839 lines
36 KiB
CMake
839 lines
36 KiB
CMake
# Ceres Solver - A fast non-linear least squares minimizer
|
|
# Copyright 2015 Google Inc. All rights reserved.
|
|
# http://ceres-solver.org/
|
|
#
|
|
# Redistribution and use in source and binary forms, with or without
|
|
# modification, are permitted provided that the following conditions are met:
|
|
#
|
|
# * Redistributions of source code must retain the above copyright notice,
|
|
# this list of conditions and the following disclaimer.
|
|
# * Redistributions in binary form must reproduce the above copyright notice,
|
|
# this list of conditions and the following disclaimer in the documentation
|
|
# and/or other materials provided with the distribution.
|
|
# * Neither the name of Google Inc. nor the names of its contributors may be
|
|
# used to endorse or promote products derived from this software without
|
|
# specific prior written permission.
|
|
#
|
|
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
|
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
|
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
|
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
|
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
|
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
|
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
|
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
|
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
# POSSIBILITY OF SUCH DAMAGE.
|
|
#
|
|
# Authors: keir@google.com (Keir Mierle)
|
|
# alexs.mac@gmail.com (Alex Stewart)
|
|
|
|
cmake_minimum_required(VERSION 2.8.0)
|
|
cmake_policy(VERSION 2.8)
|
|
|
|
cmake_policy(SET CMP0003 NEW)
|
|
if (POLICY CMP0042)
|
|
cmake_policy(SET CMP0042 NEW)
|
|
endif()
|
|
|
|
project(Ceres C CXX)
|
|
|
|
# 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 up the git hook to make Gerrit Change-Id: lines in commit messages.
|
|
include(AddGerritCommitHook)
|
|
add_gerrit_commit_hook()
|
|
|
|
# On OS X, add the Homebrew prefix to the set of prefixes searched by
|
|
# CMake in find_path & find_library. This should ensure that we can
|
|
# still build Ceres even if Homebrew is installed in a non-standard
|
|
# location (not /usr/local).
|
|
if (CMAKE_SYSTEM_NAME MATCHES "Darwin")
|
|
find_program(HOMEBREW_EXECUTABLE brew)
|
|
mark_as_advanced(FORCE HOMEBREW_EXECUTABLE)
|
|
if (HOMEBREW_EXECUTABLE)
|
|
# Detected a Homebrew install, query for its install prefix.
|
|
execute_process(COMMAND ${HOMEBREW_EXECUTABLE} --prefix
|
|
OUTPUT_VARIABLE HOMEBREW_INSTALL_PREFIX
|
|
OUTPUT_STRIP_TRAILING_WHITESPACE)
|
|
message(STATUS "Detected Homebrew with install prefix: "
|
|
"${HOMEBREW_INSTALL_PREFIX}, adding to CMake search paths.")
|
|
list(APPEND CMAKE_PREFIX_PATH "${HOMEBREW_INSTALL_PREFIX}")
|
|
endif()
|
|
endif()
|
|
|
|
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.
|
|
set(CERES_VERSION_MAJOR 1)
|
|
set(CERES_VERSION_MINOR 11)
|
|
set(CERES_VERSION_PATCH 0)
|
|
set(CERES_VERSION
|
|
${CERES_VERSION_MAJOR}.${CERES_VERSION_MINOR}.${CERES_VERSION_PATCH})
|
|
|
|
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)
|
|
# Enable the use of Eigen as a sparse linear algebra library for
|
|
# solving the nonlinear least squares problems. Enabling this
|
|
# option will result in an LGPL licensed version of Ceres Solver
|
|
# as the Simplicial Cholesky factorization in Eigen is licensed under the LGPL.
|
|
# This does not affect the covariance estimation algorithm, as it
|
|
# depends on the sparse QR factorization algorithm, which is licensed
|
|
# under the MPL.
|
|
OPTION(EIGENSPARSE
|
|
"Enable Eigen as a sparse linear algebra library, WARNING: results in an LGPL licensed Ceres." OFF)
|
|
if (NOT WIN32)
|
|
# Ceres does not use C++11 internally, however it does use shared_ptr
|
|
# (required) and unordered_map (if available), both of which were present in
|
|
# previous iterations of what became C++11. GCC & Clang can have both TR1 &
|
|
# C++11 versions of both shared_ptr & unordered_map and by default on Linux,
|
|
# we will detect the TR1 versions if they exist, as they do NOT require
|
|
# -std=c++11 to be passed when compiling Ceres, and any client code that uses
|
|
# Ceres. This will result in conflicts if the client code uses C++11.
|
|
# Enabling this option forces the use of the C++11 versions (& -std=c++11) if
|
|
# available.
|
|
#
|
|
# This option is not available on Windows, as there, any new (C++11 etc)
|
|
# features available are on by default and there is no analogue to -std=c++11.
|
|
option(CXX11 "Enable use of C++11 headers if available (requires client code use C++11)." OFF)
|
|
endif(NOT WIN32)
|
|
option(EXPORT_BUILD_DIR
|
|
"Export build directory using CMake (enables external use without install)." OFF)
|
|
option(BUILD_TESTING "Enable tests" OFF)
|
|
option(BUILD_DOCUMENTATION "Build User's Guide (html)" OFF)
|
|
option(BUILD_EXAMPLES "Build examples" OFF)
|
|
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)
|
|
|
|
# IOS is defined iff using the iOS.cmake CMake toolchain to build a static
|
|
# library for iOS.
|
|
if (IOS)
|
|
message(STATUS "Building Ceres for iOS platform: ${IOS_PLATFORM}")
|
|
|
|
# Ceres requires at least iOS 7.0+.
|
|
if (IOS_SDK_VERSION VERSION_LESS 7.0)
|
|
message(FATAL_ERROR "Unsupported iOS SDK version: ${IOS_SDK_VERSION}, Ceres "
|
|
"required at least iOS version 7.0")
|
|
endif()
|
|
|
|
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)
|
|
# Apple claims that the BLAS call dsyrk_ is a private API, and will not allow
|
|
# you to submit to the Apple Store if the symbol is present.
|
|
update_cache_variable(LAPACK OFF)
|
|
message(STATUS "Building for iOS: SuiteSparse, CXSparse, LAPACK, gflags, "
|
|
"and OpenMP are not available.")
|
|
|
|
update_cache_variable(BUILD_EXAMPLES OFF)
|
|
message(STATUS "Building for iOS: Will not build examples.")
|
|
endif (IOS)
|
|
|
|
unset(CERES_COMPILE_OPTIONS)
|
|
|
|
# Eigen.
|
|
set (EIGEN_INCLUDE_DIR ${PROJECT_SOURCE_DIR}/../eigen3)
|
|
find_package(Eigen REQUIRED)
|
|
if (EIGEN_FOUND)
|
|
if (EIGEN_VERSION VERSION_LESS 3.1.0)
|
|
message(FATAL_ERROR "-- Ceres requires Eigen version >= 3.1.0 in order "
|
|
"that Eigen/SparseCore be available, detected version of Eigen is: "
|
|
"${EIGEN_VERSION}")
|
|
endif (EIGEN_VERSION VERSION_LESS 3.1.0)
|
|
|
|
message("-- Found Eigen version ${EIGEN_VERSION}: ${EIGEN_INCLUDE_DIRS}")
|
|
# Ensure that only MPL2 licensed code is part of the default build.
|
|
message("")
|
|
message(" ===============================================================")
|
|
if (EIGENSPARSE)
|
|
list(APPEND CERES_COMPILE_OPTIONS CERES_USE_EIGEN_SPARSE)
|
|
message(" Enabling the use of Eigen as a sparse linear algebra library ")
|
|
message(" for solving the nonlinear least squares problems. Enabling ")
|
|
message(" this option results in an LGPL licensed version of ")
|
|
message(" Ceres Solver as the Simplicial Cholesky factorization in Eigen")
|
|
message(" is licensed under the LGPL. ")
|
|
|
|
if (EIGEN_VERSION VERSION_LESS 3.2.2)
|
|
message(" WARNING:")
|
|
message("")
|
|
message(" Your version of Eigen is older than version 3.2.2.")
|
|
message(" The performance of SPARSE_NORMAL_CHOLESKY and SPARSE_SCHUR")
|
|
message(" linear solvers will suffer. ")
|
|
endif (EIGEN_VERSION VERSION_LESS 3.2.2)
|
|
|
|
else (EIGENSPARSE)
|
|
message(" Disabling the use of Eigen as a sparse linear algebra library.")
|
|
message(" This does not affect the covariance estimation algorithm ")
|
|
message(" which can still use the EIGEN_SPARSE_QR algorithm.")
|
|
add_definitions(-DEIGEN_MPL2_ONLY)
|
|
endif (EIGENSPARSE)
|
|
message(" ===============================================================")
|
|
message("")
|
|
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://ceres-solver.org/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)
|
|
|
|
# Ensure that the user understands they have disabled all sparse libraries.
|
|
if (NOT SUITESPARSE AND NOT CXSPARSE AND NOT EIGENSPARSE)
|
|
message(" ===============================================================")
|
|
message(" Compiling without any sparse library: SuiteSparse, CXSparse ")
|
|
message(" & Eigen (Sparse) are all disabled or unavailable. No sparse ")
|
|
message(" linear solvers (SPARSE_NORMAL_CHOLESKY & SPARSE_SCHUR)")
|
|
message(" will be available when Ceres is used.")
|
|
message(" ===============================================================")
|
|
endif(NOT SUITESPARSE AND NOT CXSPARSE AND NOT EIGENSPARSE)
|
|
|
|
# GFlags.
|
|
if (GFLAGS)
|
|
# 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}, "
|
|
"in namespace: ${GFLAGS_NAMESPACE}")
|
|
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
|
|
GFLAGS_NAMESPACE)
|
|
endif (GFLAGS)
|
|
|
|
# MiniGLog.
|
|
if (MINIGLOG)
|
|
message("-- Compiling minimal glog substitute into Ceres.")
|
|
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)
|
|
# 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(CheckCXXCompilerFlag)
|
|
check_cxx_compiler_flag("-std=c++11" COMPILER_HAS_CXX11_FLAG)
|
|
if (CXX11 AND COMPILER_HAS_CXX11_FLAG)
|
|
# Update CMAKE_REQUIRED_FLAGS used by CheckCXXSourceCompiles to include
|
|
# -std=c++11 s/t we will detect the C++11 versions of unordered_map &
|
|
# shared_ptr if they exist.
|
|
set(CMAKE_REQUIRED_FLAGS -std=c++11)
|
|
endif (CXX11 AND COMPILER_HAS_CXX11_FLAG)
|
|
|
|
# Set the Ceres compile definitions for the unordered_map configuration.
|
|
include(FindUnorderedMap)
|
|
find_unordered_map()
|
|
if (UNORDERED_MAP_FOUND)
|
|
if (HAVE_UNORDERED_MAP_IN_STD_NAMESPACE)
|
|
list(APPEND CERES_COMPILE_OPTIONS CERES_STD_UNORDERED_MAP)
|
|
endif(HAVE_UNORDERED_MAP_IN_STD_NAMESPACE)
|
|
if (HAVE_UNORDERED_MAP_IN_TR1_NAMESPACE)
|
|
list(APPEND CERES_COMPILE_OPTIONS CERES_STD_UNORDERED_MAP_IN_TR1_NAMESPACE)
|
|
endif(HAVE_UNORDERED_MAP_IN_TR1_NAMESPACE)
|
|
if (HAVE_TR1_UNORDERED_MAP_IN_TR1_NAMESPACE)
|
|
list(APPEND CERES_COMPILE_OPTIONS CERES_TR1_UNORDERED_MAP)
|
|
endif(HAVE_TR1_UNORDERED_MAP_IN_TR1_NAMESPACE)
|
|
else (UNORDERED_MAP_FOUND)
|
|
message("-- Replacing unordered_map/set with map/set (warning: slower!), "
|
|
"try enabling CXX11 option if you expect C++11 to be available.")
|
|
list(APPEND CERES_COMPILE_OPTIONS CERES_NO_UNORDERED_MAP)
|
|
endif()
|
|
|
|
# Set the Ceres compile definitions for the shared_ptr configuration.
|
|
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, try enabling CXX11 option "
|
|
"if you expect C++11 to be available.")
|
|
endif (SHARED_PTR_FOUND)
|
|
|
|
# To ensure that CXX11 accurately reflects whether we are using C++11,
|
|
# check if it is required given where the potentially C++11 features Ceres
|
|
# uses were found, and disable it if C++11 is not being used.
|
|
if (CXX11)
|
|
if (NOT HAVE_SHARED_PTR_IN_STD_NAMESPACE AND
|
|
NOT HAVE_UNORDERED_MAP_IN_STD_NAMESPACE)
|
|
message("-- Failed to find C++11 components in C++11 locations & "
|
|
"namespaces, disabling CXX11.")
|
|
update_cache_variable(CXX11 OFF)
|
|
else()
|
|
message(" ==============================================================")
|
|
message(" Compiling Ceres using C++11. This will result in a version ")
|
|
message(" of Ceres that will require the use of C++11 in client code.")
|
|
message(" ==============================================================")
|
|
list(APPEND CERES_COMPILE_OPTIONS CERES_USE_CXX11)
|
|
if (COMPILER_HAS_CXX11_FLAG)
|
|
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
|
|
endif()
|
|
endif()
|
|
endif(CXX11)
|
|
|
|
include_directories(
|
|
include
|
|
internal
|
|
internal/ceres
|
|
${GLOG_INCLUDE_DIRS})
|
|
# Eigen SparseQR generates various compiler warnings related to unused and
|
|
# uninitialised local variables, which prevents Ceres compilation as we use
|
|
# -Werror. To avoid having to individually suppress these warnings around
|
|
# the #include statments for Eigen headers across all GCC/Clang versions, we
|
|
# tell CMake to treat Eigen headers as system headers. This results in all
|
|
# compiler warnings from them being suppressed.
|
|
#
|
|
# Note that this is *not* propagated to clients, ie CERES_INCLUDE_DIRS
|
|
# used by clients after find_package(Ceres) does not identify Eigen as
|
|
# as system headers.
|
|
include_directories(SYSTEM ${EIGEN_INCLUDE_DIRS})
|
|
|
|
if (SUITESPARSE)
|
|
include_directories(${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)
|
|
endif (CMAKE_BUILD_TYPE STREQUAL "Release")
|
|
|
|
set (CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} ${CERES_CXX_FLAGS}")
|
|
|
|
if (MINGW)
|
|
# MinGW produces code that segfaults when performing matrix multiplications
|
|
# in Eigen when compiled with -O3 (see [1]), as such force the use of -O2
|
|
# which works.
|
|
#
|
|
# [1] http://eigen.tuxfamily.org/bz/show_bug.cgi?id=556
|
|
message("-- MinGW detected, forcing -O2 instead of -O3 in Release for Eigen due "
|
|
"to a MinGW bug: http://eigen.tuxfamily.org/bz/show_bug.cgi?id=556")
|
|
string(REPLACE "-O3" "-O2" CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE}")
|
|
update_cache_variable(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE}")
|
|
endif (MINGW)
|
|
|
|
# After the tweaks for the compile settings, disable some warnings on MSVC.
|
|
if (MSVC)
|
|
# Disable signed/unsigned int conversion warnings.
|
|
add_definitions("/wd4018")
|
|
# Disable warning about using struct/class for the same symobl.
|
|
add_definitions("/wd4099")
|
|
# Disable warning about the insecurity of using "std::copy".
|
|
add_definitions("/wd4996")
|
|
# Disable performance warning about int-to-bool conversion.
|
|
add_definitions("/wd4800")
|
|
# Disable performance warning about fopen insecurity.
|
|
add_definitions("/wd4996")
|
|
# Disable warning about int64 to int32 conversion. Disabling
|
|
# this warning may not be correct; needs investigation.
|
|
# TODO(keir): Investigate these warnings in more detail.
|
|
add_definitions("/wd4244")
|
|
# It's not possible to use STL types in DLL interfaces in a portable and
|
|
# reliable way. However, that's what happens with Google Log and Google Flags
|
|
# on Windows. MSVC gets upset about this and throws warnings that we can't do
|
|
# much about. The real solution is to link static versions of Google Log and
|
|
# Google Test, but that seems tricky on Windows. So, disable the warning.
|
|
add_definitions("/wd4251")
|
|
|
|
# Google Flags doesn't have their DLL import/export stuff set up correctly,
|
|
# which results in linker warnings. This is irrelevant for Ceres, so ignore
|
|
# the warnings.
|
|
set(CMAKE_EXE_LINKER_FLAGS "${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
|
|
"${CMAKE_CXX_FLAGS} -Werror=all -Werror=extra -Wno-unknown-pragmas -Wno-sign-compare -Wno-unused-parameter -Wno-missing-field-initializers")
|
|
endif (UNIX)
|
|
|
|
# Use a larger inlining threshold for Clang, since it hobbles Eigen,
|
|
# resulting in an unreasonably slow version of the blas routines. The
|
|
# -Qunused-arguments is needed because CMake passes the inline
|
|
# threshold to the linker and clang complains about it and dies.
|
|
if (CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
|
|
set(CMAKE_CXX_FLAGS
|
|
"${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_BINARY_DIR}/config/ceres/internal)
|
|
# Force the location containing the configured config.h to the front of the
|
|
# include_directories list (by default it is appended to the back) to ensure
|
|
# that if the user has an installed version of Ceres in the same location as one
|
|
# of the dependencies (e.g. /usr/local) that we find the config.h we just
|
|
# configured, not the (older) installed config.h.
|
|
include_directories(BEFORE ${CMAKE_BINARY_DIR}/config)
|
|
|
|
add_subdirectory(internal/ceres)
|
|
|
|
if (BUILD_DOCUMENTATION)
|
|
find_package(Sphinx QUIET)
|
|
if (NOT SPHINX_FOUND)
|
|
message("-- Failed to find Sphinx, disabling build of documentation.")
|
|
update_cache_variable(BUILD_DOCUMENTATION OFF)
|
|
else()
|
|
# Generate the User's Guide (html).
|
|
# The corresponding target is ceres_docs, but is included in ALL.
|
|
message("-- Build the HTML documentation.")
|
|
add_subdirectory(docs)
|
|
endif()
|
|
endif (BUILD_DOCUMENTATION)
|
|
|
|
if (BUILD_EXAMPLES)
|
|
message("-- Build the examples.")
|
|
add_subdirectory(examples)
|
|
else (BUILD_EXAMPLES)
|
|
message("-- Do not build any example.")
|
|
endif (BUILD_EXAMPLES)
|
|
|
|
# Setup installation of Ceres public headers.
|
|
file(GLOB CERES_HDRS ${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_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 ${CMAKE_SOURCE_DIR}/internal/ceres/miniglog/glog/logging.h
|
|
DESTINATION include/ceres/internal/miniglog/glog)
|
|
endif (MINIGLOG)
|
|
|
|
# Ceres supports two mechanisms by which it can be detected & imported into
|
|
# client code which uses CMake via find_package(Ceres):
|
|
#
|
|
# 1) Installation (e.g. to /usr/local), using CMake's install() function.
|
|
#
|
|
# 2) (Optional) Export of the current build directory into the local CMake
|
|
# package registry, using CMake's export() function. This allows use of
|
|
# Ceres from other projects without requiring installation.
|
|
#
|
|
# In both cases, we need to generate a configured CeresConfig.cmake which
|
|
# includes additional autogenerated files which in concert create an imported
|
|
# target for Ceres in a client project when find_package(Ceres) is invoked.
|
|
# The key distinctions are where this file is located, and whether client code
|
|
# references installed copies of the compiled Ceres headers/libraries,
|
|
# (option #1: installation), or the originals in the source/build directories
|
|
# (option #2: export of build directory).
|
|
#
|
|
# NOTE: If Ceres is both exported and installed, provided that the installation
|
|
# path is present in CMAKE_MODULE_PATH when find_package(Ceres) is called,
|
|
# the installed version is preferred.
|
|
|
|
# Create a CeresConfigVersion.cmake file containing the version information,
|
|
# used by both export() & install().
|
|
configure_file("${CMAKE_SOURCE_DIR}/cmake/CeresConfigVersion.cmake.in"
|
|
"${CMAKE_BINARY_DIR}/CeresConfigVersion.cmake" @ONLY)
|
|
|
|
# Install method #1: Put Ceres in CMAKE_INSTALL_PREFIX: /usr/local or equivalent.
|
|
|
|
# Set the install path for the installed CeresConfig.cmake configuration file
|
|
# relative to CMAKE_INSTALL_PREFIX.
|
|
if (WIN32)
|
|
set(RELATIVE_CMAKECONFIG_INSTALL_DIR CMake)
|
|
else ()
|
|
set(RELATIVE_CMAKECONFIG_INSTALL_DIR share/Ceres)
|
|
endif ()
|
|
|
|
# This "exports" for installation all targets which have been put into the
|
|
# export set "CeresExport". This generates a CeresTargets.cmake file which,
|
|
# when read in by a client project as part of find_package(Ceres) creates
|
|
# imported library targets for Ceres (with dependency relations) which can be
|
|
# used in target_link_libraries() calls in the client project to use Ceres.
|
|
install(EXPORT CeresExport
|
|
DESTINATION ${RELATIVE_CMAKECONFIG_INSTALL_DIR} FILE CeresTargets.cmake)
|
|
|
|
# Save the relative path from the installed CeresConfig.cmake file to the
|
|
# install prefix. We do not save an absolute path in case the installed package
|
|
# is subsequently relocated after installation (on Windows).
|
|
file(RELATIVE_PATH INSTALL_ROOT_REL_CONFIG_INSTALL_DIR
|
|
${CMAKE_INSTALL_PREFIX}/${RELATIVE_CMAKECONFIG_INSTALL_DIR}
|
|
${CMAKE_INSTALL_PREFIX})
|
|
|
|
# Configure a CeresConfig.cmake file for an installed version of Ceres from the
|
|
# template, reflecting the current build options.
|
|
#
|
|
# NOTE: The -install suffix is necessary to distinguish the install version from
|
|
# the exported version, which must be named CeresConfig.cmake in
|
|
# CMAKE_BINARY_DIR to be detected. The suffix is removed when
|
|
# it is installed.
|
|
set(SETUP_CERES_CONFIG_FOR_INSTALLATION TRUE)
|
|
configure_file("${CMAKE_SOURCE_DIR}/cmake/CeresConfig.cmake.in"
|
|
"${CMAKE_BINARY_DIR}/CeresConfig-install.cmake" @ONLY)
|
|
|
|
# Install the configuration files into the same directory as the autogenerated
|
|
# CeresTargets.cmake file. We include the find_package() scripts for libraries
|
|
# whose headers are included in the public API of Ceres and should thus be
|
|
# present in CERES_INCLUDE_DIRS.
|
|
install(FILES "${CMAKE_BINARY_DIR}/CeresConfig-install.cmake"
|
|
RENAME CeresConfig.cmake
|
|
DESTINATION ${RELATIVE_CMAKECONFIG_INSTALL_DIR})
|
|
install(FILES "${CMAKE_BINARY_DIR}/CeresConfigVersion.cmake"
|
|
"${CMAKE_SOURCE_DIR}/cmake/FindEigen.cmake"
|
|
"${CMAKE_SOURCE_DIR}/cmake/FindGlog.cmake"
|
|
DESTINATION ${RELATIVE_CMAKECONFIG_INSTALL_DIR})
|
|
|
|
# Create an uninstall target to remove all installed files.
|
|
configure_file("${CMAKE_SOURCE_DIR}/cmake/uninstall.cmake.in"
|
|
"${CMAKE_BINARY_DIR}/cmake/uninstall.cmake"
|
|
@ONLY)
|
|
add_custom_target(uninstall
|
|
COMMAND ${CMAKE_COMMAND} -P ${CMAKE_BINARY_DIR}/cmake/uninstall.cmake)
|
|
|
|
# Install method #2: Put Ceres build into local CMake registry.
|
|
#
|
|
# Optionally export the Ceres build directory into the local CMake package
|
|
# registry (~/.cmake/packages on *nix & OS X). This allows the detection &
|
|
# use of Ceres without requiring that it be installed.
|
|
if (EXPORT_BUILD_DIR)
|
|
message("-- Export Ceres build directory to local CMake package registry.")
|
|
|
|
# Save the relative path from the build directory to the source directory.
|
|
file(RELATIVE_PATH INSTALL_ROOT_REL_CONFIG_INSTALL_DIR
|
|
${CMAKE_BINARY_DIR}
|
|
${CMAKE_SOURCE_DIR})
|
|
|
|
# Analogously to install(EXPORT ...), export the Ceres target from the build
|
|
# directory as a package called Ceres into the local CMake package registry.
|
|
export(TARGETS ceres FILE ${CMAKE_BINARY_DIR}/CeresTargets.cmake)
|
|
export(PACKAGE ${CMAKE_PROJECT_NAME})
|
|
|
|
# Configure a CeresConfig.cmake file for the export of the Ceres build
|
|
# directory from the template, reflecting the current build options.
|
|
set(SETUP_CERES_CONFIG_FOR_INSTALLATION FALSE)
|
|
configure_file("${CMAKE_SOURCE_DIR}/cmake/CeresConfig.cmake.in"
|
|
"${CMAKE_BINARY_DIR}/CeresConfig.cmake" @ONLY)
|
|
|
|
endif (EXPORT_BUILD_DIR)
|