blob: f0a7495f9634c2056849773c1fd305498b656a93 [file] [log] [blame]
# 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.
#
# 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_policy(SET CMP0003 NEW)
if (POLICY CMP0042)
cmake_policy(SET CMP0042 NEW)
endif()
include(CMakeDependentOption)
project(Ceres C CXX)
# 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 "${Ceres_SOURCE_DIR}/cmake")
include(UpdateCacheVariable)
# Set up the git hook to make Gerrit Change-Id: lines in commit messages.
include(AddGerritCommitHook)
add_gerrit_commit_hook(${Ceres_SOURCE_DIR} ${Ceres_BINARY_DIR})
# On OS X, add the Homebrew prefix to the set of prefixes searched by
# CMake in find_path & find_library. This should ensure that we can
# still build Ceres even if Homebrew is installed in a non-standard
# location (not /usr/local).
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()
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()
option(MINIGLOG "Use a stripped down version of glog." OFF)
option(GFLAGS "Enable Google Flags." ON)
option(SUITESPARSE "Enable SuiteSparse." ON)
option(CXSPARSE "Enable CXSparse." ON)
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)
# 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 &
# 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)
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)
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.
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)
if (BUILD_TESTING AND BUILD_SHARED_LIBS)
message(
"-- Disabling tests. The flags BUILD_TESTING and BUILD_SHARED_LIBS"
" are incompatible with MSVC.")
update_cache_variable(BUILD_TESTING OFF)
endif (BUILD_TESTING AND BUILD_SHARED_LIBS)
endif (MSVC)
# Allow user to specify a suffix for the library install directory, the only
# really sensible option (other than "") being "64", such that:
# ${CMAKE_INSTALL_PREFIX}/lib -> ${CMAKE_INSTALL_PREFIX}/lib64.
#
# Heuristic for determining LIB_SUFFIX. FHS recommends that 64-bit systems
# install native libraries to lib64 rather than lib. Most distros seem to
# follow this convention with a couple notable exceptions (Debian-based and
# Arch-based distros) which we try to detect here.
if (CMAKE_SYSTEM_NAME MATCHES "Linux" AND
NOT DEFINED LIB_SUFFIX AND
NOT CMAKE_CROSSCOMPILING AND
CMAKE_SIZEOF_VOID_P EQUAL "8" AND
NOT EXISTS "/etc/debian_version" AND
NOT EXISTS "/etc/arch-release")
message("-- Detected non-Debian/Arch-based 64-bit Linux distribution. "
"Defaulting to library install directory: lib${LIB_SUFFIX}. You can "
"override this by specifying LIB_SUFFIX.")
set(LIB_SUFFIX "64")
endif ()
# Only create the cache variable (for the CMake GUI) after attempting to detect
# the suffix *if not specified by the user* (NOT DEFINED LIB_SUFFIX in if())
# s/t the user could override our autodetected suffix with "" if desired.
set(LIB_SUFFIX "${LIB_SUFFIX}" CACHE STRING
"Suffix of library install directory (to support lib/lib64)." FORCE)
# 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.")
update_cache_variable(SUITESPARSE OFF)
update_cache_variable(CXSPARSE OFF)
update_cache_variable(GFLAGS OFF)
update_cache_variable(OPENMP OFF)
update_cache_variable(TBB OFF)
# 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, CXSparse, LAPACK, gflags, "
"and OpenMP 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.
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)
if (CMAKE_SYSTEM_PROCESSOR MATCHES "^(aarch64.*|AARCH64.*)" AND
EIGEN_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: ${EIGEN_VERSION}.")
endif()
if (EIGENSPARSE)
message("-- Enabling use of Eigen as a sparse linear algebra library.")
list(APPEND CERES_COMPILE_OPTIONS CERES_USE_EIGEN_SPARSE)
if (EIGEN_VERSION VERSION_LESS 3.2.2)
message(" WARNING:")
message("")
message(" Your version of Eigen (${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)
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)
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)
if (SUITESPARSE_FOUND)
# On Ubuntu the system install of SuiteSparse (v3.4.0) up to at least
# Ubuntu 13.10 cannot be used to link shared libraries.
if (BUILD_SHARED_LIBS AND
SUITESPARSE_IS_BROKEN_SHARED_LINKING_UBUNTU_SYSTEM_VERSION)
message(FATAL_ERROR "You are attempting to build Ceres as a shared "
"library on Ubuntu using a system package install of SuiteSparse "
"3.4.0. This package is broken and does not support the "
"construction of shared libraries (you can still build Ceres as "
"a static library). If you wish to build a shared version of Ceres "
"you should uninstall the system install of SuiteSparse "
"(libsuitesparse-dev) and perform a source install of SuiteSparse "
"(we recommend that you use the latest version), "
"see http://ceres-solver.org/building.html for more information.")
endif (BUILD_SHARED_LIBS AND
SUITESPARSE_IS_BROKEN_SHARED_LINKING_UBUNTU_SYSTEM_VERSION)
# By default, if all of SuiteSparse's dependencies are found, Ceres is
# built with SuiteSparse support.
message("-- Found SuiteSparse ${SUITESPARSE_VERSION}, "
"building with SuiteSparse.")
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)
# CXSparse.
if (CXSPARSE)
# Don't search with REQUIRED as we can continue without CXSparse.
find_package(CXSparse)
if (CXSPARSE_FOUND)
# By default, if CXSparse and all dependencies are found, Ceres is
# built with CXSparse support.
message("-- Found CXSparse version: ${CXSPARSE_VERSION}, "
"building with CXSparse.")
else (CXSPARSE_FOUND)
# Disable use of CXSparse if it cannot be found and continue.
message("-- Did not find CXSparse, Building without CXSparse.")
update_cache_variable(CXSPARSE OFF)
list(APPEND CERES_COMPILE_OPTIONS CERES_NO_CXSPARSE)
endif (CXSPARSE_FOUND)
else (CXSPARSE)
message("-- Building without CXSparse.")
list(APPEND CERES_COMPILE_OPTIONS CERES_NO_CXSPARSE)
# Mark as advanced (remove from default GUI view) the CXSparse search
# variables in case user enabled CXSPARSE, FindCXSparse did not find it, so
# made search variables visible in GUI for user to set, but then user disables
# CXSPARSE instead of setting them.
mark_as_advanced(FORCE CXSPARSE_INCLUDE_DIR
CXSPARSE_LIBRARY)
endif (CXSPARSE)
# Ensure that the user understands they have disabled all sparse libraries.
if (NOT SUITESPARSE AND NOT CXSPARSE AND NOT EIGENSPARSE)
message(" ===============================================================")
message(" Compiling without any sparse library: SuiteSparse, CXSparse ")
message(" & Eigen (Sparse) are all disabled or unavailable. No sparse ")
message(" linear solvers (SPARSE_NORMAL_CHOLESKY & SPARSE_SCHUR)")
message(" will be available when Ceres is used.")
message(" ===============================================================")
endif(NOT SUITESPARSE AND NOT CXSPARSE AND NOT EIGENSPARSE)
# GFlags.
if (GFLAGS)
# Don't search with REQUIRED as we can continue without gflags.
find_package(Gflags)
if (GFLAGS_FOUND)
message("-- Found Google Flags header in: ${GFLAGS_INCLUDE_DIRS}, "
"in namespace: ${GFLAGS_NAMESPACE}")
add_definitions(-DCERES_GFLAGS_NAMESPACE=${GFLAGS_NAMESPACE})
else (GFLAGS_FOUND)
message("-- Did not find Google Flags (gflags), Building without gflags "
"- no tests or tools will be built!")
update_cache_variable(GFLAGS OFF)
endif (GFLAGS_FOUND)
else (GFLAGS)
message("-- Google Flags disabled; no tests or tools will be built!")
# Mark as advanced (remove from default GUI view) the gflags search
# variables in case user enabled GFLAGS, FindGflags did not find it, so
# made search variables visible in GUI for user to set, but then user disables
# GFLAGS instead of setting them.
mark_as_advanced(FORCE GFLAGS_INCLUDE_DIR
GFLAGS_LIBRARY
GFLAGS_NAMESPACE)
endif (GFLAGS)
# 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)." ${GLOG_GFLAGS_DEPENDENCY_MESSAGE})
endif (MINIGLOG)
if (NOT SCHUR_SPECIALIZATIONS)
list(APPEND CERES_COMPILE_OPTIONS CERES_RESTRICT_SCHUR_SPECIALIZATION)
message("-- Disabling Schur specializations (faster compiles)")
endif (NOT SCHUR_SPECIALIZATIONS)
if (NOT CUSTOM_BLAS)
list(APPEND CERES_COMPILE_OPTIONS CERES_NO_CUSTOM_BLAS)
message("-- Disabling custom blas")
endif (NOT CUSTOM_BLAS)
# OpenMP and TBB are mutually exclusive options. OpenMP is on by default thus
# disable it if the user requested TBB.
if (TBB AND OPENMP)
update_cache_variable(OPENMP OFF)
message("-- Intel TBB enabled; disabling OpenMP support (they are mutually "
"exclusive)")
endif (TBB AND OPENMP)
if (OPENMP)
# Find quietly, as we can continue without OpenMP if it is not found.
find_package(OpenMP QUIET)
if (OPENMP_FOUND)
message("-- Building with OpenMP.")
list(APPEND CERES_COMPILE_OPTIONS CERES_USE_OPENMP)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
else (OPENMP_FOUND)
message("-- Failed to find OpenMP, disabling. This is expected on "
"Clang < 3.8, and at least Xcode <= 8. See Ceres documentation for "
"instructions to build with LLVM from Homebrew to enable OpenMP on OS X.")
update_cache_variable(OPENMP OFF)
list(APPEND CERES_COMPILE_OPTIONS CERES_NO_THREADS)
endif (OPENMP_FOUND)
else (OPENMP)
message("-- Building without OpenMP, disabling.")
endif (OPENMP)
if (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)
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)
list(APPEND CERES_COMPILE_OPTIONS CERES_USE_CXX11_THREADS)
endif (CXX11_THREADS)
if (NOT OPENMP AND NOT TBB AND NOT CXX11_THREADS)
message("-- Neither OpenMP, TBB or C++11 threads is enabled, "
"disabling multithreading.")
list(APPEND CERES_COMPILE_OPTIONS CERES_NO_THREADS)
else (NOT OPENMP AND NOT TBB AND NOT CXX11_THREADS)
if (UNIX)
# At least on Linux, we need pthreads to be enabled for mutex to
# compile. This may not work on Windows or Android.
find_package(Threads REQUIRED)
list(APPEND CERES_COMPILE_OPTIONS CERES_HAVE_PTHREAD)
list(APPEND CERES_COMPILE_OPTIONS CERES_HAVE_RWLOCK)
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)
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()
include_directories(
include
internal
internal/ceres
${GLOG_INCLUDE_DIRS})
# Eigen SparseQR generates various compiler warnings related to unused and
# uninitialised local variables. To avoid having to individually suppress these
# 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.
#
# Note that this is *not* propagated to clients, ie CERES_INCLUDE_DIRS
# used by clients after find_package(Ceres) does not identify Eigen as
# as system headers.
include_directories(SYSTEM ${EIGEN_INCLUDE_DIRS})
if (SUITESPARSE)
include_directories(${SUITESPARSE_INCLUDE_DIRS})
endif (SUITESPARSE)
if (CXSPARSE)
include_directories(${CXSPARSE_INCLUDE_DIRS})
endif (CXSPARSE)
if (GFLAGS)
include_directories(${GFLAGS_INCLUDE_DIRS})
endif (GFLAGS)
if (BUILD_SHARED_LIBS)
message("-- Building Ceres as a shared library.")
# The CERES_BUILDING_SHARED_LIBRARY compile definition is NOT stored in
# CERES_COMPILE_OPTIONS as it must only be defined when Ceres is compiled
# not when it is used as it controls the CERES_EXPORT macro which provides
# dllimport/export support in MSVC.
add_definitions(-DCERES_BUILDING_SHARED_LIBRARY)
list(APPEND CERES_COMPILE_OPTIONS CERES_USING_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)
# Set the default Ceres flags to an empty string.
set (CERES_CXX_FLAGS)
if (CMAKE_BUILD_TYPE STREQUAL "Release")
if (CMAKE_COMPILER_IS_GNUCXX)
# Linux
if (CMAKE_SYSTEM_NAME MATCHES "Linux")
if (NOT GCC_VERSION VERSION_LESS 4.2)
set (CERES_CXX_FLAGS "${CERES_CXX_FLAGS} -march=native -mtune=native")
endif (NOT GCC_VERSION VERSION_LESS 4.2)
endif (CMAKE_SYSTEM_NAME MATCHES "Linux")
# Mac OS X
if (CMAKE_SYSTEM_NAME MATCHES "Darwin")
set (CERES_CXX_FLAGS "${CERES_CXX_FLAGS} -msse3")
# Use of -fast only applicable for Apple's GCC
# Assume this is being used if GCC version < 4.3 on OSX
execute_process(COMMAND ${CMAKE_C_COMPILER}
ARGS ${CMAKE_CXX_COMPILER_ARG1} -dumpversion
OUTPUT_VARIABLE GCC_VERSION
OUTPUT_STRIP_TRAILING_WHITESPACE)
if (GCC_VERSION VERSION_LESS 4.3)
set (CERES_CXX_FLAGS "${CERES_CXX_FLAGS} -fast")
endif (GCC_VERSION VERSION_LESS 4.3)
endif (CMAKE_SYSTEM_NAME MATCHES "Darwin")
endif (CMAKE_COMPILER_IS_GNUCXX)
endif (CMAKE_BUILD_TYPE STREQUAL "Release")
set (CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} ${CERES_CXX_FLAGS}")
if (MINGW)
# MinGW produces code that segfaults when performing matrix multiplications
# in Eigen when compiled with -O3 (see [1]), as such force the use of -O2
# which works.
#
# [1] http://eigen.tuxfamily.org/bz/show_bug.cgi?id=556
message("-- MinGW detected, forcing -O2 instead of -O3 in Release for Eigen due "
"to a MinGW bug: http://eigen.tuxfamily.org/bz/show_bug.cgi?id=556")
string(REPLACE "-O3" "-O2" CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE}")
update_cache_variable(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE}")
endif (MINGW)
# After the tweaks for the compile settings, disable some warnings on MSVC.
if (MSVC)
# On MSVC, math constants are not included in <cmath> or <math.h> unless
# _USE_MATH_DEFINES is defined [1]. As we use M_PI in the examples, ensure
# that _USE_MATH_DEFINES is defined before the first inclusion of <cmath>.
#
# [1] https://msdn.microsoft.com/en-us/library/4hwaceh6.aspx
add_definitions("-D_USE_MATH_DEFINES")
# Disable signed/unsigned int conversion warnings.
add_definitions("/wd4018")
# Disable warning about using struct/class for the same symobl.
add_definitions("/wd4099")
# Disable warning about the insecurity of using "std::copy".
add_definitions("/wd4996")
# Disable performance warning about int-to-bool conversion.
add_definitions("/wd4800")
# Disable performance warning about fopen insecurity.
add_definitions("/wd4996")
# Disable warning about int64 to int32 conversion. Disabling
# this warning may not be correct; needs investigation.
# TODO(keir): Investigate these warnings in more detail.
add_definitions("/wd4244")
# It's not possible to use STL types in DLL interfaces in a portable and
# reliable way. However, that's what happens with Google Log and Google Flags
# on Windows. MSVC gets upset about this and throws warnings that we can't do
# much about. The real solution is to link static versions of Google Log and
# Google Test, but that seems tricky on Windows. So, disable the warning.
add_definitions("/wd4251")
# Google Flags doesn't have their DLL import/export stuff set up correctly,
# which results in linker warnings. This is irrelevant for Ceres, so ignore
# the warnings.
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /ignore:4049")
# Update the C/CXX flags for MSVC to use either the static or shared
# C-Run Time (CRT) library based on the user option: MSVC_USE_STATIC_CRT.
list(APPEND C_CXX_FLAGS
CMAKE_CXX_FLAGS
CMAKE_CXX_FLAGS_DEBUG
CMAKE_CXX_FLAGS_RELEASE
CMAKE_CXX_FLAGS_MINSIZEREL
CMAKE_CXX_FLAGS_RELWITHDEBINFO)
foreach(FLAG_VAR ${C_CXX_FLAGS})
if (MSVC_USE_STATIC_CRT)
# Use static CRT.
if (${FLAG_VAR} MATCHES "/MD")
string(REGEX REPLACE "/MD" "/MT" ${FLAG_VAR} "${${FLAG_VAR}}")
endif (${FLAG_VAR} MATCHES "/MD")
else (MSVC_USE_STATIC_CRT)
# Use shared, not static, CRT.
if (${FLAG_VAR} MATCHES "/MT")
string(REGEX REPLACE "/MT" "/MD" ${FLAG_VAR} "${${FLAG_VAR}}")
endif (${FLAG_VAR} MATCHES "/MT")
endif (MSVC_USE_STATIC_CRT)
endforeach()
# 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)
# GCC is not strict enough by default, so enable most of the warnings.
set(CMAKE_CXX_FLAGS
"${CMAKE_CXX_FLAGS} -Wno-unknown-pragmas -Wno-sign-compare -Wno-unused-parameter -Wno-missing-field-initializers")
endif (UNIX)
# Use a larger inlining threshold for Clang, since it hobbles Eigen,
# resulting in an unreasonably slow version of the blas routines. The
# -Qunused-arguments is needed because CMake passes the inline
# threshold to the linker and clang complains about it and dies.
if (CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
set(CMAKE_CXX_FLAGS
"${CMAKE_CXX_FLAGS} -Qunused-arguments -mllvm -inline-threshold=600")
# 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.
include(CheckCXXCompilerFlag)
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 ()
# Xcode 4.5.x used Clang 4.1 (Apple version), this has a bug that prevents
# compilation of Ceres.
if (APPLE AND CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
execute_process(COMMAND ${CMAKE_CXX_COMPILER}
ARGS ${CMAKE_CXX_COMPILER_ARG1} -dumpversion
OUTPUT_VARIABLE CLANG_VERSION
OUTPUT_STRIP_TRAILING_WHITESPACE)
# Use version > 4.0 & < 4.2 to catch all 4.1(.x) versions.
if (CLANG_VERSION VERSION_GREATER 4.0 AND
CLANG_VERSION VERSION_LESS 4.2)
message(FATAL_ERROR "You are attempting to build Ceres on OS X using Xcode "
"4.5.x (Clang version: ${CLANG_VERSION}). This version of Clang has a "
"bug that prevents compilation of Ceres, please update to "
"Xcode >= 4.6.3.")
endif (CLANG_VERSION VERSION_GREATER 4.0 AND
CLANG_VERSION VERSION_LESS 4.2)
endif (APPLE AND CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
# Configure the Ceres config.h compile options header using the current
# compile options and put the configured header into the Ceres build
# directory. Note that the ceres/internal subdir in <build>/config where
# the configured config.h is placed is important, because Ceres will be
# built against this configured header, it needs to have the same relative
# include path as it would if it were in the source tree (or installed).
list(REMOVE_DUPLICATES CERES_COMPILE_OPTIONS)
include(CreateCeresConfig)
create_ceres_config("${CERES_COMPILE_OPTIONS}"
${Ceres_BINARY_DIR}/config/ceres/internal)
# Force the location containing the configured config.h to the front of the
# include_directories list (by default it is appended to the back) to ensure
# that if the user has an installed version of Ceres in the same location as one
# of the dependencies (e.g. /usr/local) that we find the config.h we just
# configured, not the (older) installed config.h.
include_directories(BEFORE ${Ceres_BINARY_DIR}/config)
add_subdirectory(internal/ceres)
if (BUILD_DOCUMENTATION)
set(CERES_DOCS_INSTALL_DIR "share/doc/ceres" CACHE STRING
"Ceres docs install path relative to CMAKE_INSTALL_PREFIX")
find_package(Sphinx QUIET)
if (NOT SPHINX_FOUND)
message("-- Failed to find Sphinx, 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 include/ceres)
file(GLOB CERES_PUBLIC_INTERNAL_HDRS ${Ceres_SOURCE_DIR}/include/ceres/internal/*.h)
install(FILES ${CERES_PUBLIC_INTERNAL_HDRS} DESTINATION include/ceres/internal)
# Also setup installation of Ceres config.h configured with the current
# build options into the installed headers directory.
install(FILES ${Ceres_BINARY_DIR}/config/ceres/internal/config.h
DESTINATION include/ceres/internal)
if (MINIGLOG)
# Install miniglog header if being used as logging #includes appear in
# installed public Ceres headers.
install(FILES ${Ceres_SOURCE_DIR}/internal/ceres/miniglog/glog/logging.h
DESTINATION include/ceres/internal/miniglog/glog)
endif (MINIGLOG)
# Ceres supports two mechanisms by which it can be detected & imported into
# client code which uses CMake via find_package(Ceres):
#
# 1) Installation (e.g. to /usr/local), using CMake's install() function.
#
# 2) (Optional) Export of the current build directory into the local CMake
# package registry, using CMake's export() function. This allows use of
# Ceres from other projects without requiring installation.
#
# In both cases, we need to generate a configured CeresConfig.cmake which
# includes additional autogenerated files which in concert create an imported
# target for Ceres in a client project when find_package(Ceres) is invoked.
# The key distinctions are where this file is located, and whether client code
# references installed copies of the compiled Ceres headers/libraries,
# (option #1: installation), or the originals in the source/build directories
# (option #2: export of build directory).
#
# NOTE: If Ceres is both exported and installed, provided that the installation
# path is present in CMAKE_MODULE_PATH when find_package(Ceres) is called,
# the installed version is preferred.
# Build the list of Ceres components for CeresConfig.cmake from the current set
# of compile options.
include(CeresCompileOptionsToComponents)
ceres_compile_options_to_components("${CERES_COMPILE_OPTIONS}"
CERES_COMPILED_COMPONENTS)
# Create a CeresConfigVersion.cmake file containing the version information,
# used by both export() & install().
configure_file("${Ceres_SOURCE_DIR}/cmake/CeresConfigVersion.cmake.in"
"${Ceres_BINARY_DIR}/CeresConfigVersion.cmake" @ONLY)
# Install method #1: Put Ceres in CMAKE_INSTALL_PREFIX: /usr/local or equivalent.
# Set the install path for the installed CeresConfig.cmake configuration file
# relative to CMAKE_INSTALL_PREFIX.
if (WIN32)
set(RELATIVE_CMAKECONFIG_INSTALL_DIR CMake)
else ()
set(RELATIVE_CMAKECONFIG_INSTALL_DIR lib${LIB_SUFFIX}/cmake/Ceres)
endif ()
# 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
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"
"${Ceres_SOURCE_DIR}/cmake/FindEigen.cmake"
"${Ceres_SOURCE_DIR}/cmake/FindGlog.cmake"
"${Ceres_SOURCE_DIR}/cmake/FindGflags.cmake"
DESTINATION ${RELATIVE_CMAKECONFIG_INSTALL_DIR})
# Create an uninstall target to remove all installed files.
configure_file("${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)
# 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})
# 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 FILE ${Ceres_BINARY_DIR}/CeresTargets.cmake)
export(PACKAGE ${CMAKE_PROJECT_NAME})
# Configure a CeresConfig.cmake file for the export of the Ceres build
# directory from the template, reflecting the current build options.
set(SETUP_CERES_CONFIG_FOR_INSTALLATION FALSE)
configure_file("${Ceres_SOURCE_DIR}/cmake/CeresConfig.cmake.in"
"${Ceres_BINARY_DIR}/CeresConfig.cmake" @ONLY)
endif (EXPORT_BUILD_DIR)