Fix C++11 detection for VS2010.
- Use cmake_dependent_option() for all threading models and encode their
respective mutual exclusivity in the dependent-option s/t the job of
ensuring mutual exclusivity is performed by CMake.
- Use of cmake_dependent_option() has the downside that options are
removed from the GUI if their requirements for availability are not
met. So if CXX11 is OFF, then neither TBB nor CXX11_THREADS will
even appear as options (they will be undefined, assumed OFF).
- Perform checks for availability of C++11 if CXX11 is enabled prior to
testing other options to handle dependence of TBB & CXX11_THREADS on
CXX11 actually being present.
- Add check for availability of C++11-specific math functions used in
jet.h before reporting C++11 as found.
- Add check for <atomic> before allowing TBB or CXX11_THREADS, as both
options require it and it may not always be available even if the
other required C++11 components are.
Change-Id: Ife8cd182aeb1978539ce2c9966910ae59ebd9177
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7a61c29..325ce97 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -37,8 +37,6 @@
cmake_policy(SET CMP0042 NEW)
endif()
-include(CMakeDependentOption)
-
project(Ceres C CXX)
# NOTE: The 'generic' CMake variables CMAKE_[SOURCE/BINARY]_DIR should not be
@@ -92,6 +90,7 @@
enable_testing()
+include(CMakeDependentOption)
option(MINIGLOG "Use a stripped down version of glog." OFF)
option(GFLAGS "Enable Google Flags." ON)
option(SUITESPARSE "Enable SuiteSparse." ON)
@@ -104,15 +103,6 @@
option(CUSTOM_BLAS
"Use handcoded BLAS routines (usually faster) instead of Eigen."
ON)
-# Multithreading using OpenMP
-option(OPENMP "Enable threaded solving in Ceres (requires OpenMP)" ON)
-# Multithreading using TBB
-option(TBB "Enable threaded solving in Ceres with TBB (requires TBB and C++11)" OFF)
-# Multithreading using C++11 primitives.
-option(CXX11_THREADS "Enable threaded solving in Ceres with C++11 primitives" 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)
# 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 &
@@ -123,20 +113,34 @@
# 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
+ "NOT TBB;NOT CXX11_THREADS" OFF)
+# 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)
+# 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)
+# 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)
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)
-cmake_dependent_option(BUILD_BENCHMARKS "Build Ceres benchmarking suite" ON "CXX11" OFF)
+cmake_dependent_option(
+ BUILD_BENCHMARKS "Build Ceres benchmarking suite" ON "CXX11" OFF)
option(BUILD_SHARED_LIBS "Build Ceres as a shared library." OFF)
if (MSVC)
- # CXX11 is always enabled on Windows when using MSVC, as there, any new
- # (C++11 etc) features available are on by default and there is no analogue to
- # -std=c++11. It is however optional for MinGW & CygWin, which can support
- # -std=c++11.
+ # 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)
- mark_as_advanced(FORCE CXX11)
option(MSVC_USE_STATIC_CRT
"MS Visual Studio: Use static C-Run Time Library in place of shared." OFF)
@@ -204,6 +208,87 @@
unset(CERES_COMPILE_OPTIONS)
+# 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.
+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 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)
+
# Eigen.
find_package(Eigen REQUIRED)
if (EIGEN_FOUND)
@@ -403,14 +488,6 @@
message("-- Disabling custom blas")
endif (NOT CUSTOM_BLAS)
-# OpenMP and TBB are mutually exclusive options. OpenMP is on by default thus
-# disable it if the user requested TBB.
-if (TBB AND OPENMP)
- update_cache_variable(OPENMP OFF)
- message("-- Intel TBB enabled; disabling OpenMP support (they are mutually "
- "exclusive)")
-endif (TBB AND OPENMP)
-
if (OPENMP)
# Find quietly, as we can continue without OpenMP if it is not found.
find_package(OpenMP QUIET)
@@ -429,45 +506,41 @@
message("-- Building without OpenMP, disabling.")
endif (OPENMP)
-if (TBB)
+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)
find_package(TBB QUIET)
if (TBB_FOUND)
message("-- Building with TBB (version: ${TBB_VERSION}).")
list(APPEND CERES_COMPILE_OPTIONS CERES_USE_TBB)
include_directories(${TBB_INCLUDE_DIRS})
- if (NOT CXX11)
- message("-- Enabling CXX11 (C++11) option required by TBB=ON.")
- update_cache_variable(CXX11 ON)
- endif()
else (TBB_FOUND)
message("-- Failed to find TBB, disabling.")
update_cache_variable(TBB OFF)
endif (TBB_FOUND)
-endif (TBB)
+endif()
-if (CXX11_THREADS)
- # OpenMP and C++11 threads are mutually exclusive options. Fail with an error
- # if they user requested both.
- if (OPENMP)
- message(FATAL_ERROR "OpenMP and C++11 threading support are both enabled "
- "but they are mutally exclusive. OpenMP is enabled by default. Please "
- "disable one of them.")
- endif (OPENMP)
-
- # C++11 threads and TBB are mutually exclusive options. Fail with an error if
- # the user requested both.
- if (TBB)
- message(FATAL_ERROR "Intel TBB and C++11 threading support are both "
- "enabled but they are mutally exclusive. Please disable one of them.")
- endif (TBB)
-
- if (NOT CXX11)
- message(FATAL_ERROR "C++11 threading support requires C++11. Please "
- "enable C++11 to enable.")
- endif (NOT CXX11)
-
+if (CXX11 AND CXX11_THREADS)
+ message("-- Building with C++11 threads.")
list(APPEND CERES_COMPILE_OPTIONS CERES_USE_CXX11_THREADS)
-endif (CXX11_THREADS)
+endif()
if (NOT OPENMP AND NOT TBB AND NOT CXX11_THREADS)
message("-- Neither OpenMP, TBB or C++11 threads is enabled, "
@@ -483,83 +556,6 @@
endif (UNIX)
endif (NOT OPENMP AND NOT TBB AND NOT CXX11_THREADS)
-# 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.
-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 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)
-
-# 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)
- if (CXX11_THREADS)
- message(FATAL_ERROR "C++11 threading requires C++11 components, which we "
- "failed to find. Please disable C++11 threading to continue.")
- endif (CXX11_THREADS)
- 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 (BUILD_BENCHMARKS)
find_package(benchmark QUIET)
if (benchmark_FOUND)
diff --git a/cmake/FindCXX11MathFunctions.cmake b/cmake/FindCXX11MathFunctions.cmake
new file mode 100644
index 0000000..3beb6fc
--- /dev/null
+++ b/cmake/FindCXX11MathFunctions.cmake
@@ -0,0 +1,58 @@
+# 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/UpdateCacheVariable.cmake b/cmake/UpdateCacheVariable.cmake
index 5995a87..82ae571 100644
--- a/cmake/UpdateCacheVariable.cmake
+++ b/cmake/UpdateCacheVariable.cmake
@@ -37,6 +37,11 @@
# for the cache variable to update, then reinitialising it with the new
# value, but with the original help string.
function(UPDATE_CACHE_VARIABLE VAR_NAME VALUE)
+ get_property(IS_DEFINED_IN_CACHE CACHE ${VAR_NAME} PROPERTY VALUE SET)
+ if (NOT IS_DEFINED_IN_CACHE)
+ message(FATAL_ERROR "Specified variable to update in cache: "
+ "${VAR_NAME} has not been set in the cache.")
+ endif()
get_property(HELP_STRING CACHE ${VAR_NAME} PROPERTY HELPSTRING)
get_property(VAR_TYPE CACHE ${VAR_NAME} PROPERTY TYPE)
set(${VAR_NAME} ${VALUE} CACHE ${VAR_TYPE} "${HELP_STRING}" FORCE)
diff --git a/docs/source/installation.rst b/docs/source/installation.rst
index a075d3e..9298ff8 100644
--- a/docs/source/installation.rst
+++ b/docs/source/installation.rst
@@ -635,7 +635,8 @@
to disable multi-threading.
#. ``TBB [Default: OFF]``: An alternative to ``OpenMP`` threading library that
- requires C++11. This option is mutually exclusive to ``OpenMP``.
+ requires C++11. This option is mutually exclusive to ``OPENMP`` and
+ ``CXX11_THREADS``.
.. NOTE::
@@ -643,7 +644,11 @@
GPL/Commercial terms. From 2017.x versions onwards, TBB is licensed under
the Apache 2.0 license (and commerical terms).
-#. ``CXX11 [Default: OFF]`` *Non-MSVC compilers only*.
+#. ``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);
@@ -686,11 +691,6 @@
OS X 10.9+ ON std **Yes**
=================== ========== ================ ======================================
- The ``CXX11`` option does does not exist when using MSVC, as there
- any new C++ features available are enabled by default, and there is
- no analogue of ``-std=c++11``. It will however be available on
- MinGW & CygWin, which can support ``-std=c++11``.
-
#. ``BUILD_SHARED_LIBS [Default: OFF]``: By default Ceres is built as
a static library, turn this ``ON`` to instead build Ceres as a
shared library.
