Update Windows install guide
diff --git a/docs/source/installation.rst b/docs/source/installation.rst
index 182bfd2..a59b15b 100644
@@ -21,10 +21,9 @@
- .. NOTE ::
+ .. note ::
- Starting with v2.0 Ceres requires a **fully C++14-compliant**
- compiler. In versions <= 1.14, C++11 was an optional requirement.
+ Ceres Solver 2.1 requires a **fully C++14-compliant** compiler.
Ceres relies on a number of open source libraries, some of which are
optional. For details on customizing the build process, see
@@ -69,7 +68,7 @@
examples and tests and usually a dependency for glog.
- `SuiteSparse <http://faculty.cse.tamu.edu/davis/suitesparse.html>`_
- 5.0 or later. Needed for solving large sparse linear
+ 4.0 or later. Needed for solving large sparse linear
systems. **Optional; strongly recomended for large scale bundle
@@ -319,8 +318,8 @@
equivalent on Microsoft Windows and can be used to install Ceres
-If building from source on Windows, we support building with Visual
-Studio 2015.2 of newer.
+Ceres Solver can also be built from source. For this purpose, we support Visual
+Studio 2019 and newer.
@@ -329,10 +328,11 @@
<https://github.com/tbennun/ceres-windows>`_ for Ceres Solver by Tal
-#. Make a toplevel directory for deps & build & src somewhere: ``ceres/``
+#. Create a top-level directory for dependencies, build, and sources somewhere,
+ e.g., ``ceres/``
#. Get dependencies; unpack them as subdirectories in ``ceres/``
- (``ceres/eigen``, ``ceres/glog``, etc)
+ (``ceres/eigen``, ``ceres/glog``, etc.)
#. ``Eigen`` 3.3 . Configure and optionally install Eigen. It should be
exported into the CMake package registry by default as part of the
@@ -355,6 +355,17 @@
wish to use ``CXSparse``, follow their instructions for
obtaining and building it.
+ #. Alternatively, Ceres Solver supports ``SuiteSparse`` binary
+ packages available for Visual Studio 2019 and 2022 provided by the `CMake
+ support for SuiteSparse <https://github.com/sergiud/SuiteSparse>`_ project
+ that also include `reference LAPACK <http://www.netlib.org/blas>`_ (and
+ BLAS). The binary packages are used by Ceres Solver for continuous testing
+ on Github.
+ .. note::
+ The GPL licensed version of the SuiteSparse package is required.
#. Unpack the Ceres tarball into ``ceres``. For the tarball, you
should get a directory inside ``ceres`` similar to
``ceres-solver-2.1.0``. Alternately, checkout Ceres via ``git`` to
@@ -362,27 +373,40 @@
#. Install ``CMake``,
-#. Make a dir ``ceres/ceres-bin`` (for an out-of-tree build)
+#. Create a directory ``ceres/ceres-bin`` (for an out-of-tree build)
+ #. If you use the above binary ``SuiteSparse`` package, make sure CMake can
+ find it, e.g., by assigning the path of the directory that contains the
+ unzipped contents to the ``CMAKE_PREFIX_PATH`` environment variable. In a
+ Windows command prompt this can be achieved as follows:
+ .. code:: bat
+ export CMAKE_PREFIX_PATH=C:/Downloads/SuiteSparse-5.11.0-cmake.1-vc16-Win64-Release-shared-gpl
#. Run ``CMake``; select the ``ceres-solver-X.Y.Z`` or
``ceres-solver.git`` directory for the CMake file. Then select the
- ``ceres-bin`` for the build dir.
+ ``ceres-bin`` for the build directory.
-#. Try running ``Configure``. It won't work. It'll show a bunch of options.
- You'll need to set:
+#. Try running ``Configure`` which can fail at first because some dependencies
+ cannot be automatically located. In this case, you must set the following
+ CMake variables to the appropriate directories where you unpacked/built them:
#. ``Eigen3_DIR`` (Set to directory containing ``Eigen3Config.cmake``)
#. (Optional) ``gflags_DIR`` (Set to directory containing ``gflags-config.cmake``)
+ #. (SuiteSparse binary package) ``BLAS_blas_LIBRARY`` and
+ ``LAPACK_lapack_LIBRARY`` CMake variables must be `explicitly set` to
+ ``<path>/lib/blas.lib`` and ``<path>/lib/lapack.lib``, respectively, both
+ located in the unzipped package directory ``<path>``.
- to the appropriate directories where you unpacked/built them. If
- any of the variables are not visible in the ``CMake`` GUI, create a
- new entry for them. We recommend using the
- ``<NAME>_(INCLUDE/LIBRARY)_DIR_HINTS`` variables rather than
- setting the ``<NAME>_INCLUDE_DIR`` & ``<NAME>_LIBRARY`` variables
- directly to keep all of the validity checking, and to avoid having
- to specify the library files manually.
+ If any of the variables are not visible in the ``CMake`` GUI, create a new
+ entry for them. We recommend using the
+ ``<NAME>_(INCLUDE/LIBRARY)_DIR_HINTS`` variables rather than setting the
+ ``<NAME>_INCLUDE_DIR`` & ``<NAME>_LIBRARY`` variables directly to keep all of
+ the validity checking, and to avoid having to specify the library files
#. You may have to tweak some more settings to generate a MSVC
project. After each adjustment, try pressing Configure & Generate
@@ -397,17 +421,14 @@
Like the Linux build, you should now be able to run
-#. The default build is Debug; consider switching it to release mode.
-#. Currently ``system_test`` is not working properly.
-#. CMake puts the resulting test binaries in ``ceres-bin/examples/Debug``
- by default.
-#. The solvers supported on Windows are ``DENSE_QR``, ``DENSE_SCHUR``,
- ``CGNR``, and ``ITERATIVE_SCHUR``.
-#. We're looking for someone to work with upstream ``SuiteSparse`` to
- port their build system to something sane like ``CMake``, and get a
- fully supported Windows port.
+ #. The default build is ``Debug``; consider switching it to ``Release`` for
+ optimal performance.
+ #. CMake puts the resulting test binaries in ``ceres-bin/examples/Debug`` by
+ #. Without ``SuiteSparse``, only a subset of solvers is usable,
+ namely: ``DENSE_QR``, ``DENSE_SCHUR``, ``CGNR``, and ``ITERATIVE_SCHUR``.