- Users can now specify particular components from Ceres, such as
SuiteSparse support) that must be present in a detected version of
Ceres in order for it to be reported as found by find_package().
- This allows users to specify for example that they require a version
of Ceres with SuiteSparse support at configure time, rather than
finding out only at run time that Ceres was not compiled with the
options they require.
- The list of available components are built directly from the Ceres
compile options.
- The meta-module SparseLinearAlgebraLibrary is present if at least
one sparse linear algebra backend is available.
Change-Id: I65f1ddfd7697e6dd25bb4ac7e54f5097d3ca6266
- This could result in potentially confusing output if dependencies
were found with the QUIET option: "XXX not found due to ...", followed
by "found <part of> XXX".
- If find_package() was called with REQUIRED, then a FATAL_ERROR was
triggered in the xxx_not_found() macros, resulting in early
termination.
Change-Id: Ibf59afd10067b9debd1a5e15f735a41b61bed52e
- Previously we had the Ceres version defined in two places, one in
include/ceres/version.h, and one in the main CMakeLists.
- Now the main CMakeLists reads the Ceres version directly from
version.h, as does the make_release script, so that we have a single
place (version.h) in which the current Ceres version is defined.
Change-Id: Ie80aa7d38f5b576d3ed4d6109dd699f565c91027
- Gives an option to specify a lower deployment target version than the
current SDK for backward compatibility.
Change-Id: Ieb84ba7f42cdf925510f84b8e0cd01b5e9fc051b
- If Ceres is built as a shared library, and LTO is enabled for Ceres
and the tests, then type_info::operator==() incorrectly returns false
in gtests' CheckedDowncastToActualType() in the following tests:
-- levenberg_marquardt_strategy_test.
-- gradient_checking_cost_function_test.
on at least Xcode 6 & 7 as reported here:
https://github.com/google/googletest/issues/595.
- This does not appear to be a gtest issue, but is perhaps an LLVM bug
or an RTTI shared library issue. Either way, disabling the use of
LTO when compiling the test application resolves the issue.
- Allow LTO to be enabled for GCC, if it is supported.
- Add CMake function to allow easy appending to target properties s/t
Ceres library-specific compile flags can be iteratively constructed.
Change-Id: I923e6aae4f7cefa098cf32b2f8fc19389e7918c9
- The newer style, which are more specific and match the SDK names
are not available on Xcode < 7.0.
Change-Id: I2f07a0365183d2781157cdb05fd49b30ae001ac5
- Substantial cleanup of iOS.cmake to use xcrun & xcodebuild to
determine the SDK & tool paths.
- Use libtool -static to link libraries instead of ar + ranlib, which
is not compatible with Xcode 7+, this change should be backwards
compatible to at least Xcode 6.
- Force locations of unordered_map & shared_ptr on iOS to work around
check_cxx_source_compiles() running in a forked CMake instance without
access to the variables (IOS_PLATFORM) defined by the user.
- Minor CMake style updates.
Change-Id: I5f83a60607db34d461ebe85f9dce861f53d98277
- Increasing the inline threshold results in very variable performance
improvements, and could potentially confuse users if they are trying
to set the inline threshold themselves.
- As such, we no longer export our inline threshold configuration for
Clang, but instead document how to change it in the FAQs.
Change-Id: I88e2e0001e4586ba2718535845ed1e4b1a5b72bc
- When compiled with Clang, Ceres and all of the examples are compiled
with an increased inlining-threshold, as the default value can result
in poor Eigen performance.
- Previously, client code using Ceres would typically not use an
increased inlining-threshold (unless the user has specifically added
it themselves). However, increasing the inlining threshold can result
in significant performance improvements in auto-diffed CostFunctions.
- This patch adds the inlining-threshold flags to the interface flags
for the Ceres CMake target s/t any client code using Ceres (via
CMake), and compiled with Clang, will now be compiled with the same
increased inlining threshold as used by Ceres itself.
Change-Id: I31e8f1abfda140d22e85bb48aa57f028a68a415e
- If a CMake-ified version of gflags is not detected, then
gflags_LIBRARIES is not set and the TARGET condition within a
multiconditional if() statement prevents configuration.
Change-Id: Ia92e97523d7a1478ab36539726b9540d7cfee5d0
- Updated to new CMake style where function names are all lowercase,
this will be backwards compatible as CMake function names are
case insensitive.
- Updated using Emacs' M-x unscreamify-cmake-buffer.
Change-Id: If7219816f560270e59212813aeb021353a64a0e2
- gflags <= 2.1.2 has a bug in its exported gflags-config.cmake:
https://github.com/gflags/gflags/issues/110 whereby it sets
gflags_LIBRARIES to a non-existent 'gflags' target.
- This causes linker errors if gflags is installed in a non-standard
location (as otherwise CMake resolves gflags to -lgflags which
links if gflags is installed somewhere on the current path).
- We now check for this case, and search for the correct gflags imported
target and update gflags_LIBRARIES to reference it if found, otherwise
proceed on to the original manual search to try to find gflags.
Change-Id: Iceccc3ee53c7c2010e41cc45255f966e7b13d526
- Optionally use CMake's export() functionality to export the Ceres
build directory as a package into the local CMake package registry.
- This enables the detection & use of Ceres from CMake *without*
requiring that Ceres be installed.
Change-Id: Ib5a7588446f490e1b405878475b6b1dd13accd1f
- Split out gflags namespace detection methods:
check_cxx_source_compiles() & regex, into separate functions.
- Use installed/exported gflags CMake configuration (present for
versions >= 2.1) if available, unless user expresses a preference not
to, or specifies search directories, in which case fall back to manual
search for components.
-- Prefer installed gflags CMake configurations over exported gflags
build directories on all OSs.
- Remove custom version of check_cxx_source_compiles() that attempted
to force the build type of the test project. This only worked for
NMake on Windows, not MSVC as msbuild ignored our attempts to force
the build type. Now we always use the regex method on Windows if
we cannot find an installed gflags CMake configuration which works
even on MSVC by bypassing msbuild.
- Add default search paths for gflags on Windows.
Change-Id: I083b267d97a7a5838a1314f3d41a61ae48d5a2d7
- On at least some compilers, -std=c++11 is required in order to compile
against std::shared_ptr & std::unordered_map, which resulted in our
checks failing to find them and using the TR1 versions instead, which
causes conflicts for users using C++11.
- Now, if the compiler supports it and the user enables the CXX11
option, we explicitly enable C++11 before searching for shared_ptr &
unordered_map, which means we should always find the C++11 versions
if they are available.
- As use of CXX11 results in a version of Ceres that must be used with
-std=c++11 for GCC & Clang, we roll this into the Ceres target when
the version of CMake supports this, otherwise we warn the user they
will have to do this themselves.
- CXX11 is OFF by default, to ensure that the behaviour of Ceres is
unchanged from before.
Change-Id: I157ea7a4fadc6bc02da176b8e771f1f327ccaf78
Eigen upstream was broken a little while ago, and it seemed to be
the case that we needed a fix for using the LLT factorization on
ARM.
This has been fixed and AFAIK there are no stable eigen releases
with this bug in it.
For full gore, see
http://eigen.tuxfamily.org/bz/show_bug.cgi?id=992
In light of the fix, the extra layer of indirection introduced earlier
is not needed and we are reverting to normal programming.
Change-Id: I16929d2145253b38339b573b27b6b8fabd523704
It seems that Eigen's LLT factorization is broken on ARM.
This patch enables the use of LDLT factorization instead of LLT
factorization. The switch is controlled at compile time using a
preprocessor define - CERES_USE_EIGEN_LDLT.
By default we continue to use LLT factorization though.
To make the switching easier without introducing the Cholesky factorization
based inversion and linear system solve routines have been abstracted into
two new functions.
Android.mk has been updated to enable the LDLT factorization, but
the cmake file has not been updated as I will leave it to Alex's
capable hands to do proper detection of ARM as a target platform.
Change-Id: Iffe3abd2ce894de2a388b454df3da909b482d5e5
- On MSVC, a Ceres dependency such as glog, may be named glog.lib, or
libglog.lib. By default, CMake assumes no prefix for libraries on
MSVC when using find_library(), thus find_library(glog) would fail
if glog was named libglog.lib.
- This patch caches & updates CMAKE_FIND_LIBRARY_PREFIXES in all of
Ceres' find_package scripts to include lib & "" (no prefix) on MSVC
and then returns CMAKE_FIND_LIBRARY_PREFIXES to its original state
before returning.
Change-Id: Ic82799e3b786cfb7228a51183bc189578b072bbe
In cmake 3.0, it is required to use full path for compilers. And it
seems like there's no need to force the compiler. Instead we can just
use set(CMAKE_C_COMPIER clang) so that we don't need to specify full
path of clang and clang++.
Change-Id: I9f6a625068e9d37a4bf5a595bafd82cbc13fdde4
- Add missing gflags threading dependency.
- Also add optional gflags Shlwapi dependency on Windows.
- Add check_cxx_source_compiles() with CMAKE_BUILD_TYPE to fix
namespace test builds on Windows with NMake generators.
- Add namespace regex on gflags.h when check_cxx_source_compiles()
fails on Windows using Visual Studio generator.
Change-Id: I6570c566e5a29c665d621a54935c16d16bac7117
Since Ceres is moving to using GitHub for issues, and the Google
Code URL in the current copyright header will soon become invalid,
update all the headers.
Change-Id: I1fce70375d1bcf098591f07b4d8f01a5c1e0789c
- As part of adding support for detection of non-standard Homebrew
install on OSX, an Eigen specific search directory was added to the
search path in the main CMakeLists. This commit moves that search
into FindEigen.cmake.
Change-Id: Ia6142211961a0d1fdddeea77b83438e4ef94434f
- At version 2.1, gflags changed from using the google namespace, to
using gflags by default. However, it can be configured at build time
to be something else (which would be google for legacy compatibility
unless you were evil).
- Ceres previously assumed that gflags was in the google namespace.
- Now, FindGFlags.cmake extracts the namespace when gflags.h is found
and saves it in GFLAGS_NAMESPACE.
- When building the tests and examples that require gflags,
CERES_GFLAGS_NAMESPACE is defined to be the detected namespace, and
all tests/examples now use CERES_GFLAGS_NAMESPACE:: instead of
google:: when calling gflags functions.
Change-Id: Ia333df7a7e2f08ba9f26bbd339c3a785b88f04c4
- Without quotations, on Yosemite, CMake will fail on first configure,
but will then work fine subsequently. This is because if the
HELPSTRING property is empty, without "" quotes, it is removed from
the arguments list for set().
Change-Id: Ia60444695e9770b947f145a54e949c9eeae67fbb
The header of Summary::FullReport now looks like
Solver Summary (v 1.10.0-suitesparse-cxsparse-lapack-no_openmp)
Original Reduced
Parameter blocks 22122 22122
Parameters 66462 66462
Residual blocks 83718 83718
Residual 167436 167436
Change-Id: Id1b81bbf90ba412d19e2dd3687eeb9d372b72c1b
SPARSE_NORMAL_CHOLESKY and SPARSE_SCHUR can now be used
with EIGEN_SPARSE as the backend.
The performance is not as good as CXSparse. This needs to be
investigated. Is it because the quality of AMD ordering that
we are computing is not as good as the one for CXSparse? This
could be because we are working with the scalar matrix instead
of the block matrix.
Also, the upper/lower triangular story is not completely clear.
Both of these issues will be benchmarked and tackled in the
near future.
Also included in this change is a bunch of cleanup to the
SparseNormalCholeskySolver and SparseSchurComplementSolver
classes around the use of the of defines used to conditionally
compile out parts of the code.
The system_test has been updated to test EIGEN_SPARSE also.
Change-Id: I46a57e9c4c97782696879e0b15cfc7a93fe5496a
- Without explicitly specifying the flags for release compilation in
the iOS toolchain file, no additional flags are passed and so the
libraries were not being built with full optimisations, even though
the CMAKE_BUILD_TYPE was 'Release'.
Change-Id: I742bab7589906b556640776d481491a8cc2303d4
Create the glog include directories and library directories
only if we've already checked that the user is using
glog (and not miniglog).
Otherwise, @GLOG_INCLUDE_DIR@ and @GLOG_LIBRARY@ will be
empty and the generated files will cause Cmake errors.
Change-Id: Ia0ce9cf98f7d56c83b2285f72f45b8e0d5dc34c4
- Previously we were replicating the same two lines to update a cache
variable whilst preserving its help string.
- This commit adds a function which wraps up this common operation into
a single line.
Change-Id: Ic78a5adf5d59262bbbcec1e353ded7620391e862
- Previously we overwrote the default (empty) config.h in the source
tree with a configured config.h, generated using the current compile
options.
- This was undesirable as it could lead to inadvertant commits of the
generated config.h.
- This patch moves the default config.h to <src>/config/ceres/internal,
separate from the other headers, thus if Ceres is compiled without
CMake this directory will now also have to be included. This
directory is _not_ added to the CMake include directories for Ceres
(thus the default config.h is never used when compiling with CMake).
- When using CMake, the generated config.h is now placed in
<build>/config/ceres/internal, which is in turn added to the include
directories for Ceres when it is compiled, and the resulting config.h
is copied to ceres/internal when installed.
Change-Id: Ib1ba45e66e383ade2ebb08603af9165c1df616f2
- Previously we passed all compile options to Ceres via add_definitions
in CMake. This was fine for private definitions (used only by Ceres)
but required additional work for public definitions to ensure they
were correctly propagated to clients via CMake using
target_compile_definitions() (>= 2.8.11) or add_definitions().
- A drawback to these approaches is that they did not work for chained
dependencies on Ceres, as in if in the users project B <- A <- Ceres,
then although the required Ceres public compile definitions would
be used when compiling A, they would not be propagated to B.
- This patch replaces the addition of compile definitions via
add_definitions() with an autogenerated config.h header which
is installed with Ceres and defines all of the enabled Ceres compile
options.
- This removes the need for the user to propagate any compile
definitions in their projects, and additionally allows post-install
inspect of the options with which Ceres was compiled.
Change-Id: Idbdb6abdad0eb31e7540370e301afe87a07f2260
- Previously all Ceres compile definitions were private to Ceres, that
is they were not exported to users via the CMake export mechanism.
- Now that we use compile definitions in public (installed) Ceres
headers, we need to export the Ceres compile definitions.
- If we did not do this, then the client's code 'see's' a different
version of the Ceres headers to those which were in fact compiled,
or in the case of shared_ptr, may not find the required header.
- This patch makes use of the new, in CMake 2.8.11, function:
target_compile_definitions() to export all of the Ceres compile
definitions using CMake's export functionality.
- For CMake versions < 2.8.11, we have to use the blunter instrument of
calling add_definitions() in CeresConfig.cmake (invoked by a call to
find_package(Ceres)). This is messy because it ends up adding the
Ceres compile definitions to any target declared in the user's code
after the call to find_package(Ceres). Although this should do no
harm as all of our defines are prefaced with CERES_, so any
unintentional name clashes are unlikely.
Change-Id: I5dea80949190eaf4fb08ea4ac568ce28c32dd4e0
This compiler defines shared_ptr in std::tr1 namespace, but
for this <tr1/memory> is to be included. Further, this compiler
also does have <memory> header which confused previous shared
pointer check.
Simplified logic around defines now, so currently we've got:
- CERES_TR1_MEMORY_HEADER defined if <tr1/memory> is to be
used for shared_ptr, otherwise <memory> is to be used.
- CERES_TR1_SHARED_PTR defined if shared_ptr is defined in
std::tr1 namespace, otherwise it's defined in std namespace.
All the shared_ptr checks are now moved to own file FindSharedPtr
which simplifies main CMakeLists.
Change-Id: I558a74793baaa0bd088801910a356be4ef17c31b
- Previously we relied on FindPackage() to define Ceres_FOUND when
find_package(Ceres) was called.
- This is fine, but users might legitimately expect the variable to be
CERES_FOUND given the form of CERES_INCLUDE_DIRS/LIBRARIES.
- As there is an inconsistency in the CMake recommended names when
FindPackage() is called in Module vs Config form, we now explicltly
define both.
Change-Id: I54bce9aa112b684d26b60a9ae4d11eb7925a6ee5
- The HINTS variables for gflags were incorrectly used as
GFLAGS_[INCLUDE/LIBRARY]_HINTS when they should have been
GFLAGS_[INCLUDE/LIBRARY]_DIR_HINTS as per the docs.
- Also removing a completed TODO in the main CMakeLists.
- Updating method of extracting current directory in CeresConfig.cmake
to avoid use of CMAKE_CURRENT_LIST_DIR, which was not present in
CMake =< v2.8.3.
Change-Id: I42ae696e3b785febe48688d912f0f343e8947cb0
- Previously on Windows the leaf include & lib install directories
passed to CeresConfig.cmake.in when configured where capitalised on
Windows.
- This capitalisation was incorrect, as the actual paths used are
specified in the install() statements and are always in the standard
lower-case form.
- This likely did not cause any issues previously as although NTFS is
case sensitive, the Win32 API is not, and most applications access
files through the Win32 API, and are thus not case-sensitive.
Change-Id: I335b6e2d10a1c64f320c2a1a68eeda1b22344e73
- Append to hint locations used by FindPackage scripts for public
dependencies (glog & Eigen) the locations of the dependencies when
Ceres was built.
- This means that the user should not have to supply them again when
using find_package(Ceres) even if they are installed in a
non-standard location.
Change-Id: I9550de91025ba47f01f1ea3c3fefe80fe38d14ff
- Automatically generated failure message now provides more
information as to which sub-modules are missing.
Change-Id: I6eed94af49263540b8f87917b75c41b8f49658a0
Alex Stewart