Making all config options in CMake & SuiteSparse cleanup.
- Also marking all library and include directories found via
find_library/path advanced (not directly visible in CMake GUI unless
toggled to show advanced options).
- Updating documentation to reflect SuiteSparse requirements on Ubuntu
and ability to control build options in CMake GUI.
- Splitting out all SuiteSparse related find_XX directives into a
FindSuiteSparse script.
Change-Id: I0d69e02392ec547a7c365ba3e06f2ebc61cacf16
diff --git a/CMakeLists.txt b/CMakeLists.txt
index ff1726e..a77f8c8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -63,6 +63,9 @@
ENDIF (NOT EXISTS ${LOCAL_GIT_DIRECTORY}/hooks/commit-msg)
ENDIF (EXISTS ${LOCAL_GIT_DIRECTORY})
+# Make CMake aware of the cmake folder for local FindXXX scripts.
+SET (CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake")
+
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)
@@ -83,8 +86,10 @@
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)
# Template specializations for the Schur complement based solvers. If
# compile time, binary size or compiler performance is an issue, you
# may consider disabling this.
@@ -107,49 +112,41 @@
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 (BUILD_SHARED_LIBS)
- MESSAGE("-- Building as a shared library.")
-ELSE (BUILD_SHARED_LIBS)
- MESSAGE("-- Building as a static library.")
-ENDIF (BUILD_SHARED_LIBS)
# 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 /opt/local/var/macports/software/eigen3) # Mac OS X
+LIST(APPEND CMAKE_INCLUDE_PATH /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
+# 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})
+MARK_AS_ADVANCED(EIGEN_INCLUDE)
+# BLAS & LAPACK.
SET(BLAS_AND_LAPACK_FOUND TRUE)
IF ((NOT DEFINED LAPACK) OR (DEFINED LAPACK AND LAPACK))
- FIND_PACKAGE(LAPACK)
+ FIND_PACKAGE(LAPACK QUIET)
IF (LAPACK_FOUND)
MESSAGE("-- Found LAPACK library: ${LAPACK_LIBRARIES}")
ELSE (LAPACK_FOUND)
@@ -157,14 +154,13 @@
SET(BLAS_AND_LAPACK_FOUND FALSE)
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)
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))
@@ -173,273 +169,85 @@
ADD_DEFINITIONS(-DCERES_NO_LAPACK)
ENDIF (NOT BLAS_AND_LAPACK_FOUND)
-IF ((NOT DEFINED SUITESPARSE) OR (DEFINED SUITESPARSE AND SUITESPARSE))
-# Check for SuiteSparse dependencies
+# SuiteSparse.
+IF (SUITESPARSE)
+ # By default, if SuiteSparse and all dependencies are found, Ceres is
+ # built with SuiteSparse support.
-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 (EXISTS ${SUITESPARSE_CONFIG_LIB} AND
- EXISTS ${SUITESPARSE_CONFIG_INCLUDE})
- # SuiteSparse_config (SuiteSparse version >= 4) requires librt library for
- # timing by default when compiled on Linux or Unix, but not on OSX (which
- # does not have librt).
- IF (CMAKE_SYSTEM_NAME MATCHES "Linux" OR UNIX AND NOT APPLE)
- FIND_LIBRARY(LIBRT_LIB NAMES rt)
- IF (LIBRT_LIB)
- MESSAGE("-- Adding librt: ${LIBRT_LIB} to SuiteSparse_config libraries.")
- ELSE (LIBRT_LIB)
- MESSAGE("-- Could not find librt, but found SuiteSparse_config, "
- "assuming that SuiteSparse was compiled without timing.")
- ENDIF (LIBRT_LIB)
- LIST(APPEND SUITESPARSE_CONFIG_LIB ${LIBRT_LIB})
- ENDIF (CMAKE_SYSTEM_NAME MATCHES "Linux" OR UNIX AND NOT APPLE)
-ELSE (EXISTS ${SUITESPARSE_CONFIG_LIB} AND
- 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 (EXISTS ${SUITESPARSE_CONFIG_LIB} AND
- 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})
-
-IF (TBB_FOUND)
- 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 Malloc library")
- SET(TBB_FOUND FALSE)
- ENDIF (EXISTS ${TBB_MALLOC_LIB})
-ENDIF (TBB_FOUND)
-
-# 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 ()
-
-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 QUIET)
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), 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 all SuiteSparse dependencies. Building with SuiteSparse.")
ELSE (SUITESPARSE_FOUND)
- MESSAGE("-- Did not find all SuiteSparse dependencies. Building without SuiteSparse")
- SET(SUITESPARSE OFF)
+ # Disable use of SuiteSparse if it cannot be found and continue.
+ MESSAGE("-- Did not find all SuiteSparse dependencies, disabling "
+ "SuiteSparse support.")
+ # Retain the help string associated with the SUITESPARSE option
+ # when updating it to disable use of SuiteSparse.
+ GET_PROPERTY(HELP_STRING CACHE SUITESPARSE PROPERTY HELPSTRING)
+ SET(SUITESPARSE OFF CACHE BOOL "${HELP_STRING}" FORCE)
ADD_DEFINITIONS(-DCERES_NO_SUITESPARSE)
ENDIF (SUITESPARSE_FOUND)
-ENDIF (DEFINED SUITESPARSE)
+ELSE (SUITESPARSE)
+ MESSAGE("-- Building without SuiteSparse.")
+ ADD_DEFINITIONS(-DCERES_NO_SUITESPARSE)
+ENDIF (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))
+# CXSparse.
+IF (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})
+ MARK_AS_ADVANCED(CXSPARSE_LIB)
-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})
+ MARK_AS_ADVANCED(CXSPARSE_INCLUDE)
-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 ${CXSPARSE_INCLUDE})
-ENDIF ((NOT DEFINED CXSPARSE) OR (DEFINED CXSPARSE AND CXSPARSE))
-
-IF (DEFINED CXSPARSE)
- IF (CXSPARSE)
- IF (NOT CXSPARSE_FOUND)
- MESSAGE(FATAL_ERROR "-- CXSparse not found.")
- ENDIF (NOT CXSPARSE_FOUND)
- ELSE (CXSPARSE)
- ADD_DEFINITIONS(-DCERES_NO_CXSPARSE)
- ENDIF (CXSPARSE)
-ELSE (DEFINED CXSPARSE)
IF (CXSPARSE_FOUND)
- MESSAGE("-- Building with CXSparse support.")
- SET(CXSPARSE ON)
+ # By default, if CXSparse and all dependencies are found, Ceres is
+ # built with CXSparse support.
+ MESSAGE("-- Building with CXSparse.")
ELSE (CXSPARSE_FOUND)
- MESSAGE("-- Building without CXSparse.")
- SET(CXSPARSE OFF)
+ # Disable use of CXSparse if it cannot be found and continue.
+ MESSAGE("-- Did not find CXSparse, Building without CXSparse.")
+ # Retain the help string associated with the CXSPARSE option
+ # when updating it to disable use of CXSparse.
+ GET_PROPERTY(HELP_STRING CACHE CXSPARSE PROPERTY HELPSTRING)
+ SET(CXSPARSE OFF CACHE BOOL "${HELP_STRING}" FORCE)
ADD_DEFINITIONS(-DCERES_NO_CXSPARSE)
ENDIF (CXSPARSE_FOUND)
-ENDIF (DEFINED CXSPARSE)
+ELSE (CXSPARSE)
+ MESSAGE("-- Building without CXSparse.")
+ ADD_DEFINITIONS(-DCERES_NO_CXSPARSE)
+ENDIF (CXSPARSE)
+# GFlags.
IF (GFLAGS)
FIND_LIBRARY(GFLAGS_LIB NAMES gflags)
IF (NOT EXISTS ${GFLAGS_LIB})
@@ -447,6 +255,7 @@
"Can't find Google Flags. Please specify: "
"-DGFLAGS_LIB=...")
ENDIF (NOT EXISTS ${GFLAGS_LIB})
+ MARK_AS_ADVANCED(GFLAGS_LIB)
MESSAGE("-- Found Google Flags library: ${GFLAGS_LIB}")
FIND_PATH(GFLAGS_INCLUDE NAMES gflags/gflags.h)
IF (NOT EXISTS ${GFLAGS_INCLUDE})
@@ -454,12 +263,14 @@
"Can't find Google Flags. Please specify: "
"-DGFLAGS_INCLUDE=...")
ENDIF (NOT EXISTS ${GFLAGS_INCLUDE})
+ MARK_AS_ADVANCED(GFLAGS_INCLUDE)
MESSAGE("-- Found Google Flags header in: ${GFLAGS_INCLUDE}")
ELSE (GFLAGS)
MESSAGE("-- Google Flags disabled; no tests or tools will be built!")
ADD_DEFINITIONS(-DCERES_NO_GFLAGS)
ENDIF (GFLAGS)
+# MiniGLog.
IF (MINIGLOG)
SET(GLOG_LIB miniglog)
MESSAGE("-- Using minimal Glog substitute (library): ${GLOG_LIB}")
@@ -473,6 +284,7 @@
MESSAGE(FATAL_ERROR
"Can't find Google Log. Please specify: -DGLOG_LIB=...")
ENDIF (EXISTS ${GLOG_LIB})
+ MARK_AS_ADVANCED(GLOG_LIB)
FIND_PATH(GLOG_INCLUDE NAMES glog/logging.h)
IF (EXISTS ${GLOG_INCLUDE})
@@ -481,6 +293,7 @@
MESSAGE(FATAL_ERROR
"Can't find Google Log. Please specify: -DGLOG_INCLUDE=...")
ENDIF (EXISTS ${GLOG_INCLUDE})
+ MARK_AS_ADVANCED(GLOG_INCLUDE)
ENDIF (MINIGLOG)
IF (NOT SCHUR_SPECIALIZATIONS)
@@ -502,7 +315,7 @@
SET(OPENMP_FOUND FALSE)
ELSE (CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
IF (OPENMP)
- FIND_PACKAGE(OpenMP)
+ FIND_PACKAGE(OpenMP REQUIRED)
ENDIF (OPENMP)
ENDIF (CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
@@ -573,18 +386,7 @@
INSTALL(FILES ${CERES_PUBLIC_INTERNAL_HDRS} DESTINATION include/ceres/internal)
IF (SUITESPARSE)
- INCLUDE_DIRECTORIES(${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)
@@ -595,6 +397,12 @@
INCLUDE_DIRECTORIES(${GFLAGS_INCLUDE})
ENDIF (GFLAGS)
+IF (BUILD_SHARED_LIBS)
+ MESSAGE("-- Building Ceres as a shared library.")
+ELSE (BUILD_SHARED_LIBS)
+ MESSAGE("-- Building Ceres as a static library.")
+ENDIF (BUILD_SHARED_LIBS)
+
# Change the default build type from Debug to Release, while still
# supporting overriding the build type.
#
@@ -712,9 +520,6 @@
IF (BUILD_DOCUMENTATION)
MESSAGE("-- Documentation building is enabled")
- # Make CMake aware of the cmake folder, in order to find 'FindSphinx.cmake'
- SET (CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake")
-
# Generate the User's Guide (html).
# The corresponding target is UserGuide, but is included in ALL.
ADD_SUBDIRECTORY(docs)
diff --git a/cmake/FindSuiteSparse.cmake b/cmake/FindSuiteSparse.cmake
new file mode 100644
index 0000000..53dd038
--- /dev/null
+++ b/cmake/FindSuiteSparse.cmake
@@ -0,0 +1,506 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2013 Google Inc. All rights reserved.
+# http://code.google.com/p/ceres-solver/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+# used to endorse or promote products derived from this software without
+# specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: alexs.mac@gmail.com (Alex Stewart)
+#
+
+# FindSuiteSparse.cmake - Find SuiteSparse libraries & dependencies.
+#
+# This module defines the following variables:
+#
+# SUITESPARSE_FOUND: TRUE iff SuiteSparse and all dependencies have been found.
+# SUITESPARSE_INCLUDE_DIRS: Include directories for all SuiteSparse components.
+# SUITESPARSE_LIBRARIES: Libraries for all SuiteSparse component libraries and
+# dependencies.
+# SUITESPARSE_VERSION: Extracted from UFconfig.h (<= v3) or
+# SuiteSparse_config.h (>= v4).
+# SUITESPARSE_MAIN_VERSION: Equal to 4 if SUITESPARSE_VERSION = 4.2.1
+# SUITESPARSE_SUB_VERSION: Equal to 2 if SUITESPARSE_VERSION = 4.2.1
+# SUITESPARSE_SUBSUB_VERSION: Equal to 1 if SUITESPARSE_VERSION = 4.2.1
+#
+# SUITESPARSE_IS_BROKEN_SHARED_LINKING_UBUNTU_SYSTEM_VERSION: TRUE iff running
+# on Ubuntu, SUITESPARSE_VERSION is 3.4.0 and found SuiteSparse is a system
+# install, in which case found version of SuiteSparse cannot be used to link
+# a shared library due to a bug (static linking is unaffected).
+#
+# The following variables define the presence / includes & libraries for the
+# SuiteSparse components searched for, the SUITESPARSE_XX variables are the
+# union of the variables for all components.
+#
+# == Symmetric Approximate Minimum Degree (AMD)
+# AMD_FOUND
+# AMD_INCLUDE_DIR
+# AMD_LIBRARY
+#
+# == Constrained Approximate Minimum Degree (CAMD)
+# CAMD_FOUND
+# CAMD_INCLUDE_DIR
+# CAMD_LIBRARY
+#
+# == Column Approximate Minimum Degree (COLAMD)
+# COLAMD_FOUND
+# COLAMD_INCLUDE_DIR
+# COLAMD_LIBRARY
+#
+# Constrained Column Approximate Minimum Degree (CCOLAMD)
+# CCOLAMD_FOUND
+# CCOLAMD_INCLUDE_DIR
+# CCOLAMD_LIBRARY
+#
+# == Sparse Supernodal Cholesky Factorization and Update/Downdate (CHOLMOD)
+# CHOLMOD_FOUND
+# CHOLMOD_INCLUDE_DIR
+# CHOLMOD_LIBRARY
+#
+# == Multifrontal Sparse QR (SuiteSparseQR)
+# SUITESPARSEQR_FOUND
+# SUITESPARSEQR_INCLUDE_DIR
+# SUITESPARSEQR_LIBRARY
+#
+# == Common configuration for all but CSparse (SuiteSparse version >= 4).
+# SUITESPARSE_CONFIG_FOUND
+# SUITESPARSE_CONFIG_INCLUDE_DIR
+# SUITESPARSE_CONFIG_LIBRARY
+#
+# == Common configuration for all but CSparse (SuiteSparse version < 4).
+# UFCONFIG_FOUND
+# UFCONFIG_INCLUDE_DIR
+#
+# Optional SuiteSparse Dependencies:
+#
+# == Serial Graph Partitioning and Fill-reducing Matrix Ordering (METIS)
+# METIS_FOUND
+# METIS_LIBRARY
+#
+# == Intel Thread Building Blocks (TBB)
+# TBB_FOUND
+# TBB_LIBRARIES
+
+# Specify search directories for include files and libraries (this is the union
+# of the search directories for all OSs).
+LIST(APPEND SUITESPARSE_CHECK_INCLUDE_DIRS
+ /opt/local/include
+ /opt/local/include/ufsparse # Mac OS X
+ /usr/include
+ /usr/include/suitesparse # Ubuntu
+ /usr/local/homebrew/include # Mac OS X
+ /usr/local/include
+ /usr/local/include/suitesparse)
+LIST(APPEND SUITESPARSE_CHECK_LIBRARY_DIRS
+ /opt/local/lib
+ /opt/local/lib/ufsparse # Mac OS X
+ /usr/lib
+ /usr/lib/suitesparse # Ubuntu
+ /usr/local/homebrew/lib # Mac OS X
+ /usr/local/lib
+ /usr/local/lib/suitesparse)
+
+# BLAS.
+FIND_PACKAGE(BLAS QUIET)
+IF (NOT BLAS_FOUND)
+ MESSAGE("-- Did not find BLAS library (required for SuiteSparse).")
+ENDIF (NOT BLAS_FOUND)
+
+# LAPACK.
+FIND_PACKAGE(LAPACK QUIET)
+IF (NOT LAPACK_FOUND)
+ MESSAGE("-- Did not find LAPACK library (required for SuiteSparse).")
+ENDIF (NOT LAPACK_FOUND)
+
+# AMD.
+SET(AMD_FOUND TRUE)
+FIND_LIBRARY(AMD_LIBRARY NAMES amd
+ PATHS ${SUITESPARSE_CHECK_LIBRARY_DIRS})
+IF (EXISTS ${AMD_LIBRARY})
+ MESSAGE("-- Found AMD library: ${AMD_LIBRARY}")
+ELSE (EXISTS ${AMD_LIBRARY})
+ MESSAGE("-- Did not find AMD library")
+ SET(AMD_FOUND FALSE)
+ENDIF (EXISTS ${AMD_LIBRARY})
+MARK_AS_ADVANCED(AMD_LIBRARY)
+
+FIND_PATH(AMD_INCLUDE_DIR NAMES amd.h
+ PATHS ${SUITESPARSE_CHECK_INCLUDE_DIRS})
+IF (EXISTS ${AMD_INCLUDE_DIR})
+ MESSAGE("-- Found AMD header in: ${AMD_INCLUDE_DIR}")
+ELSE (EXISTS ${AMD_INCLUDE_DIR})
+ MESSAGE("-- Did not find AMD header")
+ SET(AMD_FOUND FALSE)
+ENDIF (EXISTS ${AMD_INCLUDE_DIR})
+MARK_AS_ADVANCED(AMD_INCLUDE_DIR)
+
+# CAMD.
+SET(CAMD_FOUND TRUE)
+FIND_LIBRARY(CAMD_LIBRARY NAMES camd
+ PATHS ${SUITESPARSE_CHECK_LIBRARY_DIRS})
+IF (EXISTS ${CAMD_LIBRARY})
+ MESSAGE("-- Found CAMD library: ${CAMD_LIBRARY}")
+ELSE (EXISTS ${CAMD_LIBRARY})
+ MESSAGE("-- Did not find CAMD library")
+ SET(CAMD_FOUND FALSE)
+ENDIF (EXISTS ${CAMD_LIBRARY})
+MARK_AS_ADVANCED(CAMD_LIBRARY)
+
+FIND_PATH(CAMD_INCLUDE_DIR NAMES camd.h
+ PATHS ${SUITESPARSE_CHECK_INCLUDE_DIRS})
+IF (EXISTS ${CAMD_INCLUDE_DIR})
+ MESSAGE("-- Found CAMD header in: ${CAMD_INCLUDE_DIR}")
+ELSE (EXISTS ${CAMD_INCLUDE_DIR})
+ MESSAGE("-- Did not find CAMD header")
+ SET(CAMD_FOUND FALSE)
+ENDIF (EXISTS ${CAMD_INCLUDE_DIR})
+MARK_AS_ADVANCED(CAMD_INCLUDE_DIR)
+
+# COLAMD.
+SET(COLAMD_FOUND TRUE)
+FIND_LIBRARY(COLAMD_LIBRARY NAMES colamd
+ PATHS ${SUITESPARSE_CHECK_LIBRARY_DIRS})
+IF (EXISTS ${COLAMD_LIBRARY})
+ MESSAGE("-- Found COLAMD library: ${COLAMD_LIBRARY}")
+ELSE (EXISTS ${COLAMD_LIBRARY})
+ MESSAGE("-- Did not find COLAMD library")
+ SET(COLAMD_FOUND FALSE)
+ENDIF (EXISTS ${COLAMD_LIBRARY})
+MARK_AS_ADVANCED(COLAMD_LIBRARY)
+
+FIND_PATH(COLAMD_INCLUDE_DIR NAMES colamd.h
+ PATHS ${SUITESPARSE_CHECK_INCLUDE_DIRS})
+IF (EXISTS ${COLAMD_INCLUDE_DIR})
+ MESSAGE("-- Found COLAMD header in: ${COLAMD_INCLUDE_DIR}")
+ELSE (EXISTS ${COLAMD_INCLUDE_DIR})
+ MESSAGE("-- Did not find COLAMD header")
+ SET(COLAMD_FOUND FALSE)
+ENDIF (EXISTS ${COLAMD_INCLUDE_DIR})
+MARK_AS_ADVANCED(COLAMD_INCLUDE_DIR)
+
+# CCOLAMD.
+SET(CCOLAMD_FOUND TRUE)
+FIND_LIBRARY(CCOLAMD_LIBRARY NAMES ccolamd
+ PATHS ${SUITESPARSE_CHECK_LIBRARY_DIRS})
+IF (EXISTS ${CCOLAMD_LIBRARY})
+ MESSAGE("-- Found CCOLAMD library: ${CCOLAMD_LIBRARY}")
+ELSE (EXISTS ${CCOLAMD_LIBRARY})
+ MESSAGE("-- Did not find CCOLAMD library")
+ SET(CCOLAMD_FOUND FALSE)
+ENDIF (EXISTS ${CCOLAMD_LIBRARY})
+MARK_AS_ADVANCED(CCOLAMD_LIBRARY)
+
+FIND_PATH(CCOLAMD_INCLUDE_DIR NAMES ccolamd.h
+ PATHS ${SUITESPARSE_CHECK_INCLUDE_DIRS})
+IF (EXISTS ${CCOLAMD_INCLUDE_DIR})
+ MESSAGE("-- Found CCOLAMD header in: ${CCOLAMD_INCLUDE_DIR}")
+ELSE (EXISTS ${CCOLAMD_INCLUDE_DIR})
+ MESSAGE("-- Did not find CCOLAMD header")
+ SET(CCOLAMD_FOUND FALSE)
+ENDIF (EXISTS ${CCOLAMD_INCLUDE_DIR})
+MARK_AS_ADVANCED(CCOLAMD_INCLUDE_DIR)
+
+# CHOLMOD.
+SET(CHOLMOD_FOUND TRUE)
+FIND_LIBRARY(CHOLMOD_LIBRARY NAMES cholmod
+ PATHS ${SUITESPARSE_CHECK_LIBRARY_DIRS})
+IF (EXISTS ${CHOLMOD_LIBRARY})
+ MESSAGE("-- Found CHOLMOD library: ${CHOLMOD_LIBRARY}")
+ELSE (EXISTS ${CHOLMOD_LIBRARY})
+ MESSAGE("-- Did not find CHOLMOD library")
+ SET(CHOLMOD_FOUND FALSE)
+ENDIF (EXISTS ${CHOLMOD_LIBRARY})
+MARK_AS_ADVANCED(CHOLMOD_LIBRARY)
+
+FIND_PATH(CHOLMOD_INCLUDE_DIR NAMES cholmod.h
+ PATHS ${SUITESPARSE_CHECK_INCLUDE_DIRS})
+IF (EXISTS ${CHOLMOD_INCLUDE_DIR})
+ MESSAGE("-- Found CHOLMOD header in: ${CHOLMOD_INCLUDE_DIR}")
+ELSE (EXISTS ${CHOLMOD_INCLUDE_DIR})
+ MESSAGE("-- Did not find CHOLMOD header")
+ SET(CHOLMOD_FOUND FALSE)
+ENDIF (EXISTS ${CHOLMOD_INCLUDE_DIR})
+MARK_AS_ADVANCED(CHOLMOD_INCLUDE_DIR)
+
+# SuiteSparseQR.
+SET(SUITESPARSEQR_FOUND TRUE)
+FIND_LIBRARY(SUITESPARSEQR_LIBRARY NAMES spqr
+ PATHS ${SUITESPARSE_CHECK_LIBRARY_DIRS})
+IF (EXISTS ${SUITESPARSEQR_LIBRARY})
+ MESSAGE("-- Found SuiteSparseQR library: ${SUITESPARSEQR_LIBRARY}")
+ELSE (EXISTS ${SUITESPARSEQR_LIBRARY})
+ MESSAGE("-- Did not find SUITESPARSEQR library")
+ SET(SUITESPARSEQR_FOUND FALSE)
+ENDIF (EXISTS ${SUITESPARSEQR_LIBRARY})
+MARK_AS_ADVANCED(SUITESPARSEQR_LIBRARY)
+
+FIND_PATH(SUITESPARSEQR_INCLUDE_DIR NAMES SuiteSparseQR.hpp
+ PATHS ${SUITESPARSE_CHECK_INCLUDE_DIRS})
+IF (EXISTS ${SUITESPARSEQR_INCLUDE_DIR})
+ MESSAGE("-- Found SuiteSparseQR header in: ${SUITESPARSEQR_INCLUDE_DIR}")
+ELSE (EXISTS ${SUITESPARSEQR_INCLUDE_DIR})
+ MESSAGE("-- Did not find SUITESPARSEQR header")
+ SET(SUITESPARSEQR_FOUND FALSE)
+ENDIF (EXISTS ${SUITESPARSEQR_INCLUDE_DIR})
+MARK_AS_ADVANCED(SUITESPARSEQR_INCLUDE_DIR)
+
+IF (SUITESPARSEQR_FOUND)
+ # SuiteSparseQR may be compiled with Intel Threading Building Blocks,
+ # we assume that if TBB is installed, SuiteSparseQR was compiled with
+ # support for it, this will do no harm if it wasn't.
+ SET(TBB_FOUND TRUE)
+ FIND_LIBRARY(TBB_LIBRARIES NAMES tbb
+ PATHS ${SUITESPARSE_CHECK_LIBRARY_DIRS})
+ IF (EXISTS ${TBB_LIBRARIES})
+ MESSAGE("-- Found Intel Thread Building Blocks (TBB) library: ${TBB_LIBRARIES}, "
+ "assuming SuiteSparseQR was compiled with TBB.")
+ ELSE (EXISTS ${TBB_LIBRARIES})
+ MESSAGE("-- Did not find TBB library")
+ SET(TBB_FOUND FALSE)
+ ENDIF (EXISTS ${TBB_LIBRARIES})
+ MARK_AS_ADVANCED(TBB_LIBRARIES)
+
+ IF (TBB_FOUND)
+ FIND_LIBRARY(TBB_MALLOC_LIB NAMES tbbmalloc
+ PATHS ${SUITESPARSE_CHECK_LIBRARY_DIRS})
+ IF (EXISTS ${TBB_MALLOC_LIB})
+ MESSAGE("-- Found Intel Thread Building Blocks (TBB) Malloc library: "
+ "${TBB_MALLOC_LIB}")
+ # Append TBB malloc library to TBB libraries list whilst retaining
+ # any CMake generated help string (cache variable).
+ LIST(APPEND TBB_LIBRARIES ${TBB_MALLOC_LIB})
+ GET_PROPERTY(HELP_STRING CACHE TBB_LIBRARIES PROPERTY HELPSTRING)
+ SET(TBB_LIBRARIES "${TBB_LIBRARIES}" CACHE STRING ${HELP_STRING})
+
+ # Add the TBB libraries to the SuiteSparseQR libraries (the only
+ # libraries to optionally depend on TBB).
+ LIST(APPEND SUITESPARSEQR_LIBRARY ${TBB_LIBRARIES})
+
+ ELSE (EXISTS ${TBB_MALLOC_LIB})
+ # If we cannot find all required TBB components do not include it as
+ # a dependency.
+ MESSAGE("-- Did not find Intel Thread Building Blocks (TBB) Malloc "
+ "Library, discarding TBB as a dependency.")
+ SET(TBB_FOUND FALSE)
+ ENDIF (EXISTS ${TBB_MALLOC_LIB})
+ MARK_AS_ADVANCED(TBB_MALLOC_LIB)
+ ENDIF (TBB_FOUND)
+ENDIF(SUITESPARSEQR_FOUND)
+
+# UFconfig / SuiteSparse_config.
+#
+# 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_LIBRARY NAMES suitesparseconfig
+ PATHS ${SUITESPARSE_CHECK_LIBRARY_DIRS})
+IF (EXISTS ${SUITESPARSE_CONFIG_LIBRARY})
+ MESSAGE("-- Found SuiteSparse_config library: ${SUITESPARSE_CONFIG_LIBRARY}")
+ELSE (EXISTS ${SUITESPARSE_CONFIG_LIBRARY})
+ MESSAGE("-- Did not find SuiteSparse_config library")
+ENDIF (EXISTS ${SUITESPARSE_CONFIG_LIBRARY})
+MARK_AS_ADVANCED(SUITESPARSE_CONFIG_LIBRARY)
+
+FIND_PATH(SUITESPARSE_CONFIG_INCLUDE_DIR NAMES SuiteSparse_config.h
+ PATHS ${SUITESPARSE_CHECK_INCLUDE_DIRS})
+IF (EXISTS ${SUITESPARSE_CONFIG_INCLUDE_DIR})
+ MESSAGE("-- Found SuiteSparse_config header in: ${SUITESPARSE_CONFIG_INCLUDE_DIR}")
+ SET(UFCONFIG_FOUND FALSE)
+ELSE (EXISTS ${SUITESPARSE_CONFIG_INCLUDE_DIR})
+ MESSAGE("-- Did not find SuiteSparse_config header")
+ENDIF (EXISTS ${SUITESPARSE_CONFIG_INCLUDE_DIR})
+MARK_AS_ADVANCED(SUITESPARSE_CONFIG_INCLUDE_DIR)
+
+IF (EXISTS ${SUITESPARSE_CONFIG_LIBRARY} AND
+ EXISTS ${SUITESPARSE_CONFIG_INCLUDE_DIR})
+ # SuiteSparse_config (SuiteSparse version >= 4) requires librt library for
+ # timing by default when compiled on Linux or Unix, but not on OSX (which
+ # does not have librt).
+ IF (CMAKE_SYSTEM_NAME MATCHES "Linux" OR UNIX AND NOT APPLE)
+ FIND_LIBRARY(LIBRT_LIBRARY NAMES rt
+ PATHS ${SUITESPARSE_CHECK_LIBRARY_DIRS})
+ IF (LIBRT_LIBRARY)
+ MESSAGE("-- Adding librt: ${LIBRT_LIBRARY} to SuiteSparse_config libraries.")
+ ELSE (LIBRT_LIBRARY)
+ MESSAGE("-- Could not find librt, but found SuiteSparse_config, "
+ "assuming that SuiteSparse was compiled without timing.")
+ ENDIF (LIBRT_LIBRARY)
+ MARK_AS_ADVANCED(LIBRT_LIBRARY)
+ LIST(APPEND SUITESPARSE_CONFIG_LIBRARY ${LIBRT_LIBRARY})
+ ENDIF (CMAKE_SYSTEM_NAME MATCHES "Linux" OR UNIX AND NOT APPLE)
+ELSE (EXISTS ${SUITESPARSE_CONFIG_LIBRARY} AND
+ EXISTS ${SUITESPARSE_CONFIG_INCLUDE_DIR})
+ SET(SUITESPARSE_CONFIG_FOUND FALSE)
+ FIND_PATH(UFCONFIG_INCLUDE_DIR NAMES UFconfig.h
+ PATHS ${SUITESPARSE_CHECK_INCLUDE_DIRS})
+ IF (EXISTS ${UFCONFIG_INCLUDE_DIR})
+ MESSAGE("-- Found UFconfig header in: ${UFCONFIG_INCLUDE_DIR}")
+ ELSE (EXISTS ${UFCONFIG_INCLUDE_DIR})
+ MESSAGE("-- Did not find UFconfig header")
+ SET(UFCONFIG_FOUND FALSE)
+ ENDIF (EXISTS ${UFCONFIG_INCLUDE_DIR})
+ MARK_AS_ADVANCED(UFCONFIG_INCLUDE_DIR)
+ENDIF (EXISTS ${SUITESPARSE_CONFIG_LIBRARY} AND
+ EXISTS ${SUITESPARSE_CONFIG_INCLUDE_DIR})
+
+# Extract the SuiteSparse version from the appropriate header (UFconfig.h for
+# <= v3, SuiteSparse_config.h for >= v4).
+IF (UFCONFIG_FOUND)
+ # SuiteSparse version <= 3.
+ FILE(READ "${UFCONFIG_INCLUDE_DIR}/UFconfig.h" UFCONFIG_CONTENTS)
+
+ STRING(REGEX MATCH "#define SUITESPARSE_MAIN_VERSION [0-9]+"
+ SUITESPARSE_MAIN_VERSION "${UFCONFIG_CONTENTS}")
+ STRING(REGEX REPLACE "#define SUITESPARSE_MAIN_VERSION ([0-9]+)" "\\1"
+ SUITESPARSE_MAIN_VERSION "${SUITESPARSE_MAIN_VERSION}")
+
+ STRING(REGEX MATCH "#define SUITESPARSE_SUB_VERSION [0-9]+"
+ SUITESPARSE_SUB_VERSION "${UFCONFIG_CONTENTS}")
+ STRING(REGEX REPLACE "#define SUITESPARSE_SUB_VERSION ([0-9]+)" "\\1"
+ SUITESPARSE_SUB_VERSION "${SUITESPARSE_SUB_VERSION}")
+
+ STRING(REGEX MATCH "#define SUITESPARSE_SUBSUB_VERSION [0-9]+"
+ SUITESPARSE_SUBSUB_VERSION "${UFCONFIG_CONTENTS}")
+ STRING(REGEX REPLACE "#define SUITESPARSE_SUBSUB_VERSION ([0-9]+)" "\\1"
+ SUITESPARSE_SUBSUB_VERSION "${SUITESPARSE_SUBSUB_VERSION}")
+ENDIF (UFCONFIG_FOUND)
+
+IF (SUITESPARSE_CONFIG_FOUND)
+ # SuiteSparse version >= 4.
+ FILE(READ "${SUITESPARSE_CONFIG_INCLUDE_DIR}/SuiteSparse_config.h"
+ SUITESPARSE_CONFIG_CONTENTS)
+
+ STRING(REGEX MATCH "#define SUITESPARSE_MAIN_VERSION [0-9]+"
+ SUITESPARSE_MAIN_VERSION "${SUITESPARSE_CONFIG_CONTENTS}")
+ STRING(REGEX REPLACE "#define SUITESPARSE_MAIN_VERSION ([0-9]+)" "\\1"
+ SUITESPARSE_MAIN_VERSION "${SUITESPARSE_MAIN_VERSION}")
+
+ STRING(REGEX MATCH "#define SUITESPARSE_SUB_VERSION [0-9]+"
+ SUITESPARSE_SUB_VERSION "${SUITESPARSE_CONFIG_CONTENTS}")
+ STRING(REGEX REPLACE "#define SUITESPARSE_SUB_VERSION ([0-9]+)" "\\1"
+ SUITESPARSE_SUB_VERSION "${SUITESPARSE_SUB_VERSION}")
+
+ STRING(REGEX MATCH "#define SUITESPARSE_SUBSUB_VERSION [0-9]+"
+ SUITESPARSE_SUBSUB_VERSION "${SUITESPARSE_CONFIG_CONTENTS}")
+ STRING(REGEX REPLACE "#define SUITESPARSE_SUBSUB_VERSION ([0-9]+)" "\\1"
+ SUITESPARSE_SUBSUB_VERSION "${SUITESPARSE_SUBSUB_VERSION}")
+ENDIF (SUITESPARSE_CONFIG_FOUND)
+
+# This is on a single line s/t CMake does not interpret it as a list of
+# elements and insert ';' separators which would result in 4.;2.;1 nonsense.
+SET(SUITESPARSE_VERSION
+ "${SUITESPARSE_MAIN_VERSION}.${SUITESPARSE_SUB_VERSION}.${SUITESPARSE_SUBSUB_VERSION}")
+
+# METIS (Optional dependency).
+FIND_LIBRARY(METIS_LIBRARY NAMES metis
+ PATHS ${SUITESPARSE_CHECK_LIBRARY_DIRS})
+IF (EXISTS ${METIS_LIBRARY})
+ MESSAGE("-- Found METIS library: ${METIS_LIBRARY}")
+ELSE (EXISTS ${METIS_LIBRARY})
+ MESSAGE("-- Did not find METIS library")
+ENDIF (EXISTS ${METIS_LIBRARY})
+MARK_AS_ADVANCED(METIS_LIBRARY)
+
+IF (AMD_FOUND AND
+ CAMD_FOUND AND
+ COLAMD_FOUND AND
+ CCOLAMD_FOUND AND
+ CHOLMOD_FOUND AND
+ (SUITESPARSE_CONFIG_FOUND OR UFCONFIG_FOUND) AND
+ BLAS_FOUND AND
+ LAPACK_FOUND)
+ SET(SUITESPARSE_FOUND TRUE)
+ LIST(APPEND SUITESPARSE_INCLUDE_DIRS
+ ${AMD_INCLUDE_DIR}
+ ${CAMD_INCLUDE_DIR}
+ ${COLAMD_INCLUDE_DIR}
+ ${CCOLAMD_INCLUDE_DIR}
+ ${CHOLMOD_INCLUDE_DIR}
+ ${SUITESPARSEQR_INCLUDE_DIR})
+ # Handle config separately, as otherwise at least one of them will be set
+ # to NOTFOUND which would cause any check on SUITESPARSE_INCLUDE_DIRS to fail.
+ IF (SUITESPARSE_CONFIG_FOUND)
+ LIST(APPEND SUITESPARSE_INCLUDE_DIRS
+ ${SUITESPARSE_CONFIG_INCLUDE_DIR})
+ ENDIF (SUITESPARSE_CONFIG_FOUND)
+ IF (UFCONFIG_FOUND)
+ LIST(APPEND SUITESPARSE_INCLUDE_DIRS
+ ${UFCONFIG_INCLUDE_DIR})
+ ENDIF (UFCONFIG_FOUND)
+
+ # Important: The ordering of these libraries is *NOT* arbitrary, as these
+ # could potentially be static libraries their link ordering is important.
+ LIST(APPEND SUITESPARSE_LIBRARIES
+ ${SUITESPARSEQR_LIBRARY}
+ ${CHOLMOD_LIBRARY}
+ ${CCOLAMD_LIBRARY}
+ ${CAMD_LIBRARY}
+ ${COLAMD_LIBRARY}
+ ${AMD_LIBRARY})
+ IF (SUITESPARSE_CONFIG_FOUND)
+ LIST(APPEND SUITESPARSE_LIBRARIES
+ ${SUITESPARSE_CONFIG_LIBRARY})
+ ENDIF (SUITESPARSE_CONFIG_FOUND)
+ IF (METIS_FOUND)
+ LIST(APPEND SUITESPARSE_LIBRARIES
+ ${METIS_LIBRARY})
+ ENDIF (METIS_FOUND)
+ MESSAGE("-- Found SuiteSparse version: ${SUITESPARSE_VERSION}")
+ELSE()
+ SET(SUITESPARSE_FOUND FALSE)
+ MESSAGE("-- Failed to find some/all required components of SuiteSparse.")
+ENDIF()
+
+# Determine if we are running on Ubuntu with the package install of SuiteSparse
+# which is broken and does not support linking a shared library.
+SET(SUITESPARSE_IS_BROKEN_SHARED_LINKING_UBUNTU_SYSTEM_VERSION FALSE)
+IF (CMAKE_SYSTEM_NAME MATCHES "Linux" AND
+ SUITESPARSE_VERSION VERSION_EQUAL 3.4.0)
+ FIND_PROGRAM(LSB_RELEASE_EXECUTABLE lsb_release)
+ IF (LSB_RELEASE_EXECUTABLE)
+ # Any even moderately recent Ubuntu release (likely to be affected by
+ # this bug) should have lsb_release, if it isn't present we are likely
+ # on a different Linux distribution (should be fine).
+
+ EXECUTE_PROCESS(COMMAND ${LSB_RELEASE_EXECUTABLE} -si
+ OUTPUT_VARIABLE LSB_DISTRIBUTOR_ID
+ OUTPUT_STRIP_TRAILING_WHITESPACE)
+
+ IF (LSB_DISTRIBUTOR_ID MATCHES "Ubuntu" AND
+ SUITESPARSE_LIBRARIES MATCHES "/usr/lib/libamd")
+ # We are on Ubuntu, and the SuiteSparse version matches the broken
+ # system install version and is a system install.
+ SET(SUITESPARSE_IS_BROKEN_SHARED_LINKING_UBUNTU_SYSTEM_VERSION TRUE)
+ ENDIF (LSB_DISTRIBUTOR_ID MATCHES "Ubuntu" AND
+ SUITESPARSE_LIBRARIES MATCHES "/usr/lib/libamd")
+ ENDIF (LSB_RELEASE_EXECUTABLE)
+ENDIF (CMAKE_SYSTEM_NAME MATCHES "Linux" AND
+ SUITESPARSE_VERSION VERSION_EQUAL 3.4.0)
+
+# Handle REQUIRED and QUIET arguments to FIND_PACKAGE
+INCLUDE(FindPackageHandleStandardArgs)
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(SuiteSparse DEFAULT_MSG
+ SUITESPARSE_FOUND SUITESPARSE_INCLUDE_DIRS SUITESPARSE_LIBRARIES)
+
diff --git a/docs/source/building.rst b/docs/source/building.rst
index b74a9dd..91fdd8a 100644
--- a/docs/source/building.rst
+++ b/docs/source/building.rst
@@ -66,6 +66,14 @@
We will use `Ubuntu <http://www.ubuntu.com>`_ as our example
platform. Start by installing all the dependencies.
+.. NOTE::
+Up to at least Ubuntu 13.10, the SuiteSparse package in the official
+package repository (built from SuiteSparse v3.4.0) **cannot** be used to
+build Ceres as a *shared* library. Thus if you want to build Ceres as a
+shared library using SuiteSparse, you must perform a source install of
+SuiteSparse. It is recommended that you use the current version of
+SuiteSparse (4.2.1 at the time of writing).
+
.. code-block:: bash
# CMake
@@ -86,8 +94,14 @@
sudo apt-get install libatlas-base-dev
# Eigen3
sudo apt-get install libeigen3-dev
- # SuiteSparse and CXSparse
+ # SuiteSparse and CXSparse (optional)
+ # - If you want to build Ceres as a *static* library (the default)
+ # you can use the SuiteSparse package in the main Ubuntu package
+ # repository:
sudo apt-get install libsuitesparse-dev
+ # - However, if you want to build Ceres as a *shared* library, you must
+ # perform a source install of SuiteSparse (and uninstall the Ubuntu
+ # package if it is currently installed.
We are now ready to build and test Ceres.
@@ -286,42 +300,48 @@
=====================
It is possible to reduce the libraries needed to build Ceres and
-customize the build process by passing appropriate flags to
-``CMake``. Use these flags only if you really know what you are doing.
+customize the build process by setting the appropriate options in
+``CMake``. These options can either be set in the ``CMake`` GUI,
+or via ``-D<OPTION>=<ON/OFF>`` when running ``CMake`` from the
+command line. In general, you should only modify these options from
+their defaults if you know what you are doing.
-#. ``-DSUITESPARSE=OFF``: By default, Ceres will link to
- ``SuiteSparse`` if all its dependencies are present. Use this flag
+#. ``SUITESPARSE [Default: ON]``: By default, Ceres will link to
+ ``SuiteSparse`` if all its dependencies are present. Turn this ``OFF``
to build Ceres without ``SuiteSparse``. This will also disable
dependency checking for ``LAPACK`` and ``BLAS``. This will reduce
Ceres' dependencies down to ``Eigen``, ``gflags`` and
``google-glog``.
-#. ``-DCXSPARSE=OFF``: By default, Ceres will link to ``CXSparse`` if
- all its dependencies are present. Use this flag to builds Ceres
+#. ``CXSPARSE [Default: ON]``: By default, Ceres will link to ``CXSparse`` if
+ all its dependencies are present. Turn this ``OFF`` to build Ceres
without ``CXSparse``. This will reduce Ceres' dependencies down to
``Eigen``, ``gflags`` and ``google-glog``.
-#. ``-DGFLAGS=OFF``: Use this flag to build Ceres without
+#. ``GFLAGS [Default: ON]``: Turn this ``OFF`` to build Ceres without
``gflags``. This will also prevent some of the example code from
building.
-#. ``-DSCHUR_SPECIALIZATIONS=OFF``: If you are concerned about binary
+#. ``SCHUR_SPECIALIZATIONS [Default: ON]``: If you are concerned about binary
size/compilation time over some small (10-20%) performance gains in
the ``SPARSE_SCHUR`` solver, you can disable some of the template
- specializations by using this flag.
+ specializations by turning this ``OFF``.
-#. ``-DLINE_SEARCH_MINIMIZER=OFF``: The line search based minimizer is
+#. ``LINE_SEARCH_MINIMIZER [Default: OFF]``: The line search based minimizer is
mostly suitable for large scale optimization problems, or when sparse
linear algebra libraries are not available. You can further save on
- some compile time and binary size by using this flag.
+ some compile time and binary size by turning this ``OFF``.
-#. ``-DOPENMP=OFF``: On certain platforms like Android,
- multi-threading with ``OpenMP`` is not supported. Use this flag to
+#. ``OPENMP [Default: ON]``: On certain platforms like Android,
+ multi-threading with ``OpenMP`` is not supported. Turn this ``OFF`` to
disable multithreading.
-#. ``-DBUILD_DOCUMENTATION=ON``: Use this flag to enable building the
- documentation. In addition, ``make ceres_docs`` can be used to
- build only the documentation.
+#. ``BUILD_SHARED_LIBS [Default: OFF]``: By default Ceres is built as a static
+ library, turn this ``ON`` to instead build Ceres as a shared library.
+
+#. ``BUILD_DOCUMENTATION [Default: OFF]``: Use this to enable building the
+ documentation, requires `Sphinx <http://sphinx-doc.org/>`_. In addition,
+ ``make ceres_docs`` can be used to build only the documentation.
.. _section-using-ceres:
@@ -376,17 +396,3 @@
Note that this can be used to have multiple versions of Ceres installed.
-Compiling against static or shared library
-------------------------------------------
-
-.. code-block:: cmake
-
- TARGET_LINK_LIBRARIES(helloworld ${CERES_LIBRARIES})
-
-will result in a statically linked binary. Changing this line to
-
-.. code-block:: cmake
-
- TARGET_LINK_LIBRARIES(helloworld ${CERES_LIBRARIES_SHARED})
-
-will result in a dynamically linked binary.
diff --git a/internal/ceres/CMakeLists.txt b/internal/ceres/CMakeLists.txt
index 477cf98..30ff6f9 100644
--- a/internal/ceres/CMakeLists.txt
+++ b/internal/ceres/CMakeLists.txt
@@ -147,40 +147,19 @@
LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${GFLAGS_LIB})
ENDIF (GFLAGS)
-IF (SUITESPARSE_FOUND)
- LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${SUITESPARSEQR_LIB})
- LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${CHOLMOD_LIB})
- LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${CCOLAMD_LIB})
- LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${CAMD_LIB})
- LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${COLAMD_LIB})
- LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${AMD_LIB})
- IF (SUITESPARSE_CONFIG_FOUND)
- LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${SUITESPARSE_CONFIG_LIB})
- ENDIF (SUITESPARSE_CONFIG_FOUND)
+IF (SUITESPARSE AND SUITESPARSE_FOUND)
+ LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${SUITESPARSE_LIBRARIES})
+ENDIF (SUITESPARSE AND SUITESPARSE_FOUND)
- IF (EXISTS ${METIS_LIB})
- LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${METIS_LIB})
- ENDIF (EXISTS ${METIS_LIB})
-
- IF (TBB_FOUND)
- LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${TBB_LIB})
- LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${TBB_MALLOC_LIB})
- ENDIF (TBB_FOUND)
-ENDIF (SUITESPARSE_FOUND)
-
-IF (CXSPARSE_FOUND)
+IF (CXSPARSE AND CXSPARSE_FOUND)
LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${CXSPARSE_LIB})
-ENDIF (CXSPARSE_FOUND)
+ENDIF (CXSPARSE AND CXSPARSE_FOUND)
IF (BLAS_AND_LAPACK_FOUND)
LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${LAPACK_LIBRARIES})
LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${BLAS_LIBRARIES})
ENDIF (BLAS_AND_LAPACK_FOUND)
-IF (CXSPARSE_FOUND)
- LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${CXSPARSE_LIB})
-ENDIF (CXSPARSE_FOUND)
-
IF (OPENMP_FOUND)
IF (NOT MSVC)
LIST(APPEND CERES_LIBRARY_DEPENDENCIES gomp)
@@ -276,9 +255,9 @@
# TODO(sameeragarwal): This test should ultimately be made
# independent of SuiteSparse.
- IF (SUITESPARSE_FOUND)
+ IF (SUITESPARSE AND SUITESPARSE_FOUND)
CERES_TEST(compressed_col_sparse_matrix_utils)
- ENDIF (SUITESPARSE_FOUND)
+ ENDIF (SUITESPARSE AND SUITESPARSE_FOUND)
CERES_TEST(symmetric_linear_solver)
CERES_TEST(triplet_sparse_matrix)
