializations for the Schur complement based solvers. If -# compile time, binary size or compiler performance is an issue, you -# may consider disabling this. -OPTION(SCHUR_SPECIALIZATIONS - "Enable fixed-size schur specializations." - ON) + 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}) +ENDIF (MINIGLOG) IF (NOT SCHUR_SPECIALIZATIONS) ADD_DEFINITIONS(-DCERES_RESTRICT_SCHUR_SPECIALIZATION) MESSAGE("-- Disabling Schur specializations (faster compiles)") ENDIF (NOT SCHUR_SPECIALIZATIONS) -# 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) - IF (NOT LINE_SEARCH_MINIMIZER) ADD_DEFINITIONS(-DCERES_NO_LINE_SEARCH_MINIMIZER) MESSAGE("-- Disabling line search minimizer") ENDIF (NOT LINE_SEARCH_MINIMIZER) -OPTION(CUSTOM_BLAS - "Use handcoded BLAS routines (usually faster) instead of Eigen." - ON) - IF (NOT CUSTOM_BLAS) ADD_DEFINITIONS(-DCERES_NO_CUSTOM_BLAS) MESSAGE("-- Disabling custom blas") ENDIF (NOT CUSTOM_BLAS) -# Multithreading using OpenMP -OPTION(OPENMP - "Enable threaded solving in Ceres (requires OpenMP)" - ON) - IF (CMAKE_CXX_COMPILER_ID STREQUAL "Clang") SET(OPENMP_FOUND FALSE) ELSE (CMAKE_CXX_COMPILER_ID STREQUAL "Clang") @@ -533,17 +503,6 @@ ELSE (OPENMP_FOUND) ADD_DEFINITIONS(-DCERES_NO_THREADS) ENDIF (OPENMP_FOUND) -# Disable threads in mutex.h. Someday, after there is OpenMP support in -# Android, this can get removed. Also turn on a workaround for an NDK bug. -IF (BUILD_ANDROID) - ADD_DEFINITIONS(-DCERES_NO_THREADS) - ADD_DEFINITIONS(-DCERES_WORK_AROUND_ANDROID_NDK_COMPILER_BUG) -ENDIF (BUILD_ANDROID) - -OPTION(DISABLE_TR1 - "Don't use TR1. This replaces some hash tables with sets. Slower." - OFF) - IF (DISABLE_TR1) MESSAGE("-- Replacing unordered_map/set with map/set (warning: slower!)") ADD_DEFINITIONS(-DCERES_NO_TR1) @@ -637,19 +596,20 @@ SET (CERES_CXX_FLAGS) IF (CMAKE_BUILD_TYPE STREQUAL "Release") IF (CMAKE_COMPILER_IS_GNUCXX) - IF (BUILD_ANDROID) - # TODO(keir): Figure out what flags should go here to make an optimized - # native ARM binary for Android. - ELSE (BUILD_ANDROID) - # Linux - IF (CMAKE_SYSTEM_NAME MATCHES "Linux") - SET (CERES_CXX_FLAGS "${CERES_CXX_FLAGS} -march=native -mtune=native") - ENDIF (CMAKE_SYSTEM_NAME MATCHES "Linux") - # Mac OS X - IF (CMAKE_SYSTEM_NAME MATCHES "Darwin") - SET (CERES_CXX_FLAGS "${CERES_CXX_FLAGS} -fast -msse3") - ENDIF (CMAKE_SYSTEM_NAME MATCHES "Darwin") - ENDIF (BUILD_ANDROID) + # Linux + IF (CMAKE_SYSTEM_NAME MATCHES "Linux") + SET (CERES_CXX_FLAGS "${CERES_CXX_FLAGS} -march=native -mtune=native") + 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 ${CMAKE_C_COMPILER} -dumpversion OUTPUT_VARIABLE GCC_VERSION) + IF (GCC_VERSION VERSION_LESS 4.3) + SET (CERES_CXX_FLAGS "${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 @@ -717,10 +677,6 @@ ENDIF () ADD_SUBDIRECTORY(internal/ceres) -OPTION(BUILD_DOCUMENTATION - "Build User's Guide (html)" - OFF) - IF (BUILD_DOCUMENTATION) MESSAGE("-- Documentation building is enabled") @@ -732,8 +688,6 @@ IF (BUILD_DOCUMENTATION) ADD_SUBDIRECTORY(docs) ENDIF (BUILD_DOCUMENTATION) -OPTION(BUILD_EXAMPLES "Build examples" ON) - IF (BUILD_EXAMPLES) MESSAGE("-- Build the examples.") ADD_SUBDIRECTORY(examples) |