| # Ceres Solver - A fast non-linear least squares minimizer |
| # Copyright 2023 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. |
| # |
| # Authors: keir@google.com (Keir Mierle) |
| # alexs.mac@gmail.com (Alex Stewart) |
| |
| cmake_minimum_required(VERSION 3.16...3.27) |
| |
| # 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 CMAKE_PREFIX_PATH "${HOMEBREW_INSTALL_PREFIX}") |
| endif() |
| endif() |
| |
| project(Ceres C CXX) |
| |
| # NOTE: The following CMake variables must be applied consistently to all |
| # targets in project to avoid visibility warnings by placing the variables at |
| # the project top. |
| |
| # Always build position-independent code (PIC), even when building Ceres as a |
| # static library so that shared libraries can link against it, not just |
| # executables (PIC does not apply on Windows). Global variable can be overridden |
| # by the user whereas target properties can be not. |
| set(CMAKE_POSITION_INDEPENDENT_CODE ON) |
| # Set the default symbol visibility to hidden to unify the behavior among |
| # the various compilers and to get smaller binaries |
| set(CMAKE_C_VISIBILITY_PRESET hidden) |
| set(CMAKE_CXX_VISIBILITY_PRESET hidden) |
| set(CMAKE_VISIBILITY_INLINES_HIDDEN ON) |
| |
| # NOTE: The 'generic' CMake variables CMAKE_[SOURCE/BINARY]_DIR should not be |
| # used. Always use the project-specific variants (generated by CMake): |
| # <PROJECT_NAME_MATCHING_CASE>_[SOURCE/BINARY]_DIR, e.g. |
| # Ceres_SOURCE_DIR (note, *not* CERES_SOURCE_DIR) instead, as these will |
| # always point to the correct directories for the Ceres project, even if |
| # it is nested inside another source tree, whereas the 'generic' |
| # CMake variables refer to the *first* project() declaration, i.e. the |
| # top-level project, not Ceres, if Ceres is nested. |
| |
| # Make CMake aware of the cmake folder for local FindXXX scripts, |
| # append rather than set in case the user has passed their own |
| # additional paths via -D. |
| list(APPEND CMAKE_MODULE_PATH "${Ceres_SOURCE_DIR}/cmake") |
| include(AddCompileFlagsIfSupported) |
| include(CheckCXXCompilerFlag) |
| include(CheckLibraryExists) |
| include(GNUInstallDirs) |
| include(UpdateCacheVariable) |
| |
| check_cxx_compiler_flag(/bigobj HAVE_BIGOBJ) |
| check_library_exists(m pow "" HAVE_LIBM) |
| |
| # Xcode 11.0-1 with macOS 10.15 (Catalina) broke alignment. |
| include(DetectBrokenStackCheckMacOSXcodePairing) |
| detect_broken_stack_check_macos_xcode_pairing() |
| |
| # Set up the git hook to make Gerrit Change-Id: lines in commit messages. |
| include(AddGerritCommitHook) |
| add_gerrit_commit_hook(${Ceres_SOURCE_DIR} ${Ceres_BINARY_DIR}) |
| |
| set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${Ceres_BINARY_DIR}/bin) |
| set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${Ceres_BINARY_DIR}/lib) |
| set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${Ceres_BINARY_DIR}/lib) |
| # Set postfixes for generated libraries based on buildtype. |
| set(CMAKE_RELEASE_POSTFIX "") |
| set(CMAKE_DEBUG_POSTFIX "-debug") |
| |
| # Read the Ceres version from the source, such that we only ever have a single |
| # definition of the Ceres version. |
| include(ReadCeresVersionFromSource) |
| read_ceres_version_from_source(${Ceres_SOURCE_DIR}) |
| |
| enable_testing() |
| |
| include(CMakeDependentOption) |
| include(PrettyPrintCMakeList) |
| |
| option(MINIGLOG "Use a stripped down version of glog." OFF) |
| option(GFLAGS "Enable Google Flags." ON) |
| option(SUITESPARSE "Enable SuiteSparse." ON) |
| if (APPLE) |
| option(ACCELERATESPARSE |
| "Enable use of sparse solvers in Apple's Accelerate framework." ON) |
| option(ENABLE_BITCODE |
| "Enable bitcode for iOS builds (disables inline optimizations for Eigen)." OFF) |
| endif() |
| # We can't have an option called 'CUDA' since that is a reserved word -- a |
| # language definition. |
| option(USE_CUDA "Enable use of CUDA linear algebra solvers." ON) |
| option(LAPACK "Enable use of LAPACK directly within Ceres." ON) |
| # Template specializations for the Schur complement based solvers. If |
| # compile time, binary size or compiler performance is an issue, you |
| # may consider disabling this. |
| option(SCHUR_SPECIALIZATIONS "Enable fixed-size schur specializations." ON) |
| option(CUSTOM_BLAS |
| "Use handcoded BLAS routines (usually faster) instead of Eigen." |
| ON) |
| # 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) |
| cmake_dependent_option(EIGENMETIS "Enable Eigen METIS support." ON EIGENSPARSE OFF) |
| option(EXPORT_BUILD_DIR |
| "Export build directory using CMake (enables external use without install)." OFF) |
| option(BUILD_TESTING "Enable tests" ON) |
| option(BUILD_DOCUMENTATION "Build User's Guide (html)" OFF) |
| option(BUILD_EXAMPLES "Build examples" ON) |
| option(BUILD_BENCHMARKS "Build Ceres benchmarking suite" ON) |
| option(BUILD_SHARED_LIBS "Build Ceres as a shared library." OFF) |
| option(PROVIDE_UNINSTALL_TARGET "Add a custom target to ease removal of installed targets" ON) |
| set(SANITIZERS "" CACHE STRING "Semicolon-separated list of sanitizers to use (e.g address, memory, thread)") |
| include(EnableSanitizer) |
| enable_sanitizer(${SANITIZERS}) |
| if (ANDROID) |
| option(ANDROID_STRIP_DEBUG_SYMBOLS "Strip debug symbols from Android builds (reduces file sizes)" ON) |
| endif() |
| |
| # IOS is defined iff using the iOS.cmake CMake toolchain to build a static |
| # library for iOS. |
| if (IOS) |
| message(STATUS "Building Ceres for iOS platform: ${IOS_PLATFORM}") |
| |
| # Ceres requires at least iOS 7.0+. |
| if (IOS_DEPLOYMENT_TARGET VERSION_LESS 7.0) |
| message(FATAL_ERROR "Unsupported iOS version: ${IOS_DEPLOYMENT_TARGET}, Ceres " |
| "requires at least iOS version 7.0") |
| endif() |
| |
| update_cache_variable(MINIGLOG ON) |
| message(STATUS "Building for iOS: Forcing use of miniglog instead of glog.") |
| |
| # Apple claims that the BLAS call dsyrk_ is a private API, and will not allow |
| # you to submit to the Apple Store if the symbol is present. |
| update_cache_variable(LAPACK OFF) |
| message(STATUS "Building for iOS: SuiteSparse, LAPACK, gflags " |
| "are not available.") |
| |
| update_cache_variable(BUILD_EXAMPLES OFF) |
| message(STATUS "Building for iOS: Will not build examples.") |
| endif (IOS) |
| |
| unset(CERES_COMPILE_OPTIONS) |
| |
| # Eigen. |
| # Eigen delivers Eigen3Config.cmake since v3.3.3 |
| find_package(Eigen3 3.3 REQUIRED) |
| if (Eigen3_FOUND) |
| message("-- Found Eigen version ${Eigen3_VERSION}: ${Eigen3_DIR}") |
| if (CMAKE_SYSTEM_PROCESSOR MATCHES "^(aarch64.*|AARCH64.*)" AND |
| Eigen3_VERSION 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: ${Eigen3_VERSION}.") |
| endif() |
| |
| if (EIGENSPARSE) |
| message("-- Enabling use of Eigen as a sparse linear algebra library.") |
| list(APPEND CERES_COMPILE_OPTIONS CERES_USE_EIGEN_SPARSE) |
| 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 (Eigen3_FOUND) |
| |
| if (USE_CUDA) |
| if (CMAKE_VERSION VERSION_LESS 3.17) |
| # On older versions of CMake (20.04 default is 3.16) FindCUDAToolkit was |
| # not available, but FindCUDA was deprecated. To avoid special-case handling |
| # elsewhere, emulate the effects of FindCUDAToolkit locally in terms of the |
| # expected CMake imported targets and defined variables. This can be removed |
| # from as soon as the min CMake version is >= 3.17. |
| find_package(CUDA QUIET) |
| if (CUDA_FOUND) |
| message("-- Found CUDA version ${CUDA_VERSION} installed in: " |
| "${CUDA_TOOLKIT_ROOT_DIR} via legacy (< 3.17) CMake module. " |
| "Using the legacy CMake module means that any installation of " |
| "Ceres will require that the CUDA libraries be installed in a " |
| "location included in the LD_LIBRARY_PATH.") |
| enable_language(CUDA) |
| |
| macro(DECLARE_IMPORTED_CUDA_TARGET COMPONENT) |
| add_library(CUDA::${COMPONENT} INTERFACE IMPORTED) |
| target_include_directories( |
| CUDA::${COMPONENT} INTERFACE ${CUDA_INCLUDE_DIRS}) |
| target_link_libraries( |
| CUDA::${COMPONENT} INTERFACE ${CUDA_${COMPONENT}_LIBRARY} ${ARGN}) |
| endmacro() |
| |
| declare_imported_cuda_target(cublas) |
| declare_imported_cuda_target(cusolver) |
| declare_imported_cuda_target(cusparse) |
| declare_imported_cuda_target(cudart ${CUDA_LIBRARIES}) |
| |
| set(CUDAToolkit_BIN_DIR ${CUDA_TOOLKIT_ROOT_DIR}/bin) |
| |
| else (CUDA_FOUND) |
| message("-- Did not find CUDA, disabling CUDA support.") |
| update_cache_variable(USE_CUDA OFF) |
| endif (CUDA_FOUND) |
| else (CMAKE_VERSION VERSION_LESS 3.17) |
| find_package(CUDAToolkit QUIET) |
| if (CUDAToolkit_FOUND) |
| message("-- Found CUDA version ${CUDAToolkit_VERSION} installed in: " |
| "${CUDAToolkit_TARGET_DIR}") |
| set(CUDAToolkit_DEPENDENCY |
| "find_dependency(CUDAToolkit ${CUDAToolkit_VERSION})") |
| enable_language(CUDA) |
| if (CMAKE_VERSION VERSION_GREATER_EQUAL "3.18") |
| # Support Maxwell, Pascal, Volta, Turing, and Ampere GPUs. |
| set(CMAKE_CUDA_ARCHITECTURES "50;60;70;80") |
| message("-- Setting CUDA Architecture to ${CMAKE_CUDA_ARCHITECTURES}") |
| endif() |
| list(APPEND CERES_CUDA_LIBRARIES |
| CUDA::cublas |
| CUDA::cudart |
| CUDA::cusolver |
| CUDA::cusparse) |
| set(CMAKE_CUDA_RUNTIME_LIBRARY NONE) |
| else (CUDAToolkit_FOUND) |
| message("-- Did not find CUDA, disabling CUDA support.") |
| update_cache_variable(USE_CUDA OFF) |
| endif (CUDAToolkit_FOUND) |
| endif (CMAKE_VERSION VERSION_LESS 3.17) |
| endif (USE_CUDA) |
| if (NOT USE_CUDA) |
| message("-- Building without CUDA.") |
| list(APPEND CERES_COMPILE_OPTIONS CERES_NO_CUDA) |
| endif (NOT USE_CUDA) |
| |
| if (LAPACK) |
| find_package(LAPACK QUIET) |
| if (LAPACK_FOUND) |
| message("-- Found LAPACK library: ${LAPACK_LIBRARIES}") |
| else (LAPACK_FOUND) |
| message("-- Did not find LAPACK library, disabling LAPACK support.") |
| update_cache_variable(LAPACK OFF) |
| list(APPEND CERES_COMPILE_OPTIONS CERES_NO_LAPACK) |
| endif (LAPACK_FOUND) |
| else (LAPACK) |
| message("-- Building without LAPACK.") |
| list(APPEND CERES_COMPILE_OPTIONS CERES_NO_LAPACK) |
| endif (LAPACK) |
| |
| # Set the install path for the installed CeresConfig.cmake configuration file |
| # relative to CMAKE_INSTALL_PREFIX. |
| set(RELATIVE_CMAKECONFIG_INSTALL_DIR ${CMAKE_INSTALL_LIBDIR}/cmake/Ceres) |
| |
| if (SUITESPARSE) |
| # By default, if SuiteSparse and all dependencies are found, Ceres is |
| # built with SuiteSparse support. |
| |
| # Check for SuiteSparse and dependencies. |
| find_package(SuiteSparse 4.5.6 COMPONENTS CHOLMOD SPQR |
| OPTIONAL_COMPONENTS Partition) |
| if (SuiteSparse_FOUND) |
| set(SuiteSparse_DEPENDENCY "find_dependency(SuiteSparse ${SuiteSparse_VERSION})") |
| # By default, if all of SuiteSparse's dependencies are found, Ceres is |
| # built with SuiteSparse support. |
| message("-- Found SuiteSparse ${SuiteSparse_VERSION}, " |
| "building with SuiteSparse.") |
| |
| if (SuiteSparse_NO_CMAKE OR NOT SuiteSparse_DIR) |
| install(FILES ${Ceres_SOURCE_DIR}/cmake/FindSuiteSparse.cmake |
| ${Ceres_SOURCE_DIR}/cmake/FindMETIS.cmake |
| DESTINATION ${RELATIVE_CMAKECONFIG_INSTALL_DIR}) |
| endif (SuiteSparse_NO_CMAKE OR NOT SuiteSparse_DIR) |
| else (SuiteSparse_FOUND) |
| # Disable use of SuiteSparse if it cannot be found and continue. |
| message("-- Did not find all SuiteSparse dependencies, disabling " |
| "SuiteSparse support.") |
| update_cache_variable(SUITESPARSE OFF) |
| list(APPEND CERES_COMPILE_OPTIONS CERES_NO_SUITESPARSE) |
| endif (SuiteSparse_FOUND) |
| else (SUITESPARSE) |
| message("-- Building without SuiteSparse.") |
| list(APPEND CERES_COMPILE_OPTIONS CERES_NO_SUITESPARSE) |
| endif (SUITESPARSE) |
| |
| if (NOT SuiteSparse_Partition_FOUND) |
| list (APPEND CERES_COMPILE_OPTIONS CERES_NO_CHOLMOD_PARTITION) |
| endif (NOT SuiteSparse_Partition_FOUND) |
| |
| if (EIGENMETIS) |
| find_package (METIS) |
| if (METIS_FOUND) |
| # Since METIS is a private dependency of Ceres, it requires access to the |
| # link-only METIS::METIS target to avoid undefined linker errors in projects |
| # relying on Ceres. We do not actually need to propagate anything besides |
| # the link libraries (such as include directories.) |
| set(METIS_DEPENDENCY "find_dependency(METIS ${METIS_VERSION})") |
| # METIS find module must be installed unless a package config is being used. |
| if (NOT METIS_DIR) |
| install(FILES ${Ceres_SOURCE_DIR}/cmake/FindMETIS.cmake |
| DESTINATION ${RELATIVE_CMAKECONFIG_INSTALL_DIR}) |
| endif (NOT METIS_DIR) |
| else (METIS_FOUND) |
| message("-- Did not find METIS, disabling Eigen METIS support.") |
| update_cache_variable(EIGENMETIS OFF) |
| list (APPEND CERES_COMPILE_OPTIONS CERES_NO_EIGEN_METIS) |
| endif (METIS_FOUND) |
| else (EIGENMETIS) |
| message("-- Building without Eigen METIS support.") |
| list (APPEND CERES_COMPILE_OPTIONS CERES_NO_EIGEN_METIS) |
| endif (EIGENMETIS) |
| |
| if (ACCELERATESPARSE) |
| find_package(AccelerateSparse) |
| if (AccelerateSparse_FOUND) |
| message("-- Found Apple's Accelerate framework with sparse solvers, " |
| "building with Accelerate sparse support.") |
| else() |
| message("-- Failed to find Apple's Accelerate framework with sparse solvers, " |
| "building without Accelerate sparse support.") |
| update_cache_variable(ACCELERATESPARSE OFF) |
| list(APPEND CERES_COMPILE_OPTIONS CERES_NO_ACCELERATE_SPARSE) |
| endif() |
| else() |
| message("-- Building without Apple's Accelerate sparse support.") |
| list(APPEND CERES_COMPILE_OPTIONS CERES_NO_ACCELERATE_SPARSE) |
| mark_as_advanced(FORCE AccelerateSparse_INCLUDE_DIR |
| AccelerateSparse_LIBRARY) |
| endif() |
| |
| # Ensure that the user understands they have disabled all sparse libraries. |
| if (NOT SUITESPARSE AND NOT EIGENSPARSE AND NOT ACCELERATESPARSE) |
| message(" ===============================================================") |
| message(" Compiling without any sparse library: SuiteSparse, ") |
| message(" EigenSparse & Apple's Accelerate are all disabled or unavailable. ") |
| message(" No sparse linear solvers (SPARSE_NORMAL_CHOLESKY & SPARSE_SCHUR)") |
| message(" will be available when Ceres is used.") |
| message(" ===============================================================") |
| endif() |
| |
| # ANDROID define is set by the Android CMake toolchain file. |
| if (ANDROID) |
| message(" ================================================================") |
| if (ANDROID_STRIP_DEBUG_SYMBOLS) |
| # Strip debug information unconditionally to avoid +200MB library file sizes. |
| set( CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -s" ) |
| set( CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -s" ) |
| message(" Stripping debug information from Android build of Ceres library ") |
| message(" to avoid +200MB library files.") |
| else() |
| message(" Warning: not stripping debug information from Android build of ") |
| message(" Ceres library. This will result in a large (+200MB) library.") |
| endif() |
| message("") |
| message(" You can control whether debug information is stripped via the ") |
| message(" ANDROID_STRIP_DEBUG_SYMBOLS CMake option when configuring Ceres.") |
| message(" ================================================================") |
| endif() |
| |
| # GFlags. |
| if (GFLAGS) |
| # Don't search with REQUIRED as we can continue without gflags. |
| find_package(gflags 2.2.0) |
| if (gflags_FOUND) |
| if (TARGET gflags) |
| message("-- Found Google Flags (gflags) version ${gflags_VERSION}: ${gflags_DIR}") |
| else() |
| message("-- Detected version of gflags: ${gflags_VERSION} does not define " |
| "expected gflags CMake target which should be exported by gflags 2.2+. " |
| "Building without gflags.") |
| update_cache_variable(GFLAGS OFF) |
| endif() |
| else (gflags_FOUND) |
| message("-- Did not find Google Flags (gflags), Building without gflags.") |
| update_cache_variable(GFLAGS OFF) |
| endif (gflags_FOUND) |
| endif() |
| if (NOT GFLAGS) |
| message("-- Use of gflags disabled - no tests or tools will be built!") |
| endif() |
| |
| # MiniGLog. |
| if (MINIGLOG) |
| message("-- Compiling minimal glog substitute into Ceres.") |
| set(GLOG_INCLUDE_DIRS internal/ceres/miniglog) |
| set(MINIGLOG_MAX_LOG_LEVEL 2 CACHE STRING "The maximum message severity level to be logged") |
| add_definitions("-DMAX_LOG_LEVEL=${MINIGLOG_MAX_LOG_LEVEL}") |
| message("-- Using minimal glog substitute (include): ${GLOG_INCLUDE_DIRS}") |
| message("-- Max log level for minimal glog substitute: ${MINIGLOG_MAX_LOG_LEVEL}") |
| |
| # Mark as advanced (remove from default GUI view) the glog search |
| # variables in case user disables MINIGLOG, FindGlog did not find it, so |
| # made search variables visible in GUI for user to set, but then user enables |
| # MINIGLOG instead of setting them. |
| mark_as_advanced(FORCE GLOG_INCLUDE_DIR |
| GLOG_LIBRARY) |
| else (MINIGLOG) |
| unset(MINIGLOG_MAX_LOG_LEVEL CACHE) |
| # Don't search with REQUIRED so that configuration continues if not found and |
| # we can output an error messages explaining MINIGLOG option. |
| find_package(Glog) |
| if (NOT GLOG_FOUND) |
| message(FATAL_ERROR "Can't find Google Log (glog). Please set either: " |
| "glog_DIR (newer CMake built versions of glog) or GLOG_INCLUDE_DIR & " |
| "GLOG_LIBRARY or enable MINIGLOG option to use minimal glog " |
| "implementation.") |
| endif(NOT GLOG_FOUND) |
| # By default, assume gflags was found, updating the message if it was not. |
| set(GLOG_GFLAGS_DEPENDENCY_MESSAGE |
| " Assuming glog was built with gflags support as gflags was found. " |
| "This will make gflags a public dependency of Ceres.") |
| if (NOT gflags_FOUND) |
| set(GLOG_GFLAGS_DEPENDENCY_MESSAGE |
| " Assuming glog was NOT built with gflags support as gflags was " |
| "not found. If glog was built with gflags, please set the " |
| "gflags search locations such that it can be found by Ceres. " |
| "Otherwise, Ceres may fail to link due to missing gflags symbols.") |
| endif(NOT gflags_FOUND) |
| message("-- Found Google Log (glog)." ${GLOG_GFLAGS_DEPENDENCY_MESSAGE}) |
| endif (MINIGLOG) |
| |
| if (NOT SCHUR_SPECIALIZATIONS) |
| list(APPEND CERES_COMPILE_OPTIONS CERES_RESTRICT_SCHUR_SPECIALIZATION) |
| message("-- Disabling Schur specializations (faster compiles)") |
| endif (NOT SCHUR_SPECIALIZATIONS) |
| |
| if (NOT CUSTOM_BLAS) |
| list(APPEND CERES_COMPILE_OPTIONS CERES_NO_CUSTOM_BLAS) |
| message("-- Disabling custom blas") |
| endif (NOT CUSTOM_BLAS) |
| |
| if (BUILD_BENCHMARKS) |
| # Version 1.3 was first to provide import targets |
| find_package(benchmark 1.3 QUIET) |
| if (benchmark_FOUND) |
| message("-- Found Google benchmark library. Building Ceres benchmarks.") |
| else() |
| message("-- Failed to find Google benchmark library, disabling build of benchmarks.") |
| update_cache_variable(BUILD_BENCHMARKS OFF) |
| endif() |
| mark_as_advanced(benchmark_DIR) |
| endif() |
| |
| # TODO Report features using the FeatureSummary CMake module |
| 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. |
| # |
| # The CACHE STRING logic here and elsewhere is needed to force CMake |
| # to pay attention to the value of these variables. |
| if (NOT CMAKE_BUILD_TYPE) |
| message("-- No build type specified; defaulting to CMAKE_BUILD_TYPE=Release.") |
| set(CMAKE_BUILD_TYPE Release CACHE STRING |
| "Choose the type of build, options are: None Debug Release RelWithDebInfo MinSizeRel." |
| FORCE) |
| else (NOT CMAKE_BUILD_TYPE) |
| if (CMAKE_BUILD_TYPE STREQUAL "Debug") |
| message("\n=================================================================================") |
| message("\n-- Build type: Debug. Performance will be terrible!") |
| message("-- Add -DCMAKE_BUILD_TYPE=Release to the CMake command line to get an optimized build.") |
| message("\n=================================================================================") |
| endif (CMAKE_BUILD_TYPE STREQUAL "Debug") |
| endif (NOT CMAKE_BUILD_TYPE) |
| |
| if (MINGW) |
| # MinGW produces code that segfaults when performing matrix multiplications |
| # in Eigen when compiled with -O3 (see [1]), as such force the use of -O2 |
| # which works. |
| # |
| # [1] http://eigen.tuxfamily.org/bz/show_bug.cgi?id=556 |
| message("-- MinGW detected, forcing -O2 instead of -O3 in Release for Eigen due " |
| "to a MinGW bug: http://eigen.tuxfamily.org/bz/show_bug.cgi?id=556") |
| string(REPLACE "-O3" "-O2" CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE}") |
| update_cache_variable(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE}") |
| endif (MINGW) |
| |
| # After the tweaks for the compile settings, disable some warnings on MSVC. |
| if (MSVC) |
| # On MSVC, math constants are not included in <cmath> or <math.h> unless |
| # _USE_MATH_DEFINES is defined [1]. As we use M_PI in the examples, ensure |
| # that _USE_MATH_DEFINES is defined before the first inclusion of <cmath>. |
| # |
| # [1] https://msdn.microsoft.com/en-us/library/4hwaceh6.aspx |
| add_definitions("-D_USE_MATH_DEFINES") |
| # Disable signed/unsigned int conversion warnings. |
| add_compile_options($<$<COMPILE_LANGUAGE:CXX>:/wd4018>) |
| add_compile_options($<$<COMPILE_LANGUAGE:CXX>:/wd4267>) |
| # Disable warning about using struct/class for the same symbol. |
| add_compile_options($<$<COMPILE_LANGUAGE:CXX>:/wd4099>) |
| # Disable warning about the insecurity of using "std::copy". |
| add_compile_options($<$<COMPILE_LANGUAGE:CXX>:/wd4996>) |
| # Disable performance warning about int-to-bool conversion. |
| add_compile_options($<$<COMPILE_LANGUAGE:CXX>:/wd4800>) |
| # Disable performance warning about fopen insecurity. |
| add_compile_options($<$<COMPILE_LANGUAGE:CXX>:/wd4996>) |
| # Disable warning about int64 to int32 conversion. Disabling |
| # this warning may not be correct; needs investigation. |
| # TODO(keir): Investigate these warnings in more detail. |
| add_compile_options($<$<COMPILE_LANGUAGE:CXX>:/wd4244>) |
| # It's not possible to use STL types in DLL interfaces in a portable and |
| # reliable way. However, that's what happens with Google Log and Google Flags |
| # on Windows. MSVC gets upset about this and throws warnings that we can't do |
| # much about. The real solution is to link static versions of Google Log and |
| # Google Test, but that seems tricky on Windows. So, disable the warning. |
| add_compile_options($<$<COMPILE_LANGUAGE:CXX>:/wd4251>) |
| |
| # Add bigobj flag otherwise the build would fail due to large object files |
| # probably resulting from generated headers (like the fixed-size schur |
| # specializations). |
| add_compile_options($<$<COMPILE_LANGUAGE:CXX>:/bigobj>) |
| |
| # Google Flags doesn't have their DLL import/export stuff set up correctly, |
| # which results in linker warnings. This is irrelevant for Ceres, so ignore |
| # the warnings. |
| set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /ignore:4049") |
| |
| # Tuple sizes of 10 are used by Gtest. |
| add_definitions("-D_VARIADIC_MAX=10") |
| |
| include(CheckIfUnderscorePrefixedBesselFunctionsExist) |
| check_if_underscore_prefixed_bessel_functions_exist( |
| HAVE_UNDERSCORE_PREFIXED_BESSEL_FUNCTIONS) |
| if (HAVE_UNDERSCORE_PREFIXED_BESSEL_FUNCTIONS) |
| list(APPEND CERES_COMPILE_OPTIONS |
| CERES_MSVC_USE_UNDERSCORE_PREFIXED_BESSEL_FUNCTIONS) |
| endif() |
| endif (MSVC) |
| |
| if (UNIX) |
| # Flags which we add to GCC to make it more picky about stuff |
| # we do care about, |
| add_cxx_compiler_flag_if_supported(CERES_STRICT_CXX_FLAGS |
| -Wmissing-declarations) |
| # Flags which we add to GCC to silence lots of annoying false-positives. |
| add_cxx_compiler_flag_if_supported(CERES_STRICT_CXX_FLAGS |
| -Wno-unknown-pragmas) |
| add_cxx_compiler_flag_if_supported(CERES_STRICT_CXX_FLAGS |
| -Wno-sign-compare) |
| add_cxx_compiler_flag_if_supported(CERES_STRICT_CXX_FLAGS |
| -Wno-unused-parameter) |
| add_cxx_compiler_flag_if_supported(CERES_STRICT_CXX_FLAGS |
| -Wno-missing-field-initializers) |
| set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${CERES_STRICT_CXX_FLAGS}") |
| endif (UNIX) |
| |
| if (CMAKE_CXX_COMPILER_ID MATCHES "Clang") # Matches Clang & AppleClang. |
| # Optimize for Eigen OR enable bitcode; you cannot do both since bitcode is an |
| # intermediate representation. |
| if (ENABLE_BITCODE) |
| set(CMAKE_CXX_FLAGS |
| "${CMAKE_CXX_FLAGS} -fembed-bitcode") |
| else () |
| # Use a larger inlining threshold for Clang, since it hobbles Eigen, |
| # resulting in an unreasonably slow version of the blas routines. The |
| # -Qunused-arguments is needed because CMake passes the inline |
| # threshold to the linker and clang complains about it and dies. |
| set(CMAKE_CXX_FLAGS |
| "${CMAKE_CXX_FLAGS} -Qunused-arguments -mllvm -inline-threshold=600") |
| endif () |
| # Older versions of Clang (<= 2.9) do not support the 'return-type-c-linkage' |
| # option, so check for its presence before adding it to the default flags set. |
| check_cxx_compiler_flag("-Wno-return-type-c-linkage" |
| HAVE_RETURN_TYPE_C_LINKAGE) |
| if (HAVE_RETURN_TYPE_C_LINKAGE) |
| set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-return-type-c-linkage") |
| endif(HAVE_RETURN_TYPE_C_LINKAGE) |
| endif () |
| |
| add_compile_definitions($<$<BOOL:${WIN32}>:NOMINMAX>) |
| |
| # Configure the Ceres config.h compile options header using the current |
| # compile options and put the configured header into the Ceres build |
| # directory. Note that the ceres/internal subdir in <build>/config where |
| # the configured config.h is placed is important, because Ceres will be |
| # built against this configured header, it needs to have the same relative |
| # include path as it would if it were in the source tree (or installed). |
| list(REMOVE_DUPLICATES CERES_COMPILE_OPTIONS) |
| include(CreateCeresConfig) |
| create_ceres_config("${CERES_COMPILE_OPTIONS}" |
| ${Ceres_BINARY_DIR}/${CMAKE_INSTALL_INCLUDEDIR}/ceres/internal) |
| |
| add_subdirectory(internal/ceres) |
| |
| if (BUILD_DOCUMENTATION) |
| find_package(Sphinx) |
| if (NOT SPHINX_FOUND) |
| message("-- Failed to find Sphinx and/or its dependencies, disabling build of documentation.") |
| update_cache_variable(BUILD_DOCUMENTATION OFF) |
| else() |
| # Generate the User's Guide (html). |
| # The corresponding target is ceres_docs, but is included in ALL. |
| message("-- Build the HTML documentation.") |
| add_subdirectory(docs) |
| endif() |
| endif (BUILD_DOCUMENTATION) |
| |
| if (BUILD_EXAMPLES) |
| message("-- Build the examples.") |
| add_subdirectory(examples) |
| else (BUILD_EXAMPLES) |
| message("-- Do not build any example.") |
| endif (BUILD_EXAMPLES) |
| |
| # Setup installation of Ceres public headers. |
| file(GLOB CERES_HDRS ${Ceres_SOURCE_DIR}/include/ceres/*.h) |
| install(FILES ${CERES_HDRS} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/ceres) |
| |
| file(GLOB CERES_PUBLIC_INTERNAL_HDRS ${Ceres_SOURCE_DIR}/include/ceres/internal/*.h) |
| install(FILES ${CERES_PUBLIC_INTERNAL_HDRS} DESTINATION |
| ${CMAKE_INSTALL_INCLUDEDIR}/ceres/internal) |
| |
| # Also setup installation of Ceres config.h configured with the current |
| # build options and export.h into the installed headers directory. |
| install(DIRECTORY ${Ceres_BINARY_DIR}/${CMAKE_INSTALL_INCLUDEDIR}/ |
| DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}) |
| |
| if (MINIGLOG) |
| # Install miniglog header if being used as logging #includes appear in |
| # installed public Ceres headers. |
| install(FILES ${Ceres_SOURCE_DIR}/internal/ceres/miniglog/glog/logging.h |
| DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/ceres/internal/miniglog/glog) |
| endif (MINIGLOG) |
| |
| # Ceres supports two mechanisms by which it can be detected & imported into |
| # client code which uses CMake via find_package(Ceres): |
| # |
| # 1) Installation (e.g. to /usr/local), using CMake's install() function. |
| # |
| # 2) (Optional) Export of the current build directory into the local CMake |
| # package registry, using CMake's export() function. This allows use of |
| # Ceres from other projects without requiring installation. |
| # |
| # In both cases, we need to generate a configured CeresConfig.cmake which |
| # includes additional autogenerated files which in concert create an imported |
| # target for Ceres in a client project when find_package(Ceres) is invoked. |
| # The key distinctions are where this file is located, and whether client code |
| # references installed copies of the compiled Ceres headers/libraries, |
| # (option #1: installation), or the originals in the source/build directories |
| # (option #2: export of build directory). |
| # |
| # NOTE: If Ceres is both exported and installed, provided that the installation |
| # path is present in CMAKE_MODULE_PATH when find_package(Ceres) is called, |
| # the installed version is preferred. |
| |
| # Build the list of Ceres components for CeresConfig.cmake from the current set |
| # of compile options. |
| include(CeresCompileOptionsToComponents) |
| ceres_compile_options_to_components("${CERES_COMPILE_OPTIONS}" |
| CERES_COMPILED_COMPONENTS) |
| |
| include(CMakePackageConfigHelpers) |
| |
| # Create a CeresConfigVersion.cmake file containing the version information, |
| # used by both export() & install(). |
| write_basic_package_version_file("${Ceres_BINARY_DIR}/CeresConfigVersion.cmake" |
| VERSION ${CERES_VERSION} |
| COMPATIBILITY SameMajorVersion) |
| |
| # Install method #1: Put Ceres in CMAKE_INSTALL_PREFIX: /usr/local or equivalent. |
| |
| # This "exports" for installation all targets which have been put into the |
| # export set "CeresExport". This generates a CeresTargets.cmake file which, |
| # when read in by a client project as part of find_package(Ceres) creates |
| # imported library targets for Ceres (with dependency relations) which can be |
| # used in target_link_libraries() calls in the client project to use Ceres. |
| install(EXPORT CeresExport |
| NAMESPACE Ceres:: |
| DESTINATION ${RELATIVE_CMAKECONFIG_INSTALL_DIR} FILE CeresTargets.cmake) |
| |
| # Save the relative path from the installed CeresConfig.cmake file to the |
| # install prefix. We do not save an absolute path in case the installed package |
| # is subsequently relocated after installation (on Windows). |
| file(RELATIVE_PATH INSTALL_ROOT_REL_CONFIG_INSTALL_DIR |
| ${CMAKE_INSTALL_PREFIX}/${RELATIVE_CMAKECONFIG_INSTALL_DIR} |
| ${CMAKE_INSTALL_PREFIX}) |
| |
| # Configure a CeresConfig.cmake file for an installed version of Ceres from the |
| # template, reflecting the current build options. |
| # |
| # NOTE: The -install suffix is necessary to distinguish the install version from |
| # the exported version, which must be named CeresConfig.cmake in |
| # Ceres_BINARY_DIR to be detected. The suffix is removed when |
| # it is installed. |
| set(SETUP_CERES_CONFIG_FOR_INSTALLATION TRUE) |
| configure_file("${Ceres_SOURCE_DIR}/cmake/CeresConfig.cmake.in" |
| "${Ceres_BINARY_DIR}/CeresConfig-install.cmake" @ONLY) |
| |
| # Install the configuration files into the same directory as the autogenerated |
| # CeresTargets.cmake file. We include the find_package() scripts for libraries |
| # whose headers are included in the public API of Ceres and should thus be |
| # present in CERES_INCLUDE_DIRS. |
| install(FILES "${Ceres_BINARY_DIR}/CeresConfig-install.cmake" |
| RENAME CeresConfig.cmake |
| DESTINATION ${RELATIVE_CMAKECONFIG_INSTALL_DIR}) |
| install(FILES "${Ceres_BINARY_DIR}/CeresConfigVersion.cmake" |
| DESTINATION ${RELATIVE_CMAKECONFIG_INSTALL_DIR}) |
| if (GLOG_FOUND AND NOT FOUND_INSTALLED_GLOG_CMAKE_CONFIGURATION) |
| # Version of glog detected was not built with CMake, install our glog module |
| # file to enable detection in CeresConfig. |
| install(FILES "${Ceres_SOURCE_DIR}/cmake/FindGlog.cmake" |
| DESTINATION ${RELATIVE_CMAKECONFIG_INSTALL_DIR}) |
| endif() |
| |
| if (PROVIDE_UNINSTALL_TARGET) |
| # Create an uninstall target to remove all installed files. |
| configure_file("${Ceres_SOURCE_DIR}/cmake/uninstall.cmake.in" |
| "${Ceres_BINARY_DIR}/cmake/uninstall.cmake" |
| @ONLY) |
| add_custom_target(uninstall |
| COMMAND ${CMAKE_COMMAND} -P ${Ceres_BINARY_DIR}/cmake/uninstall.cmake) |
| endif() |
| |
| # Install method #2: Put Ceres build into local CMake registry. |
| # |
| # Optionally export the Ceres build directory into the local CMake package |
| # registry (~/.cmake/packages on *nix & OS X). This allows the detection & |
| # use of Ceres without requiring that it be installed. |
| if (EXPORT_BUILD_DIR) |
| message("-- Export Ceres build directory to local CMake package registry.") |
| |
| # Save the relative path from the build directory to the source directory. |
| file(RELATIVE_PATH INSTALL_ROOT_REL_CONFIG_INSTALL_DIR |
| ${Ceres_BINARY_DIR} |
| ${Ceres_SOURCE_DIR}) |
| |
| set (Ceres_EXPORT_TARGETS ceres) |
| |
| if (TARGET ceres_cuda_kernels) |
| # The target ceres depends on ceres_cuda_kernels requiring the latter to be |
| # exported as part of the same export set. |
| list (APPEND Ceres_EXPORT_TARGETS ceres_cuda_kernels) |
| endif (TARGET ceres_cuda_kernels) |
| |
| # Analogously to install(EXPORT ...), export the Ceres target from the build |
| # directory as a package called Ceres into the local CMake package registry. |
| export(TARGETS ${Ceres_EXPORT_TARGETS} |
| NAMESPACE Ceres:: |
| FILE ${Ceres_BINARY_DIR}/CeresTargets.cmake) |
| export(PACKAGE ${CMAKE_PROJECT_NAME}) |
| |
| unset (Ceres_EXPORT_TARGETS) |
| |
| # Configure a CeresConfig.cmake file for the export of the Ceres build |
| # directory from the template, reflecting the current build options. |
| set(SETUP_CERES_CONFIG_FOR_INSTALLATION FALSE) |
| configure_file("${Ceres_SOURCE_DIR}/cmake/CeresConfig.cmake.in" |
| "${Ceres_BINARY_DIR}/CeresConfig.cmake" @ONLY) |
| |
| endif (EXPORT_BUILD_DIR) |