- 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
- Previously we had separate variables for each of the threading
backends, each of which were made mutually exclusive via
cmake_dependent_option(). This has unfortunate side-effects when
trying to disable options if they are not currently enabled, in which
case they are not defined.
- As all the threading options are mutually exclusive, this replaces
all threading option variables with a single variable: CERES_THREADS,
which is constrained to take the value of only the available threading
backends.
Change-Id: I0822eefbac9a30772907b7732add365b37cc8ca0
- As raised in issue #377, GCC_VERSION is not always defined, in which
case we were not enabling compiler optimisations.
- CMAKE_CXX_COMPILER_VERSION is the more modern, uniform method to
verify the compiler version.
- Also removes legacy Apple-GCC (i.e. Apple's fork of GCC prior to their
switch to Clang) logic, and Xcode 4.x logic (in June 2018, Xcode 9.x
is the current version).
- Also removes addition of -march=native on Linux (was not added for
OS X). If users wish to append -march=native (which will affect the
portability of the resulting output) they can do so manually as now
explained in the docs.
- Fixes check for Clang on OS X. As per CMP0025 (CMake 3.0+)
CMAKE_CXX_COMPILER_ID reports AppleClang on OS X, not Clang. Thus
using: if (CMAKE_CXX_COMPILER_ID STREQUAL "Clang") would fail for
AppleClang. Instead, MATCHES should be used instead of STREQUAL to
support both Clang & AppleClang.
Change-Id: I9647030b76f4b85a9ef2deea82d80ed79812ae33
- Add missing CMAKE_FIND_ROOT_PATH_MODE_PACKAGE = ONLY, mimicking what
we previously set for INCLUDE/LIBRARY/PROGRAM s/t the standard
package locations on the host system will not be searched by
find_package() when cross-compiling for iOS.
- Remove now unnecessary forced disabling of dependency options on iOS
as they should now never be found (unless they were explicitly built
for iOS) irrespective of whether the option defaults to ON initially.
Change-Id: I1d2c5da4838d7becb8ebd43f90a88cfc6ded4a1f
- This was a hangover from the pre-Ceres 2.0 era when we needed to
ensure that -std=c++11 was passed to check_cxx_source_compiles() in
FindUnorderedMap/FindSharedPtr if the user had enabled CXX11.
- Unfortunately, the same variable (CMAKE_REQUIRED_FLAGS) is used for
both check_cxx_source_compiles() and check_c_source_compiles(), and
thus updating it to include -std=c++11 would thus break any checks
for C, which are made internally in the version of FindThreads.cmake
shipped with CMake which could cause build breakage as identified
in issue #355.
Change-Id: I36be1a21db14e3839eaf955a80bd952ef40fa269
1. Replace HashMap and HashSet with std::unordered_map and
std::unordered_set respectively.
2. Extract the pair hasher into a struct pair_hash.
3. Delete collections_port.h
4. Convert explicit iterator based loops to auto based
loops where sensible.
Change-Id: Ib88bcd13a7463d18435639d3b771abaa52080efb
- 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
- Testing for C++11, and subsequent testing for components using C++11
requires adding -std=c++11 to CMAKE_REQUIRED_FLAGS used by the
check_cxx_source_compiles() (and similar) macros if required by the
compiler.
- This variable is also used for the C equivalent macros, which are used
by find_package(BLAS), and would cause the detection to fail if
present.
- Thus if CXX11 was forced ON via -D (not via the GUI) then detection
would fail (with the GUI an initial configure without CXX11 would
initialise the variables and no errors would occur in later
reconfigures).
Change-Id: I08d300baf3730e926fb8e853a384badcceefeaf5
- Use cmake_dependent_option() for all threading models and encode their
respective mutual exclusivity in the dependent-option s/t the job of
ensuring mutual exclusivity is performed by CMake.
- Use of cmake_dependent_option() has the downside that options are
removed from the GUI if their requirements for availability are not
met. So if CXX11 is OFF, then neither TBB nor CXX11_THREADS will
even appear as options (they will be undefined, assumed OFF).
- Perform checks for availability of C++11 if CXX11 is enabled prior to
testing other options to handle dependence of TBB & CXX11_THREADS on
CXX11 actually being present.
- Add check for availability of C++11-specific math functions used in
jet.h before reporting C++11 as found.
- Add check for <atomic> before allowing TBB or CXX11_THREADS, as both
options require it and it may not always be available even if the
other required C++11 components are.
Change-Id: Ife8cd182aeb1978539ce2c9966910ae59ebd9177
Implements ParallelFor using the C++11 based ThreadPool. The C++11
parallel for is 50-70% faster than single threaded, and 20-30% slower
than TBB.
Tested by compiling with OpenMP, TBB, and C++11 Threading support and
ran the unit tests. Ran bazel as well.
Change-Id: I7fd6c9037ff9f200ce6999b5f39918995bb6b8ea
- Update FindSuiteSparse to use FindTBB.cmake to find TBB.
- Fix logic handling of TBB=ON if TBB is not found to continue with
build after disabling TBB rather than throwing a fatal error.
- Use TBB_LIBRARIES instead of TBB_tbb_LIBRARY as a Ceres dependency,
the former also includes the TBB malloc library.
- Add warning message about GPL licensing if TBB version < 2017.
- Add ‘TBB’ & ‘Mulithreading’ component options to find_package(Ceres),
where ‘Mulithreading’ is equivalent to ‘TBB’ || ‘OpenMP’.
Change-Id: Ifc7f1d01b050ba6e2097ad1913b178805df4769a
- Also enable EIGENSPARSE option by default as LGPL licensing
implications are less severe that SuiteSparse’s GPL implications which
is enabled by default.
Change-Id: Ic7e4fef5cef614d5ce719eeefcc35bf4b63b8dac
There are platforms where OpenMP is not available. This
patch adds support for Intel Threading Building Blocks (TBB)
as an alternative threading backend.
Change-Id: I94497d7cba0c3cfaccfc992169236f17fe948ae9
- Previously the LAPACK option meant would Ceres link against LAPACK,
whether directly or indirectly via SuiteSparse (if SUITESPARSE=ON),
as such if LAPACK=OFF, the use of SuiteSparse was disabled, even if
it was found.
- To support the use-case of using a limited LAPACK implementation that
satisfies SuiteSparse’s requirements, but potentially not Ceres’ we
now adopt the more conventional terminology whereby the LAPACK option
refers only to whether Ceres itself will directly call LAPACK
routines, not whether it or any of its dependencies will.
- This means that the LAPACK and SUITESPARSE options are now
independent.
- Also unnecessary calls to find_package(BLAS), as find_package(LAPACK)
already searches for BLAS, and appends the resulting libraries to
LAPACK_LIBRARIES if they are found.
Change-Id: I9cf5fa5e4cb621812f6f0526db8d16a7a39c9c8f
- Previously we were only adding the OpenMP flags when compiling for C++
which could cause linker issues when compiling the C examples.
Change-Id: Ie7d8192b9da6fb17b8f554e6d164ec0a65403c99
- Use target_compile_features() to specify the C++11 dependency for
Ceres if the CXX11 option is enabled and the current CMake version
supports it (>= 3.1). Otherwise fall back onto our existing
target_compile_options() solution if available.
- We prefer the use of target_compile_features() if available as it more
gracefully handles ‘upgrading’ of the C++ standard in client projects
that depend upon Ceres, e.g. if the client requires C++14. The
current solution may fail to produce the expected result in this case
as raised in
https://github.com/ceres-solver/ceres-solver/issues/273.
Change-Id: Ib3cff8d4b9fe93fa6d6b376b4dd53923bb1c4ecc
- Using Ceres_[SOURCE/BINARY]_DIR (which are defined by CMake when
project(Ceres) is called, in favour of CMAKE_[SOURCE/BINARY]_DIR
enables Ceres to be nested within (and built by) a larger CMake
project (which also contains other projects).
- CMAKE_[SOURCE/BINARY]_DIR always refers to the top-level source
and binary directories (i.e. the first encountered), as a result if
Ceres is a nested project within a larger project, these would not
correctly identify the source/binary directories for Ceres (as they
would refer to the root project in which Ceres is nested).
- Using Ceres_[SOURCE/BINARY]_DIR should ensure that Ceres always uses
the correct source/binary directories, irrespective of whether Ceres
is nested or not.
Change-Id: I62226ea3f6552b1d7e2bdac1aef02f1f489ae55e
- MSVC deprecated the standard POSIX names for Bessel functions in
favour of underscore prefixed versions.
- Previously we were checking for the presence of the newer underscore
functions via a macro, which fails as the functions are not defined
as macros.
- Now we check via a check_cxx_source_compiles() if the newer underscore
prefixed versions exist when compiling on MSVC and use a new Ceres
configuration #define to switch on their presence in jet.h
Change-Id: I430880bde2981d12f4d03dbc94d903b9842e887e
- 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
- Previously we were not listing gflags as a public dependency of Ceres
if it and glog were found (and MINIGLOG was not being used). This
does not reflect that if glog was compiled with gflags then it will
#include gflags/gflags.h in glog/logging.h, thus making gflags a
public dependency of anything linking against glog.
- On *nix OSs if glog/gflags are shared libraries this did not result
in a link error when compiling Ceres as the gflags symbols were
indirectly resolved. However, on MSVC this is not the case, and this
could result in unresolved gflags symbol link errors when compiling
Ceres.
- Now we add gflags to the list of public Ceres dependencies if both
glog and gflags are found (and MINIGLOG is not enabled).
Change-Id: I5ce6038fa816781cc81b378522068dc563d29c51
- The latest version of glog supports building with CMake, in which case
it exports itself via CMake as a target that contains important meta
information such as Windows-specific compilation definitions.
- This patch updates FindGlog.cmake such that it can optionally use
an exported glog target if one exists, if not it will fall back to
the current approach whereby the glog components are found manually.
This behaviour (and the implementation) is very similar to that of
FindGflags.cmake.
Change-Id: Idfb5f49c1b457707029bff52068f58237c0e285d
- MSVC does not expose standard math constants, such as M_PI in <cmath>
or <math.h> unless _USE_MATH_DEFINES is defined prior to their
inclusion: https://msdn.microsoft.com/en-us/library/4hwaceh6.aspx.
- Use CMake to ensure that this is #defined when both Ceres and the
examples are compiled, even though it should only be an issue for the
examples where M_PI is used.
Change-Id: I67af75b100b8138a65514273d23bfe445d92652c
- Previously we disabled OpenMP if Clang was detected, as it did not
support it. However as of Clang 3.8 (and potentially Xcode 8) OpenMP
is supported.
Change-Id: Ia39dac9fe746f1fc6310e08553f85f3c37349707
- As noted in Issue #193 (in that case for GCC 6), Ceres' use of -Werror
when compiling on *nix can prevent compilation on new compilers that
add new warnings and there is an inevitable delay between new compiler
versions and Ceres versions.
- Removing the explicit use of -Werror, and relying on indirect
verification by maintainers should fix build issues for Ceres releases
on newer compilers.
Change-Id: I38e9ade28d4a90e53dcd918a7d470f1a1debd7b4
- 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
- Previously we were auto-detecting a "64" suffix for the install path
for the Ceres library on non-Debian/Arch Linux distributions, but
we were installing CeresConfig.cmake to an architecture independent
location.
- We now install CeresConfig.cmake to lib${LIB_SUFFIX}/cmake/Ceres.
- Also make LIB_SUFFIX visible to the user in the CMake GUI s/t they can
easily override the auto-detected value if desired.
- Reported by jpgr87@gmail.com as Issue #194.
Change-Id: If126260d7af685779487c01220ae178ac31f7aea
- Previously we were disabling the CXX11 option when WIN32 was defined,
which it can be on both MinGW & CygWin, even though the compilers
there can support the -std=c++11 option.
- Now we disable the CXX11 option only when the compiler used is MSVC.
Change-Id: I68ebcf0a4241afe93892a3c6f79cdd98887e785a
This is the right thing to do since the CMake files contain target
specific information - share is only for target-independent files.
Without this patch, the CMake files will collide on distributions
that allow to install for multiple targets in parallel (e. g. on
Exherbo).
Change-Id: Iac17af63b9f9b25d0ca400c77c2b2e0e8a51196f
This is needed for multiarch layouts where the prefix is /usr/${host}
but where arch-independent files are installed to /usr/share.
Change-Id: Icec01f8ea927594b4edb26997d6384e478415999
- 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
- 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
- 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
- Shorten description for EIGENSPARSE to a single line, as otherwise
it is not correctly displayed in the ncurses CMake GUI.
- Made explicit in description that this results in an LGPL licensed
version of Ceres (this is also made clear in the CMake log output if
EIGENSPARSE is enabled).
Change-Id: I11678a9cbc7a817133c22128da01055a3cb8a26d
- Before the new CMake buildsystem in 1.8, Ceres used non-standard
HINTS variables for dependencies. For backwards compatibility CMake
macros were added to translate these legacy variables into the new
(standard) variables.
- As it has now been multiple releases since the legacy variables
were used and they no longer appear in any of the documentation
support for them has now expired.
Change-Id: I2cc72927ed711142ba7943df334ee008181f86a2
- 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
Alex Stewart