blob: e3fcd1930cd529d27e930c558aa70b56c2a7d9a1 [file] [log] [blame]
# 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)
# Set up the git hook to make Gerrit Change-Id: lines in commit messages.
SET (LOCAL_GIT_DIRECTORY)
IF (EXISTS ${CMAKE_SOURCE_DIR}/.git)
# .git directory can be found on Unix based system, or on Windows with
# Git Bash (shipped with msysgit)
SET (LOCAL_GIT_DIRECTORY ${CMAKE_SOURCE_DIR}/.git)
ELSE (EXISTS ${CMAKE_SOURCE_DIR}/.git)
# TODO(keir) Add proper Windows support
ENDIF (EXISTS ${CMAKE_SOURCE_DIR}/.git)
IF (EXISTS ${LOCAL_GIT_DIRECTORY})
IF (NOT EXISTS ${LOCAL_GIT_DIRECTORY}/hooks/commit-msg)
# Download the hook only if it is not already present
FILE(DOWNLOAD https://ceres-solver-review.googlesource.com/tools/hooks/commit-msg
${CMAKE_BINARY_DIR}/commit-msg)
# Make the downloaded file executable, since it is not by default.
FILE(COPY ${CMAKE_BINARY_DIR}/commit-msg
DESTINATION ${LOCAL_GIT_DIRECTORY}/hooks/
FILE_PERMISSIONS
OWNER_READ OWNER_WRITE OWNER_EXECUTE
GROUP_READ GROUP_WRITE GROUP_EXECUTE
WORLD_READ WORLD_EXECUTE)
ENDIF (NOT EXISTS ${LOCAL_GIT_DIRECTORY}/hooks/commit-msg)
ENDIF (EXISTS ${LOCAL_GIT_DIRECTORY})
SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
SET(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
# Important: Always bump the second number (e.g. 1.3.x to 1.4.0) for any
# release that changes the ABI. The ABI changes for almost any modification to
# include/ceres (e.g. the public API). If you are unsure about whether
# something is an ABI change, please ask on the list.
#
# For versions without ABI changes, bump the smallest number in CERES_VERSION,
# but leave the CERES_ABI_VERSION unchanged.
SET(CERES_VERSION_MAJOR 1)
SET(CERES_VERSION_MINOR 6)
SET(CERES_VERSION_PATCH 0)
SET(CERES_VERSION
${CERES_VERSION_MAJOR}.${CERES_VERSION_MINOR}.${CERES_VERSION_PATCH})
SET(CERES_ABI_VERSION 1.6.0)
ENABLE_TESTING()
OPTION(BUILD_TESTING
"Enable tests"
ON)
OPTION(BUILD_ANDROID
"Build for Android. Use build_android.sh instead of setting this."
OFF)
# 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
IF ((NOT DEFINED SUITESPARSE) OR (DEFINED SUITESPARSE AND SUITESPARSE))
# 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})
# If SuiteSparse version is >= 4 then SuiteSparse_config is required.
# For SuiteSparse 3, UFconfig.h is required.
MESSAGE("-- Check for SuiteSparse_config (SuiteSparse v4)")
SET(SUITESPARSE_CONFIG_FOUND TRUE)
FIND_LIBRARY(SUITESPARSE_CONFIG_LIB
NAMES suitesparseconfig
PATHS ${SUITESPARSE_SEARCH_LIBS})
IF (EXISTS ${SUITESPARSE_CONFIG_LIB})
MESSAGE("-- Found SuiteSparse_config library: ${SUITESPARSE_CONFIG_LIB}")
ELSE (EXISTS ${SUITESPARSE_CONFIG_LIB})
MESSAGE("-- Did not find SuiteSparse_config library")
ENDIF (EXISTS ${SUITESPARSE_CONFIG_LIB})
FIND_PATH(SUITESPARSE_CONFIG_INCLUDE
NAMES SuiteSparse_config.h
PATHS ${SUITESPARSE_SEARCH_HEADERS})
IF (EXISTS ${SUITESPARSE_CONFIG_INCLUDE})
MESSAGE("-- Found SuiteSparse_config header in: ${SUITESPARSE_CONFIG_INCLUDE}")
ELSE (EXISTS ${SUITESPARSE_CONFIG_INCLUDE})
MESSAGE("-- Did not find SuiteSparse_config header")
ENDIF (EXISTS ${SUITESPARSE_CONFIG_INCLUDE})
IF (NOT EXISTS ${SUITESPARSE_CONFIG_LIB} OR NOT EXISTS ${SUITESPARSE_CONFIG_INCLUDE})
SET(SUITESPARSE_CONFIG_FOUND FALSE)
ENDIF (NOT EXISTS ${SUITESPARSE_CONFIG_LIB} OR NOT EXISTS ${SUITESPARSE_CONFIG_INCLUDE})
MESSAGE("-- Check for UFconfig (SuiteSparse v3)")
SET(UFCONFIG_FOUND TRUE)
FIND_PATH(UFCONFIG_INCLUDE
NAMES UFconfig.h
PATHS ${SUITESPARSE_SEARCH_HEADERS})
IF (EXISTS ${UFCONFIG_INCLUDE})
MESSAGE("-- Found UFconfig header in: ${UFCONFIG_INCLUDE}")
ELSE (EXISTS ${UFCONFIG_INCLUDE})
MESSAGE("-- Did not find UFconfig header")
SET(UFCONFIG_FOUND FALSE)
ENDIF (EXISTS ${UFCONFIG_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
${CHOLMOD_FOUND} AND
(${SUITESPARSE_CONFIG_FOUND} OR ${UFCONFIG_FOUND}) AND
${BLAS_AND_LAPACK_FOUND})
ENDIF ((NOT DEFINED SUITESPARSE) OR (DEFINED SUITESPARSE AND SUITESPARSE))
# By default, if all of SuiteSparse's dependencies are found, Ceres is
# built with SuiteSparse support. -DSUITESPARSE=ON/OFF can be used to
# enable/disable SuiteSparse explicitly.
IF (DEFINED SUITESPARSE)
IF (${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.
IF ((NOT DEFINED CXSPARSE) OR (DEFINED CXSPARSE AND CXSPARSE))
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 ${CXSPARSE_INCLUDE})
ENDIF ((NOT DEFINED CXSPARSE) OR (DEFINED CXSPARSE AND CXSPARSE))
IF (DEFINED CXSPARSE)
IF (${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
IF (NOT ${BUILD_ANDROID})
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}")
ELSE (NOT ${BUILD_ANDROID})
SET(GLOG_LIB miniglog)
MESSAGE("-- Using minimal Glog substitute for Android (library): ${GLOG_LIB}")
SET(GLOG_INCLUDE internal/ceres/miniglog)
MESSAGE("-- Using minimal Glog substitute for Android (include): ${GLOG_INCLUDE}")
ENDIF (NOT ${BUILD_ANDROID})
# Eigen
MESSAGE("-- Check for Eigen 3.x")
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.x: ${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})
# Line search minimizer is useful for large scale problems or when
# sparse linear algebra libraries are not available. If compile time,
# binary size or compiler performance is an issue, consider disabling
# this.
OPTION(LINE_SEARCH_MINIMIZER
"Enable the line search minimizer."
ON)
IF (NOT ${LINE_SEARCH_MINIMIZER})
ADD_DEFINITIONS(-DCERES_NO_LINE_SEARCH_MINIMIZER)
MESSAGE("-- Disabling line search minimizer")
ENDIF (NOT ${LINE_SEARCH_MINIMIZER})
OPTION(CUSTOM_BLAS
"Use handcoded BLAS routines (usually faster) instead of Eigen."
ON)
IF (NOT ${CUSTOM_BLAS})
ADD_DEFINITIONS(-DCERES_NO_CUSTOM_BLAS)
MESSAGE("-- Disabling custom blas")
ENDIF (NOT ${CUSTOM_BLAS})
# Multithreading using OpenMP
OPTION(OPENMP
"Enable threaded solving in Ceres (requires OpenMP)"
ON)
IF (${OPENMP})
FIND_PACKAGE(OpenMP)
ENDIF (${OPENMP})
IF(${OPENMP_FOUND})
MESSAGE("-- Found OpenMP.")
ADD_DEFINITIONS(-DCERES_USE_OPENMP)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
IF ("${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(STATIC_LIBRARY_FLAGS
"${STATIC_LIBRARY_FLAGS} ${CMAKE_THREAD_LIBS_INIT}")
SET(CMAKE_SHARED_LINKER_FLAGS
"${CMAKE_SHARED_LINKER_FLAGS} ${CMAKE_THREAD_LIBS_INIT}")
ADD_DEFINITIONS(-DCERES_HAVE_PTHREAD)
ADD_DEFINITIONS(-DCERES_HAVE_RWLOCK)
ENDIF ("${UNIX}")
ELSE(${OPENMP_FOUND})
MESSAGE("-- Can't find OpenMP. Disabling multithreading.")
ADD_DEFINITIONS(-DCERES_NO_THREADS)
ENDIF(${OPENMP_FOUND})
# Disable threads in mutex.h. Someday, after there is OpenMP support in
# Android, this can get removed. Also turn on a workaround for an NDK bug.
IF (${BUILD_ANDROID})
ADD_DEFINITIONS(-DCERES_NO_THREADS)
ADD_DEFINITIONS(-DCERES_WORK_AROUND_ANDROID_NDK_COMPILER_BUG)
ENDIF (${BUILD_ANDROID})
# 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 (${PROTOBUF_FOUND})
ADD_DEFINITIONS(-DCERES_NO_PROTOCOL_BUFFERS)
ENDIF (${PROTOBUF_FOUND})
ELSE (${PROTOBUF})
ADD_DEFINITIONS(-DCERES_NO_PROTOCOL_BUFFERS)
ENDIF (${PROTOBUF})
OPTION(DISABLE_TR1
"Don't use TR1. This replaces some hash tables with sets. Slower."
OFF)
IF (${DISABLE_TR1})
MESSAGE("-- Replacing unordered_map/set with map/set (warning: slower!)")
ADD_DEFINITIONS(-DCERES_NO_TR1)
ELSE (${DISABLE_TR1})
MESSAGE("-- Using normal TR1 unordered_map/set")
# Use the std namespace for the hash<> and related templates. This may vary by
# system.
IF (MSVC)
# This is known to work with Visual Studio 2010 Express.
ADD_DEFINITIONS("\"-DCERES_HASH_NAMESPACE_START=namespace std {\"")
ADD_DEFINITIONS("\"-DCERES_HASH_NAMESPACE_END=}\"")
ELSE (MSVC)
# This is known to work with recent versions of Linux and Mac OS X.
ADD_DEFINITIONS("\"-DCERES_HASH_NAMESPACE_START=namespace std { namespace tr1 {\"")
ADD_DEFINITIONS("\"-DCERES_HASH_NAMESPACE_END=}}\"")
ENDIF (MSVC)
ENDIF (${DISABLE_TR1})
INCLUDE_DIRECTORIES(
include
internal
internal/ceres
${GLOG_INCLUDE}
${EIGEN_INCLUDE}
)
FILE(GLOB CERES_HDRS ${CMAKE_SOURCE_DIR}/include/ceres/*.h)
INSTALL(FILES ${CERES_HDRS} DESTINATION include/ceres)
FILE(GLOB CERES_PUBLIC_INTERNAL_HDRS ${CMAKE_SOURCE_DIR}/include/ceres/internal/*.h)
INSTALL(FILES ${CERES_PUBLIC_INTERNAL_HDRS} DESTINATION include/ceres/internal)
IF (${SUITESPARSE})
INCLUDE_DIRECTORIES(${AMD_INCLUDE})
INCLUDE_DIRECTORIES(${CAMD_INCLUDE})
INCLUDE_DIRECTORIES(${COLAMD_INCLUDE})
INCLUDE_DIRECTORIES(${CCOLAMD_INCLUDE})
INCLUDE_DIRECTORIES(${CHOLMOD_INCLUDE})
IF (${SUITESPARSE_CONFIG_FOUND})
INCLUDE_DIRECTORIES(${SUITESPARSE_CONFIG_INCLUDE})
ENDIF (${SUITESPARSE_CONFIG_FOUND})
IF (${UFCONFIG_FOUND})
INCLUDE_DIRECTORIES(${UFCONFIG_INCLUDE})
ENDIF (${UFCONFIG_FOUND})
ENDIF(${SUITESPARSE})
IF (${CXSPARSE})
INCLUDE_DIRECTORIES(${CXSPARSE_INCLUDE})
ENDIF(${CXSPARSE})
IF (${GFLAGS})
INCLUDE_DIRECTORIES(${GFLAGS_INCLUDE})
ENDIF (${GFLAGS})
# 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)
IF (${BUILD_ANDROID})
# TODO(keir): Figure out what flags should go here to make an optimized
# native ARM binary for Android.
ELSE (${BUILD_ANDROID})
# 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 (${BUILD_ANDROID})
ENDIF (CMAKE_COMPILER_IS_GNUCXX)
IF ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
SET(CERES_CXX_FLAGS "${CERES_CXX_FLAGS} -O4")
ENDIF()
ENDIF (CMAKE_BUILD_TYPE STREQUAL "Release")
SET (CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} ${CERES_CXX_FLAGS}")
# After the tweaks for the compile settings, disable some warnings on MSVC.
IF (MSVC)
# Disable signed/unsigned int conversion warnings.
ADD_DEFINITIONS("/wd4018")
# Disable warning about using struct/class for the same symobl.
ADD_DEFINITIONS("/wd4099")
# Disable warning about the insecurity of using "std::copy".
ADD_DEFINITIONS("/wd4996")
# Disable performance warning about int-to-bool conversion.
ADD_DEFINITIONS("/wd4800")
# Disable performance warning about fopen insecurity.
ADD_DEFINITIONS("/wd4996")
# Disable warning about int64 to int32 conversion. Disabling
# this warning may not be correct; needs investigation.
# TODO(keir): Investigate these warnings in more detail.
ADD_DEFINITIONS("/wd4244")
# It's not possible to use STL types in DLL interfaces in a portable and
# reliable way. However, that's what happens with Google Log and Google Flags
# on Windows. MSVC gets upset about this and throws warnings that we can't do
# much about. The real solution is to link static versions of Google Log and
# Google Test, but that seems tricky on Windows. So, disable the warning.
ADD_DEFINITIONS("/wd4251")
# Google Flags doesn't have their DLL import/export stuff set up correctly,
# which results in linker warnings. This is irrelevant for Ceres, so ignore
# the warnings.
SET(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /ignore:4049")
# Tuple sizes of 10 are used by Gtest.
ADD_DEFINITIONS("-D_VARIADIC_MAX=10")
ENDIF (MSVC)
# GCC is not strict enough by default, so enable most of the warnings.
IF ("${UNIX}")
SET(CMAKE_CXX_FLAGS
"${CMAKE_CXX_FLAGS} -Werror -Wall -Wextra -Wno-unknown-pragmas -Wno-sign-compare -Wno-unused-parameter")
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
"${CMAKE_CXX_FLAGS} -Qunused-arguments -mllvm -inline-threshold=600 -Wno-return-type-c-linkage")
ENDIF()
ADD_SUBDIRECTORY(internal/ceres)
OPTION(BUILD_DOCUMENTATION
"Build User's Guide (html)"
OFF)
IF (${BUILD_DOCUMENTATION})
MESSAGE("-- Documentation building is enabled")
# Make CMake aware of the cmake folder, in order to find 'FindSphinx.cmake'
SET (CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake")
# Generate the User's Guide (html).
# The corresponding target is UserGuide, but is included in ALL.
ADD_SUBDIRECTORY(docs)
ENDIF (${BUILD_DOCUMENTATION})
OPTION(BUILD_EXAMPLES "Build examples" ON)
IF (${BUILD_EXAMPLES})
MESSAGE("-- Build the examples.")
ADD_SUBDIRECTORY(examples)
ELSE (${BUILD_EXAMPLES})
MESSAGE("-- Do not build any example.")
ENDIF (${BUILD_EXAMPLES})
# Add an uninstall target to remove all installed files.
CONFIGURE_FILE("${CMAKE_SOURCE_DIR}/cmake/uninstall.cmake.in"
"${CMAKE_BINARY_DIR}/cmake/uninstall.cmake"
IMMEDIATE @ONLY)
ADD_CUSTOM_TARGET(uninstall
COMMAND ${CMAKE_COMMAND} -P ${CMAKE_BINARY_DIR}/cmake/uninstall.cmake)
# Set up install directories. INCLUDE_INSTALL_DIR and LIB_INSTALL_DIR
# must not be absolute paths.
SET(LIB_INSTALL_DIR_SUFFIX "" CACHE
STRING "The directories where to install libraries to")
SET(LIB_INSTALL_DIR lib${LIB_INSTALL_DIR_SUFFIX} )
SET(CMAKECONFIG_INSTALL_DIR ${LIB_INSTALL_DIR}/cmake/Ceres)
SET(INCLUDE_INSTALL_DIR include)
# This "exports" all targets which have been put into the export set
# "CeresExport". This means that CMake generates a file with the given
# filename, which can later on be loaded by projects using this package.
# This file contains ADD_LIBRARY(bar IMPORTED) statements for each target
# in the export set, so when loaded later on CMake will create "imported"
# library targets from these, which can be used in many ways in the same way
# as a normal library target created via a normal ADD_LIBRARY().
INSTALL(EXPORT CeresExport
DESTINATION ${CMAKECONFIG_INSTALL_DIR} FILE CeresTargets.cmake)
# Figure out the relative path from the installed Config.cmake file to the
# install prefix (which may be at runtime different from the chosen
# CMAKE_INSTALL_PREFIX if under Windows the package was installed anywhere)
# This relative path will be configured into the CeresConfig.cmake.
FILE(RELATIVE_PATH relInstallDir
${CMAKE_INSTALL_PREFIX}/${CMAKECONFIG_INSTALL_DIR} ${CMAKE_INSTALL_PREFIX})
# Create a CeresConfig.cmake file. <name>Config.cmake files are searched by
# FIND_PACKAGE() automatically. We configure that file so that we can put any
# information we want in it, e.g. version numbers, include directories, etc.
CONFIGURE_FILE("${CMAKE_SOURCE_DIR}/cmake/CeresConfig.cmake.in"
"${CMAKE_CURRENT_BINARY_DIR}/CeresConfig.cmake" @ONLY)
# Additionally, when CMake has found a CeresConfig.cmake, it can check for a
# CeresConfigVersion.cmake in the same directory when figuring out the version
# of the package when a version has been specified in the FIND_PACKAGE() call,
# e.g. FIND_PACKAGE(Ceres [1.4.2] REQUIRED). The version argument is optional.
CONFIGURE_FILE("${CMAKE_SOURCE_DIR}/cmake/CeresConfigVersion.cmake.in"
"${CMAKE_CURRENT_BINARY_DIR}/CeresConfigVersion.cmake" @ONLY)
# Install these two files into the same directory as the generated exports-file.
INSTALL(FILES "${CMAKE_CURRENT_BINARY_DIR}/CeresConfig.cmake"
"${CMAKE_CURRENT_BINARY_DIR}/CeresConfigVersion.cmake"
"${CMAKE_SOURCE_DIR}/cmake/depend.cmake"
DESTINATION ${CMAKECONFIG_INSTALL_DIR})