Require >= C++11 & CMake >= 3.5 when building Ceres.
- Removes CXX11 option, and all associate paraphernalia. Ceres now
requires a compiler with full >= C++11 support. In MSVC terms this
means >= 2013 Release 4.
- This deprecates the use of CERES_STD_UNORDERED_MAP and CERES_USE_CXX11
as they will now always be defined. They will be removed from the
source in a future CL.
- For clients with CMake >= 3.8 we propagate via the exported/installed
Ceres target the CXX version that was specified when Ceres was built.
For versions < 3.8 (but >= 3.5) we specify the CXX features currently
used in the Ceres public API.
Change-Id: I535b545b10156e4426659c270a4a0649e071df0e
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 02c72b5..845745d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -29,12 +29,37 @@
# Authors: keir@google.com (Keir Mierle)
# alexs.mac@gmail.com (Alex Stewart)
-cmake_minimum_required(VERSION 2.8.0)
-cmake_policy(VERSION 2.8)
+cmake_minimum_required(VERSION 3.5)
+cmake_policy(VERSION 3.5)
-cmake_policy(SET CMP0003 NEW)
-if (POLICY CMP0042)
- cmake_policy(SET CMP0042 NEW)
+# Set the C++ version (must be >= C++11) when compiling Ceres.
+#
+# Reflect a user-specified (via -D) CMAKE_CXX_STANDARD if present, otherwise
+# default to C++11.
+set(DEFAULT_CXX_STANDARD ${CMAKE_CXX_STANDARD})
+if (NOT DEFAULT_CXX_STANDARD)
+ set(DEFAULT_CXX_STANDARD 11)
+endif()
+set(CMAKE_CXX_STANDARD ${DEFAULT_CXX_STANDARD} CACHE STRING
+ "C++ standard (minimum 11)" FORCE)
+# Restrict CMAKE_CXX_STANDARD to the valid versions permitted and ensure that
+# if one was forced via -D that it is in the valid set.
+set(ALLOWED_CXX_STANDARDS 11 14 17)
+set_property(CACHE CMAKE_CXX_STANDARD PROPERTY STRINGS ${ALLOWED_CXX_STANDARDS})
+list(FIND ALLOWED_CXX_STANDARDS ${CMAKE_CXX_STANDARD} POSITION)
+if (POSITION LESS 0)
+ message(FATAL_ERROR "Invalid CMAKE_CXX_STANDARD: ${CMAKE_CXX_STANDARD}. "
+ "Must be one of: ${ALLOWED_CXX_STANDARDS}")
+endif()
+# Specify the standard as a hard requirement, otherwise CMAKE_CXX_STANDARD is
+# interpreted as a suggestion that can decay *back* to lower versions.
+set(CMAKE_CXX_STANDARD_REQUIRED ON CACHE BOOL "")
+mark_as_advanced(CMAKE_CXX_STANDARD_REQUIRED)
+
+# MSVC versions < 2013 did not fully support >= C++11.
+if (MSVC AND MSVC_VERSION VERSION_LESS 1800)
+ message(FATAL_ERROR "Invalid MSVC_VERSION: ${MSVC_VERSION}. Ceres requires at "
+ "least MSVC 2013 Update 4+")
endif()
project(Ceres C CXX)
@@ -103,16 +128,6 @@
option(CUSTOM_BLAS
"Use handcoded BLAS routines (usually faster) instead of Eigen."
ON)
-# Ceres does not use C++11 internally, however it does use shared_ptr
-# (required) and unordered_map (if available), both of which were present in
-# previous iterations of what became C++11. GCC & Clang can have both TR1 &
-# C++11 versions of both shared_ptr & unordered_map and by default on Linux,
-# we will detect the TR1 versions if they exist, as they do NOT require
-# -std=c++11 to be passed when compiling Ceres, and any client code that uses
-# Ceres. This will result in conflicts if the client code uses C++11.
-# Enabling this option forces the use of the C++11 versions (& -std=c++11) if
-# available.
-option(CXX11 "Enable use of C++11 headers if available (requires client code use C++11)." OFF)
# Multithreading using OpenMP
cmake_dependent_option(
OPENMP "Enable threaded solving in Ceres (requires OpenMP)" ON
@@ -120,11 +135,11 @@
# Multithreading using TBB
cmake_dependent_option(
TBB "Enable threaded solving in Ceres with TBB (requires TBB and C++11)" OFF
- "CXX11;NOT OPENMP;NOT CXX11_THREADS" OFF)
+ "NOT OPENMP;NOT CXX11_THREADS" OFF)
# Multithreading using C++11 primitives.
cmake_dependent_option(
CXX11_THREADS "Enable threaded solving in Ceres with C++11 primitives" OFF
- "CXX11;NOT OPENMP;NOT TBB" OFF)
+ "NOT OPENMP;NOT TBB" OFF)
# Enable the use of Eigen as a sparse linear algebra library for
# solving the nonlinear least squares problems.
option(EIGENSPARSE "Enable Eigen as a sparse linear algebra library." ON)
@@ -133,15 +148,9 @@
option(BUILD_TESTING "Enable tests" ON)
option(BUILD_DOCUMENTATION "Build User's Guide (html)" OFF)
option(BUILD_EXAMPLES "Build examples" ON)
-cmake_dependent_option(
- BUILD_BENCHMARKS "Build Ceres benchmarking suite" ON "CXX11" OFF)
+option(BUILD_BENCHMARKS "Build Ceres benchmarking suite" ON)
option(BUILD_SHARED_LIBS "Build Ceres as a shared library." OFF)
if (MSVC)
- # MSVC has no analogue of -std=c++11, as all features available are on by
- # default. Enable CXX11 by default and disable if the required features
- # are not found (<= VS2010).
- update_cache_variable(CXX11 ON)
-
option(MSVC_USE_STATIC_CRT
"MS Visual Studio: Use static C-Run Time Library in place of shared." OFF)
@@ -207,6 +216,7 @@
endif (IOS)
unset(CERES_COMPILE_OPTIONS)
+message("-- Building with C++${CMAKE_CXX_STANDARD}")
# Eigen.
find_package(Eigen REQUIRED)
@@ -427,105 +437,15 @@
# Initialise CMAKE_REQUIRED_FLAGS used by CheckCXXSourceCompiles with the
# contents of CMAKE_CXX_FLAGS such that if the user has passed extra flags
-# they are used when discovering shared_ptr/unordered_map.
+# they are used when checking for compiler features.
set(CMAKE_REQUIRED_FLAGS ${CMAKE_CXX_FLAGS})
-include(CheckCXXCompilerFlag)
-check_cxx_compiler_flag("-std=c++11" COMPILER_HAS_CXX11_FLAG)
-if (CXX11 AND COMPILER_HAS_CXX11_FLAG)
- # Update CMAKE_REQUIRED_FLAGS used by CheckCXXSourceCompiles to include
- # -std=c++11 s/t we will detect the C++11 versions of unordered_map &
- # shared_ptr if they exist.
- set(CMAKE_REQUIRED_FLAGS "${CMAKE_REQUIRED_FLAGS} -std=c++11")
-endif (CXX11 AND COMPILER_HAS_CXX11_FLAG)
-# Set the Ceres compile definitions for the unordered_map configuration.
-include(FindUnorderedMap)
-find_unordered_map()
-if (UNORDERED_MAP_FOUND)
- if (HAVE_UNORDERED_MAP_IN_STD_NAMESPACE)
- list(APPEND CERES_COMPILE_OPTIONS CERES_STD_UNORDERED_MAP)
- endif(HAVE_UNORDERED_MAP_IN_STD_NAMESPACE)
- if (HAVE_UNORDERED_MAP_IN_TR1_NAMESPACE)
- list(APPEND CERES_COMPILE_OPTIONS CERES_STD_UNORDERED_MAP_IN_TR1_NAMESPACE)
- endif(HAVE_UNORDERED_MAP_IN_TR1_NAMESPACE)
- if (HAVE_TR1_UNORDERED_MAP_IN_TR1_NAMESPACE)
- list(APPEND CERES_COMPILE_OPTIONS CERES_TR1_UNORDERED_MAP)
- endif(HAVE_TR1_UNORDERED_MAP_IN_TR1_NAMESPACE)
-else (UNORDERED_MAP_FOUND)
- message("-- Replacing unordered_map/set with map/set (warning: slower!), "
- "try enabling CXX11 option if you expect C++11 to be available.")
- list(APPEND CERES_COMPILE_OPTIONS CERES_NO_UNORDERED_MAP)
-endif()
+# Set the Ceres option for C++11.
+# TODO(alex): Remove when #defines are removed from source & config.h
+list(APPEND CERES_COMPILE_OPTIONS CERES_STD_UNORDERED_MAP)
+list(APPEND CERES_COMPILE_OPTIONS CERES_USE_CXX11)
-# Set the Ceres compile definitions for the shared_ptr configuration.
-include(FindSharedPtr)
-find_shared_ptr()
-if (SHARED_PTR_FOUND)
- if (SHARED_PTR_TR1_MEMORY_HEADER)
- list(APPEND CERES_COMPILE_OPTIONS CERES_TR1_MEMORY_HEADER)
- endif (SHARED_PTR_TR1_MEMORY_HEADER)
- if (SHARED_PTR_TR1_NAMESPACE)
- list(APPEND CERES_COMPILE_OPTIONS CERES_TR1_SHARED_PTR)
- endif (SHARED_PTR_TR1_NAMESPACE)
-else (SHARED_PTR_FOUND)
- message(FATAL_ERROR "Unable to find shared_ptr, try enabling CXX11 option "
- "if you expect C++11 to be available.")
-endif (SHARED_PTR_FOUND)
-
-include(FindCXX11MathFunctions)
-find_cxx11_math_functions()
-if (CXX11 AND NOT CXX11_MATH_FUNCTIONS_FOUND)
- message("-- Failed to find C++11 math functions (cbrt(), exp2() etc). "
- "Disabling C++11.")
- update_cache_variable(CXX11 OFF)
-endif()
-
-# To ensure that CXX11 accurately reflects whether we are using C++11,
-# check if it is required given where the potentially C++11 features Ceres
-# uses were found, and disable it if C++11 is not being used.
-if (CXX11)
- if (NOT HAVE_SHARED_PTR_IN_STD_NAMESPACE AND
- NOT HAVE_UNORDERED_MAP_IN_STD_NAMESPACE)
- message("-- Failed to find C++11 components in C++11 locations & "
- "namespaces, disabling CXX11.")
- update_cache_variable(CXX11 OFF)
- else()
- message(" ==============================================================")
- message(" Compiling Ceres using C++11. This will result in a version ")
- message(" of Ceres that will require the use of C++11 in client code.")
- message(" ==============================================================")
- list(APPEND CERES_COMPILE_OPTIONS CERES_USE_CXX11)
- if (COMPILER_HAS_CXX11_FLAG AND
- CMAKE_VERSION VERSION_LESS "2.8.12")
- # For CMake versions > 2.8.12, the C++11 dependency is rolled into the
- # Ceres target, and all dependent targets, but for older versions of CMake
- # the flag must be specified explicitly both for Ceres and the
- # examples/tests.
- set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
- endif()
- endif()
-endif(CXX11)
-
-if (CXX11 AND (TBB OR CXX11_THREADS))
- # We require <atomic> for both TBB & CXX11_THREADS. Not all compilers
- # (MSVC 2010) have <atomic> even if they have other C++11 features.
- check_include_file_cxx(atomic HAVE_STD_ATOMIC_HEADER)
- if (NOT HAVE_STD_ATOMIC_HEADER)
- message("-- Failed to find <atomic> (C++11) header. Disabling "
- "TBB and C++11 threads.")
- # update_cache_variable() requires that the variable exists in the
- # cache. As TBB & CXX11_THREADS are dependent-options they might not
- # exist at this point so check before disabling.
- if (TBB)
- update_cache_variable(TBB OFF)
- endif()
- if (CXX11_THREADS)
- update_cache_variable(CXX11_THREADS OFF)
- endif()
- endif()
-endif()
-
-if (CXX11 AND TBB)
+if (TBB)
find_package(TBB QUIET)
if (TBB_FOUND)
message("-- Building with TBB (version: ${TBB_VERSION}).")
@@ -537,7 +457,7 @@
endif (TBB_FOUND)
endif()
-if (CXX11 AND CXX11_THREADS)
+if (CXX11_THREADS)
message("-- Building with C++11 threads.")
list(APPEND CERES_COMPILE_OPTIONS CERES_USE_CXX11_THREADS)
endif()
diff --git a/cmake/AddCeresCXX11RequirementsToTarget.cmake b/cmake/AddCeresCXX11RequirementsToTarget.cmake
deleted file mode 100644
index 107eb58..0000000
--- a/cmake/AddCeresCXX11RequirementsToTarget.cmake
+++ /dev/null
@@ -1,84 +0,0 @@
-# Ceres Solver - A fast non-linear least squares minimizer
-# Copyright 2017 Google Inc. All rights reserved.
-# http://ceres-solver.org/
-#
-# 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)
-
-# Adds Ceres' C++11 requirements to a target such that they are exported when
-# the target is exported (if the version of CMake supports it).
-#
-# add_ceres_cxx11_requirements_to_target( [target1 [target2 [...]]] )
-function(add_ceres_cxx11_requirements_to_target)
- include(CheckCXXCompilerFlag)
- check_cxx_compiler_flag("-std=c++11" COMPILER_HAS_CXX11_FLAG)
-
- foreach(TARGET ${ARGN})
- if (NOT TARGET ${TARGET})
- message(FATAL_ERROR "Specified target to append Ceres C++11 requirements "
- "to: ${TARGET} is not a declared CMake target.")
- endif()
-
- if (COMPILER_HAS_CXX11_FLAG)
- # IMPORTANT: It is not sufficient to specify the
- # CXX_STANDARD/CXX_STANDARD_REQUIRED target properties
- # as these target properties are NOT exported.
- if (CMAKE_VERSION VERSION_LESS "2.8.12")
- # CMake version < 2.8.12 does not support target_compile_options(), warn
- # user that they will have to add compile flags to their own projects
- # manually.
- message(WARNING "-- Warning: Detected CMake version: ${CMAKE_VERSION} "
- "< 2.8.12, which is the minimum required for compile options to be "
- "included in an exported CMake target and the detected. compiler "
- "requires -std=c++11. The client is responsible for adding "
- "-std=c++11 when linking against: ${TARGET}.")
- elseif (COMMAND target_compile_features)
- # CMake >= 3.1, use new target_compile_features() to specify Ceres'
- # C++11 requirements as used in the public API. This assumes that
- # C++11 STL features are available if the specified features are
- # available. We do not use the cxx_std_11 feature to specify this as
- # this did not come in until CMake 3.8.
- #
- # The reason to prefer using target_compile_features() if it exists is
- # that this handles 'upgrading' of the C++ standard required more
- # gracefully, e.g. if a client of Ceres requires C++14, but Ceres was
- # compiled against C++11 then target_compile_options() may not work as
- # expected.
- target_compile_features(
- ${TARGET} PUBLIC cxx_alignas cxx_alignof cxx_constexpr)
- else()
- # CMake version >= 2.8.12 && < 3.1 supports target_compile_options()
- # but not target_compile_features(). For these intermediary versions,
- # we use target_compile_options() to manually specify the C++11 flag and
- # export it for client targets that depend on the target iff they are
- # NOT compiling for C. We check for not C, rather than C++ as
- # LINKER_LANGUAGE is often NOTFOUND and then uses the default (C++).
- target_compile_options(${TARGET} PUBLIC
- $<$<NOT:$<STREQUAL:$<TARGET_PROPERTY:LINKER_LANGUAGE>,C>>:-std=c++11>)
- endif()
- endif()
- endforeach()
-endfunction()
diff --git a/cmake/CeresConfig.cmake.in b/cmake/CeresConfig.cmake.in
index d0380de..9fc6971 100644
--- a/cmake/CeresConfig.cmake.in
+++ b/cmake/CeresConfig.cmake.in
@@ -324,26 +324,6 @@
# Set the expected XX_LIBRARIES variable for FindPackage().
set(CERES_LIBRARIES ceres)
-# Make user aware of any compile flags that will be added to their targets
-# which use Ceres (i.e. flags exported in the Ceres target). Only CMake
-# versions >= 2.8.12 support target_compile_options/features().
-if (CERES_COMPILED_COMPONENTS MATCHES ".*C\\+\\+11.*") # Search for C++11.
- set(CERES_WAS_COMPILED_WITH_CXX11 TRUE)
-endif()
-if (TARGET ${CERES_LIBRARIES} AND
- CERES_WAS_COMPILED_WITH_CXX11 AND
- NOT CMAKE_VERSION VERSION_LESS "2.8.12")
- if (CERES_WAS_INSTALLED)
- set(CERES_LOCATION "${CURRENT_ROOT_INSTALL_DIR}")
- else()
- set(CERES_LOCATION "${CERES_EXPORTED_BUILD_DIR}")
- endif()
- message(STATUS "Ceres version ${CERES_VERSION} detected here: "
- "${CERES_LOCATION} was built with C++11. Ceres "
- "target will add C++11 flags to compile options for "
- "targets using it.")
-endif()
-
# Set legacy include directories variable for backwards compatibility.
set(CERES_INCLUDES ${CERES_INCLUDE_DIRS})
diff --git a/cmake/FindCXX11MathFunctions.cmake b/cmake/FindCXX11MathFunctions.cmake
deleted file mode 100644
index 3beb6fc..0000000
--- a/cmake/FindCXX11MathFunctions.cmake
+++ /dev/null
@@ -1,58 +0,0 @@
-# Ceres Solver - A fast non-linear least squares minimizer
-# Copyright 2015 Google Inc. All rights reserved.
-# http://ceres-solver.org/
-#
-# 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)
-#
-
-# FindCXX11MathFunctions.cmake - Find C++11 math functions.
-#
-# This module defines the following variables:
-#
-# CXX11_MATH_FUNCTIONS_FOUND: TRUE if C++11 math functions are found.
-
-macro(find_cxx11_math_functions)
- # To support CXX11 option, clear the results of all check_xxx() functions
- # s/t we always perform the checks each time, otherwise CMake fails to
- # detect that the tests should be performed again after CXX11 is toggled.
- unset(CXX11_MATH_FUNCTIONS_FOUND CACHE)
-
- # Verify that all C++11-specific math functions used by jet.h exist.
- check_cxx_source_compiles("#include <cmath>
- #include <cstddef>
- static constexpr size_t kMaxAlignBytes = alignof(std::max_align_t);
- int main() {
- std::cbrt(1.0);
- std::exp2(1.0);
- std::log2(1.0);
- std::hypot(1.0, 1.0);
- std::fmax(1.0, 1.0);
- std::fmin(1.0, 1.0);
- return 0;
- }"
- CXX11_MATH_FUNCTIONS_FOUND)
-endmacro()
diff --git a/cmake/FindSharedPtr.cmake b/cmake/FindSharedPtr.cmake
deleted file mode 100644
index e37c969..0000000
--- a/cmake/FindSharedPtr.cmake
+++ /dev/null
@@ -1,108 +0,0 @@
-# Ceres Solver - A fast non-linear least squares minimizer
-# Copyright 2015 Google Inc. All rights reserved.
-# http://ceres-solver.org/
-#
-# 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: sergey.vfx@gmail.com (Sergey Sharybin)
-#
-
-# FindSharedPtr.cmake - Find shared pointer header and namespace.
-#
-# This module defines the following variables:
-#
-# SHARED_PTR_FOUND: TRUE if shared_ptr found.
-# SHARED_PTR_TR1_MEMORY_HEADER: True if <tr1/memory> header is to be used
-# for the shared_ptr object, otherwise use <memory>.
-# SHARED_PTR_TR1_NAMESPACE: TRUE if shared_ptr is defined in std::tr1 namespace,
-# otherwise it's assumed to be defined in std namespace.
-
-macro(FIND_SHARED_PTR)
- # To support CXX11 option, clear the results of all check_xxx() functions
- # s/t we always perform the checks each time, otherwise CMake fails to
- # detect that the tests should be performed again after CXX11 is toggled.
- unset(HAVE_STD_MEMORY_HEADER CACHE)
- unset(HAVE_SHARED_PTR_IN_STD_NAMESPACE CACHE)
- unset(HAVE_SHARED_PTR_IN_TR1_NAMESPACE CACHE)
- unset(HAVE_TR1_MEMORY_HEADER CACHE)
- unset(HAVE_SHARED_PTR_IN_TR1_NAMESPACE_FROM_TR1_MEMORY_HEADER CACHE)
-
- set(SHARED_PTR_FOUND FALSE)
- check_include_file_cxx(memory HAVE_STD_MEMORY_HEADER)
- if (HAVE_STD_MEMORY_HEADER)
- # Finding the memory header doesn't mean that shared_ptr is in std
- # namespace.
- #
- # In particular, MSVC 2008 has shared_ptr declared in std::tr1. In
- # order to support this, we do an extra check to see which namespace
- # should be used.
- include(CheckCXXSourceCompiles)
- check_cxx_source_compiles("#include <memory>
- int main() {
- std::shared_ptr<int> int_ptr;
- return 0;
- }"
- HAVE_SHARED_PTR_IN_STD_NAMESPACE)
-
- if (HAVE_SHARED_PTR_IN_STD_NAMESPACE)
- message("-- Found shared_ptr in std namespace using <memory> header.")
- set(SHARED_PTR_FOUND TRUE)
- else (HAVE_SHARED_PTR_IN_STD_NAMESPACE)
- check_cxx_source_compiles("#include <memory>
- int main() {
- std::tr1::shared_ptr<int> int_ptr;
- return 0;
- }"
- HAVE_SHARED_PTR_IN_TR1_NAMESPACE)
- if (HAVE_SHARED_PTR_IN_TR1_NAMESPACE)
- message("-- Found shared_ptr in std::tr1 namespace using <memory> header.")
- set(SHARED_PTR_TR1_NAMESPACE TRUE)
- set(SHARED_PTR_FOUND TRUE)
- endif (HAVE_SHARED_PTR_IN_TR1_NAMESPACE)
- endif (HAVE_SHARED_PTR_IN_STD_NAMESPACE)
- endif (HAVE_STD_MEMORY_HEADER)
-
- if (NOT SHARED_PTR_FOUND)
- # Further, gcc defines shared_ptr in std::tr1 namespace and
- # <tr1/memory> is to be included for this. And what makes things
- # even more tricky is that gcc does have <memory> header, so
- # all the checks above wouldn't find shared_ptr.
- check_include_file_cxx("tr1/memory" HAVE_TR1_MEMORY_HEADER)
- if (HAVE_TR1_MEMORY_HEADER)
- check_cxx_source_compiles("#include <tr1/memory>
- int main() {
- std::tr1::shared_ptr<int> int_ptr;
- return 0;
- }"
- HAVE_SHARED_PTR_IN_TR1_NAMESPACE_FROM_TR1_MEMORY_HEADER)
- if (HAVE_SHARED_PTR_IN_TR1_NAMESPACE_FROM_TR1_MEMORY_HEADER)
- message("-- Found shared_ptr in std::tr1 namespace using <tr1/memory> header.")
- set(SHARED_PTR_TR1_MEMORY_HEADER TRUE)
- set(SHARED_PTR_TR1_NAMESPACE TRUE)
- set(SHARED_PTR_FOUND TRUE)
- endif (HAVE_SHARED_PTR_IN_TR1_NAMESPACE_FROM_TR1_MEMORY_HEADER)
- endif (HAVE_TR1_MEMORY_HEADER)
- endif (NOT SHARED_PTR_FOUND)
-endmacro(FIND_SHARED_PTR)
diff --git a/cmake/FindUnorderedMap.cmake b/cmake/FindUnorderedMap.cmake
deleted file mode 100644
index 6ba07fd..0000000
--- a/cmake/FindUnorderedMap.cmake
+++ /dev/null
@@ -1,94 +0,0 @@
-# Ceres Solver - A fast non-linear least squares minimizer
-# Copyright 2015 Google Inc. All rights reserved.
-# http://ceres-solver.org/
-#
-# 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)
-#
-
-# FindUnorderedMap.cmake - Find unordered_map header and namespace.
-#
-# This module defines the following variables:
-#
-# UNORDERED_MAP_FOUND: TRUE if unordered_map is found.
-# HAVE_UNORDERED_MAP_IN_STD_NAMESPACE: Use <unordered_map> & std.
-# HAVE_UNORDERED_MAP_IN_TR1_NAMESPACE: Use <unordered_map> & std::tr1.
-# HAVE_TR1_UNORDERED_MAP_IN_TR1_NAMESPACE: <tr1/unordered_map> & std::tr1.
-macro(FIND_UNORDERED_MAP)
- # To support CXX11 option, clear the results of all check_xxx() functions
- # s/t we always perform the checks each time, otherwise CMake fails to
- # detect that the tests should be performed again after CXX11 is toggled.
- unset(HAVE_STD_UNORDERED_MAP_HEADER CACHE)
- unset(HAVE_UNORDERED_MAP_IN_STD_NAMESPACE CACHE)
- unset(HAVE_UNORDERED_MAP_IN_TR1_NAMESPACE CACHE)
- unset(HAVE_TR1_UNORDERED_MAP_IN_TR1_NAMESPACE CACHE)
-
- set(UNORDERED_MAP_FOUND FALSE)
- include(CheckIncludeFileCXX)
- check_include_file_cxx(unordered_map HAVE_STD_UNORDERED_MAP_HEADER)
- if (HAVE_STD_UNORDERED_MAP_HEADER)
- # Finding the unordered_map header doesn't mean that unordered_map
- # is in std namespace.
- #
- # In particular, MSVC 2008 has unordered_map declared in std::tr1.
- # In order to support this, we do an extra check to see which
- # namespace should be used.
- include(CheckCXXSourceCompiles)
- check_cxx_source_compiles("#include <unordered_map>
- int main() {
- std::unordered_map<int, int> map;
- return 0;
- }"
- HAVE_UNORDERED_MAP_IN_STD_NAMESPACE)
- if (HAVE_UNORDERED_MAP_IN_STD_NAMESPACE)
- set(UNORDERED_MAP_FOUND TRUE)
- message("-- Found unordered_map/set in std namespace.")
- else (HAVE_UNORDERED_MAP_IN_STD_NAMESPACE)
- check_cxx_source_compiles("#include <unordered_map>
- int main() {
- std::tr1::unordered_map<int, int> map;
- return 0;
- }"
- HAVE_UNORDERED_MAP_IN_TR1_NAMESPACE)
- if (HAVE_UNORDERED_MAP_IN_TR1_NAMESPACE)
- set(UNORDERED_MAP_FOUND TRUE)
- message("-- Found unordered_map/set in std::tr1 namespace.")
- else (HAVE_UNORDERED_MAP_IN_TR1_NAMESPACE)
- message("-- Found <unordered_map> but cannot find either "
- "std::unordered_map or std::tr1::unordered_map.")
- endif (HAVE_UNORDERED_MAP_IN_TR1_NAMESPACE)
- endif (HAVE_UNORDERED_MAP_IN_STD_NAMESPACE)
- else (HAVE_STD_UNORDERED_MAP_HEADER)
- check_include_file_cxx("tr1/unordered_map"
- HAVE_TR1_UNORDERED_MAP_IN_TR1_NAMESPACE)
- if (HAVE_TR1_UNORDERED_MAP_IN_TR1_NAMESPACE)
- set(UNORDERED_MAP_FOUND TRUE)
- message("-- Found tr1/unordered_map/set in std::tr1 namespace.")
- else (HAVE_TR1_UNORDERED_MAP_IN_TR1_NAMESPACE)
- message("-- Unable to find <unordered_map> or <tr1/unordered_map>.")
- endif (HAVE_TR1_UNORDERED_MAP_IN_TR1_NAMESPACE)
- endif (HAVE_STD_UNORDERED_MAP_HEADER)
-endmacro(FIND_UNORDERED_MAP)
diff --git a/docs/source/installation.rst b/docs/source/installation.rst
index 9298ff8..f9a7701 100644
--- a/docs/source/installation.rst
+++ b/docs/source/installation.rst
@@ -21,6 +21,12 @@
Dependencies
============
+ .. NOTE ::
+
+ All versions of Ceres > 1.14 require a **fully C++11-compliant**
+ compiler. In versions <= 1.14, C++11 was an optional requirement
+ controlled by the ``CXX11 [Default: OFF]`` build option.
+
Ceres relies on a number of open source libraries, some of which are
optional. For details on customizing the build process, see
:ref:`section-customizing` .
@@ -34,7 +40,7 @@
library. Please see the documentation for ``EIGENSPARSE`` for
more details.
-- `CMake <http://www.cmake.org>`_ 2.8.0 or later.
+- `CMake <http://www.cmake.org>`_ 3.5 or later.
**Required on all platforms except for Android.**
- `glog <https://github.com/google/glog>`_ 0.3.1 or
@@ -373,7 +379,7 @@
<https://github.com/tbennun/ceres-windows>`_ for Ceres Solver by Tal
Ben-Nun.
-On Windows, we support building with Visual Studio 2010 or newer. Note
+On Windows, we support building with Visual Studio 2013 Release 4 or newer. Note
that the Windows port is less featureful and less tested than the
Linux or Mac OS X versions due to the lack of an officially supported
way of building SuiteSparse and CXSparse. There are however a number
@@ -635,8 +641,8 @@
to disable multi-threading.
#. ``TBB [Default: OFF]``: An alternative to ``OpenMP`` threading library that
- requires C++11. This option is mutually exclusive to ``OPENMP`` and
- ``CXX11_THREADS``.
+ uses Intel's Thread Building Blocks. This option is mutually
+ exclusive to ``OPENMP`` and ``CXX11_THREADS``.
.. NOTE::
@@ -646,50 +652,7 @@
#. ``CXX11_THREADS [Default: OFF]``: An alternative to ``OpenMP``
threading library that uses a C++11 thread-pool. This option
- requires C++11 and is mutually exclusive to ``OPENMP`` and ``TBB``.
-
-#. ``CXX11 [Default: OFF]``
-
- Although Ceres does not currently require C++11, it does use
- ``shared_ptr`` (required) and ``unordered_map`` (if available);
- both of which existed in the previous iterations of what became the
- C++11 standard: TR1 & C++0x. As such, Ceres can compile on
- pre-C++11 compilers, using the TR1/C++0x versions of ``shared_ptr``
- & ``unordered_map``.
-
- Note that when using GCC & Clang, compiling against the TR1/C++0x
- versions: ``CXX11=OFF`` (the default) *does not* require
- ``-std=c++11`` when compiling Ceres, *nor* does it require that any
- client code using Ceres use ``-std=c++11``. However, this will
- cause compile errors if any client code that uses Ceres also uses
- C++11 (mismatched versions of ``shared_ptr`` & ``unordered_map``).
-
- Enabling this option: ``CXX11=ON`` forces Ceres to use the C++11
- versions of ``shared_ptr`` & ``unordered_map`` if they are
- available, and thus imposes the requirement that all client code
- using Ceres also compile with ``-std=c++11``. This requirement is
- handled automatically through CMake target properties on the
- exported Ceres target for CMake >= 2.8.12 (when it was introduced).
- Thus, any client code which uses CMake will automatically be
- compiled with ``-std=c++11``. **On CMake versions < 2.8.12, you
- are responsible for ensuring that any code which uses Ceres is
- compiled with** ``-std=c++11``.
-
- On OS X 10.9+, Clang will use the C++11 versions of ``shared_ptr``
- & ``unordered_map`` without ``-std=c++11`` and so this option does
- not change the versions detected, although enabling it *will*
- require that client code compile with ``-std=c++11``.
-
- The following table summarises the effects of the ``CXX11`` option:
-
- =================== ========== ================ ======================================
- OS CXX11 Detected Version Ceres & client code require ``-std=c++11``
- =================== ========== ================ ======================================
- Linux (GCC & Clang) OFF tr1 **No**
- Linux (GCC & Clang) ON std **Yes**
- OS X 10.9+ OFF std **No**
- OS X 10.9+ ON std **Yes**
- =================== ========== ================ ======================================
+ is mutually exclusive to ``OPENMP`` and ``TBB``.
#. ``BUILD_SHARED_LIBS [Default: OFF]``: By default Ceres is built as
a static library, turn this ``ON`` to instead build Ceres as a
@@ -875,7 +838,7 @@
#. ``Multithreading``: Ceres built with *a* multithreading library.
This is equivalent to ``OpenMP`` **OR** ``TBB``.
-#. ``C++11``: Ceres built with C++11 (``CXX11=ON``).
+#. ``C++11``: Ceres built with C++11.
To specify one/multiple Ceres components use the ``COMPONENTS`` argument to
`find_package()
diff --git a/internal/ceres/CMakeLists.txt b/internal/ceres/CMakeLists.txt
index cc43fec..a70f973 100644
--- a/internal/ceres/CMakeLists.txt
+++ b/internal/ceres/CMakeLists.txt
@@ -215,26 +215,26 @@
VERSION ${CERES_VERSION}
SOVERSION ${CERES_VERSION_MAJOR})
+# The ability to specify a minimum language version via cxx_std_[11,14,17]
+# requires CMake >= 3.8. Prior to that we have to specify the compiler features
+# we require.
+if (CMAKE_VERSION VERSION_LESS 3.8)
+ set(REQUIRED_PUBLIC_CXX_FEATURES cxx_alignas cxx_alignof cxx_constexpr)
+else()
+ # Forward whatever C++ version Ceres was compiled with as our requirement
+ # for downstream clients.
+ set(REQUIRED_PUBLIC_CXX_FEATURES cxx_std_${CMAKE_CXX_STANDARD})
+endif()
+target_compile_features(ceres PUBLIC ${REQUIRED_PUBLIC_CXX_FEATURES})
+
include(AppendTargetProperty)
# Always build position-independent code (PIC), even when building Ceres as a
# static library so that shared libraries can link against it, not just
# executables (PIC does not apply on Windows).
if (NOT WIN32 AND NOT BUILD_SHARED_LIBS)
- # Use the explicit POSITION_INDEPENDENT_CODE target property on CMake versions
- # that support it (>= 2.8.9). Otherwise, manually add the -fPIC flag as an
- # additional compile definitions for the target.
- if (CMAKE_VERSION VERSION_LESS "2.8.9")
- append_target_property(ceres COMPILE_FLAGS "-fPIC")
- else()
- # Use set_target_properties() not append_target_property() here as
- # POSITION_INDEPENDENT_CODE is a binary ON/OFF switch.
- set_target_properties(ceres PROPERTIES POSITION_INDEPENDENT_CODE ON)
- endif()
-endif()
-
-if (CXX11)
- include(AddCeresCXX11RequirementsToTarget)
- add_ceres_cxx11_requirements_to_target(ceres)
+ # Use set_target_properties() not append_target_property() here as
+ # POSITION_INDEPENDENT_CODE is a binary ON/OFF switch.
+ set_target_properties(ceres PROPERTIES POSITION_INDEPENDENT_CODE ON)
endif()
if (BUILD_SHARED_LIBS)
