blob: fba40cef8f1d7698702242bc7a6000b6e72c88f4 [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.
#
# Authors: keir@google.com (Keir Mierle)
# alexs.mac@gmail.com (Alex Stewart)
CMAKE_MINIMUM_REQUIRED(VERSION 2.8.0)
CMAKE_POLICY(VERSION 2.8)
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 ${LOCAL_GIT_DIRECTORY})
# Make CMake aware of the cmake folder for local FindXXX scripts,
# append rather than set in case the user has passed their own
# additional paths via -D.
LIST(APPEND CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake")
INCLUDE(UpdateCacheVariable)
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)
# Set postfixes for generated libraries based on buildtype.
SET(CMAKE_RELEASE_POSTFIX "")
SET(CMAKE_DEBUG_POSTFIX "-debug")
# 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 9)
SET(CERES_VERSION_PATCH 0)
SET(CERES_VERSION
${CERES_VERSION_MAJOR}.${CERES_VERSION_MINOR}.${CERES_VERSION_PATCH})
SET(CERES_ABI_VERSION 1.9.0)
ENABLE_TESTING()
OPTION(MINIGLOG "Use a stripped down version of glog." OFF)
OPTION(GFLAGS "Enable Google Flags." ON)
OPTION(SUITESPARSE "Enable SuiteSparse." ON)
OPTION(CXSPARSE "Enable CXSparse." ON)
OPTION(LAPACK "Enable use of LAPACK." ON)
# Template specializations for the Schur complement based solvers. If
# compile time, binary size or compiler performance is an issue, you
# may consider disabling this.
OPTION(SCHUR_SPECIALIZATIONS "Enable fixed-size schur specializations." ON)
OPTION(CUSTOM_BLAS
"Use handcoded BLAS routines (usually faster) instead of Eigen."
ON)
# Multithreading using OpenMP
OPTION(OPENMP "Enable threaded solving in Ceres (requires OpenMP)" ON)
OPTION(BUILD_TESTING "Enable tests" ON)
OPTION(BUILD_DOCUMENTATION "Build User's Guide (html)" OFF)
OPTION(BUILD_EXAMPLES "Build examples" ON)
OPTION(BUILD_SHARED_LIBS "Build Ceres as a shared library." OFF)
IF (MSVC)
OPTION(MSVC_USE_STATIC_CRT
"MS Visual Studio: Use static C-Run Time Library in place of shared." OFF)
IF (BUILD_TESTING AND BUILD_SHARED_LIBS)
MESSAGE(
"-- Disabling tests. The flags BUILD_TESTING and BUILD_SHARED_LIBS"
" are incompatible with MSVC."
)
UPDATE_CACHE_VARIABLE(BUILD_TESTING OFF)
ENDIF (BUILD_TESTING AND BUILD_SHARED_LIBS)
ENDIF (MSVC)
# Use ios-cmake to build a static library for iOS
#
# We need to add isysroot to force cmake to find the toolchains from the iOS SDK
# instead of using the standard ones. And add flag mios-simulator-version so clang
# knows we are building for ios simulator but not mac.
#
# You can build for OS (armv7, armv7s, arm64), SIMULATOR (i386) or SIMULATOR64 (x86_64)
# separately and use lipo to merge them into one static library.
#
# There are some features/algorithms are not available in iOS version and the
# minimum supported iOS version is 6.0 now.
#
# Use cmake ../ceres-solver -DCMAKE_TOOLCHAIN_FILE=../ceres-solver/cmake/iOS.cmake \
# -DIOS_PLATFORM=PLATFORM -DEIGEN_INCLUDE_DIR=/path/to/eigen/header
# to config the cmake. The PLATFORM can be one of OS, SIMULATOR and SIMULATOR64.
# Check the documentation in iOS.cmake to find more options.
#
# After building, you will get libceres.a and libminiglog.a
# You need to add these two libraries into your xcode project.
#
# If you use the lapack and blas, then you also need to add Accelerate.framework
# to your xcode project's linking dependency.
IF (IOS)
MESSAGE(STATUS "Building Ceres for iOS platform: ${IOS_PLATFORM}")
UPDATE_CACHE_VARIABLE(MINIGLOG ON)
MESSAGE(STATUS "Building for iOS, forcing use of miniglog instead of glog.")
UPDATE_CACHE_VARIABLE(SUITESPARSE OFF)
UPDATE_CACHE_VARIABLE(CXSPARSE OFF)
UPDATE_CACHE_VARIABLE(GFLAGS OFF)
UPDATE_CACHE_VARIABLE(OPENMP OFF)
MESSAGE(STATUS "Building for iOS: SuiteSparse, CXSparse, gflags and OpenMP are not available.")
UPDATE_CACHE_VARIABLE(BUILD_EXAMPLES OFF)
MESSAGE(STATUS "Building for iOS, will not build examples.")
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fobjc-abi-version=2 -fobjc-arc -isysroot ${CMAKE_OSX_SYSROOT}")
SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fobjc-abi-version=2 -fobjc-arc -isysroot ${CMAKE_OSX_SYSROOT}")
IF (${IOS_PLATFORM} STREQUAL "SIMULATOR" OR ${IOS_PLATFORM} STREQUAL "SIMULATOR64")
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mios-simulator-version-min=6.0")
ENDIF()
ENDIF (IOS)
# Prior to October 2013, Ceres used some non-CMake standardised variables to
# hold user-specified (as opposed to FindPackage found) include directory and
# library paths for Ceres dependencies. These were were of the form:
# <DEPENDENCY>_LIB / <DEPENDENCY>_INCLUDE. Since then, Ceres now has
# FindPackage() scripts for all of its dependencies which obey the standard
# CMake variables: <DEPENDENCY>_LIBRARIES & <DEPENDENCY>_INCLUDE_DIRS. In order
# to ensure backwards compatibility, we use convert any legacy variables to
# _directory_ hints for the FindPackage() scripts.
MACRO(HANDLE_LEGACY_INCLUDE_DEPENDENCY_HINT
LEGACY_VAR DIRECTORY_HINT_VAR)
IF (DEFINED ${LEGACY_VAR})
# Get the dependency name (all caps) from the hint directory variable
# for the warning message.
STRING(REGEX MATCH "^[^_]*" DEPENDENCY_NAME ${DIRECTORY_HINT_VAR})
MESSAGE(WARNING "You are defining a legacy variable ${LEGACY_VAR} "
"to specify the include directory for ${DEPENDENCY_NAME}. This is "
"deprecated and support for it will be removed in a future release. "
"Please use either the search directory hints variable: "
"${DIRECTORY_HINT_VAR} or ${DEPENDENCY_NAME}_INCLUDE_DIR to specify "
"exactly the directory used (no search performed), see: "
"http://homes.cs.washington.edu/~sagarwal/ceres-solver/dev/building.html "
"for more information.")
LIST(APPEND ${DIRECTORY_HINT_VAR} ${${LEGACY_VAR}})
ENDIF (DEFINED ${LEGACY_VAR})
ENDMACRO(HANDLE_LEGACY_INCLUDE_DEPENDENCY_HINT)
MACRO(HANDLE_LEGACY_LIBRARY_DEPENDENCY_HINT
LEGACY_VAR DIRECTORY_HINT_VAR)
IF (DEFINED ${LEGACY_VAR})
# Get the dependency name (all caps) from the hint directory variable
# for the warning message.
STRING(REGEX MATCH "^[^_]*" DEPENDENCY_NAME ${DIRECTORY_HINT_VAR})
MESSAGE(WARNING "You are defining a legacy variable ${LEGACY_VAR} "
"to specify the library for ${DEPENDENCY_NAME}. This is "
"deprecated and support for it will be removed in a future release. "
"Please use either the search directory hints variable: "
"${DIRECTORY_HINT_VAR} or ${DEPENDENCY_NAME}_LIBRARY to specify "
"exactly the library used (no search performed), see: "
"http://homes.cs.washington.edu/~sagarwal/ceres-solver/dev/building.html "
"for more information.")
IF (EXISTS ${${LEGACY_VAR}} AND
NOT IS_DIRECTORY ${${LEGACY_VAR}})
# User specified an explicit (library) file using the legacy variable
# interface, hints to FindPackage() scripts are directories so add the
# parent directory of the specified file.
GET_FILENAME_COMPONENT(DIR_HINT ${${LEGACY_VAR}} PATH)
LIST(APPEND ${DIRECTORY_HINT_VAR} ${DIR_HINT})
ELSEIF (EXISTS ${${LEGACY_VAR}} AND
IS_DIRECTORY ${${LEGACY_VAR}})
# User specified a directory hint using the legacy variable, use it.
LIST(APPEND ${DIRECTORY_HINT_VAR} ${${LEGACY_VAR}})
ENDIF()
ENDIF (DEFINED ${LEGACY_VAR})
ENDMACRO(HANDLE_LEGACY_LIBRARY_DEPENDENCY_HINT)
UNSET(CERES_COMPILE_OPTIONS)
# Eigen.
HANDLE_LEGACY_INCLUDE_DEPENDENCY_HINT(EIGEN_INCLUDE EIGEN_INCLUDE_DIR_HINTS)
FIND_PACKAGE(Eigen REQUIRED)
IF (EIGEN_FOUND)
MESSAGE("-- Found Eigen version ${EIGEN_VERSION}: ${EIGEN_INCLUDE_DIRS}")
ENDIF (EIGEN_FOUND)
# LAPACK (& BLAS).
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.")
ENDIF (LAPACK_FOUND)
FIND_PACKAGE(BLAS QUIET)
IF (BLAS_FOUND)
MESSAGE("-- Found BLAS library: ${BLAS_LIBRARIES}")
ELSE (BLAS_FOUND)
MESSAGE("-- Did not find BLAS library, disabling LAPACK support.")
ENDIF (BLAS_FOUND)
IF (NOT (LAPACK_FOUND AND BLAS_FOUND))
UPDATE_CACHE_VARIABLE(LAPACK OFF)
LIST(APPEND CERES_COMPILE_OPTIONS CERES_NO_LAPACK)
ENDIF (NOT (LAPACK_FOUND AND BLAS_FOUND))
ELSE (LAPACK)
MESSAGE("-- Building without LAPACK.")
LIST(APPEND CERES_COMPILE_OPTIONS CERES_NO_LAPACK)
ENDIF (LAPACK)
# SuiteSparse.
IF (SUITESPARSE AND NOT LAPACK)
# If user has disabled LAPACK, but left SUITESPARSE ON, turn it OFF,
# LAPACK controls whether Ceres will be linked, directly or indirectly
# via SuiteSparse to LAPACK.
MESSAGE("-- Disabling SuiteSparse as use of LAPACK has been disabled, "
"turn ON LAPACK to enable (optional) building with SuiteSparse.")
UPDATE_CACHE_VARIABLE(SUITESPARSE OFF)
ENDIF (SUITESPARSE AND NOT LAPACK)
IF (SUITESPARSE)
# By default, if SuiteSparse and all dependencies are found, Ceres is
# built with SuiteSparse support.
# Check for SuiteSparse and dependencies.
FIND_PACKAGE(SuiteSparse)
IF (SUITESPARSE_FOUND)
# On Ubuntu the system install of SuiteSparse (v3.4.0) up to at least
# Ubuntu 13.10 cannot be used to link shared libraries.
IF (BUILD_SHARED_LIBS AND
SUITESPARSE_IS_BROKEN_SHARED_LINKING_UBUNTU_SYSTEM_VERSION)
MESSAGE(FATAL_ERROR "You are attempting to build Ceres as a shared "
"library on Ubuntu using a system package install of SuiteSparse "
"3.4.0. This package is broken and does not support the "
"construction of shared libraries (you can still build Ceres as "
"a static library). If you wish to build a shared version of Ceres "
"you should uninstall the system install of SuiteSparse "
"(libsuitesparse-dev) and perform a source install of SuiteSparse "
"(we recommend that you use the latest version), "
"see: http://homes.cs.washington.edu/~sagarwal"
"/ceres-solver/dev/building.html for more information.")
ENDIF (BUILD_SHARED_LIBS AND
SUITESPARSE_IS_BROKEN_SHARED_LINKING_UBUNTU_SYSTEM_VERSION)
# By default, if all of SuiteSparse's dependencies are found, Ceres is
# built with SuiteSparse support.
MESSAGE("-- Found SuiteSparse ${SUITESPARSE_VERSION}, "
"building with SuiteSparse.")
ELSE (SUITESPARSE_FOUND)
# Disable use of SuiteSparse if it cannot be found and continue.
MESSAGE("-- Did not find all SuiteSparse dependencies, disabling "
"SuiteSparse support.")
UPDATE_CACHE_VARIABLE(SUITESPARSE OFF)
LIST(APPEND CERES_COMPILE_OPTIONS CERES_NO_SUITESPARSE)
ENDIF (SUITESPARSE_FOUND)
ELSE (SUITESPARSE)
MESSAGE("-- Building without SuiteSparse.")
LIST(APPEND CERES_COMPILE_OPTIONS CERES_NO_SUITESPARSE)
ENDIF (SUITESPARSE)
# CXSparse.
IF (CXSPARSE)
# Don't search with REQUIRED as we can continue without CXSparse.
FIND_PACKAGE(CXSparse)
IF (CXSPARSE_FOUND)
# By default, if CXSparse and all dependencies are found, Ceres is
# built with CXSparse support.
MESSAGE("-- Found CXSparse version: ${CXSPARSE_VERSION}, "
"building with CXSparse.")
ELSE (CXSPARSE_FOUND)
# Disable use of CXSparse if it cannot be found and continue.
MESSAGE("-- Did not find CXSparse, Building without CXSparse.")
UPDATE_CACHE_VARIABLE(CXSPARSE OFF)
LIST(APPEND CERES_COMPILE_OPTIONS CERES_NO_CXSPARSE)
ENDIF (CXSPARSE_FOUND)
ELSE (CXSPARSE)
MESSAGE("-- Building without CXSparse.")
LIST(APPEND CERES_COMPILE_OPTIONS CERES_NO_CXSPARSE)
# Mark as advanced (remove from default GUI view) the CXSparse search
# variables in case user enabled CXSPARSE, FindCXSparse did not find it, so
# made search variables visible in GUI for user to set, but then user disables
# CXSPARSE instead of setting them.
MARK_AS_ADVANCED(FORCE CXSPARSE_INCLUDE_DIR
CXSPARSE_LIBRARY)
ENDIF (CXSPARSE)
# GFlags.
IF (GFLAGS)
HANDLE_LEGACY_INCLUDE_DEPENDENCY_HINT(GFLAGS_INCLUDE GFLAGS_INCLUDE_DIR_HINTS)
HANDLE_LEGACY_LIBRARY_DEPENDENCY_HINT(GFLAGS_LIB GFLAGS_LIBRARY_DIR_HINTS)
# Don't search with REQUIRED as we can continue without gflags.
FIND_PACKAGE(Gflags)
IF (GFLAGS_FOUND)
MESSAGE("-- Found Google Flags header in: ${GFLAGS_INCLUDE_DIRS}")
ELSE (GFLAGS_FOUND)
MESSAGE("-- Did not find Google Flags (gflags), Building without gflags "
"- no tests or tools will be built!")
UPDATE_CACHE_VARIABLE(GFLAGS OFF)
ENDIF (GFLAGS_FOUND)
ELSE (GFLAGS)
MESSAGE("-- Google Flags disabled; no tests or tools will be built!")
# Mark as advanced (remove from default GUI view) the gflags search
# variables in case user enabled GFLAGS, FindGflags did not find it, so
# made search variables visible in GUI for user to set, but then user disables
# GFLAGS instead of setting them.
MARK_AS_ADVANCED(FORCE GFLAGS_INCLUDE_DIR
GFLAGS_LIBRARY)
ENDIF (GFLAGS)
# MiniGLog.
IF (MINIGLOG)
SET(GLOG_LIBRARIES miniglog)
MESSAGE("-- Using minimal Glog substitute (library): ${GLOG_LIBRARIES}")
SET(GLOG_INCLUDE_DIRS internal/ceres/miniglog)
MESSAGE("-- Using minimal Glog substitute (include): ${GLOG_INCLUDE_DIRS}")
# Mark as advanced (remove from default GUI view) the glog search
# variables in case user disables MINIGLOG, FindGlog did not find it, so
# made search variables visible in GUI for user to set, but then user enables
# MINIGLOG instead of setting them.
MARK_AS_ADVANCED(FORCE GLOG_INCLUDE_DIR
GLOG_LIBRARY)
ELSE (MINIGLOG)
HANDLE_LEGACY_INCLUDE_DEPENDENCY_HINT(GLOG_INCLUDE GLOG_INCLUDE_DIR_HINTS)
HANDLE_LEGACY_LIBRARY_DEPENDENCY_HINT(GLOG_LIB GLOG_LIBRARY_DIR_HINTS)
# Don't search with REQUIRED so that configuration continues if not found and
# we can output an error messages explaining MINIGLOG option.
FIND_PACKAGE(Glog)
IF (GLOG_FOUND)
MESSAGE("-- Found Google Log header in: ${GLOG_INCLUDE_DIRS}")
ELSE (GLOG_FOUND)
MESSAGE(FATAL_ERROR "Can't find Google Log. Please set GLOG_INCLUDE_DIR & "
"GLOG_LIBRARY or enable MINIGLOG option to use minimal glog "
"implementation.")
ENDIF (GLOG_FOUND)
ENDIF (MINIGLOG)
IF (NOT SCHUR_SPECIALIZATIONS)
LIST(APPEND CERES_COMPILE_OPTIONS CERES_RESTRICT_SCHUR_SPECIALIZATION)
MESSAGE("-- Disabling Schur specializations (faster compiles)")
ENDIF (NOT SCHUR_SPECIALIZATIONS)
IF (NOT CUSTOM_BLAS)
LIST(APPEND CERES_COMPILE_OPTIONS CERES_NO_CUSTOM_BLAS)
MESSAGE("-- Disabling custom blas")
ENDIF (NOT CUSTOM_BLAS)
IF (OPENMP)
# Clang does not (yet) support OpenMP.
IF (CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
UPDATE_CACHE_VARIABLE(OPENMP OFF)
MESSAGE("-- Compiler is Clang, disabling OpenMP.")
LIST(APPEND CERES_COMPILE_OPTIONS CERES_NO_THREADS)
ELSE (CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
# Find quietly s/t as we can continue without OpenMP if it is not found.
FIND_PACKAGE(OpenMP QUIET)
IF (OPENMP_FOUND)
MESSAGE("-- Building with OpenMP.")
LIST(APPEND CERES_COMPILE_OPTIONS CERES_USE_OPENMP)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
IF (UNIX)
# At least on Linux, we need pthreads to be enabled for mutex to
# compile. This may not work on Windows or Android.
FIND_PACKAGE(Threads REQUIRED)
LIST(APPEND CERES_COMPILE_OPTIONS CERES_HAVE_PTHREAD)
LIST(APPEND CERES_COMPILE_OPTIONS CERES_HAVE_RWLOCK)
ENDIF (UNIX)
ELSE (OPENMP_FOUND)
MESSAGE("-- Failed to find OpenMP, disabling.")
UPDATE_CACHE_VARIABLE(OPENMP OFF)
LIST(APPEND CERES_COMPILE_OPTIONS CERES_NO_THREADS)
ENDIF (OPENMP_FOUND)
ENDIF (CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
ELSE (OPENMP)
MESSAGE("-- Building without OpenMP (disabling multithreading).")
LIST(APPEND CERES_COMPILE_OPTIONS CERES_NO_THREADS)
ENDIF (OPENMP)
INCLUDE(CheckIncludeFileCXX)
CHECK_INCLUDE_FILE_CXX(unordered_map HAVE_STD_UNORDERED_MAP_HEADER)
IF (HAVE_STD_UNORDERED_MAP_HEADER)
# Finding the unordered_map header doesn't mean that unordered_map
# is in std namespace.
#
# In particular, MSVC 2008 has unordered_map declared in std::tr1.
# In order to support this, we do an extra check to see which
# namespace should be used.
INCLUDE(CheckCXXSourceCompiles)
CHECK_CXX_SOURCE_COMPILES("#include <unordered_map>
int main() {
std::unordered_map<int, int> map;
return 0;
}"
HAVE_UNORDERED_MAP_IN_STD_NAMESPACE)
IF (HAVE_UNORDERED_MAP_IN_STD_NAMESPACE)
LIST(APPEND CERES_COMPILE_OPTIONS CERES_STD_UNORDERED_MAP)
MESSAGE("-- Found unordered_map/set in std namespace.")
ELSE (HAVE_UNORDERED_MAP_IN_STD_NAMESPACE)
CHECK_CXX_SOURCE_COMPILES("#include <unordered_map>
int main() {
std::tr1::unordered_map<int, int> map;
return 0;
}"
HAVE_UNORDERED_MAP_IN_TR1_NAMESPACE)
IF (HAVE_UNORDERED_MAP_IN_TR1_NAMESPACE)
LIST(APPEND CERES_COMPILE_OPTIONS CERES_STD_UNORDERED_MAP_IN_TR1_NAMESPACE)
MESSAGE("-- Found unordered_map/set in std::tr1 namespace.")
ELSE (HAVE_UNORDERED_MAP_IN_TR1_NAMESPACE)
MESSAGE("-- Found <unordered_map> but cannot find either std::unordered_map "
"or std::tr1::unordered_map.")
MESSAGE("-- Replacing unordered_map/set with map/set (warning: slower!)")
LIST(APPEND CERES_COMPILE_OPTIONS CERES_NO_UNORDERED_MAP)
ENDIF (HAVE_UNORDERED_MAP_IN_TR1_NAMESPACE)
ENDIF (HAVE_UNORDERED_MAP_IN_STD_NAMESPACE)
ELSE (HAVE_STD_UNORDERED_MAP_HEADER)
CHECK_INCLUDE_FILE_CXX("tr1/unordered_map" HAVE_TR1_UNORDERED_MAP_HEADER)
IF (HAVE_TR1_UNORDERED_MAP_HEADER)
LIST(APPEND CERES_COMPILE_OPTIONS CERES_TR1_UNORDERED_MAP)
MESSAGE("-- Found tr1/unordered_map/set in std::tr1 namespace.")
ELSE (HAVE_TR1_UNORDERED_MAP_HEADE)
MESSAGE("-- Unable to find <unordered_map> or <tr1/unordered_map>. ")
MESSAGE("-- Replacing unordered_map/set with map/set (warning: slower!)")
LIST(APPEND CERES_COMPILE_OPTIONS CERES_NO_UNORDERED_MAP)
ENDIF (HAVE_TR1_UNORDERED_MAP_HEADER)
ENDIF (HAVE_STD_UNORDERED_MAP_HEADER)
INCLUDE(FindSharedPtr)
FIND_SHARED_PTR()
IF (SHARED_PTR_FOUND)
IF (SHARED_PTR_TR1_MEMORY_HEADER)
LIST(APPEND CERES_COMPILE_OPTIONS CERES_TR1_MEMORY_HEADER)
ENDIF (SHARED_PTR_TR1_MEMORY_HEADER)
IF (SHARED_PTR_TR1_NAMESPACE)
LIST(APPEND CERES_COMPILE_OPTIONS CERES_TR1_SHARED_PTR)
ENDIF (SHARED_PTR_TR1_NAMESPACE)
ELSE (SHARED_PTR_FOUND)
MESSAGE(FATAL_ERROR "Unable to find shared_ptr.")
ENDIF (SHARED_PTR_FOUND)
INCLUDE_DIRECTORIES(
include
internal
internal/ceres
${GLOG_INCLUDE_DIRS}
${EIGEN_INCLUDE_DIRS})
IF (SUITESPARSE)
INCLUDE_DIRECTORIES(${SUITESPARSE_INCLUDE_DIRS})
ENDIF (SUITESPARSE)
IF (CXSPARSE)
INCLUDE_DIRECTORIES(${CXSPARSE_INCLUDE_DIRS})
ENDIF (CXSPARSE)
IF (GFLAGS)
INCLUDE_DIRECTORIES(${GFLAGS_INCLUDE_DIRS})
ENDIF (GFLAGS)
IF (BUILD_SHARED_LIBS)
MESSAGE("-- Building Ceres as a shared library.")
# The CERES_BUILDING_SHARED_LIBRARY compile definition is NOT stored in
# CERES_COMPILE_OPTIONS as it must only be defined when Ceres is compiled
# not when it is used as it controls the CERES_EXPORT macro which provides
# dllimport/export support in MSVC.
ADD_DEFINITIONS(-DCERES_BUILDING_SHARED_LIBRARY)
LIST(APPEND CERES_COMPILE_OPTIONS CERES_USING_SHARED_LIBRARY)
ELSE (BUILD_SHARED_LIBS)
MESSAGE("-- Building Ceres as a static library.")
ENDIF (BUILD_SHARED_LIBS)
# Change the default build type from Debug to Release, while still
# supporting overriding the build type.
#
# The CACHE STRING logic here and elsewhere is needed to force CMake
# to pay attention to the value of these variables.
IF (NOT CMAKE_BUILD_TYPE)
MESSAGE("-- No build type specified; defaulting to CMAKE_BUILD_TYPE=Release.")
SET(CMAKE_BUILD_TYPE Release CACHE STRING
"Choose the type of build, options are: None Debug Release RelWithDebInfo MinSizeRel."
FORCE)
ELSE (NOT CMAKE_BUILD_TYPE)
IF (CMAKE_BUILD_TYPE STREQUAL "Debug")
MESSAGE("\n=================================================================================")
MESSAGE("\n-- Build type: Debug. Performance will be terrible!")
MESSAGE("-- Add -DCMAKE_BUILD_TYPE=Release to the CMake command line to get an optimized build.")
MESSAGE("\n=================================================================================")
ENDIF (CMAKE_BUILD_TYPE STREQUAL "Debug")
ENDIF (NOT CMAKE_BUILD_TYPE)
# Set the default Ceres flags to an empty string.
SET (CERES_CXX_FLAGS)
IF (CMAKE_BUILD_TYPE STREQUAL "Release")
IF (CMAKE_COMPILER_IS_GNUCXX)
# Linux
IF (CMAKE_SYSTEM_NAME MATCHES "Linux")
IF (NOT GCC_VERSION VERSION_LESS 4.2)
SET (CERES_CXX_FLAGS "${CERES_CXX_FLAGS} -march=native -mtune=native")
ENDIF (NOT GCC_VERSION VERSION_LESS 4.2)
ENDIF (CMAKE_SYSTEM_NAME MATCHES "Linux")
# Mac OS X
IF (CMAKE_SYSTEM_NAME MATCHES "Darwin")
SET (CERES_CXX_FLAGS "${CERES_CXX_FLAGS} -msse3")
# Use of -fast only applicable for Apple's GCC
# Assume this is being used if GCC version < 4.3 on OSX
EXECUTE_PROCESS(COMMAND ${CMAKE_C_COMPILER}
ARGS ${CMAKE_CXX_COMPILER_ARG1} -dumpversion
OUTPUT_VARIABLE GCC_VERSION
OUTPUT_STRIP_TRAILING_WHITESPACE)
IF (GCC_VERSION VERSION_LESS 4.3)
SET (CERES_CXX_FLAGS "${CERES_CXX_FLAGS} -fast")
ENDIF (GCC_VERSION VERSION_LESS 4.3)
ENDIF (CMAKE_SYSTEM_NAME MATCHES "Darwin")
ENDIF (CMAKE_COMPILER_IS_GNUCXX)
IF (CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
# Use of -flto requires use of gold linker & LLVM-gold plugin, which might
# well not be present / in use and without which files will compile, but
# not link ('file not recognized') so explicitly check for support
INCLUDE(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-flto" HAVE_LTO_SUPPORT)
IF (HAVE_LTO_SUPPORT)
MESSAGE(STATUS "Enabling link-time optimization (-flto)")
SET(CERES_CXX_FLAGS "${CERES_CXX_FLAGS} -flto")
ELSE ()
MESSAGE(STATUS "Compiler/linker does not support link-time optimization (-flto), disabling.")
ENDIF (HAVE_LTO_SUPPORT)
ENDIF ()
ENDIF (CMAKE_BUILD_TYPE STREQUAL "Release")
SET (CMAKE_CXX_FLAGS_RELEASE "${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")
# Update the C/CXX flags for MSVC to use either the static or shared
# C-Run Time (CRT) library based on the user option: MSVC_USE_STATIC_CRT.
LIST(APPEND C_CXX_FLAGS
CMAKE_CXX_FLAGS
CMAKE_CXX_FLAGS_DEBUG
CMAKE_CXX_FLAGS_RELEASE
CMAKE_CXX_FLAGS_MINSIZEREL
CMAKE_CXX_FLAGS_RELWITHDEBINFO)
FOREACH(FLAG_VAR ${C_CXX_FLAGS})
IF (MSVC_USE_STATIC_CRT)
# Use static CRT.
IF (${FLAG_VAR} MATCHES "/MD")
STRING(REGEX REPLACE "/MD" "/MT" ${FLAG_VAR} "${${FLAG_VAR}}")
ENDIF (${FLAG_VAR} MATCHES "/MD")
ELSE (MSVC_USE_STATIC_CRT)
# Use shared, not static, CRT.
IF (${FLAG_VAR} MATCHES "/MT")
STRING(REGEX REPLACE "/MT" "/MD" ${FLAG_VAR} "${${FLAG_VAR}}")
ENDIF (${FLAG_VAR} MATCHES "/MT")
ENDIF (MSVC_USE_STATIC_CRT)
ENDFOREACH()
# Tuple sizes of 10 are used by Gtest.
ADD_DEFINITIONS("-D_VARIADIC_MAX=10")
ENDIF (MSVC)
IF (UNIX)
# GCC is not strict enough by default, so enable most of the warnings.
SET(CMAKE_CXX_FLAGS
"${CMAKE_CXX_FLAGS} -Werror -Wall -Wextra -Wno-unknown-pragmas -Wno-sign-compare -Wno-unused-parameter -Wno-missing-field-initializers")
ENDIF (UNIX)
# Use a larger inlining threshold for Clang, since it hobbles Eigen,
# resulting in an unreasonably slow version of the blas routines. The
# -Qunused-arguments is needed because CMake passes the inline
# threshold to the linker and clang complains about it and dies.
IF (CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
SET(CMAKE_CXX_FLAGS
"${CMAKE_CXX_FLAGS} -Qunused-arguments -mllvm -inline-threshold=600")
# Older versions of Clang (<= 2.9) do not support the 'return-type-c-linkage'
# option, so check for its presence before adding it to the default flags set.
INCLUDE(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-Wno-return-type-c-linkage"
HAVE_RETURN_TYPE_C_LINKAGE)
IF (HAVE_RETURN_TYPE_C_LINKAGE)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-return-type-c-linkage")
ENDIF(HAVE_RETURN_TYPE_C_LINKAGE)
ENDIF ()
# Xcode 4.5.x used Clang 4.1 (Apple version), this has a bug that prevents
# compilation of Ceres.
IF (APPLE AND CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
EXECUTE_PROCESS(COMMAND ${CMAKE_CXX_COMPILER}
ARGS ${CMAKE_CXX_COMPILER_ARG1} -dumpversion
OUTPUT_VARIABLE CLANG_VERSION
OUTPUT_STRIP_TRAILING_WHITESPACE)
# Use version > 4.0 & < 4.2 to catch all 4.1(.x) versions.
IF (CLANG_VERSION VERSION_GREATER 4.0 AND
CLANG_VERSION VERSION_LESS 4.2)
MESSAGE(FATAL_ERROR "You are attempting to build Ceres on OS X using Xcode "
"4.5.x (Clang version: ${CLANG_VERSION}). This version of Clang has a "
"bug that prevents compilation of Ceres, please update to "
"Xcode >= 4.6.3.")
ENDIF (CLANG_VERSION VERSION_GREATER 4.0 AND
CLANG_VERSION VERSION_LESS 4.2)
ENDIF (APPLE AND CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
# Configure the Ceres config.h compile options header using the current
# compile options and put the configured header into the Ceres build
# directory. Note that the ceres/internal subdir in <build>/config where
# the configured config.h is placed is important, because Ceres will be
# built against this configured header, it needs to have the same relative
# include path as it would if it were in the source tree (or installed).
LIST(REMOVE_DUPLICATES CERES_COMPILE_OPTIONS)
INCLUDE(CreateCeresConfig)
CREATE_CERES_CONFIG("${CERES_COMPILE_OPTIONS}"
${CMAKE_CURRENT_BINARY_DIR}/config/ceres/internal)
INCLUDE_DIRECTORIES(${CMAKE_CURRENT_BINARY_DIR}/config)
ADD_SUBDIRECTORY(internal/ceres)
IF (BUILD_DOCUMENTATION)
MESSAGE("-- Documentation building is enabled")
# Generate the User's Guide (html).
# The corresponding target is UserGuide, but is included in ALL.
ADD_SUBDIRECTORY(docs)
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 ${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)
# Also setup installation of Ceres config.h configured with the current
# build options into the installed headers directory.
INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/config/ceres/internal/config.h
DESTINATION include/ceres/internal)
IF (MINIGLOG)
# Install miniglog header if being used as logging #includes appear in
# installed public Ceres headers.
INSTALL(FILES ${CMAKE_SOURCE_DIR}/internal/ceres/miniglog/glog/logging.h
DESTINATION include/ceres/internal/miniglog/glog)
ENDIF (MINIGLOG)
# Add an uninstall target to remove all installed files.
CONFIGURE_FILE("${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 relative install paths, which are appended to CMAKE_INSTALL_PREFIX to
# generate the absolute install paths.
IF (WIN32)
SET(RELATIVE_CMAKECONFIG_INSTALL_DIR CMake)
ELSE ()
SET(RELATIVE_CMAKECONFIG_INSTALL_DIR share/Ceres)
ENDIF ()
# 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 ${RELATIVE_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 INSTALL_ROOT_REL_CONFIG_INSTALL_DIR
${CMAKE_INSTALL_PREFIX}/${RELATIVE_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"
"${CMAKE_CURRENT_BINARY_DIR}/CeresConfigVersion.cmake" @ONLY)
# Install these files into the same directory as the generated exports-file,
# we include the FindPackage scripts for libraries whose headers are included
# in the public API of Ceres and should thus be present in CERES_INCLUDE_DIRS.
INSTALL(FILES "${CMAKE_CURRENT_BINARY_DIR}/CeresConfig.cmake"
"${CMAKE_CURRENT_BINARY_DIR}/CeresConfigVersion.cmake"
"${CMAKE_SOURCE_DIR}/cmake/FindEigen.cmake"
"${CMAKE_SOURCE_DIR}/cmake/FindGlog.cmake"
DESTINATION ${RELATIVE_CMAKECONFIG_INSTALL_DIR})