Use Eigen3::Eigen target Since version 3.3 Eigen provides Eigen3Config.cmake with the imported target Eigen3::Eigen. [1] Use this imported target as descibed in Eigen-Wiki [2] In the CeresConfig file improve relocatability by removing absolute paths to the compiled dependencies. Instead find the used Eigen3::Eigen. Furthermore use the find_dependency() [4] CMake function instead of the find_package() call in CeresConfig. This commit relies on all targets to be explicitly linked private or public as done in the the change [3] [1] https://bitbucket.org/eigen/eigen/pull-requests/257/cmake-imported-target-take-2/diff [2] https://eigen.tuxfamily.org/dox/TopicCMakeGuide.html [3] https://ceres-solver-review.googlesource.com/c/ceres-solver/+/16220 [4] https://cmake.org/cmake/help/latest/module/CMakeFindDependencyMacro.html Change-Id: I44f44a089083f7169bcf430b59775242e4eb72d1
diff --git a/CMakeLists.txt b/CMakeLists.txt index 48d01de..c73b5f2 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt
@@ -62,6 +62,26 @@ "${CMAKE_CXX_COMPILER_VERSION}. Ceres requires at least MSVC 2013 Update 4+") endif() +# On macOS, add the Homebrew prefix (with appropriate suffixes) to the +# respective HINTS directories (after any user-specified locations). This +# handles Homebrew installations into non-standard locations (not /usr/local). +# We do not use CMAKE_PREFIX_PATH for this as given the search ordering of +# find_xxx(), doing so would override any user-specified HINTS locations with +# the Homebrew version if it exists. +if (CMAKE_SYSTEM_NAME MATCHES "Darwin") + find_program(HOMEBREW_EXECUTABLE brew) + mark_as_advanced(FORCE HOMEBREW_EXECUTABLE) + if (HOMEBREW_EXECUTABLE) + # Detected a Homebrew install, query for its install prefix. + execute_process(COMMAND ${HOMEBREW_EXECUTABLE} --prefix + OUTPUT_VARIABLE HOMEBREW_INSTALL_PREFIX + OUTPUT_STRIP_TRAILING_WHITESPACE) + message(STATUS "Detected Homebrew with install prefix: " + "${HOMEBREW_INSTALL_PREFIX}, adding to CMake search paths.") + list(APPEND HOMEBREW_INCLUDE_DIR_HINTS "${HOMEBREW_INSTALL_PREFIX}/include") + endif() +endif() + project(Ceres C CXX) # NOTE: The 'generic' CMake variables CMAKE_[SOURCE/BINARY]_DIR should not be @@ -218,40 +238,29 @@ message("-- Building with C++${CMAKE_CXX_STANDARD}") # Eigen. -find_package(Eigen REQUIRED) -if (EIGEN_FOUND) - message("-- Found Eigen version ${EIGEN_VERSION}: ${EIGEN_INCLUDE_DIRS}") - if (EIGEN_VERSION VERSION_LESS 3.1.0) - message(FATAL_ERROR "-- Ceres requires Eigen version >= 3.1.0 in order " - "that Eigen/SparseCore be available, detected version of Eigen is: " - "${EIGEN_VERSION}") - endif (EIGEN_VERSION VERSION_LESS 3.1.0) - +# Eigen delivers Eigen3Config.cmake since v3.3.3 +find_package(Eigen3 3.3 CONFIG REQUIRED + HINTS ${HOMEBREW_INCLUDE_DIR_HINTS}) +if (EIGEN3_FOUND) + message("-- Found Eigen version ${EIGEN3_VERSION_STRING}: ${EIGEN3_INCLUDE_DIRS}") if (CMAKE_SYSTEM_PROCESSOR MATCHES "^(aarch64.*|AARCH64.*)" AND - EIGEN_VERSION VERSION_LESS 3.3.4) + EIGEN3_VERSION_STRING VERSION_LESS 3.3.4) # As per issue #289: https://github.com/ceres-solver/ceres-solver/issues/289 # the bundle_adjustment_test will fail for Eigen < 3.3.4 on aarch64. message(FATAL_ERROR "-- Ceres requires Eigen version >= 3.3.4 on aarch64. " - "Detected version of Eigen is: ${EIGEN_VERSION}.") + "Detected version of Eigen is: ${EIGEN3_VERSION_STRING}.") endif() if (EIGENSPARSE) message("-- Enabling use of Eigen as a sparse linear algebra library.") list(APPEND CERES_COMPILE_OPTIONS CERES_USE_EIGEN_SPARSE) - if (EIGEN_VERSION VERSION_LESS 3.2.2) - message(" WARNING:") - message("") - message(" Your version of Eigen (${EIGEN_VERSION}) is older than ") - message(" version 3.2.2. The performance of SPARSE_NORMAL_CHOLESKY ") - message(" and SPARSE_SCHUR linear solvers will suffer.") - endif (EIGEN_VERSION VERSION_LESS 3.2.2) else (EIGENSPARSE) message("-- Disabling use of Eigen as a sparse linear algebra library.") message(" This does not affect the covariance estimation algorithm ") message(" which can still use the EIGEN_SPARSE_QR algorithm.") add_definitions(-DEIGEN_MPL2_ONLY) endif (EIGENSPARSE) -endif (EIGEN_FOUND) +endif (EIGEN3_FOUND) if (LAPACK) find_package(LAPACK QUIET) @@ -751,7 +760,6 @@ RENAME CeresConfig.cmake DESTINATION ${RELATIVE_CMAKECONFIG_INSTALL_DIR}) install(FILES "${Ceres_BINARY_DIR}/CeresConfigVersion.cmake" - "${Ceres_SOURCE_DIR}/cmake/FindEigen.cmake" "${Ceres_SOURCE_DIR}/cmake/FindGlog.cmake" "${Ceres_SOURCE_DIR}/cmake/FindGflags.cmake" DESTINATION ${RELATIVE_CMAKECONFIG_INSTALL_DIR})
diff --git a/cmake/CeresConfig.cmake.in b/cmake/CeresConfig.cmake.in index 104e32d..37f8d52 100644 --- a/cmake/CeresConfig.cmake.in +++ b/cmake/CeresConfig.cmake.in
@@ -60,6 +60,8 @@ # CMake target already includes the definition of its public # include directories. +include(CMakeFindDependencyMacro) + # Called if we failed to find Ceres or any of its required dependencies, # unsets all public (designed to be used externally) variables and reports # error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument. @@ -166,38 +168,30 @@ # Eigen. # Flag set during configuration and build of Ceres. -set(CERES_EIGEN_VERSION @EIGEN_VERSION@) -set(EIGEN_WAS_BUILT_WITH_CMAKE @FOUND_INSTALLED_EIGEN_CMAKE_CONFIGURATION@) -# Append the locations of Eigen when Ceres was built to the search path hints. -if (EIGEN_WAS_BUILT_WITH_CMAKE) - set(Eigen3_DIR "@Eigen3_DIR@") - set(EIGEN_PREFER_EXPORTED_EIGEN_CMAKE_CONFIGURATION TRUE) -else() - list(APPEND EIGEN_INCLUDE_DIR_HINTS "@EIGEN_INCLUDE_DIR@") -endif() +set(CERES_EIGEN_VERSION @EIGEN3_VERSION_STRING@) # Search quietly to control the timing of the error message if not found. The # search should be for an exact match, but for usability reasons do a soft # match and reject with an explanation below. -find_package(Eigen ${CERES_EIGEN_VERSION} QUIET) -if (EIGEN_FOUND) - if (NOT EIGEN_VERSION VERSION_EQUAL CERES_EIGEN_VERSION) +find_dependency(Eigen3 ${CERES_EIGEN_VERSION} CONFIG QUIET) +if (EIGEN3_FOUND) + if (NOT EIGEN3_VERSION_STRING VERSION_EQUAL CERES_EIGEN_VERSION) # CMake's VERSION check in FIND_PACKAGE() will accept any version >= the # specified version. However, only version = is supported. Improve # usability by explaining why we don't accept non-exact version matching. ceres_report_not_found("Found Eigen dependency, but the version of Eigen " - "found (${EIGEN_VERSION}) does not exactly match the version of Eigen " + "found (${EIGEN3_VERSION_STRING}) does not exactly match the version of Eigen " "Ceres was compiled with (${CERES_EIGEN_VERSION}). This can cause subtle " "bugs by triggering violations of the One Definition Rule. See the " "Wikipedia article http://en.wikipedia.org/wiki/One_Definition_Rule " "for more details") endif () message(STATUS "Found required Ceres dependency: " - "Eigen version ${CERES_EIGEN_VERSION} in ${EIGEN_INCLUDE_DIRS}") -else (EIGEN_FOUND) + "Eigen version ${CERES_EIGEN_VERSION} in ${EIGEN3_INCLUDE_DIRS}") +else (EIGEN3_FOUND) ceres_report_not_found("Missing required Ceres " "dependency: Eigen version ${CERES_EIGEN_VERSION}, please set " - "EIGEN_INCLUDE_DIR.") -endif (EIGEN_FOUND) + "Eigen3_DIR.") +endif (EIGEN3_FOUND) # Glog. # Flag set during configuration and build of Ceres.
diff --git a/cmake/FindEigen.cmake b/cmake/FindEigen.cmake deleted file mode 100644 index d1fa6d7..0000000 --- a/cmake/FindEigen.cmake +++ /dev/null
@@ -1,284 +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) -# - -# FindEigen.cmake - Find Eigen library, version >= 3. -# -# This module defines the following variables: -# -# EIGEN_FOUND: TRUE iff Eigen is found. -# EIGEN_INCLUDE_DIRS: Include directories for Eigen. -# EIGEN_VERSION: Extracted from Eigen/src/Core/util/Macros.h -# EIGEN_WORLD_VERSION: Equal to 3 if EIGEN_VERSION = 3.2.0 -# EIGEN_MAJOR_VERSION: Equal to 2 if EIGEN_VERSION = 3.2.0 -# EIGEN_MINOR_VERSION: Equal to 0 if EIGEN_VERSION = 3.2.0 -# FOUND_INSTALLED_EIGEN_CMAKE_CONFIGURATION: True iff the version of Eigen -# found was built & installed / -# exported as a CMake package. -# -# The following variables control the behaviour of this module: -# -# EIGEN_PREFER_EXPORTED_EIGEN_CMAKE_CONFIGURATION: TRUE/FALSE, iff TRUE then -# then prefer using an exported CMake configuration -# generated by Eigen over searching for the -# Eigen components manually. Otherwise (FALSE) -# ignore any exported Eigen CMake configurations and -# always perform a manual search for the components. -# Default: TRUE iff user does not define this variable -# before we are called, and does NOT specify -# EIGEN_INCLUDE_DIR_HINTS, otherwise FALSE. -# EIGEN_INCLUDE_DIR_HINTS: List of additional directories in which to -# search for eigen includes, e.g: /timbuktu/eigen3. -# -# The following variables are also defined by this module, but in line with -# CMake recommended FindPackage() module style should NOT be referenced directly -# by callers (use the plural variables detailed above instead). These variables -# do however affect the behaviour of the module via FIND_[PATH/LIBRARY]() which -# are NOT re-called (i.e. search for library is not repeated) if these variables -# are set with valid values _in the CMake cache_. This means that if these -# variables are set directly in the cache, either by the user in the CMake GUI, -# or by the user passing -DVAR=VALUE directives to CMake when called (which -# explicitly defines a cache variable), then they will be used verbatim, -# bypassing the HINTS variables and other hard-coded search locations. -# -# EIGEN_INCLUDE_DIR: Include directory for CXSparse, not including the -# include directory of any dependencies. - -# Called if we failed to find Eigen or any of it's required dependencies, -# unsets all public (designed to be used externally) variables and reports -# error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument. -macro(EIGEN_REPORT_NOT_FOUND REASON_MSG) - unset(EIGEN_FOUND) - unset(EIGEN_INCLUDE_DIRS) - unset(FOUND_INSTALLED_EIGEN_CMAKE_CONFIGURATION) - # Make results of search visible in the CMake GUI if Eigen has not - # been found so that user does not have to toggle to advanced view. - mark_as_advanced(CLEAR EIGEN_INCLUDE_DIR) - # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by FindPackage() - # use the camelcase library name, not uppercase. - if (Eigen_FIND_QUIETLY) - message(STATUS "Failed to find Eigen - " ${REASON_MSG} ${ARGN}) - elseif (Eigen_FIND_REQUIRED) - message(FATAL_ERROR "Failed to find Eigen - " ${REASON_MSG} ${ARGN}) - else() - # Neither QUIETLY nor REQUIRED, use no priority which emits a message - # but continues configuration and allows generation. - message("-- Failed to find Eigen - " ${REASON_MSG} ${ARGN}) - endif () - return() -endmacro(EIGEN_REPORT_NOT_FOUND) - -# Protect against any alternative find_package scripts for this library having -# been called previously (in a client project) which set EIGEN_FOUND, but not -# the other variables we require / set here which could cause the search logic -# here to fail. -unset(EIGEN_FOUND) - -# ----------------------------------------------------------------- -# By default, if the user has expressed no preference for using an exported -# Eigen CMake configuration over performing a search for the installed -# components, and has not specified any hints for the search locations, then -# prefer an exported configuration if available. -if (NOT DEFINED EIGEN_PREFER_EXPORTED_EIGEN_CMAKE_CONFIGURATION - AND NOT EIGEN_INCLUDE_DIR_HINTS) - message(STATUS "No preference for use of exported Eigen CMake configuration " - "set, and no hints for include directory provided. " - "Defaulting to preferring an installed/exported Eigen CMake configuration " - "if available.") - set(EIGEN_PREFER_EXPORTED_EIGEN_CMAKE_CONFIGURATION TRUE) -endif() - -# On macOS, add the Homebrew prefix (with appropriate suffixes) to the -# respective HINTS directories (after any user-specified locations). This -# handles Homebrew installations into non-standard locations (not /usr/local). -# We do not use CMAKE_PREFIX_PATH for this as given the search ordering of -# find_xxx(), doing so would override any user-specified HINTS locations with -# the Homebrew version if it exists. -if (CMAKE_SYSTEM_NAME MATCHES "Darwin") - find_program(HOMEBREW_EXECUTABLE brew) - mark_as_advanced(FORCE HOMEBREW_EXECUTABLE) - if (HOMEBREW_EXECUTABLE) - # Detected a Homebrew install, query for its install prefix. - execute_process(COMMAND ${HOMEBREW_EXECUTABLE} --prefix - OUTPUT_VARIABLE HOMEBREW_INSTALL_PREFIX - OUTPUT_STRIP_TRAILING_WHITESPACE) - message(STATUS "Detected Homebrew with install prefix: " - "${HOMEBREW_INSTALL_PREFIX}, adding to CMake search paths.") - list(APPEND EIGEN_INCLUDE_DIR_HINTS "${HOMEBREW_INSTALL_PREFIX}/include") - endif() -endif() - -if (EIGEN_PREFER_EXPORTED_EIGEN_CMAKE_CONFIGURATION) - # Try to find an exported CMake configuration for Eigen. - # - # We search twice, s/t we can invert the ordering of precedence used by - # find_package() for exported package build directories, and installed - # packages (found via CMAKE_SYSTEM_PREFIX_PATH), listed as items 6) and 7) - # respectively in [1]. - # - # By default, exported build directories are (in theory) detected first, and - # this is usually the case on Windows. However, on OS X & Linux, the install - # path (/usr/local) is typically present in the PATH environment variable - # which is checked in item 4) in [1] (i.e. before both of the above, unless - # NO_SYSTEM_ENVIRONMENT_PATH is passed). As such on those OSs installed - # packages are usually detected in preference to exported package build - # directories. - # - # To ensure a more consistent response across all OSs, and as users usually - # want to prefer an installed version of a package over a locally built one - # where both exist (esp. as the exported build directory might be removed - # after installation), we first search with NO_CMAKE_PACKAGE_REGISTRY which - # means any build directories exported by the user are ignored, and thus - # installed directories are preferred. If this fails to find the package - # we then research again, but without NO_CMAKE_PACKAGE_REGISTRY, so any - # exported build directories will now be detected. - # - # To prevent confusion on Windows, we also pass NO_CMAKE_BUILDS_PATH (which - # is item 5) in [1]), to not preferentially use projects that were built - # recently with the CMake GUI to ensure that we always prefer an installed - # version if available. - # - # [1] http://www.cmake.org/cmake/help/v2.8.11/cmake.html#command:find_package - find_package(Eigen3 QUIET - HINTS ${Eigen3_DIR} ${HOMEBREW_INSTALL_PREFIX} - NO_MODULE - NO_CMAKE_PACKAGE_REGISTRY - NO_CMAKE_BUILDS_PATH) - if (EIGEN3_FOUND) - message(STATUS "Found installed version of Eigen: ${Eigen3_DIR}") - else() - # Failed to find an installed version of Eigen, repeat search allowing - # exported build directories. - message(STATUS "Failed to find installed Eigen CMake configuration, " - "searching for Eigen build directories exported with CMake.") - # Again pass NO_CMAKE_BUILDS_PATH, as we know that Eigen is exported and - # do not want to treat projects built with the CMake GUI preferentially. - find_package(Eigen3 QUIET - NO_MODULE - NO_CMAKE_BUILDS_PATH) - if (EIGEN3_FOUND) - message(STATUS "Found exported Eigen build directory: ${Eigen3_DIR}") - endif() - endif() - if (EIGEN3_FOUND) - set(FOUND_INSTALLED_EIGEN_CMAKE_CONFIGURATION TRUE) - set(EIGEN_FOUND ${EIGEN3_FOUND}) - set(EIGEN_INCLUDE_DIR "${EIGEN3_INCLUDE_DIR}" CACHE STRING - "Eigen include directory" FORCE) - else() - message(STATUS "Failed to find an installed/exported CMake configuration " - "for Eigen, will perform search for installed Eigen components.") - endif() -endif() - -if (NOT EIGEN_FOUND) - # Search user-installed locations first, so that we prefer user installs - # to system installs where both exist. - list(APPEND EIGEN_CHECK_INCLUDE_DIRS - /usr/local/include - /usr/local/homebrew/include # Mac OS X - /opt/local/var/macports/software # Mac OS X. - /opt/local/include - /usr/include) - # Additional suffixes to try appending to each search path. - list(APPEND EIGEN_CHECK_PATH_SUFFIXES - eigen3 # Default root directory for Eigen. - Eigen/include/eigen3 # Windows (for C:/Program Files prefix) < 3.3 - Eigen3/include/eigen3 ) # Windows (for C:/Program Files prefix) >= 3.3 - - # Search supplied hint directories first if supplied. - find_path(EIGEN_INCLUDE_DIR - NAMES Eigen/Core - HINTS ${EIGEN_INCLUDE_DIR_HINTS} - PATHS ${EIGEN_CHECK_INCLUDE_DIRS} - PATH_SUFFIXES ${EIGEN_CHECK_PATH_SUFFIXES}) - - if (NOT EIGEN_INCLUDE_DIR OR - NOT EXISTS ${EIGEN_INCLUDE_DIR}) - eigen_report_not_found( - "Could not find eigen3 include directory, set EIGEN_INCLUDE_DIR to " - "path to eigen3 include directory, e.g. /usr/local/include/eigen3.") - endif (NOT EIGEN_INCLUDE_DIR OR - NOT EXISTS ${EIGEN_INCLUDE_DIR}) - - # Mark internally as found, then verify. EIGEN_REPORT_NOT_FOUND() unsets - # if called. - set(EIGEN_FOUND TRUE) -endif() - -# Extract Eigen version from Eigen/src/Core/util/Macros.h -if (EIGEN_INCLUDE_DIR) - set(EIGEN_VERSION_FILE ${EIGEN_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h) - if (NOT EXISTS ${EIGEN_VERSION_FILE}) - eigen_report_not_found( - "Could not find file: ${EIGEN_VERSION_FILE} " - "containing version information in Eigen install located at: " - "${EIGEN_INCLUDE_DIR}.") - else (NOT EXISTS ${EIGEN_VERSION_FILE}) - file(READ ${EIGEN_VERSION_FILE} EIGEN_VERSION_FILE_CONTENTS) - - string(REGEX MATCH "#define EIGEN_WORLD_VERSION [0-9]+" - EIGEN_WORLD_VERSION "${EIGEN_VERSION_FILE_CONTENTS}") - string(REGEX REPLACE "#define EIGEN_WORLD_VERSION ([0-9]+)" "\\1" - EIGEN_WORLD_VERSION "${EIGEN_WORLD_VERSION}") - - string(REGEX MATCH "#define EIGEN_MAJOR_VERSION [0-9]+" - EIGEN_MAJOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}") - string(REGEX REPLACE "#define EIGEN_MAJOR_VERSION ([0-9]+)" "\\1" - EIGEN_MAJOR_VERSION "${EIGEN_MAJOR_VERSION}") - - string(REGEX MATCH "#define EIGEN_MINOR_VERSION [0-9]+" - EIGEN_MINOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}") - string(REGEX REPLACE "#define EIGEN_MINOR_VERSION ([0-9]+)" "\\1" - EIGEN_MINOR_VERSION "${EIGEN_MINOR_VERSION}") - - # This is on a single line s/t CMake does not interpret it as a list of - # elements and insert ';' separators which would result in 3.;2.;0 nonsense. - set(EIGEN_VERSION "${EIGEN_WORLD_VERSION}.${EIGEN_MAJOR_VERSION}.${EIGEN_MINOR_VERSION}") - endif (NOT EXISTS ${EIGEN_VERSION_FILE}) -endif (EIGEN_INCLUDE_DIR) - -# Set standard CMake FindPackage variables if found. -if (EIGEN_FOUND) - set(EIGEN_INCLUDE_DIRS ${EIGEN_INCLUDE_DIR}) -endif (EIGEN_FOUND) - -# Handle REQUIRED / QUIET optional arguments and version. -include(FindPackageHandleStandardArgs) -find_package_handle_standard_args(Eigen - REQUIRED_VARS EIGEN_INCLUDE_DIRS - VERSION_VAR EIGEN_VERSION) - -# Only mark internal variables as advanced if we found Eigen, otherwise -# leave it visible in the standard GUI for the user to set manually. -if (EIGEN_FOUND) - mark_as_advanced(FORCE EIGEN_INCLUDE_DIR - Eigen3_DIR) # Autogenerated by find_package(Eigen3) -endif (EIGEN_FOUND)
diff --git a/internal/ceres/CMakeLists.txt b/internal/ceres/CMakeLists.txt index af13f35..cc004ee 100644 --- a/internal/ceres/CMakeLists.txt +++ b/internal/ceres/CMakeLists.txt
@@ -301,7 +301,7 @@ # warnings around the #include statments for Eigen headers across all GCC/Clang # versions, we tell CMake to treat Eigen headers as system headers. This # results in all compiler warnings from them being suppressed. -target_include_directories(ceres SYSTEM PUBLIC ${EIGEN_INCLUDE_DIRS}) +target_link_libraries(ceres PUBLIC Eigen3::Eigen) # Gather the list of public & private include locations for all enabled optional # dependencies to be added to the Ceres target.