mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 08:34:37 +08:00
Sameer Agarwal
06bfe6ffac
Since c++11, we can depend on C++ threads always being available. With the recent work on the performance of CXX threading, the additional complexity of maintaining multiple backends for some minor performance delta is not worth it https://github.com/ceres-solver/ceres-solver/issues/886 Change-Id: Idee480b22a498daec9c4366da8589aa58eaf36a1
88 lines
4.5 KiB
CMake
88 lines
4.5 KiB
CMake
# Ceres Solver - A fast non-linear least squares minimizer
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# Copyright 2016 Google Inc. All rights reserved.
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# http://ceres-solver.org/
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# * Redistributions of source code must retain the above copyright notice,
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# this list of conditions and the following disclaimer.
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# * Redistributions in binary form must reproduce the above copyright notice,
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# this list of conditions and the following disclaimer in the documentation
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# and/or other materials provided with the distribution.
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# * Neither the name of Google Inc. nor the names of its contributors may be
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# used to endorse or promote products derived from this software without
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# specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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# Authors: alexs.mac@gmail.com (Alex Stewart)
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#
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# Conditionally add a value to the output list based on whether the specified
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# value is found in the input list.
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function(update_output_if_found INPUT_LIST_VAR OUTPUT_LIST_VAR ITEM_TO_FIND VAR_TO_COPY_IF_FOUND VAR_TO_COPY_IF_NOT_FOUND)
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list(FIND ${INPUT_LIST_VAR} "${ITEM_TO_FIND}" HAVE_ITEM)
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# list(FIND ..) returns -1 if the element was not in the list, but CMake
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# interprets if (VAR) to be true if VAR is any non-zero number, even
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# negative ones, hence we have to explicitly check for >= 0.
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if (HAVE_ITEM GREATER -1)
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list(APPEND ${OUTPUT_LIST_VAR} "${VAR_TO_COPY_IF_FOUND}")
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else()
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list(APPEND ${OUTPUT_LIST_VAR} "${VAR_TO_COPY_IF_NOT_FOUND}")
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endif()
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set(${OUTPUT_LIST_VAR} ${${OUTPUT_LIST_VAR}} PARENT_SCOPE)
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endfunction()
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# Helpers for update_output_if_found() to improve legibility when dealing with
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# USE_XXX & NO_XXX option types in ceres_compile_options_to_components().
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macro(add_to_output_if_found INPUT_LIST_VAR OUTPUT_LIST_VAR ITEM_TO_FIND VAR_TO_COPY_IF_FOUND)
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update_output_if_found(${INPUT_LIST_VAR}
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${OUTPUT_LIST_VAR}
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"${ITEM_TO_FIND}"
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"${VAR_TO_COPY_IF_FOUND}"
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"") # Copy nothing if not found.
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endmacro()
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macro(add_to_output_if_not_found INPUT_LIST_VAR OUTPUT_LIST_VAR ITEM_TO_FIND VAR_TO_COPY_IF_NOT_FOUND)
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update_output_if_found(${INPUT_LIST_VAR}
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${OUTPUT_LIST_VAR}
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"${ITEM_TO_FIND}"
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"" # Copy nothing if found
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"${VAR_TO_COPY_IF_NOT_FOUND}")
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endmacro()
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# Convert the Ceres compile options specified by: CURRENT_CERES_COMPILE_OPTIONS
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# into the corresponding list of Ceres components (names), which may be used in:
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# find_package(Ceres COMPONENTS <XXX>).
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function(ceres_compile_options_to_components CURRENT_CERES_COMPILE_OPTIONS CERES_COMPONENTS_VAR)
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# To enable users to specify that they want *a* sparse linear algebra backend
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# without having to specify explicitly which one, for each sparse library we
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# add the 'meta-module': SparseLinearAlgebraLibrary in addition to their own
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# module name.
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add_to_output_if_found(CURRENT_CERES_COMPILE_OPTIONS ${CERES_COMPONENTS_VAR}
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CERES_USE_EIGEN_SPARSE "EigenSparse;SparseLinearAlgebraLibrary")
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add_to_output_if_not_found(CURRENT_CERES_COMPILE_OPTIONS ${CERES_COMPONENTS_VAR}
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CERES_NO_LAPACK "LAPACK")
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add_to_output_if_not_found(CURRENT_CERES_COMPILE_OPTIONS ${CERES_COMPONENTS_VAR}
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CERES_NO_SUITESPARSE "SuiteSparse;SparseLinearAlgebraLibrary")
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add_to_output_if_not_found(CURRENT_CERES_COMPILE_OPTIONS ${CERES_COMPONENTS_VAR}
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CERES_NO_ACCELERATE_SPARSE "AccelerateSparse;SparseLinearAlgebraLibrary")
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add_to_output_if_not_found(CURRENT_CERES_COMPILE_OPTIONS ${CERES_COMPONENTS_VAR}
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CERES_RESTRICT_SCHUR_SPECIALIZATION "SchurSpecializations")
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# Remove duplicates of SparseLinearAlgebraLibrary if multiple sparse backends
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# are present.
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list(REMOVE_DUPLICATES ${CERES_COMPONENTS_VAR})
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set(${CERES_COMPONENTS_VAR} "${${CERES_COMPONENTS_VAR}}" PARENT_SCOPE)
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endfunction()
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