- Ceres will fail to configure if Eigen3::Eigen target is not found, and
the minimum required Eigen version specified (3.3) exports Eigen as
a CMake package and this is reflected in the default Ubuntu 18.04
packages.
- This permits users to specify their own Eigen3 detection should they
choose to do so, but they must do so via an imported target.
Change-Id: I5edff117c8001770004f49012ac1ae63b66ec9c1
- As our minimum required version of gflags (2.2) exports itself as
a CMake package and this is the case for the default 18.04 package
we can use the gflags target directly.
- Replaces forced use of CONFIG in find_package(gflags) with a check
that the gflags imported target exists to avoid ambiguity with
libgflags if installed in a default location. This permits users to
override the gflags detection should they so choose, provided that
they do so via an imported target.
- Also removes some previously removed legacy GLAGS_ vars from the
installation docs.
Change-Id: I015f5a751e5b22f956bbf9df692e63a6825c9f0d
- If the version of glog detected and used to build Ceres was built with
CMake (i.e. Config mode) then we now use Config mode directly in
CeresConfig.cmake and do not install Ceres' FindGlog.cmake module.
- This has the benefit of removing any hard-coded paths from
CeresConfig.cmake provided that all dependencies were also built with
CMake.
Change-Id: I85af8a953fd6d300e8bc0cdeb0b3636fec182f68
- This reflects modern CMake style, and also provides a measure of
protection against missing find_package() imports in downstream
clients resulting in linker errors when 'ceres' matches the compiled
library and not the imported target.
- The original 'ceres' target remains, as a local imported interface
target created by CeresConfig for backwards compatibility.
Change-Id: Ie9ed8de9b7059bc0cae1ae5002bb94d8fe617188
Ensure that Ceres does not print any log messages when somebody has
used 'find_package(Ceres QUIET)' in their CMake project.
Change-Id: Id6b68859cc8a5857f3fa78f29736cb82fd5a0943
This patch integrates the code generation module into the build
system. All depenendcies are tracked through CMake targets.
Modifying the cost functor will automatically trigger code
re-generation.
All this functionality is defined in the CMake function
ceres_generate_cost_function_implementation_for_functor
in CeresCodeGeneration.cmake. A hello world usage example
is included in examples/CMakeLists.txt.
Change-Id: I23b8b6698d1ea51cf3d788a47afcf39f8c5ce327
- Required now that Threads is a public dependency for Ceres and so
Threads::Threads will appear in the dependency list for the Ceres
target and so must be defined when Ceres itself is imported.
Change-Id: Ia5f8ea16e8f24cf0158f40e1fc8d3962106459a6
- Now that we require CMake >= 3.x, we can roll the definition of the
include directories for clients linking against Ceres into the
exported Ceres CMake target via target_include_directories().
- This removes the requirement for CERES_INCLUDE_DIRS.
Change-Id: Ibe3bbf796339871d66138fc9520053d1766f09a8
- In practice, this was not causing any errors, as
GFLAGS_INCLUDE_DIR_HINTS is set from GFLAGS_INCLUDE_DIRS so the two
would have been equivalent, but we should nonetheless be using the
one set after the find_package() call.
- Note that this would only have been active for older gflags versions
that were not built with CMake.
Change-Id: Ie54145f522c974b7685052aafb1d2f6055d22337
- Removes CXX11 option, and all associate paraphernalia. Ceres now
requires a compiler with full >= C++11 support. In MSVC terms this
means >= 2013 Release 4.
- This deprecates the use of CERES_STD_UNORDERED_MAP and CERES_USE_CXX11
as they will now always be defined. They will be removed from the
source in a future CL.
- For clients with CMake >= 3.8 we propagate via the exported/installed
Ceres target the CXX version that was specified when Ceres was built.
For versions < 3.8 (but >= 3.5) we specify the CXX features currently
used in the Ceres public API.
Change-Id: I535b545b10156e4426659c270a4a0649e071df0e
- Since the update to optionally use target_compile_features(), the
warning about Ceres propagating C++11 compile flag requirements to
clients was suppressed dependent upon the compiler option selected by
CMake to satisfy the C++11 requirements for Ceres (e.g. if using
-std=gnu++11 instead of -std=c++11).
- Now we display the warning for all CMake versions where any C++11
related flags can be exported in the Ceres target (CMake >= 2.8.12)
if Ceres was compiled with the CXX11 option enabled.
Change-Id: I5cb91e773fc7c41996b5eabadcaa295ebd7de4f7
- Updates FindEigen.cmake to default to an installed Eigen CMake
Configuration if available, otherwise falls back to previous behaviour
of searching for Eigen components.
- This mimics the behaviour of FindGflags.cmake & FindGlog.cmake.
Change-Id: Ifce948d554a0135ce1a0c443267c0230e516f14b
- When Ceres is exported (rather than installed), the miniglog headers
still reside in the internal Ceres source directory, not the public
headers directory.
Change-Id: Ia54eb7f8bb0cd24c0112a715a739c15247bc9239
- If gflags was built & exported with CMake but glog was not, but both
were found then as we now make gflags a public dependency of Ceres if
both it and glog are found, the *name* of the exported gflags CMake
target (gflags-shared or similar) will appear in CERES_LIBRARIES.
- However, as imported targets are not re-exported, this results in a
linker error when compiling client code, as the name of the exported
gflags target is not known to CMake, it assumes it is a library name,
which it is not.
- Confusingly, if glog was built with CMake, this problem would not
occur, as in that case glog’s CMake target would bring in gflags’.
- Now we explicitly call find_package(Gflags) in CeresConfig.cmake if
Ceres was built with gflags as a public dependency (via glog).
Change-Id: I5cc9483a1fae50f4e9e3a8fbba491b645fd45db6
- 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
- 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
- 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
- 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
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
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 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
- 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
- Adding FindPackage scripts for all of Ceres dependencies.
- Moving depend.cmake contents to CeresConfig.cmake and cleaning up
search for Ceres & required dependencies, no longer push Ceres
options into client.
- Fixing uninstall to remove ceres include root directory.
- Fixing main CMakeLists to install miniglog header if enabled.
- Making miniglog library shared/static with Ceres library.
Change-Id: If926bebd11720230c5136597ccba672394ed9777
1. Use CMake FindLAPACK and FindBLAS Modules.
2. Remove SEARCH_HEADERS and SEARCH_LIBS and replace them with
CMAKE variables. This leads to simplification of the FIND_LIBRARY
and FIND_PATH calls.
3. Make miniglog a fallback when glog is not present and the
user indicates MINIGLOG=OFF.
4. Add time.h to miniglog.
5. Remove shared library building.
Change-Id: I8a97156d3d7cf645fbbfe8e571761bc16c89f43f
Alex Stewart