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41455566ac633e55f222bce7c4d2cb4cc33d5c72
ceres-solver/internal/ceres/CMakeLists.txt
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Alex Stewart 41455566ac Remove link-time optimisation (LTO). 
- On GCC 4.9+ although GCC supports LTO, it requires use of the
  non-default gcc-ar & gcc-ranlib.  Whilst we can ensure Ceres is
  compiled with these, doing so with GCC 4.9 causes multiple definition
  linker errors of static ints inside Eigen when compiling the tests
  and examples when they are not also built with LTO.
- On OS X (Xcode 6 & 7) after the latest update to gtest, if LTO
  is used when compiling the tests (& examples), two tests fail
  due to typeinfo::operator== (things are fine if only Ceres itself is
  compiled with LTO).
- This patch disables LTO for all compilers. It should be revisited when
  the performance is more stable across our supported compilers.

Change-Id: I17b52957faefbdeff0aa40846dc9b342db1b02e3
2015-10-05 18:54:11 +01:00

371 lines
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CMake
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# Ceres Solver - A fast non-linear least squares minimizer
# Copyright 2015 Google Inc. All rights reserved.
# http://ceres-solver.org/
#
# 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.
#
# Author: keir@google.com (Keir Mierle)
set(CERES_INTERNAL_SRC
array_utils.cc
blas.cc
block_evaluate_preparer.cc
block_jacobi_preconditioner.cc
block_jacobian_writer.cc
block_random_access_dense_matrix.cc
block_random_access_diagonal_matrix.cc
block_random_access_matrix.cc
block_random_access_sparse_matrix.cc
block_sparse_matrix.cc
block_structure.cc
c_api.cc
canonical_views_clustering.cc
cgnr_solver.cc
callbacks.cc
compressed_col_sparse_matrix_utils.cc
compressed_row_jacobian_writer.cc
compressed_row_sparse_matrix.cc
conditioned_cost_function.cc
conjugate_gradients_solver.cc
coordinate_descent_minimizer.cc
corrector.cc
covariance.cc
covariance_impl.cc
cxsparse.cc
dense_normal_cholesky_solver.cc
dense_qr_solver.cc
dense_sparse_matrix.cc
detect_structure.cc
dogleg_strategy.cc
dynamic_compressed_row_jacobian_writer.cc
dynamic_compressed_row_sparse_matrix.cc
evaluator.cc
file.cc
gradient_checking_cost_function.cc
gradient_problem.cc
gradient_problem_solver.cc
implicit_schur_complement.cc
iterative_schur_complement_solver.cc
levenberg_marquardt_strategy.cc
lapack.cc
line_search.cc
line_search_direction.cc
line_search_minimizer.cc
line_search_preprocessor.cc
linear_least_squares_problems.cc
linear_operator.cc
linear_solver.cc
local_parameterization.cc
loss_function.cc
low_rank_inverse_hessian.cc
minimizer.cc
normal_prior.cc
parameter_block_ordering.cc
partitioned_matrix_view.cc
polynomial.cc
preconditioner.cc
preprocessor.cc
problem.cc
problem_impl.cc
program.cc
reorder_program.cc
residual_block.cc
residual_block_utils.cc
schur_complement_solver.cc
schur_eliminator.cc
schur_jacobi_preconditioner.cc
scratch_evaluate_preparer.cc
single_linkage_clustering.cc
solver.cc
solver_utils.cc
sparse_matrix.cc
sparse_normal_cholesky_solver.cc
split.cc
stringprintf.cc
suitesparse.cc
triplet_sparse_matrix.cc
trust_region_preprocessor.cc
trust_region_minimizer.cc
trust_region_strategy.cc
types.cc
visibility.cc
visibility_based_preconditioner.cc
wall_time.cc
)
# Heuristic for determining LIB_SUFFIX. FHS recommends that 64-bit systems
# install native libraries to lib64 rather than lib. Most distros seem to
# follow this convention with a couple notable exceptions (Debian-based and
# Arch-based distros) which we try to detect here.
if (CMAKE_SYSTEM_NAME MATCHES "Linux" AND
NOT DEFINED LIB_SUFFIX AND
NOT CMAKE_CROSSCOMPILING AND
CMAKE_SIZEOF_VOID_P EQUAL "8" AND
NOT EXISTS "/etc/debian_version" AND
NOT EXISTS "/etc/arch-release")
set(LIB_SUFFIX "64")
endif ()
# Also depend on the header files so that they appear in IDEs.
file(GLOB CERES_INTERNAL_HDRS *.h)
# Include the specialized schur solvers.
if (SCHUR_SPECIALIZATIONS)
file(GLOB CERES_INTERNAL_SCHUR_FILES generated/*.cc)
else (SCHUR_SPECIALIZATIONS)
# Only the fully dynamic solver. The build is much faster this way.
file(GLOB CERES_INTERNAL_SCHUR_FILES generated/*_d_d_d.cc)
endif (SCHUR_SPECIALIZATIONS)
# Build the list of dependencies for Ceres based on the current configuration.
if (NOT MINIGLOG AND GLOG_FOUND)
list(APPEND CERES_LIBRARY_PUBLIC_DEPENDENCIES ${GLOG_LIBRARIES})
endif (NOT MINIGLOG AND GLOG_FOUND)
if (SUITESPARSE AND SUITESPARSE_FOUND)
# Define version information for use in Solver::FullReport.
add_definitions(-DCERES_SUITESPARSE_VERSION="${SUITESPARSE_VERSION}")
list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${SUITESPARSE_LIBRARIES})
endif (SUITESPARSE AND SUITESPARSE_FOUND)
if (CXSPARSE AND CXSPARSE_FOUND)
# Define version information for use in Solver::FullReport.
add_definitions(-DCERES_CXSPARSE_VERSION="${CXSPARSE_VERSION}")
list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${CXSPARSE_LIBRARIES})
endif (CXSPARSE AND CXSPARSE_FOUND)
if (BLAS_FOUND AND LAPACK_FOUND)
list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${LAPACK_LIBRARIES})
list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${BLAS_LIBRARIES})
endif (BLAS_FOUND AND LAPACK_FOUND)
if (OPENMP_FOUND)
if (NOT MSVC)
list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES gomp)
list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${CMAKE_THREAD_LIBS_INIT})
endif (NOT MSVC)
endif (OPENMP_FOUND)
set(CERES_LIBRARY_SOURCE
${CERES_INTERNAL_SRC}
${CERES_INTERNAL_HDRS}
${CERES_INTERNAL_SCHUR_FILES})
# Primarily for Android, but optionally for others, compile the minimal
# glog implementation into Ceres.
if (MINIGLOG)
list(APPEND CERES_LIBRARY_SOURCE miniglog/glog/logging.cc)
endif (MINIGLOG)
add_library(ceres ${CERES_LIBRARY_SOURCE})
set_target_properties(ceres PROPERTIES
VERSION ${CERES_VERSION}
SOVERSION ${CERES_VERSION_MAJOR})
include(AppendTargetProperty)
# Always build position-independent code (PIC), even when building Ceres as a
# static library so that shared libraries can link against it, not just
# executables (PIC does not apply on Windows).
if (NOT WIN32 AND NOT BUILD_SHARED_LIBS)
# Use the explicit POSITION_INDEPENDENT_CODE target property on CMake versions
# that support it (>= 2.8.9). Otherwise, manually add the -fPIC flag as an
# additional compile definitions for the target.
if (CMAKE_VERSION VERSION_LESS "2.8.9")
append_target_property(ceres COMPILE_FLAGS "-fPIC")
else()
# Use set_target_properties() not append_target_property() here as
# POSITION_INDEPENDENT_CODE is a binary ON/OFF switch.
set_target_properties(ceres PROPERTIES POSITION_INDEPENDENT_CODE ON)
endif()
endif()
if (CMAKE_VERSION VERSION_LESS "2.8.12")
# CMake version < 2.8.12 does not support target_compile_options(), warn
# user that they will have to add compile flags to their own projects
# manually if required.
if (CXX11 AND COMPILER_HAS_CXX11_FLAG)
message("-- Warning: Detected CMake version: ${CMAKE_VERSION} < 2.8.12, "
"which is the minimum required for compile options to be included in an "
"exported CMake target, but CERES_USE_CXX11 is enabled and the detected. "
"compiler requires -std=c++11. The client is responsible for adding "
"-std=c++11 when using Ceres.")
endif()
else()
# CMake version >= 2.8.12 supports target_compile_options().
if (CXX11 AND COMPILER_HAS_CXX11_FLAG)
# If Ceres is compiled using C++11, and the compiler requires -std=c++11
# to be set, then ensure that this requirement is rolled into the exported
# CMake target, such that client code which uses Ceres will inherit it (if
# the CMake version supports it), iff they are NOT compiling for C. We
# check for not C, rather than C++ as LINKER_LANGUAGE is often NOTFOUND and
# then uses the default (C++).
target_compile_options(ceres PUBLIC
$<$<NOT:$<STREQUAL:$<TARGET_PROPERTY:LINKER_LANGUAGE>,C>>:-std=c++11>)
endif()
endif()
if (BUILD_SHARED_LIBS)
# When building a shared library, mark all external libraries as
# PRIVATE so they don't show up as a dependency.
target_link_libraries(ceres
LINK_PUBLIC ${CERES_LIBRARY_PUBLIC_DEPENDENCIES}
LINK_PRIVATE ${CERES_LIBRARY_PRIVATE_DEPENDENCIES})
else (BUILD_SHARED_LIBS)
# When building a static library, all external libraries are
# PUBLIC(default) since the user needs to link to them.
# They will be listed in CeresTargets.cmake.
set(CERES_LIBRARY_DEPENDENCIES
${CERES_LIBRARY_PUBLIC_DEPENDENCIES}
${CERES_LIBRARY_PRIVATE_DEPENDENCIES})
target_link_libraries(ceres ${CERES_LIBRARY_DEPENDENCIES})
endif (BUILD_SHARED_LIBS)
install(TARGETS ceres
EXPORT CeresExport
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib${LIB_SUFFIX}
ARCHIVE DESTINATION lib${LIB_SUFFIX})
if (BUILD_TESTING AND GFLAGS)
# The CERES_GFLAGS_NAMESPACE compile definition is NOT stored in
# CERES_COMPILE_OPTIONS (and thus config.h) as Ceres itself does not
# require gflags, only the tests and examples do.
add_definitions(-DCERES_GFLAGS_NAMESPACE=${GFLAGS_NAMESPACE})
add_library(gtest gmock_gtest_all.cc gmock_main.cc)
if (BUILD_SHARED_LIBS)
# Define gtest-specific shared library flags for compilation.
append_target_property(gtest COMPILE_DEFINITIONS
GTEST_CREATE_SHARED_LIBRARY)
endif()
add_library(test_util
evaluator_test_utils.cc
numeric_diff_test_utils.cc
test_util.cc)
if (MINIGLOG)
# When using miniglog, it is compiled into Ceres, thus Ceres becomes
# the library against which other libraries should link for logging.
target_link_libraries(gtest ${GFLAGS_LIBRARIES} ceres)
target_link_libraries(test_util ceres gtest)
else (MINIGLOG)
target_link_libraries(gtest ${GFLAGS_LIBRARIES} ${GLOG_LIBRARIES})
target_link_libraries(test_util ceres gtest ${GLOG_LIBRARIES})
endif (MINIGLOG)
macro (CERES_TEST NAME)
add_executable(${NAME}_test ${NAME}_test.cc)
target_link_libraries(${NAME}_test test_util ceres gtest)
if (BUILD_SHARED_LIBS)
# Define gtest-specific shared library flags for linking.
append_target_property(${NAME}_test COMPILE_DEFINITIONS
GTEST_LINKED_AS_SHARED_LIBRARY)
endif()
add_test(NAME ${NAME}_test
COMMAND ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/${NAME}_test
--test_srcdir
${CMAKE_SOURCE_DIR}/data)
endmacro (CERES_TEST)
ceres_test(array_utils)
ceres_test(autodiff)
ceres_test(autodiff_cost_function)
ceres_test(autodiff_local_parameterization)
ceres_test(block_jacobi_preconditioner)
ceres_test(block_random_access_dense_matrix)
ceres_test(block_random_access_diagonal_matrix)
ceres_test(block_random_access_sparse_matrix)
ceres_test(block_sparse_matrix)
ceres_test(bundle_adjustment)
ceres_test(c_api)
ceres_test(canonical_views_clustering)
ceres_test(compressed_row_sparse_matrix)
ceres_test(conditioned_cost_function)
ceres_test(corrector)
ceres_test(cost_function_to_functor)
ceres_test(covariance)
ceres_test(cubic_interpolation)
ceres_test(detect_structure)
ceres_test(dense_sparse_matrix)
ceres_test(dynamic_autodiff_cost_function)
ceres_test(dynamic_compressed_row_sparse_matrix)
ceres_test(dynamic_numeric_diff_cost_function)
ceres_test(evaluator)
ceres_test(gradient_checker)
ceres_test(gradient_checking_cost_function)
ceres_test(gradient_problem)
ceres_test(gradient_problem_solver)
ceres_test(graph)
ceres_test(graph_algorithms)
ceres_test(householder_vector)
ceres_test(implicit_schur_complement)
ceres_test(iterative_schur_complement_solver)
ceres_test(jet)
ceres_test(levenberg_marquardt_strategy)
ceres_test(dogleg_strategy)
ceres_test(line_search_preprocessor)
ceres_test(local_parameterization)
ceres_test(loss_function)
ceres_test(minimizer)
ceres_test(normal_prior)
ceres_test(numeric_diff_cost_function)
ceres_test(ordered_groups)
ceres_test(parameter_block)
ceres_test(parameter_block_ordering)
ceres_test(partitioned_matrix_view)
ceres_test(polynomial)
ceres_test(problem)
ceres_test(program)
ceres_test(reorder_program)
ceres_test(residual_block)
ceres_test(residual_block_utils)
ceres_test(rotation)
ceres_test(schur_complement_solver)
ceres_test(schur_eliminator)
ceres_test(single_linkage_clustering)
ceres_test(small_blas)
ceres_test(solver)
# TODO(sameeragarwal): This test should ultimately be made
# independent of SuiteSparse.
if (SUITESPARSE AND SUITESPARSE_FOUND)
ceres_test(compressed_col_sparse_matrix_utils)
target_link_libraries(compressed_col_sparse_matrix_utils_test
${SUITESPARSE_LIBRARIES})
endif (SUITESPARSE AND SUITESPARSE_FOUND)
ceres_test(symmetric_linear_solver)
ceres_test(triplet_sparse_matrix)
ceres_test(trust_region_minimizer)
ceres_test(trust_region_preprocessor)
ceres_test(unsymmetric_linear_solver)
ceres_test(visibility)
ceres_test(visibility_based_preconditioner)
# Put the large end to end test last.
ceres_test(system)
endif (BUILD_TESTING AND GFLAGS)
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