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update docs for changed cmake usage
- update links to cmake docs to version 3.5 - highlight difference between dependencies with and without custom find modules - point out removal of CERES_INCLUDE_DIRS - point out that TBB might be linked if SuiteSparseQR is found - added 'Migration' section - fixed typos Change-Id: Icbcc0e723d11f12246fb3cf09b9d7c6206195a82
This commit is contained in:
Nikolaus Demmel
committed by
Sameer Agarwal
Sameer Agarwal
parent
3f69e5b36a
commit
bdcdcc78af
@@ -83,6 +83,14 @@ optional. For details on customizing the build process, see
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solving large sparse linear systems. **Optional; strongly recomended
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for large scale bundle adjustment**
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.. NOTE ::
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If SuiteSparseQR is found, Ceres attempts to find the Intel
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Thread Building Blocks (TBB) library. If found, Ceres assumes
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SuiteSparseQR was compiled with TBB support and will link to the
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found TBB version. You can customize the searched TBB location
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with the ``TBB_ROOT`` variable.
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- `CXSparse <http://faculty.cse.tamu.edu/davis/suitesparse.html>`_.
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Similar to ``SuiteSparse`` but simpler and slower. CXSparse has
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no dependencies on ``LAPACK`` and ``BLAS``. This makes for a simpler
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@@ -223,13 +231,13 @@ this.
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Termination: CONVERGENCE (Function tolerance reached. |cost_change|/cost: 1.769766e-09 <= 1.000000e-06)
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.. section-osx:
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.. section-macos:
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macOS
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=====
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On macOS, you can either use `Homebrew
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<https://brew.sh/>`_ (recomended) or `MacPorts
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<https://brew.sh/>`_ (recommended) or `MacPorts
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<https://www.macports.org/>`_ to install Ceres Solver.
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If using `Homebrew <https://brew.sh/>`_, then
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@@ -409,6 +417,12 @@ dependencies.
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#. Try running ``Configure``. It won't work. It'll show a bunch of options.
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You'll need to set:
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FIXME: since ``EIGEN_INCLUDE_DIR_HINTS``, ``GFLAGS_INCLUDE_DIR_HINTS``
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and ``GFLAGS_LIBRARY_DIR_HINTS`` was removed, these instructions won't
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work to find those dependencies (in particular eigen, for which it
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says just unpack; you need to run build & install to generate the
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cmake configs and then point cmake it that location...)
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#. ``GLOG_INCLUDE_DIR_HINTS``
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#. ``GLOG_LIBRARY_DIR_HINTS``
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#. (Optional) ``SUITESPARSE_INCLUDE_DIR_HINTS``
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@@ -463,6 +477,8 @@ To build Ceres for Android, we need to force ``CMake`` to find
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the toolchains from the Android NDK instead of using the standard
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ones. For example, assuming you have specified ``$NDK_DIR``:
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FIXME: EIGEN_INCLUDE_DIR was removed
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.. code-block:: bash
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cmake \
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@@ -521,6 +537,8 @@ To build Ceres for iOS, we need to force ``CMake`` to find the
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toolchains from the iOS SDK instead of using the standard ones. For
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example:
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FIXME: EIGEN_INCLUDE_DIR was removed
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.. code-block:: bash
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cmake \
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@@ -683,10 +701,10 @@ Options controlling Ceres configuration
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solely for installation, and so must be installed in order for
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clients to use it. Turn this ``ON`` to export Ceres' build
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directory location into the `user's local CMake package registry
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<http://www.cmake.org/cmake/help/v3.2/manual/cmake-packages.7.html#user-package-registry>`_
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<http://www.cmake.org/cmake/help/v3.5/manual/cmake-packages.7.html#user-package-registry>`_
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where it will be detected **without requiring installation** in a
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client project using CMake when `find_package(Ceres)
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<http://www.cmake.org/cmake/help/v3.2/command/find_package.html>`_
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<http://www.cmake.org/cmake/help/v3.5/command/find_package.html>`_
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is invoked.
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#. ``BUILD_DOCUMENTATION [Default: OFF]``: Use this to enable building
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@@ -722,8 +740,16 @@ Options controlling Ceres dependency locations
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----------------------------------------------
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Ceres uses the ``CMake`` `find_package
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<http://www.cmake.org/cmake/help/v3.2/command/find_package.html>`_
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function to find all of its dependencies using
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<http://www.cmake.org/cmake/help/v3.5/command/find_package.html>`_
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function to find all of its dependencies. Dependencies that reliably
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provide config files on all supported platforms are expected to be
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found in "Config" mode of ``find_package`` (``Eigen``, ``gflags``).
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This means you can use the standard ``CMake`` facilities to customize
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where these dependencies are found, such as ``CMAKE_PREFIX_PATH``,
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the ``<DEPENDENCY_NAME>_DIR`` variables, or since ``CMake`` 3.12 the
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``<DEPENDENCY_NAME>_ROOT`` variables.
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Other dependencies are found using
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``Find<DEPENDENCY_NAME>.cmake`` scripts which are either included in
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Ceres (for most dependencies) or are shipped as standard with
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``CMake`` (for ``LAPACK`` & ``BLAS``). These scripts will search all
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@@ -779,7 +805,7 @@ Using Ceres with CMake
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======================
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In order to use Ceres in client code with CMake using `find_package()
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<http://www.cmake.org/cmake/help/v3.2/command/find_package.html>`_
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<http://www.cmake.org/cmake/help/v3.5/command/find_package.html>`_
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then either:
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#. Ceres must have been installed with ``make install``. If the
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@@ -827,6 +853,7 @@ directory.
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as the exported Ceres CMake target already contains the definitions
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of its public include directories which will be automatically
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included by CMake when compiling a target that links against Ceres.
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In fact, since v2.0 ``CERES_INCLUDE_DIRS`` is not even set.
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Specify Ceres components
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-------------------------------------
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@@ -867,7 +894,7 @@ The Ceres components which can be specified are:
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To specify one/multiple Ceres components use the ``COMPONENTS`` argument to
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`find_package()
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<http://www.cmake.org/cmake/help/v3.2/command/find_package.html>`_ like so:
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<http://www.cmake.org/cmake/help/v3.5/command/find_package.html>`_ like so:
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.. code-block:: cmake
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@@ -885,7 +912,7 @@ Specify Ceres version
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Additionally, when CMake has found Ceres it can optionally check the package
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version, if it has been specified in the `find_package()
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<http://www.cmake.org/cmake/help/v3.2/command/find_package.html>`_
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<http://www.cmake.org/cmake/help/v3.5/command/find_package.html>`_
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call. For example:
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.. code-block:: cmake
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@@ -943,9 +970,9 @@ following references are very useful:
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All libraries and executables built using CMake are represented as
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*targets* created using `add_library()
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<http://www.cmake.org/cmake/help/v3.2/command/add_library.html>`_
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<http://www.cmake.org/cmake/help/v3.5/command/add_library.html>`_
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and `add_executable()
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<http://www.cmake.org/cmake/help/v3.2/command/add_executable.html>`_.
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<http://www.cmake.org/cmake/help/v3.5/command/add_executable.html>`_.
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Targets encapsulate the rules and dependencies (which can be other
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targets) required to build or link against an object. This allows
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CMake to implicitly manage dependency chains. Thus it is
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@@ -961,7 +988,7 @@ and compiled libraries, a set of CMake-specific project configuration
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files are also installed to: ``<INSTALL_ROOT>/lib/cmake/Ceres`` (if Ceres
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is installed), or created in the build directory (if Ceres' build
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directory is exported). When `find_package
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<http://www.cmake.org/cmake/help/v3.2/command/find_package.html>`_ is
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<http://www.cmake.org/cmake/help/v3.5/command/find_package.html>`_ is
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invoked, CMake checks various standard install locations (including
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``/usr/local`` on Linux & UNIX systems), and the local CMake package
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registry for CMake configuration files for the project to be found
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@@ -1014,9 +1041,9 @@ due to missing references to Ceres public dependencies.
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Note that this description applies both to projects that are
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**installed** using CMake, and to those whose **build directory is
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exported** using `export()
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<http://www.cmake.org/cmake/help/v3.2/command/export.html>`_ (instead
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<http://www.cmake.org/cmake/help/v3.5/command/export.html>`_ (instead
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of `install()
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<http://www.cmake.org/cmake/help/v3.2/command/install.html>`_). Ceres
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<http://www.cmake.org/cmake/help/v3.5/command/install.html>`_). Ceres
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supports both installation and export of its build directory if the
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``EXPORT_BUILD_DIR`` option is enabled, see
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:ref:`section-customizing`.
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@@ -1032,7 +1059,7 @@ and it is these copied files that are used by any client code. When a
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project's build directory is **exported**, instead of copying the
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compiled libraries and headers, CMake creates an entry for the project
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in the `user's local CMake package registry
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<http://www.cmake.org/cmake/help/v3.2/manual/cmake-packages.7.html#user-package-registry>`_,
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<http://www.cmake.org/cmake/help/v3.5/manual/cmake-packages.7.html#user-package-registry>`_,
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``<USER_HOME>/.cmake/packages`` on Linux & macOS, which contains the
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path to the project's build directory which will be checked by CMake
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during a call to ``find_package()``. The effect of which is that any
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@@ -1083,3 +1110,33 @@ Ceres) to invoke ``find_package(Ceres)`` in ``FooConfig.cmake``, thus
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# CMake's search list before this call.
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include(CMakeFindDependencyMacro)
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find_dependency(Ceres)
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.. _section-migration
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Migration
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=========
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The following includes some hints for migrating from previous versions.
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Version 2.0
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-----------
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- When using Ceres with CMake, the target name in v2.0 is
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``Ceres::ceres`` following modern naming convetions. The legacy
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target ``ceres`` exists for backwards compatibility, but is
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deprecated. ``CERES_INCLUDE_DIRS`` is not set any more, as the
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exported Ceres CMake target already contains the definitions of its
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public include directories which will be automatically included by
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CMake when compiling a target that links against Ceres.
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- When building Ceres, some dependencies (Eigen, gflags) are not found
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using custom ``Find<DEPENDENCY_NAME>.cmake`` modules any
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more. Hence, instead of the custom variables (``<DEPENDENCY_NAME (CAPS)>_INCLUDE_DIR_HINTS``,
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``<DEPENDENCY_NAME (CAPS)>_INCLUDE_DIR``, ...) you should use standard
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CMake facilities to customize where these dependencies are found, such as
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``CMAKE_PREFIX_PATH``, the ``<DEPENDENCY_NAME>_DIR`` variables, or
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since CMake 3.12 the ``<DEPENDENCY_NAME>_ROOT`` variables.
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- While TBB is not used any more directly by Ceres, it might still try
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to link against it, if SuiteSparseQR was found. The variable (environment
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or CMake) to customize this is ``TBB_ROOT`` (used to be ``TBBROOT``).
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For example, use ``cmake -DTBB_ROOT=/opt/intel/tbb ...`` if you want to
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link against TBB installed from Intel's binary packages on Linux.
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