mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 08:34:37 +08:00
Use Eigen3::Eigen target
Since version 3.3 Eigen provides Eigen3Config.cmake with the imported target Eigen3::Eigen. [1] Use this imported target as descibed in Eigen-Wiki [2] In the CeresConfig file improve relocatability by removing absolute paths to the compiled dependencies. Instead find the used Eigen3::Eigen. Furthermore use the find_dependency() [4] CMake function instead of the find_package() call in CeresConfig. This commit relies on all targets to be explicitly linked private or public as done in the the change [3] [1] https://bitbucket.org/eigen/eigen/pull-requests/257/cmake-imported-target-take-2/diff [2] https://eigen.tuxfamily.org/dox/TopicCMakeGuide.html [3] https://ceres-solver-review.googlesource.com/c/ceres-solver/+/16220 [4] https://cmake.org/cmake/help/latest/module/CMakeFindDependencyMacro.html Change-Id: I44f44a089083f7169bcf430b59775242e4eb72d1
This commit is contained in:
NeroBurner
+28
-20
@@ -62,6 +62,26 @@ if (MSVC AND CMAKE_CXX_COMPILER_VERSION VERSION_LESS 12.0)
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"${CMAKE_CXX_COMPILER_VERSION}. Ceres requires at least MSVC 2013 Update 4+")
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endif()
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||||
# On macOS, add the Homebrew prefix (with appropriate suffixes) to the
|
||||
# respective HINTS directories (after any user-specified locations). This
|
||||
# handles Homebrew installations into non-standard locations (not /usr/local).
|
||||
# We do not use CMAKE_PREFIX_PATH for this as given the search ordering of
|
||||
# find_xxx(), doing so would override any user-specified HINTS locations with
|
||||
# the Homebrew version if it exists.
|
||||
if (CMAKE_SYSTEM_NAME MATCHES "Darwin")
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||||
find_program(HOMEBREW_EXECUTABLE brew)
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||||
mark_as_advanced(FORCE HOMEBREW_EXECUTABLE)
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if (HOMEBREW_EXECUTABLE)
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# Detected a Homebrew install, query for its install prefix.
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execute_process(COMMAND ${HOMEBREW_EXECUTABLE} --prefix
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OUTPUT_VARIABLE HOMEBREW_INSTALL_PREFIX
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OUTPUT_STRIP_TRAILING_WHITESPACE)
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message(STATUS "Detected Homebrew with install prefix: "
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"${HOMEBREW_INSTALL_PREFIX}, adding to CMake search paths.")
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list(APPEND HOMEBREW_INCLUDE_DIR_HINTS "${HOMEBREW_INSTALL_PREFIX}/include")
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endif()
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endif()
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project(Ceres C CXX)
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# NOTE: The 'generic' CMake variables CMAKE_[SOURCE/BINARY]_DIR should not be
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@@ -218,40 +238,29 @@ unset(CERES_COMPILE_OPTIONS)
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message("-- Building with C++${CMAKE_CXX_STANDARD}")
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# Eigen.
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find_package(Eigen REQUIRED)
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if (EIGEN_FOUND)
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message("-- Found Eigen version ${EIGEN_VERSION}: ${EIGEN_INCLUDE_DIRS}")
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if (EIGEN_VERSION VERSION_LESS 3.1.0)
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message(FATAL_ERROR "-- Ceres requires Eigen version >= 3.1.0 in order "
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"that Eigen/SparseCore be available, detected version of Eigen is: "
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"${EIGEN_VERSION}")
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endif (EIGEN_VERSION VERSION_LESS 3.1.0)
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# Eigen delivers Eigen3Config.cmake since v3.3.3
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find_package(Eigen3 3.3 CONFIG REQUIRED
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HINTS ${HOMEBREW_INCLUDE_DIR_HINTS})
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if (EIGEN3_FOUND)
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message("-- Found Eigen version ${EIGEN3_VERSION_STRING}: ${EIGEN3_INCLUDE_DIRS}")
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if (CMAKE_SYSTEM_PROCESSOR MATCHES "^(aarch64.*|AARCH64.*)" AND
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EIGEN_VERSION VERSION_LESS 3.3.4)
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EIGEN3_VERSION_STRING VERSION_LESS 3.3.4)
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# As per issue #289: https://github.com/ceres-solver/ceres-solver/issues/289
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# the bundle_adjustment_test will fail for Eigen < 3.3.4 on aarch64.
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message(FATAL_ERROR "-- Ceres requires Eigen version >= 3.3.4 on aarch64. "
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"Detected version of Eigen is: ${EIGEN_VERSION}.")
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"Detected version of Eigen is: ${EIGEN3_VERSION_STRING}.")
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endif()
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if (EIGENSPARSE)
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message("-- Enabling use of Eigen as a sparse linear algebra library.")
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list(APPEND CERES_COMPILE_OPTIONS CERES_USE_EIGEN_SPARSE)
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if (EIGEN_VERSION VERSION_LESS 3.2.2)
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message(" WARNING:")
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message("")
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message(" Your version of Eigen (${EIGEN_VERSION}) is older than ")
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message(" version 3.2.2. The performance of SPARSE_NORMAL_CHOLESKY ")
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message(" and SPARSE_SCHUR linear solvers will suffer.")
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endif (EIGEN_VERSION VERSION_LESS 3.2.2)
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else (EIGENSPARSE)
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message("-- Disabling use of Eigen as a sparse linear algebra library.")
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message(" This does not affect the covariance estimation algorithm ")
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message(" which can still use the EIGEN_SPARSE_QR algorithm.")
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add_definitions(-DEIGEN_MPL2_ONLY)
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endif (EIGENSPARSE)
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endif (EIGEN_FOUND)
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endif (EIGEN3_FOUND)
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if (LAPACK)
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find_package(LAPACK QUIET)
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@@ -751,7 +760,6 @@ install(FILES "${Ceres_BINARY_DIR}/CeresConfig-install.cmake"
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RENAME CeresConfig.cmake
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DESTINATION ${RELATIVE_CMAKECONFIG_INSTALL_DIR})
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install(FILES "${Ceres_BINARY_DIR}/CeresConfigVersion.cmake"
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"${Ceres_SOURCE_DIR}/cmake/FindEigen.cmake"
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"${Ceres_SOURCE_DIR}/cmake/FindGlog.cmake"
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"${Ceres_SOURCE_DIR}/cmake/FindGflags.cmake"
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DESTINATION ${RELATIVE_CMAKECONFIG_INSTALL_DIR})
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+11
-17
@@ -60,6 +60,8 @@
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# CMake target already includes the definition of its public
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# include directories.
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include(CMakeFindDependencyMacro)
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# Called if we failed to find Ceres or any of its required dependencies,
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# unsets all public (designed to be used externally) variables and reports
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# error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument.
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@@ -166,38 +168,30 @@ find_dependency(Threads)
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# Eigen.
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# Flag set during configuration and build of Ceres.
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set(CERES_EIGEN_VERSION @EIGEN_VERSION@)
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set(EIGEN_WAS_BUILT_WITH_CMAKE @FOUND_INSTALLED_EIGEN_CMAKE_CONFIGURATION@)
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# Append the locations of Eigen when Ceres was built to the search path hints.
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if (EIGEN_WAS_BUILT_WITH_CMAKE)
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set(Eigen3_DIR "@Eigen3_DIR@")
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set(EIGEN_PREFER_EXPORTED_EIGEN_CMAKE_CONFIGURATION TRUE)
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else()
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list(APPEND EIGEN_INCLUDE_DIR_HINTS "@EIGEN_INCLUDE_DIR@")
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endif()
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set(CERES_EIGEN_VERSION @EIGEN3_VERSION_STRING@)
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# Search quietly to control the timing of the error message if not found. The
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# search should be for an exact match, but for usability reasons do a soft
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# match and reject with an explanation below.
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find_package(Eigen ${CERES_EIGEN_VERSION} QUIET)
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if (EIGEN_FOUND)
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if (NOT EIGEN_VERSION VERSION_EQUAL CERES_EIGEN_VERSION)
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find_dependency(Eigen3 ${CERES_EIGEN_VERSION} CONFIG QUIET)
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if (EIGEN3_FOUND)
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if (NOT EIGEN3_VERSION_STRING VERSION_EQUAL CERES_EIGEN_VERSION)
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# CMake's VERSION check in FIND_PACKAGE() will accept any version >= the
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# specified version. However, only version = is supported. Improve
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# usability by explaining why we don't accept non-exact version matching.
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ceres_report_not_found("Found Eigen dependency, but the version of Eigen "
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"found (${EIGEN_VERSION}) does not exactly match the version of Eigen "
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"found (${EIGEN3_VERSION_STRING}) does not exactly match the version of Eigen "
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"Ceres was compiled with (${CERES_EIGEN_VERSION}). This can cause subtle "
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"bugs by triggering violations of the One Definition Rule. See the "
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||||
"Wikipedia article http://en.wikipedia.org/wiki/One_Definition_Rule "
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"for more details")
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endif ()
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message(STATUS "Found required Ceres dependency: "
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"Eigen version ${CERES_EIGEN_VERSION} in ${EIGEN_INCLUDE_DIRS}")
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else (EIGEN_FOUND)
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"Eigen version ${CERES_EIGEN_VERSION} in ${EIGEN3_INCLUDE_DIRS}")
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||||
else (EIGEN3_FOUND)
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ceres_report_not_found("Missing required Ceres "
|
||||
"dependency: Eigen version ${CERES_EIGEN_VERSION}, please set "
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"EIGEN_INCLUDE_DIR.")
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endif (EIGEN_FOUND)
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||||
"Eigen3_DIR.")
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endif (EIGEN3_FOUND)
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|
||||
# Glog.
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||||
# Flag set during configuration and build of Ceres.
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||||
@@ -1,284 +0,0 @@
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||||
# Ceres Solver - A fast non-linear least squares minimizer
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# Copyright 2015 Google Inc. All rights reserved.
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# http://ceres-solver.org/
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||||
#
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||||
# 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.
|
||||
#
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||||
# Author: alexs.mac@gmail.com (Alex Stewart)
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||||
#
|
||||
|
||||
# FindEigen.cmake - Find Eigen library, version >= 3.
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||||
#
|
||||
# This module defines the following variables:
|
||||
#
|
||||
# EIGEN_FOUND: TRUE iff Eigen is found.
|
||||
# EIGEN_INCLUDE_DIRS: Include directories for Eigen.
|
||||
# EIGEN_VERSION: Extracted from Eigen/src/Core/util/Macros.h
|
||||
# EIGEN_WORLD_VERSION: Equal to 3 if EIGEN_VERSION = 3.2.0
|
||||
# EIGEN_MAJOR_VERSION: Equal to 2 if EIGEN_VERSION = 3.2.0
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||||
# EIGEN_MINOR_VERSION: Equal to 0 if EIGEN_VERSION = 3.2.0
|
||||
# FOUND_INSTALLED_EIGEN_CMAKE_CONFIGURATION: True iff the version of Eigen
|
||||
# found was built & installed /
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||||
# exported as a CMake package.
|
||||
#
|
||||
# The following variables control the behaviour of this module:
|
||||
#
|
||||
# EIGEN_PREFER_EXPORTED_EIGEN_CMAKE_CONFIGURATION: TRUE/FALSE, iff TRUE then
|
||||
# then prefer using an exported CMake configuration
|
||||
# generated by Eigen over searching for the
|
||||
# Eigen components manually. Otherwise (FALSE)
|
||||
# ignore any exported Eigen CMake configurations and
|
||||
# always perform a manual search for the components.
|
||||
# Default: TRUE iff user does not define this variable
|
||||
# before we are called, and does NOT specify
|
||||
# EIGEN_INCLUDE_DIR_HINTS, otherwise FALSE.
|
||||
# EIGEN_INCLUDE_DIR_HINTS: List of additional directories in which to
|
||||
# search for eigen includes, e.g: /timbuktu/eigen3.
|
||||
#
|
||||
# The following variables are also defined by this module, but in line with
|
||||
# CMake recommended FindPackage() module style should NOT be referenced directly
|
||||
# by callers (use the plural variables detailed above instead). These variables
|
||||
# do however affect the behaviour of the module via FIND_[PATH/LIBRARY]() which
|
||||
# are NOT re-called (i.e. search for library is not repeated) if these variables
|
||||
# are set with valid values _in the CMake cache_. This means that if these
|
||||
# variables are set directly in the cache, either by the user in the CMake GUI,
|
||||
# or by the user passing -DVAR=VALUE directives to CMake when called (which
|
||||
# explicitly defines a cache variable), then they will be used verbatim,
|
||||
# bypassing the HINTS variables and other hard-coded search locations.
|
||||
#
|
||||
# EIGEN_INCLUDE_DIR: Include directory for CXSparse, not including the
|
||||
# include directory of any dependencies.
|
||||
|
||||
# Called if we failed to find Eigen or any of it's required dependencies,
|
||||
# unsets all public (designed to be used externally) variables and reports
|
||||
# error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument.
|
||||
macro(EIGEN_REPORT_NOT_FOUND REASON_MSG)
|
||||
unset(EIGEN_FOUND)
|
||||
unset(EIGEN_INCLUDE_DIRS)
|
||||
unset(FOUND_INSTALLED_EIGEN_CMAKE_CONFIGURATION)
|
||||
# Make results of search visible in the CMake GUI if Eigen has not
|
||||
# been found so that user does not have to toggle to advanced view.
|
||||
mark_as_advanced(CLEAR EIGEN_INCLUDE_DIR)
|
||||
# Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by FindPackage()
|
||||
# use the camelcase library name, not uppercase.
|
||||
if (Eigen_FIND_QUIETLY)
|
||||
message(STATUS "Failed to find Eigen - " ${REASON_MSG} ${ARGN})
|
||||
elseif (Eigen_FIND_REQUIRED)
|
||||
message(FATAL_ERROR "Failed to find Eigen - " ${REASON_MSG} ${ARGN})
|
||||
else()
|
||||
# Neither QUIETLY nor REQUIRED, use no priority which emits a message
|
||||
# but continues configuration and allows generation.
|
||||
message("-- Failed to find Eigen - " ${REASON_MSG} ${ARGN})
|
||||
endif ()
|
||||
return()
|
||||
endmacro(EIGEN_REPORT_NOT_FOUND)
|
||||
|
||||
# Protect against any alternative find_package scripts for this library having
|
||||
# been called previously (in a client project) which set EIGEN_FOUND, but not
|
||||
# the other variables we require / set here which could cause the search logic
|
||||
# here to fail.
|
||||
unset(EIGEN_FOUND)
|
||||
|
||||
# -----------------------------------------------------------------
|
||||
# By default, if the user has expressed no preference for using an exported
|
||||
# Eigen CMake configuration over performing a search for the installed
|
||||
# components, and has not specified any hints for the search locations, then
|
||||
# prefer an exported configuration if available.
|
||||
if (NOT DEFINED EIGEN_PREFER_EXPORTED_EIGEN_CMAKE_CONFIGURATION
|
||||
AND NOT EIGEN_INCLUDE_DIR_HINTS)
|
||||
message(STATUS "No preference for use of exported Eigen CMake configuration "
|
||||
"set, and no hints for include directory provided. "
|
||||
"Defaulting to preferring an installed/exported Eigen CMake configuration "
|
||||
"if available.")
|
||||
set(EIGEN_PREFER_EXPORTED_EIGEN_CMAKE_CONFIGURATION TRUE)
|
||||
endif()
|
||||
|
||||
# On macOS, add the Homebrew prefix (with appropriate suffixes) to the
|
||||
# respective HINTS directories (after any user-specified locations). This
|
||||
# handles Homebrew installations into non-standard locations (not /usr/local).
|
||||
# We do not use CMAKE_PREFIX_PATH for this as given the search ordering of
|
||||
# find_xxx(), doing so would override any user-specified HINTS locations with
|
||||
# the Homebrew version if it exists.
|
||||
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 EIGEN_INCLUDE_DIR_HINTS "${HOMEBREW_INSTALL_PREFIX}/include")
|
||||
endif()
|
||||
endif()
|
||||
|
||||
if (EIGEN_PREFER_EXPORTED_EIGEN_CMAKE_CONFIGURATION)
|
||||
# Try to find an exported CMake configuration for Eigen.
|
||||
#
|
||||
# We search twice, s/t we can invert the ordering of precedence used by
|
||||
# find_package() for exported package build directories, and installed
|
||||
# packages (found via CMAKE_SYSTEM_PREFIX_PATH), listed as items 6) and 7)
|
||||
# respectively in [1].
|
||||
#
|
||||
# By default, exported build directories are (in theory) detected first, and
|
||||
# this is usually the case on Windows. However, on OS X & Linux, the install
|
||||
# path (/usr/local) is typically present in the PATH environment variable
|
||||
# which is checked in item 4) in [1] (i.e. before both of the above, unless
|
||||
# NO_SYSTEM_ENVIRONMENT_PATH is passed). As such on those OSs installed
|
||||
# packages are usually detected in preference to exported package build
|
||||
# directories.
|
||||
#
|
||||
# To ensure a more consistent response across all OSs, and as users usually
|
||||
# want to prefer an installed version of a package over a locally built one
|
||||
# where both exist (esp. as the exported build directory might be removed
|
||||
# after installation), we first search with NO_CMAKE_PACKAGE_REGISTRY which
|
||||
# means any build directories exported by the user are ignored, and thus
|
||||
# installed directories are preferred. If this fails to find the package
|
||||
# we then research again, but without NO_CMAKE_PACKAGE_REGISTRY, so any
|
||||
# exported build directories will now be detected.
|
||||
#
|
||||
# To prevent confusion on Windows, we also pass NO_CMAKE_BUILDS_PATH (which
|
||||
# is item 5) in [1]), to not preferentially use projects that were built
|
||||
# recently with the CMake GUI to ensure that we always prefer an installed
|
||||
# version if available.
|
||||
#
|
||||
# [1] http://www.cmake.org/cmake/help/v2.8.11/cmake.html#command:find_package
|
||||
find_package(Eigen3 QUIET
|
||||
HINTS ${Eigen3_DIR} ${HOMEBREW_INSTALL_PREFIX}
|
||||
NO_MODULE
|
||||
NO_CMAKE_PACKAGE_REGISTRY
|
||||
NO_CMAKE_BUILDS_PATH)
|
||||
if (EIGEN3_FOUND)
|
||||
message(STATUS "Found installed version of Eigen: ${Eigen3_DIR}")
|
||||
else()
|
||||
# Failed to find an installed version of Eigen, repeat search allowing
|
||||
# exported build directories.
|
||||
message(STATUS "Failed to find installed Eigen CMake configuration, "
|
||||
"searching for Eigen build directories exported with CMake.")
|
||||
# Again pass NO_CMAKE_BUILDS_PATH, as we know that Eigen is exported and
|
||||
# do not want to treat projects built with the CMake GUI preferentially.
|
||||
find_package(Eigen3 QUIET
|
||||
NO_MODULE
|
||||
NO_CMAKE_BUILDS_PATH)
|
||||
if (EIGEN3_FOUND)
|
||||
message(STATUS "Found exported Eigen build directory: ${Eigen3_DIR}")
|
||||
endif()
|
||||
endif()
|
||||
if (EIGEN3_FOUND)
|
||||
set(FOUND_INSTALLED_EIGEN_CMAKE_CONFIGURATION TRUE)
|
||||
set(EIGEN_FOUND ${EIGEN3_FOUND})
|
||||
set(EIGEN_INCLUDE_DIR "${EIGEN3_INCLUDE_DIR}" CACHE STRING
|
||||
"Eigen include directory" FORCE)
|
||||
else()
|
||||
message(STATUS "Failed to find an installed/exported CMake configuration "
|
||||
"for Eigen, will perform search for installed Eigen components.")
|
||||
endif()
|
||||
endif()
|
||||
|
||||
if (NOT EIGEN_FOUND)
|
||||
# Search user-installed locations first, so that we prefer user installs
|
||||
# to system installs where both exist.
|
||||
list(APPEND EIGEN_CHECK_INCLUDE_DIRS
|
||||
/usr/local/include
|
||||
/usr/local/homebrew/include # Mac OS X
|
||||
/opt/local/var/macports/software # Mac OS X.
|
||||
/opt/local/include
|
||||
/usr/include)
|
||||
# Additional suffixes to try appending to each search path.
|
||||
list(APPEND EIGEN_CHECK_PATH_SUFFIXES
|
||||
eigen3 # Default root directory for Eigen.
|
||||
Eigen/include/eigen3 # Windows (for C:/Program Files prefix) < 3.3
|
||||
Eigen3/include/eigen3 ) # Windows (for C:/Program Files prefix) >= 3.3
|
||||
|
||||
# Search supplied hint directories first if supplied.
|
||||
find_path(EIGEN_INCLUDE_DIR
|
||||
NAMES Eigen/Core
|
||||
HINTS ${EIGEN_INCLUDE_DIR_HINTS}
|
||||
PATHS ${EIGEN_CHECK_INCLUDE_DIRS}
|
||||
PATH_SUFFIXES ${EIGEN_CHECK_PATH_SUFFIXES})
|
||||
|
||||
if (NOT EIGEN_INCLUDE_DIR OR
|
||||
NOT EXISTS ${EIGEN_INCLUDE_DIR})
|
||||
eigen_report_not_found(
|
||||
"Could not find eigen3 include directory, set EIGEN_INCLUDE_DIR to "
|
||||
"path to eigen3 include directory, e.g. /usr/local/include/eigen3.")
|
||||
endif (NOT EIGEN_INCLUDE_DIR OR
|
||||
NOT EXISTS ${EIGEN_INCLUDE_DIR})
|
||||
|
||||
# Mark internally as found, then verify. EIGEN_REPORT_NOT_FOUND() unsets
|
||||
# if called.
|
||||
set(EIGEN_FOUND TRUE)
|
||||
endif()
|
||||
|
||||
# Extract Eigen version from Eigen/src/Core/util/Macros.h
|
||||
if (EIGEN_INCLUDE_DIR)
|
||||
set(EIGEN_VERSION_FILE ${EIGEN_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h)
|
||||
if (NOT EXISTS ${EIGEN_VERSION_FILE})
|
||||
eigen_report_not_found(
|
||||
"Could not find file: ${EIGEN_VERSION_FILE} "
|
||||
"containing version information in Eigen install located at: "
|
||||
"${EIGEN_INCLUDE_DIR}.")
|
||||
else (NOT EXISTS ${EIGEN_VERSION_FILE})
|
||||
file(READ ${EIGEN_VERSION_FILE} EIGEN_VERSION_FILE_CONTENTS)
|
||||
|
||||
string(REGEX MATCH "#define EIGEN_WORLD_VERSION [0-9]+"
|
||||
EIGEN_WORLD_VERSION "${EIGEN_VERSION_FILE_CONTENTS}")
|
||||
string(REGEX REPLACE "#define EIGEN_WORLD_VERSION ([0-9]+)" "\\1"
|
||||
EIGEN_WORLD_VERSION "${EIGEN_WORLD_VERSION}")
|
||||
|
||||
string(REGEX MATCH "#define EIGEN_MAJOR_VERSION [0-9]+"
|
||||
EIGEN_MAJOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}")
|
||||
string(REGEX REPLACE "#define EIGEN_MAJOR_VERSION ([0-9]+)" "\\1"
|
||||
EIGEN_MAJOR_VERSION "${EIGEN_MAJOR_VERSION}")
|
||||
|
||||
string(REGEX MATCH "#define EIGEN_MINOR_VERSION [0-9]+"
|
||||
EIGEN_MINOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}")
|
||||
string(REGEX REPLACE "#define EIGEN_MINOR_VERSION ([0-9]+)" "\\1"
|
||||
EIGEN_MINOR_VERSION "${EIGEN_MINOR_VERSION}")
|
||||
|
||||
# This is on a single line s/t CMake does not interpret it as a list of
|
||||
# elements and insert ';' separators which would result in 3.;2.;0 nonsense.
|
||||
set(EIGEN_VERSION "${EIGEN_WORLD_VERSION}.${EIGEN_MAJOR_VERSION}.${EIGEN_MINOR_VERSION}")
|
||||
endif (NOT EXISTS ${EIGEN_VERSION_FILE})
|
||||
endif (EIGEN_INCLUDE_DIR)
|
||||
|
||||
# Set standard CMake FindPackage variables if found.
|
||||
if (EIGEN_FOUND)
|
||||
set(EIGEN_INCLUDE_DIRS ${EIGEN_INCLUDE_DIR})
|
||||
endif (EIGEN_FOUND)
|
||||
|
||||
# Handle REQUIRED / QUIET optional arguments and version.
|
||||
include(FindPackageHandleStandardArgs)
|
||||
find_package_handle_standard_args(Eigen
|
||||
REQUIRED_VARS EIGEN_INCLUDE_DIRS
|
||||
VERSION_VAR EIGEN_VERSION)
|
||||
|
||||
# Only mark internal variables as advanced if we found Eigen, otherwise
|
||||
# leave it visible in the standard GUI for the user to set manually.
|
||||
if (EIGEN_FOUND)
|
||||
mark_as_advanced(FORCE EIGEN_INCLUDE_DIR
|
||||
Eigen3_DIR) # Autogenerated by find_package(Eigen3)
|
||||
endif (EIGEN_FOUND)
|
||||
@@ -301,7 +301,7 @@ target_include_directories(ceres PUBLIC
|
||||
# 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.
|
||||
target_include_directories(ceres SYSTEM PUBLIC ${EIGEN_INCLUDE_DIRS})
|
||||
target_link_libraries(ceres PUBLIC Eigen3::Eigen)
|
||||
|
||||
# Gather the list of public & private include locations for all enabled optional
|
||||
# dependencies to be added to the Ceres target.
|
||||
|
||||
Reference in New Issue
Block a user