diff options
Diffstat (limited to 'CMakeLists.txt')
| -rw-r--r-- | CMakeLists.txt | 420 |
1 files changed, 280 insertions, 140 deletions
diff --git a/CMakeLists.txt b/CMakeLists.txt index ad67e25..db5acba 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -29,6 +29,7 @@ # Author: keir@google.com (Keir Mierle) CMAKE_MINIMUM_REQUIRED(VERSION 2.8.0) +CMAKE_POLICY(VERSION 2.8) IF (COMMAND cmake_policy) CMAKE_POLICY(SET CMP0003 NEW) @@ -43,7 +44,7 @@ IF (EXISTS ${CMAKE_SOURCE_DIR}/.git) # Git Bash (shipped with msysgit) SET (LOCAL_GIT_DIRECTORY ${CMAKE_SOURCE_DIR}/.git) ELSE (EXISTS ${CMAKE_SOURCE_DIR}/.git) - # TODO(keir) Add proper windows support + # TODO(keir) Add proper Windows support ENDIF (EXISTS ${CMAKE_SOURCE_DIR}/.git) IF (EXISTS ${LOCAL_GIT_DIRECTORY}) @@ -73,8 +74,12 @@ 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 1.4.0) -SET(CERES_ABI_VERSION 1.4.0) +SET(CERES_VERSION_MAJOR 1) +SET(CERES_VERSION_MINOR 7) +SET(CERES_VERSION_PATCH 0) +SET(CERES_VERSION + ${CERES_VERSION_MAJOR}.${CERES_VERSION_MINOR}.${CERES_VERSION_PATCH}) +SET(CERES_ABI_VERSION 1.7.0) ENABLE_TESTING() @@ -86,6 +91,10 @@ OPTION(BUILD_ANDROID "Build for Android. Use build_android.sh instead of setting this." OFF) +OPTION(BUILD_SHARED + "Build a dynamically linkable version of Ceres Solver." + ON) + # To get a more static build, try the following line on Mac and Linux: # SET(CMAKE_FIND_LIBRARY_SUFFIXES .a ${CMAKE_FIND_LIBRARY_SUFFIXES}) @@ -122,10 +131,10 @@ SET(CXSPARSE_SEARCH_LIBS ${SEARCH_LIBS}) SET(CXSPARSE_SEARCH_HEADERS ${SEARCH_HEADERS}) LIST(APPEND CXSPARSE_SEARCH_HEADERS /usr/include/suitesparse) # Ubuntu +IF ((NOT DEFINED SUITESPARSE) OR (DEFINED SUITESPARSE AND SUITESPARSE)) # Check for SuiteSparse dependencies -MESSAGE("-- Check for AMD") -SET(AMD_FOUND TRUE) +SET(AMD_FOUND TRUE) FIND_LIBRARY(AMD_LIB NAMES amd PATHS ${SUITESPARSE_SEARCH_LIBS}) IF (EXISTS ${AMD_LIB}) MESSAGE("-- Found AMD library: ${AMD_LIB}") @@ -142,9 +151,7 @@ ELSE (EXISTS ${AMD_INCLUDE}) SET(AMD_FOUND FALSE) ENDIF (EXISTS ${AMD_INCLUDE}) -MESSAGE("-- Check for CAMD") SET(CAMD_FOUND TRUE) - FIND_LIBRARY(CAMD_LIB NAMES camd PATHS ${SUITESPARSE_SEARCH_LIBS}) IF (EXISTS ${CAMD_LIB}) MESSAGE("-- Found CAMD library: ${CAMD_LIB}") @@ -161,9 +168,7 @@ ELSE (EXISTS ${CAMD_INCLUDE}) SET(CAMD_FOUND FALSE) ENDIF (EXISTS ${CAMD_INCLUDE}) -MESSAGE("-- Check for COLAMD") SET(COLAMD_FOUND TRUE) - FIND_LIBRARY(COLAMD_LIB NAMES colamd PATHS ${SUITESPARSE_SEARCH_LIBS}) IF (EXISTS ${COLAMD_LIB}) MESSAGE("-- Found COLAMD library: ${COLAMD_LIB}") @@ -180,9 +185,7 @@ ELSE (EXISTS ${COLAMD_INCLUDE}) SET(COLAMD_FOUND FALSE) ENDIF (EXISTS ${COLAMD_INCLUDE}) -MESSAGE("-- Check for CCOLAMD") SET(CCOLAMD_FOUND TRUE) - FIND_LIBRARY(CCOLAMD_LIB NAMES ccolamd PATHS ${SUITESPARSE_SEARCH_LIBS}) IF (EXISTS ${CCOLAMD_LIB}) MESSAGE("-- Found CCOLAMD library: ${CCOLAMD_LIB}") @@ -199,9 +202,7 @@ ELSE (EXISTS ${CCOLAMD_INCLUDE}) SET(CCOLAMD_FOUND FALSE) ENDIF (EXISTS ${CCOLAMD_INCLUDE}) -MESSAGE("-- Check for CHOLMOD") SET(CHOLMOD_FOUND TRUE) - FIND_LIBRARY(CHOLMOD_LIB NAMES cholmod PATHS ${SUITESPARSE_SEARCH_LIBS}) IF (EXISTS ${CHOLMOD_LIB}) MESSAGE("-- Found CHOLMOD library: ${CHOLMOD_LIB}") @@ -218,10 +219,27 @@ ELSE (EXISTS ${CHOLMOD_INCLUDE}) SET(CHOLMOD_FOUND FALSE) ENDIF (EXISTS ${CHOLMOD_INCLUDE}) +SET(SUITESPARSEQR_FOUND TRUE) +FIND_LIBRARY(SUITESPARSEQR_LIB NAMES spqr PATHS ${SUITESPARSE_SEARCH_LIBS}) +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 PATHS ${SUITESPARSE_SEARCH_HEADERS}) +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. -MESSAGE("-- Check for SuiteSparse_config (SuiteSparse v4)") SET(SUITESPARSE_CONFIG_FOUND TRUE) +SET(UFCONFIG_FOUND TRUE) FIND_LIBRARY(SUITESPARSE_CONFIG_LIB NAMES suitesparseconfig @@ -237,43 +255,56 @@ FIND_PATH(SUITESPARSE_CONFIG_INCLUDE PATHS ${SUITESPARSE_SEARCH_HEADERS}) 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 + PATHS ${SUITESPARSE_SEARCH_HEADERS}) + 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}) -MESSAGE("-- Check for UFconfig (SuiteSparse v3)") -SET(UFCONFIG_FOUND TRUE) - -FIND_PATH(UFCONFIG_INCLUDE - NAMES UFconfig.h - PATHS ${SUITESPARSE_SEARCH_HEADERS}) -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}) - -MESSAGE("-- Check for METIS (optional)") FIND_LIBRARY(METIS_LIB NAMES metis PATHS ${SUITESPARSE_SEARCH_LIBS}) - 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 PATHS ${SEARCH_LIBS}) +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 PATHS ${SEARCH_LIBS}) +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 ${TBB_MALLOC_LIB}) + SET(BLAS_AND_LAPACK_FOUND TRUE) -IF (${APPLE}) +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}) +ELSE (APPLE) FIND_LIBRARY(BLAS_LIB NAMES blas) IF (EXISTS ${BLAS_LIB}) MESSAGE("-- Found BLAS library: ${BLAS_LIB}") @@ -282,7 +313,7 @@ ELSE (${APPLE}) SET(BLAS_AND_LAPACK_FOUND FALSE) ENDIF (EXISTS ${BLAS_LIB}) FIND_LIBRARY(LAPACK_LIB NAMES lapack) -ENDIF (${APPLE}) +ENDIF (APPLE) IF (EXISTS ${LAPACK_LIB}) MESSAGE("-- Found LAPACK library: ${LAPACK_LIB}") @@ -291,43 +322,57 @@ ELSE (EXISTS ${LAPACK_LIB}) MESSAGE("-- Did not find LAPACK library") ENDIF (EXISTS ${LAPACK_LIB}) -SET(SUITESPARSE_FOUND - ${AMD_FOUND} AND +# We don't use SET(SUITESPARSE_FOUND ${AMD_FOUND} ...) in order to +# be able to check whether SuiteSparse is available withou 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 ${BLAS_AND_LAPACK_FOUND}) + SET(SUITESPARSE_FOUND TRUE) +ELSE () + SET(SUITESPARSE_FOUND FALSE) +ENDIF () +ENDIF ((NOT DEFINED SUITESPARSE) OR (DEFINED SUITESPARSE AND SUITESPARSE)) # By default, if all of SuiteSparse's dependencies are found, Ceres is # built with SuiteSparse support. -DSUITESPARSE=ON/OFF can be used to # enable/disable SuiteSparse explicitly. IF (DEFINED SUITESPARSE) - IF (${SUITESPARSE}) - IF (NOT ${SUITESPARSE_FOUND}) + 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}) + ENDIF (NOT SUITESPARSE_FOUND) + ELSE (SUITESPARSE) ADD_DEFINITIONS(-DCERES_NO_SUITESPARSE) - ENDIF (${SUITESPARSE}) + ENDIF (SUITESPARSE) ELSE (DEFINED SUITESPARSE) - IF (${SUITESPARSE_FOUND}) + IF (SUITESPARSE_FOUND) MESSAGE("-- Found all SuiteSparse dependencies. Building with SuiteSparse") SET(SUITESPARSE ON) - ELSE (${SUITESPARSE_FOUND}) + ELSE (SUITESPARSE_FOUND) MESSAGE("-- Did not find all SuiteSparse dependencies. Building without SuiteSparse") SET(SUITESPARSE OFF) ADD_DEFINITIONS(-DCERES_NO_SUITESPARSE) - ENDIF (${SUITESPARSE_FOUND}) + 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. -MESSAGE("-- Check for CXSparse") -SET(CXSPARSE_FOUND ON) +IF ((NOT DEFINED CXSPARSE) OR (DEFINED CXSPARSE AND CXSPARSE)) +SET(CXSPARSE_FOUND ON) FIND_LIBRARY(CXSPARSE_LIB NAMES cxsparse PATHS ${CXSPARSE_SEARCH_LIBS}) IF (EXISTS ${CXSPARSE_LIB}) MESSAGE("-- Found CXSparse library in: ${CXSPARSE_LIB}") @@ -343,24 +388,25 @@ 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}) + IF (CXSPARSE) + IF (NOT CXSPARSE_FOUND) MESSAGE(FATAL_ERROR "-- CXSparse not found.") - ENDIF (NOT ${CXSPARSE_FOUND}) - ELSE (${CXSPARSE}) + ENDIF (NOT CXSPARSE_FOUND) + ELSE (CXSPARSE) ADD_DEFINITIONS(-DCERES_NO_CXSPARSE) - ENDIF (${CXSPARSE}) + ENDIF (CXSPARSE) ELSE (DEFINED CXSPARSE) - IF (${CXSPARSE_FOUND}) + IF (CXSPARSE_FOUND) MESSAGE("-- Building with CXSparse support.") SET(CXSPARSE ON) - ELSE (${CXSPARSE_FOUND}) + ELSE (CXSPARSE_FOUND) MESSAGE("-- Building without CXSparse.") SET(CXSPARSE OFF) ADD_DEFINITIONS(-DCERES_NO_CXSPARSE) - ENDIF (${CXSPARSE_FOUND}) + ENDIF (CXSPARSE_FOUND) ENDIF (DEFINED CXSPARSE) # Google Flags @@ -368,8 +414,7 @@ OPTION(GFLAGS "Enable Google Flags." ON) -IF (${GFLAGS}) - MESSAGE("-- Check for Google Flags") +IF (GFLAGS) FIND_LIBRARY(GFLAGS_LIB NAMES gflags PATHS ${SEARCH_LIBS}) IF (NOT EXISTS ${GFLAGS_LIB}) MESSAGE(FATAL_ERROR @@ -384,14 +429,13 @@ IF (${GFLAGS}) "-DGFLAGS_INCLUDE=...") ENDIF (NOT EXISTS ${GFLAGS_INCLUDE}) MESSAGE("-- Found Google Flags header in: ${GFLAGS_INCLUDE}") -ELSE (${GFLAGS}) +ELSE (GFLAGS) MESSAGE("-- Google Flags disabled; no tests or tools will be built!") ADD_DEFINITIONS(-DCERES_NO_GFLAGS) -ENDIF (${GFLAGS}) +ENDIF (GFLAGS) # Google Logging -IF (NOT ${BUILD_ANDROID}) - MESSAGE("-- Check for Google Log") +IF (NOT BUILD_ANDROID) FIND_LIBRARY(GLOG_LIB NAMES glog PATHS ${SEARCH_LIBS}) IF (NOT EXISTS ${GLOG_LIB}) MESSAGE(FATAL_ERROR @@ -407,20 +451,20 @@ IF (NOT ${BUILD_ANDROID}) "-DGLOG_INCLUDE=...") ENDIF (NOT EXISTS ${GLOG_INCLUDE}) MESSAGE("-- Found Google Log header in: ${GLOG_INCLUDE}") -ELSE (NOT ${BUILD_ANDROID}) +ELSE (NOT BUILD_ANDROID) SET(GLOG_LIB miniglog) MESSAGE("-- Using minimal Glog substitute for Android (library): ${GLOG_LIB}") SET(GLOG_INCLUDE internal/ceres/miniglog) MESSAGE("-- Using minimal Glog substitute for Android (include): ${GLOG_INCLUDE}") -ENDIF (NOT ${BUILD_ANDROID}) +ENDIF (NOT BUILD_ANDROID) # Eigen -MESSAGE("-- Check for Eigen 3.0") 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("-- Found Eigen 3.0: ${EIGEN_INCLUDE}") # Template specializations for the Schur complement based solvers. If # compile time, binary size or compiler performance is an issue, you @@ -429,83 +473,108 @@ OPTION(SCHUR_SPECIALIZATIONS "Enable fixed-size schur specializations." ON) -IF (NOT ${SCHUR_SPECIALIZATIONS}) +IF (NOT SCHUR_SPECIALIZATIONS) ADD_DEFINITIONS(-DCERES_RESTRICT_SCHUR_SPECIALIZATION) MESSAGE("-- Disabling Schur specializations (faster compiles)") -ENDIF (NOT ${SCHUR_SPECIALIZATIONS}) +ENDIF (NOT SCHUR_SPECIALIZATIONS) + +# Line search minimizer is useful for large scale problems or when +# sparse linear algebra libraries are not available. If compile time, +# binary size or compiler performance is an issue, consider disabling +# this. +OPTION(LINE_SEARCH_MINIMIZER + "Enable the line search minimizer." + ON) + +IF (NOT LINE_SEARCH_MINIMIZER) + ADD_DEFINITIONS(-DCERES_NO_LINE_SEARCH_MINIMIZER) + MESSAGE("-- Disabling line search minimizer") +ENDIF (NOT LINE_SEARCH_MINIMIZER) + +OPTION(CUSTOM_BLAS + "Use handcoded BLAS routines (usually faster) instead of Eigen." + ON) + +IF (NOT CUSTOM_BLAS) + ADD_DEFINITIONS(-DCERES_NO_CUSTOM_BLAS) + MESSAGE("-- Disabling custom blas") +ENDIF (NOT CUSTOM_BLAS) # Multithreading using OpenMP OPTION(OPENMP "Enable threaded solving in Ceres (requires OpenMP)" ON) -IF (${OPENMP}) - FIND_PACKAGE(OpenMP) - IF(${OPENMP_FOUND}) - MESSAGE("-- Found OpenMP.") - SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}") - ADD_DEFINITIONS(-DCERES_USE_OPENMP) - ELSE(${OPENMP_FOUND}) - MESSAGE("-- Can't find OpenMP. Continuing without it.") - ENDIF(${OPENMP_FOUND}) -ENDIF (${OPENMP}) - -# Protocol buffers -OPTION(PROTOBUF - "Enable protocol buffers support." - ON) - -IF (${PROTOBUF}) - FIND_PACKAGE(Protobuf) - IF (${PROTOBUF_FOUND}) - INCLUDE_DIRECTORIES(${PROTOBUF_INCLUDE_DIRS}) - INCLUDE_DIRECTORIES(${CMAKE_CURRENT_BINARY_DIR}/internal) - ELSE (${PROTOBUF_FOUND}) - ADD_DEFINITIONS(-DCERES_NO_PROTOCOL_BUFFERS) - ENDIF (${PROTOBUF_FOUND}) -ELSE (${PROTOBUF}) - ADD_DEFINITIONS(-DCERES_NO_PROTOCOL_BUFFERS) -ENDIF (${PROTOBUF}) - - -# Use threads but not on Android, where there is no support for OpenMP yet. -IF ("${UNIX}" AND NOT ${BUILD_ANDROID}) - # At least on Linux, we need pthreads to be enabled for mutex to compile. - # This may not work on windows or android. - FIND_PACKAGE(Threads REQUIRED) - SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${CMAKE_THREAD_LIBS_INIT}") - ADD_DEFINITIONS(-DCERES_HAVE_PTHREAD) - ADD_DEFINITIONS(-DCERES_HAVE_RWLOCK) -ENDIF ("${UNIX}" AND NOT ${BUILD_ANDROID}) +IF (CMAKE_CXX_COMPILER_ID STREQUAL "Clang") + SET(OPENMP_FOUND FALSE) +ELSE (CMAKE_CXX_COMPILER_ID STREQUAL "Clang") + IF (OPENMP) + FIND_PACKAGE(OpenMP) + ENDIF (OPENMP) +ENDIF (CMAKE_CXX_COMPILER_ID STREQUAL "Clang") + +IF (OPENMP_FOUND) + MESSAGE("-- Found OpenMP.") + ADD_DEFINITIONS(-DCERES_USE_OPENMP) + SET(CMAKE_CXX_FLAGS "${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} ${CMAKE_THREAD_LIBS_INIT}") + ADD_DEFINITIONS(-DCERES_HAVE_PTHREAD) + ADD_DEFINITIONS(-DCERES_HAVE_RWLOCK) + ENDIF (UNIX) +ELSE (OPENMP_FOUND) + MESSAGE("-- Can't find OpenMP. Disabling multithreading.") + ADD_DEFINITIONS(-DCERES_NO_THREADS) +ENDIF (OPENMP_FOUND) # Disable threads in mutex.h. Someday, after there is OpenMP support in # Android, this can get removed. Also turn on a workaround for an NDK bug. -IF (${BUILD_ANDROID}) +IF (BUILD_ANDROID) ADD_DEFINITIONS(-DCERES_NO_THREADS) ADD_DEFINITIONS(-DCERES_WORK_AROUND_ANDROID_NDK_COMPILER_BUG) -ENDIF (${BUILD_ANDROID}) +ENDIF (BUILD_ANDROID) OPTION(DISABLE_TR1 "Don't use TR1. This replaces some hash tables with sets. Slower." OFF) -IF (${DISABLE_TR1}) +IF (DISABLE_TR1) MESSAGE("-- Replacing unordered_map/set with map/set (warning: slower!)") ADD_DEFINITIONS(-DCERES_NO_TR1) -ELSE (${DISABLE_TR1}) +ELSE (DISABLE_TR1) MESSAGE("-- Using normal TR1 unordered_map/set") # Use the std namespace for the hash<> and related templates. This may vary by # system. IF (MSVC) - # This is known to work with Visual Studio 2010 Express. - ADD_DEFINITIONS("\"-DCERES_HASH_NAMESPACE_START=namespace std {\"") - ADD_DEFINITIONS("\"-DCERES_HASH_NAMESPACE_END=}\"") + IF (MSVC90) + # Special case for Visual Studio 2008. + # Newer versions have got tr1 symbols in another namespace, + # and this is being handled in Else branch of this condition. + # Probably Visual studio 2003 and 2005 also shall be handled here, + # but don't have by hand to verify and most likely they're not + # used by Ceres users anyway. + ADD_DEFINITIONS("\"-DCERES_HASH_NAMESPACE_START=namespace std { namespace tr1 {\"") + ADD_DEFINITIONS("\"-DCERES_HASH_NAMESPACE_END=}}\"") + ELSE (MSVC90) + # This is known to work with Visual Studio 2010 Express. + # Further, for as long Visual Studio 2012 didn't move tr1 to + # just another namespace, the same define will work for it as well. + # Hopefully all further versions will also keep working with this define. + ADD_DEFINITIONS("\"-DCERES_HASH_NAMESPACE_START=namespace std {\"") + ADD_DEFINITIONS("\"-DCERES_HASH_NAMESPACE_END=}\"") + ENDIF(MSVC90) ELSE (MSVC) # This is known to work with recent versions of Linux and Mac OS X. ADD_DEFINITIONS("\"-DCERES_HASH_NAMESPACE_START=namespace std { namespace tr1 {\"") ADD_DEFINITIONS("\"-DCERES_HASH_NAMESPACE_END=}}\"") ENDIF (MSVC) -ENDIF (${DISABLE_TR1}) +ENDIF (DISABLE_TR1) INCLUDE_DIRECTORIES( include @@ -521,27 +590,28 @@ INSTALL(FILES ${CERES_HDRS} DESTINATION include/ceres) FILE(GLOB CERES_PUBLIC_INTERNAL_HDRS ${CMAKE_SOURCE_DIR}/include/ceres/internal/*.h) INSTALL(FILES ${CERES_PUBLIC_INTERNAL_HDRS} DESTINATION include/ceres/internal) -IF (${SUITESPARSE}) +IF (SUITESPARSE) INCLUDE_DIRECTORIES(${AMD_INCLUDE}) INCLUDE_DIRECTORIES(${CAMD_INCLUDE}) INCLUDE_DIRECTORIES(${COLAMD_INCLUDE}) INCLUDE_DIRECTORIES(${CCOLAMD_INCLUDE}) INCLUDE_DIRECTORIES(${CHOLMOD_INCLUDE}) - IF (${SUITESPARSE_CONFIG_FOUND}) + INCLUDE_DIRECTORIES(${SUITESPARSEQR_INCLUDE}) + IF (SUITESPARSE_CONFIG_FOUND) INCLUDE_DIRECTORIES(${SUITESPARSE_CONFIG_INCLUDE}) - ENDIF (${SUITESPARSE_CONFIG_FOUND}) - IF (${UFCONFIG_FOUND}) + ENDIF (SUITESPARSE_CONFIG_FOUND) + IF (UFCONFIG_FOUND) INCLUDE_DIRECTORIES(${UFCONFIG_INCLUDE}) - ENDIF (${UFCONFIG_FOUND}) -ENDIF(${SUITESPARSE}) + ENDIF (UFCONFIG_FOUND) +ENDIF (SUITESPARSE) -IF (${CXSPARSE}) +IF (CXSPARSE) INCLUDE_DIRECTORIES(${CXSPARSE_INCLUDE}) -ENDIF(${CXSPARSE}) +ENDIF (CXSPARSE) -IF (${GFLAGS}) +IF (GFLAGS) INCLUDE_DIRECTORIES(${GFLAGS_INCLUDE}) -ENDIF (${GFLAGS}) +ENDIF (GFLAGS) # Change the default build type from Debug to Release, while still # supporting overriding the build type. @@ -567,24 +637,37 @@ SET (CERES_CXX_FLAGS) IF (CMAKE_BUILD_TYPE STREQUAL "Release") IF (CMAKE_COMPILER_IS_GNUCXX) - IF (${BUILD_ANDROID}) + IF (BUILD_ANDROID) # TODO(keir): Figure out what flags should go here to make an optimized # native ARM binary for Android. - ELSE (${BUILD_ANDROID}) + ELSE (BUILD_ANDROID) # Linux - IF (${CMAKE_SYSTEM_NAME} MATCHES "Linux") + IF (CMAKE_SYSTEM_NAME MATCHES "Linux") SET (CERES_CXX_FLAGS "${CERES_CXX_FLAGS} -march=native -mtune=native") - ENDIF (${CMAKE_SYSTEM_NAME} MATCHES "Linux") + ENDIF (CMAKE_SYSTEM_NAME MATCHES "Linux") # Mac OS X - IF (${CMAKE_SYSTEM_NAME} MATCHES "Darwin") + IF (CMAKE_SYSTEM_NAME MATCHES "Darwin") SET (CERES_CXX_FLAGS "${CERES_CXX_FLAGS} -fast -msse3") - ENDIF (${CMAKE_SYSTEM_NAME} MATCHES "Darwin") - ENDIF (${BUILD_ANDROID}) + ENDIF (CMAKE_SYSTEM_NAME MATCHES "Darwin") + ENDIF (BUILD_ANDROID) ENDIF (CMAKE_COMPILER_IS_GNUCXX) - SET (CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} ${CERES_CXX_FLAGS}" - CACHE STRING "Release mode flags to the C++ Compiler" FORCE) + IF (CMAKE_CXX_COMPILER_ID STREQUAL "Clang") + # Use of -O4 requires use of gold linker & LLVM-gold plugin, which might + # well not be present / in use and without which files will compile, but + # not link ('file not recognized') so explicitly check for support + INCLUDE(CheckCXXCompilerFlag) + CHECK_CXX_COMPILER_FLAG("-O4" HAVE_LTO_SUPPORT) + IF (HAVE_LTO_SUPPORT) + MESSAGE(STATUS "Enabling link-time optimization (-O4)") + SET(CERES_CXX_FLAGS "${CERES_CXX_FLAGS} -O4") + ELSE () + MESSAGE(STATUS "Compiler/linker does not support link-time optimization (-O4), disabling.") + ENDIF (HAVE_LTO_SUPPORT) + ENDIF () ENDIF (CMAKE_BUILD_TYPE STREQUAL "Release") +SET (CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} ${CERES_CXX_FLAGS}") + # After the tweaks for the compile settings, disable some warnings on MSVC. IF (MSVC) # Disable signed/unsigned int conversion warnings. @@ -612,36 +695,51 @@ IF (MSVC) # which results in linker warnings. This is irrelevant for Ceres, so ignore # the warnings. SET(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /ignore:4049") + + # Tuple sizes of 10 are used by Gtest. + ADD_DEFINITIONS("-D_VARIADIC_MAX=10") ENDIF (MSVC) -# GCC is not strict enough by default, so enable most of the warnings. -IF ("${UNIX}") +IF (UNIX) + # GCC is not strict enough by default, so enable most of the warnings. + SET(CMAKE_CXX_FLAGS + "${CMAKE_CXX_FLAGS} -Werror -Wall -Wextra -Wno-unknown-pragmas -Wno-sign-compare -Wno-unused-parameter -Wno-missing-field-initializers") +ENDIF (UNIX) + +# Use a larger inlining threshold for Clang, since it hobbles Eigen, +# resulting in an unreasonably slow version of the blas routines. The +# -Qunused-arguments is needed because CMake passes the inline +# threshold to the linker and clang complains about it and dies. +IF (CMAKE_CXX_COMPILER_ID STREQUAL "Clang") SET(CMAKE_CXX_FLAGS - "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wno-unknown-pragmas -Wno-sign-compare -Wno-unused -Wno-unused-parameter") -ENDIF ("${UNIX}") + "${CMAKE_CXX_FLAGS} -Qunused-arguments -mllvm -inline-threshold=600 -Wno-return-type-c-linkage") +ENDIF () ADD_SUBDIRECTORY(internal/ceres) OPTION(BUILD_DOCUMENTATION - "Build User's Guide (pdf)" + "Build User's Guide (html)" OFF) -IF (${BUILD_DOCUMENTATION}) +IF (BUILD_DOCUMENTATION) MESSAGE("-- Documentation building is enabled") - # Generate the User's Guide (pdf). + # Make CMake aware of the cmake folder, in order to find 'FindSphinx.cmake' + SET (CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake") + + # Generate the User's Guide (html). # The corresponding target is UserGuide, but is included in ALL. ADD_SUBDIRECTORY(docs) -ENDIF (${BUILD_DOCUMENTATION}) +ENDIF (BUILD_DOCUMENTATION) OPTION(BUILD_EXAMPLES "Build examples" ON) -IF (${BUILD_EXAMPLES}) +IF (BUILD_EXAMPLES) MESSAGE("-- Build the examples.") ADD_SUBDIRECTORY(examples) -ELSE (${BUILD_EXAMPLES}) +ELSE (BUILD_EXAMPLES) MESSAGE("-- Do not build any example.") -ENDIF (${BUILD_EXAMPLES}) +ENDIF (BUILD_EXAMPLES) # Add an uninstall target to remove all installed files. CONFIGURE_FILE("${CMAKE_SOURCE_DIR}/cmake/uninstall.cmake.in" @@ -650,3 +748,45 @@ 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) + +# This "exports" all targets which have been put into the export set +# "CeresExport". This means that CMake generates a file with the given +# filename, which can later on be loaded by projects using this package. +# This file contains ADD_LIBRARY(bar IMPORTED) statements for each target +# in the export set, so when loaded later on CMake will create "imported" +# 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) + +# 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} ${CMAKE_INSTALL_PREFIX}) + +# Create a CeresConfig.cmake file. <name>Config.cmake files are searched by +# FIND_PACKAGE() automatically. We configure that file so that we can put any +# information we want in it, e.g. version numbers, include directories, etc. +CONFIGURE_FILE("${CMAKE_SOURCE_DIR}/cmake/CeresConfig.cmake.in" + "${CMAKE_CURRENT_BINARY_DIR}/CeresConfig.cmake" @ONLY) + +# Additionally, when CMake has found a CeresConfig.cmake, it can check for a +# CeresConfigVersion.cmake in the same directory when figuring out the version +# of the package when a version has been specified in the FIND_PACKAGE() call, +# e.g. FIND_PACKAGE(Ceres [1.4.2] REQUIRED). The version argument is optional. +CONFIGURE_FILE("${CMAKE_SOURCE_DIR}/cmake/CeresConfigVersion.cmake.in" + "${CMAKE_CURRENT_BINARY_DIR}/CeresConfigVersion.cmake" @ONLY) + +# Install these two files into the same directory as the generated exports-file. +INSTALL(FILES "${CMAKE_CURRENT_BINARY_DIR}/CeresConfig.cmake" + "${CMAKE_CURRENT_BINARY_DIR}/CeresConfigVersion.cmake" + "${CMAKE_SOURCE_DIR}/cmake/depend.cmake" + DESTINATION ${CMAKECONFIG_INSTALL_DIR}) |