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# Ceres Solver - A fast non-linear least squares minimizer
# Copyright 2024 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...3.29)
project(Ceres C CXX)
# 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)
# 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(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.
set(USE_CUDA "default" CACHE STRING "Enable use of CUDA linear algebra solvers.")
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(${SANITIZERS})
if (ANDROID)
option(ANDROID_STRIP_DEBUG_SYMBOLS "Strip debug symbols from Android builds (reduces file sizes)" ON)
endif()
# Abseil
if (EXISTS "${Ceres_SOURCE_DIR}/third_party/abseil-cpp/CMakeLists.txt")
# extract submodule absl_VERSION
file(STRINGS "${Ceres_SOURCE_DIR}/third_party/abseil-cpp/CMakeLists.txt" project_calls REGEX "[ \t]*project\\([ \t]*absl")
foreach(project_call IN LISTS project_calls)
string(REGEX MATCH "VERSION[ ]+([0-9]+(\.(rc)?[0-9]+)?)" version_param "${project_call}")
if (version_param)
set(absl_VERSION "${CMAKE_MATCH_1}")
message("-- Using the version of abseil in ceres-solver/third_party/abseil-cpp with version ${absl_VERSION}")
break ()
endif()
endforeach()
unset(project_calls)
unset(project_call)
unset(version_param)
if (NOT absl_VERSION)
message("-- Using the version of abseil in ceres-solver/third_party/abseil-cpp")
endif()
# In the normal course of things, we would not need the following constraint.
# However, if we do not set the standard, then std::basic_string_view is not
# available, which absl depends on and linking the test fails.
set(CMAKE_CXX_STANDARD 17)
# Abseil does not handle symbol visibility correctly. As a workaround, we let it
# expose all the symbols to avoid linker errors.
set(CMAKE_CXX_VISIBILITY_PRESET default)
# ABSL plans to enable this flag to be on by default in the future. If it is not
# set, then it issues a warning. We force enable it, both to silence the warning
# but to also be safe going forward.
option(ABSL_PROPAGATE_CXX_STD "Use CMake C++ standard meta features
(e.g. cxx_std_14) that propagate to targets that link to Abseil" ON)
option(ABSL_ENABLE_INSTALL "Enable install rules" ON)
add_subdirectory(third_party/abseil-cpp)
unset(CMAKE_CXX_STANDARD)
unset(CMAKE_CXX_VISIBILITY_PRESET)
# 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)
set(CERES_USE_SYSTEM_ABSL NO)
else()
message("-- ceres-solver/third_party/abseil-cpp is empty, so falling back to system installed abseil")
find_package(absl REQUIRED 20240116)
message("-- Found abseil version ${absl_VERSION}: ${absl_DIR}")
if (NOT absl_VERSION)
# In some installs, abseil will not export the version number, in
# which case we check for vlog_is_on, which is a feature we need
# before being able to use abseil.
if (NOT TARGET absl::absl_vlog_is_on)
message(FATAL_ERROR "The version of abseil installed on the system provides no version info and is missing TARGET 'absl::absl_vlog_is_on', need at least 20240116")
endif()
endif()
set(CERES_USE_SYSTEM_ABSL YES)
endif()
if (NOT absl_VERSION)
if (EXPORT_BUILD_DIR)
message(FATAL_ERROR "Cannot generate CeresConfig.cmake due to missing Abseil version. Using resulting package configuration will likely result in integration errors. Set absl_VERSION manually to disable this error message")
endif()
install (CODE [=[message (FATAL_ERROR "Cannot generate CeresConfig.cmake due to missing Abseil version. Using resulting package configuration will likely result in integration errors. Set absl_VERSION manually to disable this error message.")]=])
endif()
# Google Test
if (BUILD_TESTING)
if (EXISTS "${Ceres_SOURCE_DIR}/third_party/googletest/CMakeLists.txt")
message("-- Using the version of googletest in ceres-solver/third_party/googletest")
# Now that we have absl as a dependency, it would make sense to tell
# googletest to use absl also, but doing so seems to be problematic
# for now, since if there is a version of absl and re2 installed in
# the system then we start getting errors because we maybe using the
# absl from our submodule, but the re2 installed on the system only
# sees the absl installed on the system. It is possible that we will
# need to include re2 as a submodule also, for the following to
# work.
# set(GTEST_HAS_ABSL ON CACHE BOOL "Use ABSL when building gtest")
add_subdirectory(${Ceres_SOURCE_DIR}/third_party/googletest ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/googletest)
else()
message("-- ceres-solver/third_party/googletest is empty, so falling back to system installed googletest")
find_package(GTest 1.14.0 REQUIRED)
endif()
endif(BUILD_TESTING)
# 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()
# 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 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 (CMAKE_VERSION VERSION_LESS 3.17)
set_property(CACHE USE_CUDA PROPERTY STRINGS OFF default)
else (CMAKE_VERSION VERSION_LESS 3.17)
set_property(CACHE USE_CUDA PROPERTY STRINGS OFF default static)
endif (CMAKE_VERSION VERSION_LESS 3.17)
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(CERES_CUDA_TARGET_SUFFIX "")
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 GPUs (Default).
set(CMAKE_CUDA_ARCHITECTURES "50")
# Support other architectures depending on CUDA toolkit version.
if (CUDAToolkit_VERSION VERSION_GREATER_EQUAL "8.0")
# Support Pascal GPUs.
list(APPEND CMAKE_CUDA_ARCHITECTURES "60")
endif(CUDAToolkit_VERSION VERSION_GREATER_EQUAL "8.0")
if (CUDAToolkit_VERSION VERSION_GREATER_EQUAL "9.0")
# Support Volta GPUs.
list(APPEND CMAKE_CUDA_ARCHITECTURES "70")
endif(CUDAToolkit_VERSION VERSION_GREATER_EQUAL "9.0")
if (CUDAToolkit_VERSION VERSION_GREATER_EQUAL "10.0")
# Support Turing GPUs.
list(APPEND CMAKE_CUDA_ARCHITECTURES "75")
endif(CUDAToolkit_VERSION VERSION_GREATER_EQUAL "10.0")
if (CUDAToolkit_VERSION VERSION_GREATER_EQUAL "11.0")
# Support Ampere GPUs.
list(APPEND CMAKE_CUDA_ARCHITECTURES "80")
endif(CUDAToolkit_VERSION VERSION_GREATER_EQUAL "11.0")
if (CUDAToolkit_VERSION VERSION_GREATER_EQUAL "11.8")
# Support Hopper GPUs.
list(APPEND CMAKE_CUDA_ARCHITECTURES "90")
endif(CUDAToolkit_VERSION VERSION_GREATER_EQUAL "11.8")
message("-- Setting CUDA Architecture to ${CMAKE_CUDA_ARCHITECTURES}")
endif()
if (USE_CUDA STREQUAL "static")
set(CERES_CUDA_TARGET_SUFFIX "_static")
else (USE_CUDA STREQUAL "static")
set(CERES_CUDA_TARGET_SUFFIX "")
endif (USE_CUDA STREQUAL "static")
else (CUDAToolkit_FOUND)
message("-- Did not find CUDA, disabling CUDA support.")
update_cache_variable(USE_CUDA OFF)
endif (CUDAToolkit_FOUND)
endif (CMAKE_VERSION VERSION_LESS 3.17)
endif (USE_CUDA)
if (USE_CUDA)
list(APPEND CERES_CUDA_LIBRARIES
CUDA::cublas${CERES_CUDA_TARGET_SUFFIX}
CUDA::cudart${CERES_CUDA_TARGET_SUFFIX}
CUDA::cusolver${CERES_CUDA_TARGET_SUFFIX}
CUDA::cusparse${CERES_CUDA_TARGET_SUFFIX})
find_package(cudss CONFIG)
if (cudss_FOUND)
set(cudss_DEPENDENCY "find_dependency(cudss ${cudss_VERSION})")
list(APPEND CERES_CUDA_LIBRARIES cudss${CERES_CUDA_TARGET_SUFFIX})
else (cudss_FOUND)
list(APPEND CERES_COMPILE_OPTIONS CERES_NO_CUDSS)
message("-- Did not find cuDSS, SPARSE_SCHUR and SPARSE_NORMAL_CHOLESKY with CUDA_SPARSE will not be available.")
endif (cudss_FOUND)
unset (CERES_CUDA_TARGET_SUFFIX)
set(CMAKE_CUDA_RUNTIME_LIBRARY NONE)
else (USE_CUDA)
message("-- Building without CUDA.")
list(APPEND CERES_COMPILE_OPTIONS CERES_NO_CUDSS)
list(APPEND CERES_COMPILE_OPTIONS CERES_NO_CUDA)
endif (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_VERSION VERSION_LESS 7.4.0)
list(APPEND CERES_COMPILE_OPTIONS CERES_NO_CHOLMOD_FLOAT)
else()
message("-- CHOLMOD supports single precision factorization")
endif()
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 ${RELATIVE_CMAKECONFIG_INSTALL_DIR})
endif (NOT METIS_DIR)
else (METIS_FOUND)
message("-- Did not find METIS, disabling Eigen METIS support.")
update_cache_variable(EIGENMETIS OFF)
list (APPEND CERES_COMPILE_OPTIONS CERES_NO_EIGEN_METIS)
endif (METIS_FOUND)
else (EIGENMETIS)
message("-- Building without Eigen METIS support.")
list (APPEND CERES_COMPILE_OPTIONS CERES_NO_EIGEN_METIS)
endif (EIGENMETIS)
if (ACCELERATESPARSE)
find_package(AccelerateSparse)
if (AccelerateSparse_FOUND)
message("-- Found Apple's Accelerate framework with sparse solvers, "
"building with Accelerate sparse support.")
else()
message("-- Failed to find Apple's Accelerate framework with sparse solvers, "
"building without Accelerate sparse support.")
update_cache_variable(ACCELERATESPARSE OFF)
list(APPEND CERES_COMPILE_OPTIONS CERES_NO_ACCELERATE_SPARSE)
endif()
else()
message("-- Building without Apple's Accelerate sparse support.")
list(APPEND CERES_COMPILE_OPTIONS CERES_NO_ACCELERATE_SPARSE)
mark_as_advanced(FORCE AccelerateSparse_INCLUDE_DIR
AccelerateSparse_LIBRARY)
endif()
# Ensure that the user understands they have disabled all sparse libraries.
if (NOT SUITESPARSE AND NOT EIGENSPARSE AND NOT ACCELERATESPARSE AND NOT cudss_FOUND)
message(" ===============================================================")
message(" Compiling without any sparse library: SuiteSparse, EigenSparse")
message(" Apple's Accelerate & cuDSS are all disabled or unavailable. ")
message(" No sparse linear solvers (SPARSE_NORMAL_CHOLESKY & SPARSE_SCHUR)")
message(" will be available when Ceres is used.")
message(" ===============================================================")
endif()
# ANDROID define is set by the Android CMake toolchain file.
if (ANDROID)
message(" ================================================================")
if (ANDROID_STRIP_DEBUG_SYMBOLS)
# Strip debug information unconditionally to avoid +200MB library file sizes.
set( CMAKE_EXE_LINKER_FLAGS "${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()
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 "${CMAKE_CXX_FLAGS_RELEASE}")
endif (MINGW)
# After the tweaks for the compile settings, disable some warnings on MSVC.
if (MSVC)
# Insecure standard library functions
add_compile_definitions(_CRT_SECURE_NO_WARNINGS)
# std::numeric_limits<T>::has_denorm is deprecated in C++23
add_compile_definitions($<$<COMPILE_LANGUAGE:CXX>:_SILENCE_CXX23_DENORM_DEPRECATION_WARNING>)
# std::aligned_storage is deprecated in C++23
add_compile_definitions($<$<COMPILE_LANGUAGE:CXX>:_SILENCE_CXX23_ALIGNED_STORAGE_DEPRECATION_WARNING>)
# Disable signed/unsigned int conversion warnings.
add_compile_options($<$<COMPILE_LANGUAGE:CXX>:/wd4018>)
add_compile_options($<$<COMPILE_LANGUAGE:CXX>:/wd4267>)
# Disable warning about using struct/class for the same symbol.
add_compile_options($<$<COMPILE_LANGUAGE:CXX>:/wd4099>)
# Disable performance warning about int-to-bool conversion.
add_compile_options($<$<COMPILE_LANGUAGE:CXX>:/wd4800>)
# Disable warning about int64 to int32 conversion. Disabling
# this warning may not be correct; needs investigation.
# TODO(keir): Investigate these warnings in more detail.
add_compile_options($<$<COMPILE_LANGUAGE:CXX>:/wd4244>)
# It's not possible to use STL types in DLL interfaces in a portable and
# reliable way. However, that's what happens with Google Log and Google Flags
# on Windows. MSVC gets upset about this and throws warnings that we can't do
# much about. The real solution is to link static versions of Google Log and
# Google Test, but that seems tricky on Windows. So, disable the warning.
add_compile_options($<$<COMPILE_LANGUAGE:CXX>:/wd4251>)
# Add bigobj flag otherwise the build would fail due to large object files
# probably resulting from generated headers (like the fixed-size schur
# specializations).
add_compile_options($<$<COMPILE_LANGUAGE:CXX>:/bigobj>)
# Google Flags doesn't have their DLL import/export stuff set up correctly,
# which results in linker warnings. This is irrelevant for Ceres, so ignore
# the warnings.
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /ignore:4049")
# Tuple sizes of 10 are used by Gtest.
add_definitions("-D_VARIADIC_MAX=10")
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 REQUIRED COMPONENTS sphinx_rtd_theme)
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 ${CMAKE_INSTALL_INCLUDEDIR})
# Ceres supports two mechanisms by which it can be detected & imported into
# client code which uses CMake via find_package(Ceres):
#
# 1) Installation (e.g. to /usr/local), using CMake's install() function.
#
# 2) (Optional) Export of the current build directory into the local CMake
# package registry, using CMake's export() function. This allows use of
# Ceres from other projects without requiring installation.
#
# In both cases, we need to generate a configured CeresConfig.cmake which
# includes additional autogenerated files which in concert create an imported
# target for Ceres in a client project when find_package(Ceres) is invoked.
# The key distinctions are where this file is located, and whether client code
# references installed copies of the compiled Ceres headers/libraries,
# (option #1: installation), or the originals in the source/build directories
# (option #2: export of build directory).
#
# NOTE: If Ceres is both exported and installed, provided that the installation
# path is present in CMAKE_MODULE_PATH when find_package(Ceres) is called,
# the installed version is preferred.
# Build the list of Ceres components for CeresConfig.cmake from the current set
# of compile options.
include(CeresCompileOptionsToComponents)
ceres_compile_options_to_components("${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 ${RELATIVE_CMAKECONFIG_INSTALL_DIR})
if (PROVIDE_UNINSTALL_TARGET)
# Create an uninstall target to remove all installed files.
configure_file("${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)