CMakeLists.txt - ceres-solver - Git at Google

 # Ceres Solver - A fast non-linear least squares minimizer
 # Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
 # http://code.google.com/p/ceres-solver/
 #
 # 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: keir@google.com (Keir Mierle)

 CMAKE_MINIMUM_REQUIRED(VERSION 2.8.0)

 IF (COMMAND cmake_policy)
   CMAKE_POLICY(SET CMP0003 NEW)
 ENDIF (COMMAND cmake_policy)

 PROJECT(CERES C CXX)

 ENABLE_TESTING()

 OPTION(BUILD_TESTING
        "Enable tests"
        ON)

 # To get a more static build, try the following line on Mac and Linux:
 # SET(CMAKE_FIND_LIBRARY_SUFFIXES .a ${CMAKE_FIND_LIBRARY_SUFFIXES})

 # Default locations to search for on various platforms.
 LIST(APPEND SEARCH_LIBS /usr/lib)
 LIST(APPEND SEARCH_LIBS /usr/local/lib)
 LIST(APPEND SEARCH_LIBS /usr/local/homebrew/lib) # Mac OS X
 LIST(APPEND SEARCH_LIBS /opt/local/lib)

 LIST(APPEND SEARCH_HEADERS /usr/include)
 LIST(APPEND SEARCH_HEADERS /usr/local/include)
 LIST(APPEND SEARCH_HEADERS /usr/local/homebrew/include) # Mac OS X
 LIST(APPEND SEARCH_HEADERS /opt/local/include)

 # Locations to search for Eigen
 SET(EIGEN_SEARCH_HEADERS ${SEARCH_HEADERS})
 LIST(APPEND EIGEN_SEARCH_HEADERS /usr/include/eigen3) # Ubuntu 10.04's default location.
 LIST(APPEND EIGEN_SEARCH_HEADERS /usr/local/include/eigen3)
 LIST(APPEND EIGEN_SEARCH_HEADERS /usr/local/homebrew/include/eigen3)  # Mac OS X
 LIST(APPEND EIGEN_SEARCH_HEADERS /opt/local/var/macports/software/eigen3/opt/local/include/eigen3) # Mac OS X

 # Locations to search for SuiteSparse
 SET(SUITESPARSE_SEARCH_LIBS ${SEARCH_LIBS})
 LIST(APPEND SUITESPARSE_SEARCH_LIBS /usr/lib/suitesparse) # Ubuntu
 LIST(APPEND SUITESPARSE_SEARCH_LIBS /usr/local/lib/suitesparse)
 LIST(APPEND SUITESPARSE_SEARCH_LIBS /opt/local/lib/ufsparse) # Mac OS X

 SET(SUITESPARSE_SEARCH_HEADERS ${SEARCH_HEADERS})
 LIST(APPEND SUITESPARSE_SEARCH_HEADERS /usr/include/suitesparse) # Ubuntu
 LIST(APPEND SUITESPARSE_SEARCH_HEADERS /usr/local/include/suitesparse)
 LIST(APPEND SUITESPARSE_SEARCH_HEADERS /opt/local/include/ufsparse) # Mac OS X

 SET(CXSPARSE_SEARCH_LIBS ${SEARCH_LIBS})
 SET(CXSPARSE_SEARCH_HEADERS ${SEARCH_HEADERS})
 LIST(APPEND CXSPARSE_SEARCH_HEADERS /usr/include/suitesparse) # Ubuntu

 # Check for SuiteSparse dependencies
 MESSAGE("-- Check for AMD")
 SET(AMD_FOUND TRUE)

 FIND_LIBRARY(AMD_LIB NAMES amd PATHS ${SUITESPARSE_SEARCH_LIBS})
 IF (EXISTS ${AMD_LIB})
   MESSAGE("-- Found AMD library: ${AMD_LIB}")
 ELSE (EXISTS ${AMD_LIB})
   MESSAGE("-- Did not find AMD library")
   SET(AMD_FOUND FALSE)
 ENDIF (EXISTS ${AMD_LIB})

 FIND_PATH(AMD_INCLUDE NAMES amd.h PATHS ${SUITESPARSE_SEARCH_HEADERS})
 IF (EXISTS ${AMD_INCLUDE})
   MESSAGE("-- Found AMD header in: ${AMD_INCLUDE}")
 ELSE (EXISTS ${AMD_INCLUDE})
   MESSAGE("-- Did not find AMD header")
   SET(AMD_FOUND FALSE)
 ENDIF (EXISTS ${AMD_INCLUDE})

 MESSAGE("-- Check for CAMD")
 SET(CAMD_FOUND TRUE)

 FIND_LIBRARY(CAMD_LIB NAMES camd PATHS ${SUITESPARSE_SEARCH_LIBS})
 IF (EXISTS ${CAMD_LIB})
   MESSAGE("-- Found CAMD library: ${CAMD_LIB}")
 ELSE (EXISTS ${CAMD_LIB})
   MESSAGE("-- Did not find CAMD library")
   SET(CAMD_FOUND FALSE)
 ENDIF (EXISTS ${CAMD_LIB})

 FIND_PATH(CAMD_INCLUDE NAMES camd.h PATHS ${SUITESPARSE_SEARCH_HEADERS})
 IF (EXISTS ${CAMD_INCLUDE})
   MESSAGE("-- Found CAMD header in: ${CAMD_INCLUDE}")
 ELSE (EXISTS ${CAMD_INCLUDE})
   MESSAGE("-- Did not find CAMD header")
   SET(CAMD_FOUND FALSE)
 ENDIF (EXISTS ${CAMD_INCLUDE})

 MESSAGE("-- Check for COLAMD")
 SET(COLAMD_FOUND TRUE)

 FIND_LIBRARY(COLAMD_LIB NAMES colamd PATHS ${SUITESPARSE_SEARCH_LIBS})
 IF (EXISTS ${COLAMD_LIB})
   MESSAGE("-- Found COLAMD library: ${COLAMD_LIB}")
 ELSE (EXISTS ${COLAMD_LIB})
   MESSAGE("-- Did not find COLAMD library")
   SET(COLAMD_FOUND FALSE)
 ENDIF (EXISTS ${COLAMD_LIB})

 FIND_PATH(COLAMD_INCLUDE NAMES colamd.h PATHS ${SUITESPARSE_SEARCH_HEADERS})
 IF (EXISTS ${COLAMD_INCLUDE})
   MESSAGE("-- Found COLAMD header in: ${COLAMD_INCLUDE}")
 ELSE (EXISTS ${COLAMD_INCLUDE})
   MESSAGE("-- Did not find COLAMD header")
   SET(COLAMD_FOUND FALSE)
 ENDIF (EXISTS ${COLAMD_INCLUDE})

 MESSAGE("-- Check for CCOLAMD")
 SET(CCOLAMD_FOUND TRUE)

 FIND_LIBRARY(CCOLAMD_LIB NAMES ccolamd PATHS ${SUITESPARSE_SEARCH_LIBS})
 IF (EXISTS ${CCOLAMD_LIB})
   MESSAGE("-- Found CCOLAMD library: ${CCOLAMD_LIB}")
 ELSE (EXISTS ${CCOLAMD_LIB})
   MESSAGE("-- Did not find CCOLAMD library")
   SET(CCOLAMD_FOUND FALSE)
 ENDIF (EXISTS ${CCOLAMD_LIB})

 FIND_PATH(CCOLAMD_INCLUDE NAMES ccolamd.h PATHS ${SUITESPARSE_SEARCH_HEADERS})
 IF (EXISTS ${CCOLAMD_INCLUDE})
   MESSAGE("-- Found CCOLAMD header in: ${CCOLAMD_INCLUDE}")
 ELSE (EXISTS ${CCOLAMD_INCLUDE})
   MESSAGE("-- Did not find CCOLAMD header")
   SET(CCOLAMD_FOUND FALSE)
 ENDIF (EXISTS ${CCOLAMD_INCLUDE})

 MESSAGE("-- Check for CHOLMOD")
 SET(CHOLMOD_FOUND TRUE)

 FIND_LIBRARY(CHOLMOD_LIB NAMES cholmod PATHS ${SUITESPARSE_SEARCH_LIBS})
 IF (EXISTS ${CHOLMOD_LIB})
   MESSAGE("-- Found CHOLMOD library: ${CHOLMOD_LIB}")
 ELSE (EXISTS ${CHOLMOD_LIB})
   MESSAGE("-- Did not find CHOLMOD library")
   SET(CHOLMOD_FOUND FALSE)
 ENDIF (EXISTS ${CHOLMOD_LIB})

 FIND_PATH(CHOLMOD_INCLUDE NAMES cholmod.h PATHS ${SUITESPARSE_SEARCH_HEADERS})
 IF (EXISTS ${CHOLMOD_INCLUDE})
   MESSAGE("-- Found CHOLMOD header in: ${CHOLMOD_INCLUDE}")
 ELSE (EXISTS ${CHOLMOD_INCLUDE})
   MESSAGE("-- Did not find CHOLMOD header")
   SET(CHOLMOD_FOUND FALSE)
 ENDIF (EXISTS ${CHOLMOD_INCLUDE})

 MESSAGE("-- Check for METIS (optional)")
 FIND_LIBRARY(METIS_LIB NAMES metis PATHS ${SUITESPARSE_SEARCH_LIBS})

 IF (EXISTS ${METIS_LIB})
   MESSAGE("-- Found METIS library: ${METIS_LIB}")
 ELSE (EXISTS ${METIS_LIB})
   MESSAGE("-- Did not find METIS library")
 ENDIF (EXISTS ${METIS_LIB})

 SET(BLAS_AND_LAPACK_FOUND TRUE)
 IF (${APPLE})
   # Mac OS X has LAPACK/BLAS bundled in a framework called
   # "vecLib". Search for that instead of for the normal "lapack"
   # library.
   FIND_LIBRARY(LAPACK_LIB NAMES vecLib)
 ELSE (${APPLE})
   FIND_LIBRARY(BLAS_LIB NAMES blas)
   IF (EXISTS ${BLAS_LIB})
     MESSAGE("-- Found BLAS library: ${BLAS_LIB}")
   ELSE (EXISTS ${BLAS_LIB})
     MESSAGE("-- Did not find BLAS library")
     SET(BLAS_AND_LAPACK_FOUND FALSE)
   ENDIF (EXISTS ${BLAS_LIB})
   FIND_LIBRARY(LAPACK_LIB NAMES lapack)
 ENDIF (${APPLE})

 IF (EXISTS ${LAPACK_LIB})
   MESSAGE("-- Found LAPACK library: ${LAPACK_LIB}")
 ELSE (EXISTS ${LAPACK_LIB})
   SET(BLAS_AND_LAPACK_FOUND FALSE)
   MESSAGE("-- Did not find LAPACK library")
 ENDIF (EXISTS ${LAPACK_LIB})

 SET(SUITESPARSE_FOUND
   ${AMD_FOUND} AND
   ${CAMD_FOUND} AND
   ${COLAMD_FOUND} AND
   ${CCOLAMD_FOUND} AND
   ${CHOLMOD_FOUND} AND
   ${BLAS_AND_LAPACK_FOUND})

 # By default, if all of SuiteSparse's dependencies are found, Ceres is
 # built with SuiteSparse support. -DSUITESPARSE=ON/OFF can be used to
 # enable/disable SuiteSparse explicitly.
 IF (DEFINED SUITESPARSE)
   IF (${SUITESPARSE})
     IF (NOT ${SUITESPARSE_FOUND})
       MESSAGE(FATAL_ERROR "One or more of SuiteSparse's dependencies was not found")
     ENDIF (NOT ${SUITESPARSE_FOUND})
   ELSE (${SUITESPARSE})
     ADD_DEFINITIONS(-DCERES_NO_SUITESPARSE)
   ENDIF (${SUITESPARSE})
 ELSE (DEFINED SUITESPARSE)
   IF (${SUITESPARSE_FOUND})
     MESSAGE("-- Found all SuiteSparse dependencies. Building with SuiteSparse")
     SET(SUITESPARSE ON)
   ELSE (${SUITESPARSE_FOUND})
     MESSAGE("-- Did not find all SuiteSparse dependencies. Building without SuiteSparse")
     SET(SUITESPARSE OFF)
     ADD_DEFINITIONS(-DCERES_NO_SUITESPARSE)
   ENDIF (${SUITESPARSE_FOUND})
 ENDIF (DEFINED SUITESPARSE)

 # By default, if all of CXSparse's dependencies are found, Ceres is
 # built with CXSparse support. -DCXSPARSE=ON/OFF can be used to
 # enable/disable CXSparse explicitly.
 MESSAGE("-- Check for CXSparse")
 SET(CXSPARSE_FOUND ON)

 FIND_LIBRARY(CXSPARSE_LIB NAMES cxsparse PATHS ${CXSPARSE_SEARCH_LIBS})
 IF (EXISTS ${CXSPARSE_LIB})
   MESSAGE("-- Found CXSparse library in: ${CXSPARSE_LIB}")
 ELSE (EXISTS ${CXSPARSE_LIB})
   MESSAGE("-- Did not find CXSparse header")
   SET(CXSPARSE_FOUND FALSE)
 ENDIF (EXISTS ${CXSPARSE_LIB})

 FIND_PATH(CXSPARSE_INCLUDE NAMES cs.h PATHS ${CXSPARSE_SEARCH_HEADERS})
 IF (EXISTS ${CXSPARSE_INCLUDE})
   MESSAGE("-- Found CXSparse header in: ${CXSPARSE_INCLUDE}")
 ELSE (EXISTS ${CXSPARSE_INCLUDE})
   MESSAGE("-- Did not find CXSparse header")
   SET(CXSPARSE_FOUND FALSE)
 ENDIF (EXISTS ${CXSPARSE_INCLUDE})

 IF (DEFINED CXSPARSE)
   IF (${CXSPARSE})
     IF (NOT ${CXSPARSE_FOUND})
       MESSAGE(FATAL_ERROR "-- CXSparse not found.")
     ENDIF (NOT ${CXSPARSE_FOUND})
   ELSE (${CXSPARSE})
     ADD_DEFINITIONS(-DCERES_NO_CXSPARSE)
   ENDIF (${CXSPARSE})
 ELSE (DEFINED CXSPARSE)
   IF (${CXSPARSE_FOUND})
     MESSAGE("-- Building with CXSparse support.")
     SET(CXSPARSE ON)
   ELSE (${CXSPARSE_FOUND})
     MESSAGE("-- Building without CXSparse.")
     SET(CXSPARSE OFF)
     ADD_DEFINITIONS(-DCERES_NO_CXSPARSE)
   ENDIF (${CXSPARSE_FOUND})
 ENDIF (DEFINED CXSPARSE)

 # Google Flags
 OPTION(GFLAGS
        "Enable Google Flags."
        ON)

 IF (${GFLAGS})
   MESSAGE("-- Check for Google Flags")
   FIND_LIBRARY(GFLAGS_LIB NAMES gflags PATHS ${SEARCH_LIBS})
   IF (NOT EXISTS ${GFLAGS_LIB})
     MESSAGE(FATAL_ERROR
             "Can't find Google Flags. Please specify: "
             "-DGFLAGS_LIB=...")
   ENDIF (NOT EXISTS ${GFLAGS_LIB})
   MESSAGE("-- Found Google Flags library: ${GFLAGS_LIB}")
   FIND_PATH(GFLAGS_INCLUDE NAMES gflags/gflags.h PATHS ${SEARCH_HEADERS})
   IF (NOT EXISTS ${GFLAGS_INCLUDE})
     MESSAGE(FATAL_ERROR
             "Can't find Google Flags. Please specify: "
             "-DGFLAGS_INCLUDE=...")
   ENDIF (NOT EXISTS ${GFLAGS_INCLUDE})
   MESSAGE("-- Found Google Flags header in: ${GFLAGS_INCLUDE}")
 ELSE (${GFLAGS})
   MESSAGE("-- Google Flags disabled; no tests or tools will be built!")
   ADD_DEFINITIONS(-DCERES_NO_GFLAGS)
 ENDIF (${GFLAGS})

 # Google Logging
 MESSAGE("-- Check for Google Log")
 FIND_LIBRARY(GLOG_LIB NAMES glog PATHS ${SEARCH_LIBS})
 IF (NOT EXISTS ${GLOG_LIB})
   MESSAGE(FATAL_ERROR
           "Can't find Google Log. Please specify: "
           "-DGLOG_LIB=...")
 ENDIF (NOT EXISTS ${GLOG_LIB})
 MESSAGE("-- Found Google Log library: ${GLOG_LIB}")

 FIND_PATH(GLOG_INCLUDE NAMES glog/logging.h PATHS ${SEARCH_HEADERS})
 IF (NOT EXISTS ${GLOG_INCLUDE})
   MESSAGE(FATAL_ERROR
           "Can't find Google Log. Please specify: "
           "-DGLOG_INCLUDE=...")
 ENDIF (NOT EXISTS ${GLOG_INCLUDE})
 MESSAGE("-- Found Google Log header in: ${GLOG_INCLUDE}")

 # Eigen
 MESSAGE("-- Check for Eigen 3.0")
 FIND_PATH(EIGEN_INCLUDE NAMES Eigen/Core PATHS ${EIGEN_SEARCH_HEADERS})
 IF (NOT EXISTS ${EIGEN_INCLUDE})
   MESSAGE(FATAL_ERROR "Can't find Eigen. Try passing -DEIGEN_INCLUDE=...")
 ENDIF (NOT EXISTS ${EIGEN_INCLUDE})
 MESSAGE("-- Found Eigen 3.0: ${EIGEN_INCLUDE}")

 # 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)

 IF (NOT ${SCHUR_SPECIALIZATIONS})
   ADD_DEFINITIONS(-DCERES_RESTRICT_SCHUR_SPECIALIZATION)
   MESSAGE("-- Disabling Schur specializations (faster compiles)")
 ENDIF (NOT ${SCHUR_SPECIALIZATIONS})

 # Multithreading using OpenMP
 OPTION(OPENMP
        "Enable threaded solving in Ceres (requires OpenMP)"
        ON)

 IF (${OPENMP})
   FIND_PACKAGE(OpenMP)
   IF(${OPENMP_FOUND})
     MESSAGE("-- Found OpenMP.")
     SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
     ADD_DEFINITIONS(-DCERES_USE_OPENMP)
   ELSE(${OPENMP_FOUND})
     MESSAGE("-- Can't find OpenMP. Continuing without it.")
   ENDIF(${OPENMP_FOUND})
 ENDIF (${OPENMP})

 # Protocol buffers
 OPTION(PROTOBUF
        "Enable protocol buffers support."
        ON)

 IF (${PROTOBUF})
   FIND_PACKAGE(Protobuf)
   IF (${PROTOBUF_FOUND})
     INCLUDE_DIRECTORIES(${PROTOBUF_INCLUDE_DIRS})
     INCLUDE_DIRECTORIES(${CMAKE_CURRENT_BINARY_DIR}/internal)
   ELSE (${PROTOBUF_FOUND})
     ADD_DEFINITIONS(-DCERES_DONT_HAVE_PROTOCOL_BUFFERS)
   ENDIF (${PROTOBUF_FOUND})
 ELSE (${PROTOBUF})
   ADD_DEFINITIONS(-DCERES_DONT_HAVE_PROTOCOL_BUFFERS)
 ENDIF (${PROTOBUF})

 IF (${UNIX})
   # At least on linux, we need pthreads to be enabled for mutex to
   # compile. This may not work on windows or android.
   FIND_PACKAGE(Threads REQUIRED)
   SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${CMAKE_THREAD_LIBS_INIT}")
   ADD_DEFINITIONS(-DCERES_HAVE_PTHREAD)
   ADD_DEFINITIONS(-DCERES_HAVE_RWLOCK)
 ENDIF (${UNIX})

 # Use the std namespace for the hash<> and related templates. This may vary by
 # system.
 ADD_DEFINITIONS("\"-DCERES_HASH_NAMESPACE_START=namespace std { namespace tr1 {\"")
 ADD_DEFINITIONS("\"-DCERES_HASH_NAMESPACE_END=}}\"")

 INCLUDE_DIRECTORIES(
   include
   internal
   internal/ceres
   ${GLOG_INCLUDE}
   ${EIGEN_INCLUDE}
   )

 IF (${SUITESPARSE})
   INCLUDE_DIRECTORIES(${CHOLMOD_INCLUDE})
 ENDIF(${SUITESPARSE})

 IF (${CXSPARSE})
   INCLUDE_DIRECTORIES(${CXSPARSE_INCLUDE})
 ENDIF(${CXSPARSE})

 IF (${GFLAGS})
   INCLUDE_DIRECTORIES(${GFLAGS_INCLUDE})
 ENDIF (${GFLAGS})

 ADD_SUBDIRECTORY(internal/ceres)
 ADD_SUBDIRECTORY(examples)

 # 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 (${CMAKE_SYSTEM_NAME} MATCHES "Linux")
       SET (CERES_CXX_FLAGS "${CERES_CXX_FLAGS} -march=native -mtune=native")
     ENDIF (${CMAKE_SYSTEM_NAME} MATCHES "Linux")

     # Mac OS X
     IF (${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
       SET (CERES_CXX_FLAGS "${CERES_CXX_FLAGS} -fast -msse3")
     ENDIF (${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
   ENDIF (CMAKE_COMPILER_IS_GNUCXX)
   SET (CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} ${CERES_CXX_FLAGS}"
        CACHE STRING "Release mode flags to the C++ Compiler" FORCE)
 ENDIF (CMAKE_BUILD_TYPE STREQUAL "Release")
	# Ceres Solver - A fast non-linear least squares minimizer
	# Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
	# http://code.google.com/p/ceres-solver/
	#
	# 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: keir@google.com (Keir Mierle)

	CMAKE_MINIMUM_REQUIRED(VERSION 2.8.0)

	IF (COMMAND cmake_policy)
	CMAKE_POLICY(SET CMP0003 NEW)
	ENDIF (COMMAND cmake_policy)

	PROJECT(CERES C CXX)

	ENABLE_TESTING()

	OPTION(BUILD_TESTING
	"Enable tests"
	ON)

	# To get a more static build, try the following line on Mac and Linux:
	# SET(CMAKE_FIND_LIBRARY_SUFFIXES .a ${CMAKE_FIND_LIBRARY_SUFFIXES})

	# Default locations to search for on various platforms.
	LIST(APPEND SEARCH_LIBS /usr/lib)
	LIST(APPEND SEARCH_LIBS /usr/local/lib)
	LIST(APPEND SEARCH_LIBS /usr/local/homebrew/lib) # Mac OS X
	LIST(APPEND SEARCH_LIBS /opt/local/lib)

	LIST(APPEND SEARCH_HEADERS /usr/include)
	LIST(APPEND SEARCH_HEADERS /usr/local/include)
	LIST(APPEND SEARCH_HEADERS /usr/local/homebrew/include) # Mac OS X
	LIST(APPEND SEARCH_HEADERS /opt/local/include)

	# Locations to search for Eigen
	SET(EIGEN_SEARCH_HEADERS ${SEARCH_HEADERS})
	LIST(APPEND EIGEN_SEARCH_HEADERS /usr/include/eigen3) # Ubuntu 10.04's default location.
	LIST(APPEND EIGEN_SEARCH_HEADERS /usr/local/include/eigen3)
	LIST(APPEND EIGEN_SEARCH_HEADERS /usr/local/homebrew/include/eigen3) # Mac OS X
	LIST(APPEND EIGEN_SEARCH_HEADERS /opt/local/var/macports/software/eigen3/opt/local/include/eigen3) # Mac OS X

	# Locations to search for SuiteSparse
	SET(SUITESPARSE_SEARCH_LIBS ${SEARCH_LIBS})
	LIST(APPEND SUITESPARSE_SEARCH_LIBS /usr/lib/suitesparse) # Ubuntu
	LIST(APPEND SUITESPARSE_SEARCH_LIBS /usr/local/lib/suitesparse)
	LIST(APPEND SUITESPARSE_SEARCH_LIBS /opt/local/lib/ufsparse) # Mac OS X

	SET(SUITESPARSE_SEARCH_HEADERS ${SEARCH_HEADERS})
	LIST(APPEND SUITESPARSE_SEARCH_HEADERS /usr/include/suitesparse) # Ubuntu
	LIST(APPEND SUITESPARSE_SEARCH_HEADERS /usr/local/include/suitesparse)
	LIST(APPEND SUITESPARSE_SEARCH_HEADERS /opt/local/include/ufsparse) # Mac OS X

	SET(CXSPARSE_SEARCH_LIBS ${SEARCH_LIBS})
	SET(CXSPARSE_SEARCH_HEADERS ${SEARCH_HEADERS})
	LIST(APPEND CXSPARSE_SEARCH_HEADERS /usr/include/suitesparse) # Ubuntu

	# Check for SuiteSparse dependencies
	MESSAGE("-- Check for AMD")
	SET(AMD_FOUND TRUE)

	FIND_LIBRARY(AMD_LIB NAMES amd PATHS ${SUITESPARSE_SEARCH_LIBS})
	IF (EXISTS ${AMD_LIB})
	MESSAGE("-- Found AMD library: ${AMD_LIB}")
	ELSE (EXISTS ${AMD_LIB})
	MESSAGE("-- Did not find AMD library")
	SET(AMD_FOUND FALSE)
	ENDIF (EXISTS ${AMD_LIB})

	FIND_PATH(AMD_INCLUDE NAMES amd.h PATHS ${SUITESPARSE_SEARCH_HEADERS})
	IF (EXISTS ${AMD_INCLUDE})
	MESSAGE("-- Found AMD header in: ${AMD_INCLUDE}")
	ELSE (EXISTS ${AMD_INCLUDE})
	MESSAGE("-- Did not find AMD header")
	SET(AMD_FOUND FALSE)
	ENDIF (EXISTS ${AMD_INCLUDE})

	MESSAGE("-- Check for CAMD")
	SET(CAMD_FOUND TRUE)

	FIND_LIBRARY(CAMD_LIB NAMES camd PATHS ${SUITESPARSE_SEARCH_LIBS})
	IF (EXISTS ${CAMD_LIB})
	MESSAGE("-- Found CAMD library: ${CAMD_LIB}")
	ELSE (EXISTS ${CAMD_LIB})
	MESSAGE("-- Did not find CAMD library")
	SET(CAMD_FOUND FALSE)
	ENDIF (EXISTS ${CAMD_LIB})

	FIND_PATH(CAMD_INCLUDE NAMES camd.h PATHS ${SUITESPARSE_SEARCH_HEADERS})
	IF (EXISTS ${CAMD_INCLUDE})
	MESSAGE("-- Found CAMD header in: ${CAMD_INCLUDE}")
	ELSE (EXISTS ${CAMD_INCLUDE})
	MESSAGE("-- Did not find CAMD header")
	SET(CAMD_FOUND FALSE)
	ENDIF (EXISTS ${CAMD_INCLUDE})

	MESSAGE("-- Check for COLAMD")
	SET(COLAMD_FOUND TRUE)

	FIND_LIBRARY(COLAMD_LIB NAMES colamd PATHS ${SUITESPARSE_SEARCH_LIBS})
	IF (EXISTS ${COLAMD_LIB})
	MESSAGE("-- Found COLAMD library: ${COLAMD_LIB}")
	ELSE (EXISTS ${COLAMD_LIB})
	MESSAGE("-- Did not find COLAMD library")
	SET(COLAMD_FOUND FALSE)
	ENDIF (EXISTS ${COLAMD_LIB})

	FIND_PATH(COLAMD_INCLUDE NAMES colamd.h PATHS ${SUITESPARSE_SEARCH_HEADERS})
	IF (EXISTS ${COLAMD_INCLUDE})
	MESSAGE("-- Found COLAMD header in: ${COLAMD_INCLUDE}")
	ELSE (EXISTS ${COLAMD_INCLUDE})
	MESSAGE("-- Did not find COLAMD header")
	SET(COLAMD_FOUND FALSE)
	ENDIF (EXISTS ${COLAMD_INCLUDE})

	MESSAGE("-- Check for CCOLAMD")
	SET(CCOLAMD_FOUND TRUE)

	FIND_LIBRARY(CCOLAMD_LIB NAMES ccolamd PATHS ${SUITESPARSE_SEARCH_LIBS})
	IF (EXISTS ${CCOLAMD_LIB})
	MESSAGE("-- Found CCOLAMD library: ${CCOLAMD_LIB}")
	ELSE (EXISTS ${CCOLAMD_LIB})
	MESSAGE("-- Did not find CCOLAMD library")
	SET(CCOLAMD_FOUND FALSE)
	ENDIF (EXISTS ${CCOLAMD_LIB})

	FIND_PATH(CCOLAMD_INCLUDE NAMES ccolamd.h PATHS ${SUITESPARSE_SEARCH_HEADERS})
	IF (EXISTS ${CCOLAMD_INCLUDE})
	MESSAGE("-- Found CCOLAMD header in: ${CCOLAMD_INCLUDE}")
	ELSE (EXISTS ${CCOLAMD_INCLUDE})
	MESSAGE("-- Did not find CCOLAMD header")
	SET(CCOLAMD_FOUND FALSE)
	ENDIF (EXISTS ${CCOLAMD_INCLUDE})

	MESSAGE("-- Check for CHOLMOD")
	SET(CHOLMOD_FOUND TRUE)

	FIND_LIBRARY(CHOLMOD_LIB NAMES cholmod PATHS ${SUITESPARSE_SEARCH_LIBS})
	IF (EXISTS ${CHOLMOD_LIB})
	MESSAGE("-- Found CHOLMOD library: ${CHOLMOD_LIB}")
	ELSE (EXISTS ${CHOLMOD_LIB})
	MESSAGE("-- Did not find CHOLMOD library")
	SET(CHOLMOD_FOUND FALSE)
	ENDIF (EXISTS ${CHOLMOD_LIB})

	FIND_PATH(CHOLMOD_INCLUDE NAMES cholmod.h PATHS ${SUITESPARSE_SEARCH_HEADERS})
	IF (EXISTS ${CHOLMOD_INCLUDE})
	MESSAGE("-- Found CHOLMOD header in: ${CHOLMOD_INCLUDE}")
	ELSE (EXISTS ${CHOLMOD_INCLUDE})
	MESSAGE("-- Did not find CHOLMOD header")
	SET(CHOLMOD_FOUND FALSE)
	ENDIF (EXISTS ${CHOLMOD_INCLUDE})

	MESSAGE("-- Check for METIS (optional)")
	FIND_LIBRARY(METIS_LIB NAMES metis PATHS ${SUITESPARSE_SEARCH_LIBS})

	IF (EXISTS ${METIS_LIB})
	MESSAGE("-- Found METIS library: ${METIS_LIB}")
	ELSE (EXISTS ${METIS_LIB})
	MESSAGE("-- Did not find METIS library")
	ENDIF (EXISTS ${METIS_LIB})

	SET(BLAS_AND_LAPACK_FOUND TRUE)
	IF (${APPLE})
	# Mac OS X has LAPACK/BLAS bundled in a framework called
	# "vecLib". Search for that instead of for the normal "lapack"
	# library.
	FIND_LIBRARY(LAPACK_LIB NAMES vecLib)
	ELSE (${APPLE})
	FIND_LIBRARY(BLAS_LIB NAMES blas)
	IF (EXISTS ${BLAS_LIB})
	MESSAGE("-- Found BLAS library: ${BLAS_LIB}")
	ELSE (EXISTS ${BLAS_LIB})
	MESSAGE("-- Did not find BLAS library")
	SET(BLAS_AND_LAPACK_FOUND FALSE)
	ENDIF (EXISTS ${BLAS_LIB})
	FIND_LIBRARY(LAPACK_LIB NAMES lapack)
	ENDIF (${APPLE})

	IF (EXISTS ${LAPACK_LIB})
	MESSAGE("-- Found LAPACK library: ${LAPACK_LIB}")
	ELSE (EXISTS ${LAPACK_LIB})
	SET(BLAS_AND_LAPACK_FOUND FALSE)
	MESSAGE("-- Did not find LAPACK library")
	ENDIF (EXISTS ${LAPACK_LIB})

	SET(SUITESPARSE_FOUND
	${AMD_FOUND} AND
	${CAMD_FOUND} AND
	${COLAMD_FOUND} AND
	${CCOLAMD_FOUND} AND
	${CHOLMOD_FOUND} AND
	${BLAS_AND_LAPACK_FOUND})

	# By default, if all of SuiteSparse's dependencies are found, Ceres is
	# built with SuiteSparse support. -DSUITESPARSE=ON/OFF can be used to
	# enable/disable SuiteSparse explicitly.
	IF (DEFINED SUITESPARSE)
	IF (${SUITESPARSE})
	IF (NOT ${SUITESPARSE_FOUND})
	MESSAGE(FATAL_ERROR "One or more of SuiteSparse's dependencies was not found")
	ENDIF (NOT ${SUITESPARSE_FOUND})
	ELSE (${SUITESPARSE})
	ADD_DEFINITIONS(-DCERES_NO_SUITESPARSE)
	ENDIF (${SUITESPARSE})
	ELSE (DEFINED SUITESPARSE)
	IF (${SUITESPARSE_FOUND})
	MESSAGE("-- Found all SuiteSparse dependencies. Building with SuiteSparse")
	SET(SUITESPARSE ON)
	ELSE (${SUITESPARSE_FOUND})
	MESSAGE("-- Did not find all SuiteSparse dependencies. Building without SuiteSparse")
	SET(SUITESPARSE OFF)
	ADD_DEFINITIONS(-DCERES_NO_SUITESPARSE)
	ENDIF (${SUITESPARSE_FOUND})
	ENDIF (DEFINED SUITESPARSE)

	# By default, if all of CXSparse's dependencies are found, Ceres is
	# built with CXSparse support. -DCXSPARSE=ON/OFF can be used to
	# enable/disable CXSparse explicitly.
	MESSAGE("-- Check for CXSparse")
	SET(CXSPARSE_FOUND ON)

	FIND_LIBRARY(CXSPARSE_LIB NAMES cxsparse PATHS ${CXSPARSE_SEARCH_LIBS})
	IF (EXISTS ${CXSPARSE_LIB})
	MESSAGE("-- Found CXSparse library in: ${CXSPARSE_LIB}")
	ELSE (EXISTS ${CXSPARSE_LIB})
	MESSAGE("-- Did not find CXSparse header")
	SET(CXSPARSE_FOUND FALSE)
	ENDIF (EXISTS ${CXSPARSE_LIB})

	FIND_PATH(CXSPARSE_INCLUDE NAMES cs.h PATHS ${CXSPARSE_SEARCH_HEADERS})
	IF (EXISTS ${CXSPARSE_INCLUDE})
	MESSAGE("-- Found CXSparse header in: ${CXSPARSE_INCLUDE}")
	ELSE (EXISTS ${CXSPARSE_INCLUDE})
	MESSAGE("-- Did not find CXSparse header")
	SET(CXSPARSE_FOUND FALSE)
	ENDIF (EXISTS ${CXSPARSE_INCLUDE})

	IF (DEFINED CXSPARSE)
	IF (${CXSPARSE})
	IF (NOT ${CXSPARSE_FOUND})
	MESSAGE(FATAL_ERROR "-- CXSparse not found.")
	ENDIF (NOT ${CXSPARSE_FOUND})
	ELSE (${CXSPARSE})
	ADD_DEFINITIONS(-DCERES_NO_CXSPARSE)
	ENDIF (${CXSPARSE})
	ELSE (DEFINED CXSPARSE)
	IF (${CXSPARSE_FOUND})
	MESSAGE("-- Building with CXSparse support.")
	SET(CXSPARSE ON)
	ELSE (${CXSPARSE_FOUND})
	MESSAGE("-- Building without CXSparse.")
	SET(CXSPARSE OFF)
	ADD_DEFINITIONS(-DCERES_NO_CXSPARSE)
	ENDIF (${CXSPARSE_FOUND})
	ENDIF (DEFINED CXSPARSE)

	# Google Flags
	OPTION(GFLAGS
	"Enable Google Flags."
	ON)

	IF (${GFLAGS})
	MESSAGE("-- Check for Google Flags")
	FIND_LIBRARY(GFLAGS_LIB NAMES gflags PATHS ${SEARCH_LIBS})
	IF (NOT EXISTS ${GFLAGS_LIB})
	MESSAGE(FATAL_ERROR
	"Can't find Google Flags. Please specify: "
	"-DGFLAGS_LIB=...")
	ENDIF (NOT EXISTS ${GFLAGS_LIB})
	MESSAGE("-- Found Google Flags library: ${GFLAGS_LIB}")
	FIND_PATH(GFLAGS_INCLUDE NAMES gflags/gflags.h PATHS ${SEARCH_HEADERS})
	IF (NOT EXISTS ${GFLAGS_INCLUDE})
	MESSAGE(FATAL_ERROR
	"Can't find Google Flags. Please specify: "
	"-DGFLAGS_INCLUDE=...")
	ENDIF (NOT EXISTS ${GFLAGS_INCLUDE})
	MESSAGE("-- Found Google Flags header in: ${GFLAGS_INCLUDE}")
	ELSE (${GFLAGS})
	MESSAGE("-- Google Flags disabled; no tests or tools will be built!")
	ADD_DEFINITIONS(-DCERES_NO_GFLAGS)
	ENDIF (${GFLAGS})

	# Google Logging
	MESSAGE("-- Check for Google Log")
	FIND_LIBRARY(GLOG_LIB NAMES glog PATHS ${SEARCH_LIBS})
	IF (NOT EXISTS ${GLOG_LIB})
	MESSAGE(FATAL_ERROR
	"Can't find Google Log. Please specify: "
	"-DGLOG_LIB=...")
	ENDIF (NOT EXISTS ${GLOG_LIB})
	MESSAGE("-- Found Google Log library: ${GLOG_LIB}")

	FIND_PATH(GLOG_INCLUDE NAMES glog/logging.h PATHS ${SEARCH_HEADERS})
	IF (NOT EXISTS ${GLOG_INCLUDE})
	MESSAGE(FATAL_ERROR
	"Can't find Google Log. Please specify: "
	"-DGLOG_INCLUDE=...")
	ENDIF (NOT EXISTS ${GLOG_INCLUDE})
	MESSAGE("-- Found Google Log header in: ${GLOG_INCLUDE}")

	# Eigen
	MESSAGE("-- Check for Eigen 3.0")
	FIND_PATH(EIGEN_INCLUDE NAMES Eigen/Core PATHS ${EIGEN_SEARCH_HEADERS})
	IF (NOT EXISTS ${EIGEN_INCLUDE})
	MESSAGE(FATAL_ERROR "Can't find Eigen. Try passing -DEIGEN_INCLUDE=...")
	ENDIF (NOT EXISTS ${EIGEN_INCLUDE})
	MESSAGE("-- Found Eigen 3.0: ${EIGEN_INCLUDE}")

	# 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)

	IF (NOT ${SCHUR_SPECIALIZATIONS})
	ADD_DEFINITIONS(-DCERES_RESTRICT_SCHUR_SPECIALIZATION)
	MESSAGE("-- Disabling Schur specializations (faster compiles)")
	ENDIF (NOT ${SCHUR_SPECIALIZATIONS})

	# Multithreading using OpenMP
	OPTION(OPENMP
	"Enable threaded solving in Ceres (requires OpenMP)"
	ON)

	IF (${OPENMP})
	FIND_PACKAGE(OpenMP)
	IF(${OPENMP_FOUND})
	MESSAGE("-- Found OpenMP.")
	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
	ADD_DEFINITIONS(-DCERES_USE_OPENMP)
	ELSE(${OPENMP_FOUND})
	MESSAGE("-- Can't find OpenMP. Continuing without it.")
	ENDIF(${OPENMP_FOUND})
	ENDIF (${OPENMP})

	# Protocol buffers
	OPTION(PROTOBUF
	"Enable protocol buffers support."
	ON)

	IF (${PROTOBUF})
	FIND_PACKAGE(Protobuf)
	IF (${PROTOBUF_FOUND})
	INCLUDE_DIRECTORIES(${PROTOBUF_INCLUDE_DIRS})
	INCLUDE_DIRECTORIES(${CMAKE_CURRENT_BINARY_DIR}/internal)
	ELSE (${PROTOBUF_FOUND})
	ADD_DEFINITIONS(-DCERES_DONT_HAVE_PROTOCOL_BUFFERS)
	ENDIF (${PROTOBUF_FOUND})
	ELSE (${PROTOBUF})
	ADD_DEFINITIONS(-DCERES_DONT_HAVE_PROTOCOL_BUFFERS)
	ENDIF (${PROTOBUF})

	IF (${UNIX})
	# At least on linux, we need pthreads to be enabled for mutex to
	# compile. This may not work on windows or android.
	FIND_PACKAGE(Threads REQUIRED)
	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${CMAKE_THREAD_LIBS_INIT}")
	ADD_DEFINITIONS(-DCERES_HAVE_PTHREAD)
	ADD_DEFINITIONS(-DCERES_HAVE_RWLOCK)
	ENDIF (${UNIX})

	# Use the std namespace for the hash<> and related templates. This may vary by
	# system.
	ADD_DEFINITIONS("\"-DCERES_HASH_NAMESPACE_START=namespace std { namespace tr1 {\"")
	ADD_DEFINITIONS("\"-DCERES_HASH_NAMESPACE_END=}}\"")

	INCLUDE_DIRECTORIES(
	include
	internal
	internal/ceres
	${GLOG_INCLUDE}
	${EIGEN_INCLUDE}
	)

	IF (${SUITESPARSE})
	INCLUDE_DIRECTORIES(${CHOLMOD_INCLUDE})
	ENDIF(${SUITESPARSE})

	IF (${CXSPARSE})
	INCLUDE_DIRECTORIES(${CXSPARSE_INCLUDE})
	ENDIF(${CXSPARSE})

	IF (${GFLAGS})
	INCLUDE_DIRECTORIES(${GFLAGS_INCLUDE})
	ENDIF (${GFLAGS})

	ADD_SUBDIRECTORY(internal/ceres)
	ADD_SUBDIRECTORY(examples)

	# 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 (${CMAKE_SYSTEM_NAME} MATCHES "Linux")
	SET (CERES_CXX_FLAGS "${CERES_CXX_FLAGS} -march=native -mtune=native")
	ENDIF (${CMAKE_SYSTEM_NAME} MATCHES "Linux")

	# Mac OS X
	IF (${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
	SET (CERES_CXX_FLAGS "${CERES_CXX_FLAGS} -fast -msse3")
	ENDIF (${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
	ENDIF (CMAKE_COMPILER_IS_GNUCXX)
	SET (CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} ${CERES_CXX_FLAGS}"
	CACHE STRING "Release mode flags to the C++ Compiler" FORCE)
	ENDIF (CMAKE_BUILD_TYPE STREQUAL "Release")