mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Sameer Agarwal
daa9824e56
2. Corrected a number of typos and reorganized the CMakefile to handle the corner cases better. 3. Moved the various search paths to the top of the CMakefile so that they are more easily accessible. 4. Tests that depend on gflags are only built if gflags support is compiled in.
372 lines
13 KiB
CMake
372 lines
13 KiB
CMake
# Ceres Solver - A fast non-linear least squares minimizer
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# Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
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# http://code.google.com/p/ceres-solver/
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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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# Author: keir@google.com (Keir Mierle)
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CMAKE_MINIMUM_REQUIRED(VERSION 2.4)
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IF (COMMAND cmake_policy)
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CMAKE_POLICY(SET CMP0003 NEW)
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ENDIF (COMMAND cmake_policy)
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PROJECT(CERES C CXX)
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ENABLE_TESTING()
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OPTION(BUILD_TESTING
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"Enable tests"
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ON)
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# To get a more static build, try the following line on Mac and Linux:
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# SET(CMAKE_FIND_LIBRARY_SUFFIXES .a ${CMAKE_FIND_LIBRARY_SUFFIXES})
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# Default locations to search for on various platforms.
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LIST(APPEND SEARCH_LIBS /usr/lib)
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LIST(APPEND SEARCH_LIBS /usr/local/lib)
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LIST(APPEND SEARCH_LIBS /usr/local/homebrew/lib) # Mac OS X
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LIST(APPEND SEARCH_LIBS /opt/local/lib)
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LIST(APPEND SEARCH_HEADERS /usr/include)
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LIST(APPEND SEARCH_HEADERS /usr/local/include)
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LIST(APPEND SEARCH_HEADERS /usr/local/homebrew/include) # Mac OS X
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LIST(APPEND SEARCH_HEADERS /opt/local/include)
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# Locations to search for Eigen
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SET(EIGEN_SEARCH_HEADERS ${SEARCH_HEADERS})
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LIST(APPEND EIGEN_SEARCH_HEADERS /usr/include/eigen3) # Ubuntu 10.04's default location.
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LIST(APPEND EIGEN_SEARCH_HEADERS /usr/local/include/eigen3)
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LIST(APPEND EIGEN_SEARCH_HEADERS /usr/local/homebrew/include/eigen3) # Mac OS X
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LIST(APPEND EIGEN_SEARCH_HEADERS /opt/local/var/macports/software/eigen3/opt/local/include/eigen3) # Mac OS X
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# Locations to search for SuiteSparse
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SET(SUITESPARSE_SEARCH_LIBS ${SEARCH_LIBS})
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LIST(APPEND SUITESPARSE_SEARCH_LIBS /usr/lib/suitesparse) # Ubuntu
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LIST(APPEND SUITESPARSE_SEARCH_LIBS /usr/local/lib/suitesparse)
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LIST(APPEND SUITESPARSE_SEARCH_LIBS /opt/local/lib/ufsparse) # Mac OS X
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SET(SUITESPARSE_SEARCH_HEADERS ${SEARCH_HEADERS})
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LIST(APPEND SUITESPARSE_SEARCH_HEADERS /usr/include/suitesparse) # Ubuntu
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LIST(APPEND SUITESPARSE_SEARCH_HEADERS /usr/local/include/suitesparse)
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LIST(APPEND SUITESPARSE_SEARCH_HEADERS /opt/local/include/ufsparse) # Mac OS X
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# Check for SuiteSparse dependencies
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MESSAGE("-- Check for AMD")
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SET(AMD_FOUND TRUE)
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FIND_LIBRARY(AMD_LIB NAMES amd PATHS ${SUITESPARSE_SEARCH_LIBS})
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IF (EXISTS ${AMD_LIB})
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MESSAGE("-- Found AMD library: ${AMD_LIB}")
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ELSE (EXISTS ${AMD_LIB})
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MESSAGE("-- Did not find AMD library")
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SET(AMD_FOUND FALSE)
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ENDIF (EXISTS ${AMD_LIB})
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FIND_PATH(AMD_INCLUDE NAMES amd.h PATHS ${SUITESPARSE_SEARCH_HEADERS})
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IF (EXISTS ${AMD_INCLUDE})
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MESSAGE("-- Found AMD header in: ${AMD_INCLUDE}")
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ELSE (EXISTS ${AMD_INCLUDE})
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MESSAGE("-- Did not find AMD header")
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SET(AMD_FOUND FALSE)
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ENDIF (EXISTS ${AMD_INCLUDE})
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MESSAGE("-- Check for CAMD")
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SET(CAMD_FOUND TRUE)
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FIND_LIBRARY(CAMD_LIB NAMES camd PATHS ${SUITESPARSE_SEARCH_LIBS})
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IF (EXISTS ${CAMD_LIB})
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MESSAGE("-- Found CAMD library: ${CAMD_LIB}")
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ELSE (EXISTS ${CAMD_LIB})
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MESSAGE("-- Did not find CAMD library")
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SET(CAMD_FOUND FALSE)
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ENDIF (EXISTS ${CAMD_LIB})
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FIND_PATH(CAMD_INCLUDE NAMES camd.h PATHS ${SUITESPARSE_SEARCH_HEADERS})
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IF (EXISTS ${CAMD_INCLUDE})
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MESSAGE("-- Found CAMD header in: ${CAMD_INCLUDE}")
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ELSE (EXISTS ${CAMD_INCLUDE})
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MESSAGE("-- Did not find CAMD header")
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SET(CAMD_FOUND FALSE)
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ENDIF (EXISTS ${CAMD_INCLUDE})
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MESSAGE("-- Check for COLAMD")
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SET(COLAMD_FOUND TRUE)
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FIND_LIBRARY(COLAMD_LIB NAMES colamd PATHS ${SUITESPARSE_SEARCH_LIBS})
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IF (EXISTS ${COLAMD_LIB})
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MESSAGE("-- Found COLAMD library: ${COLAMD_LIB}")
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ELSE (EXISTS ${COLAMD_LIB})
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MESSAGE("-- Did not find COLAMD library")
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SET(COLAMD_FOUND FALSE)
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ENDIF (EXISTS ${COLAMD_LIB})
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FIND_PATH(COLAMD_INCLUDE NAMES colamd.h PATHS ${SUITESPARSE_SEARCH_HEADERS})
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IF (EXISTS ${COLAMD_INCLUDE})
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MESSAGE("-- Found COLAMD header in: ${COLAMD_INCLUDE}")
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ELSE (EXISTS ${COLAMD_INCLUDE})
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MESSAGE("-- Did not find COLAMD header")
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SET(COLAMD_FOUND FALSE)
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ENDIF (EXISTS ${COLAMD_INCLUDE})
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MESSAGE("-- Check for CCOLAMD")
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SET(CCOLAMD_FOUND TRUE)
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FIND_LIBRARY(CCOLAMD_LIB NAMES ccolamd PATHS ${SUITESPARSE_SEARCH_LIBS})
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IF (EXISTS ${CCOLAMD_LIB})
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MESSAGE("-- Found CCOLAMD library: ${CCOLAMD_LIB}")
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ELSE (EXISTS ${CCOLAMD_LIB})
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MESSAGE("-- Did not find CCOLAMD library")
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SET(CCOLAMD_FOUND FALSE)
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ENDIF (EXISTS ${CCOLAMD_LIB})
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FIND_PATH(CCOLAMD_INCLUDE NAMES ccolamd.h PATHS ${SUITESPARSE_SEARCH_HEADERS})
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IF (EXISTS ${CCOLAMD_INCLUDE})
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MESSAGE("-- Found CCOLAMD header in: ${CCOLAMD_INCLUDE}")
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ELSE (EXISTS ${CCOLAMD_INCLUDE})
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MESSAGE("-- Did not find CCOLAMD header")
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SET(CCOLAMD_FOUND FALSE)
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ENDIF (EXISTS ${CCOLAMD_INCLUDE})
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MESSAGE("-- Check for CHOLMOD")
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SET(CHOLMOD_FOUND TRUE)
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FIND_LIBRARY(CHOLMOD_LIB NAMES cholmod PATHS ${SUITESPARSE_SEARCH_LIBS})
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IF (EXISTS ${CHOLMOD_LIB})
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MESSAGE("-- Found CHOLMOD library: ${CHOLMOD_LIB}")
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ELSE (EXISTS ${CHOLMOD_LIB})
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MESSAGE("-- Did not find CHOLMOD library")
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SET(CHOLMOD_FOUND FALSE)
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ENDIF (EXISTS ${CHOLMOD_LIB})
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FIND_PATH(CHOLMOD_INCLUDE NAMES cholmod.h PATHS ${SUITESPARSE_SEARCH_HEADERS})
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IF (EXISTS ${CHOLMOD_INCLUDE})
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MESSAGE("-- Found CHOLMOD header in: ${CHOLMOD_INCLUDE}")
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ELSE (EXISTS ${CHOLMOD_INCLUDE})
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MESSAGE("-- Did not find CHOLMOD header")
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SET(CHOLMOD_FOUND FALSE)
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ENDIF (EXISTS ${CHOLMOD_INCLUDE})
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MESSAGE("-- Check for METIS (optional)")
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FIND_LIBRARY(METIS_LIB NAMES metis PATHS ${SUITESPARSE_SEARCH_LIBS})
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IF (EXISTS ${METIS_LIB})
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MESSAGE("-- Found METIS library: ${METIS_LIB}")
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ELSE (EXISTS ${METIS_LIB})
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MESSAGE("-- Did not find METIS library")
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ENDIF (EXISTS ${METIS_LIB})
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SET(BLAS_AND_LAPACK_FOUND TRUE)
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IF (APPLE)
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# Mac OS X has LAPACK/BLAS bundled in a framework called
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# "vecLib". Search for that instead of for the normal "lapack"
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# library.
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FIND_LIBRARY(LAPACK_LIB NAMES vecLib)
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ELSE (APPLE)
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FIND_LIBRARY(BLAS_LIB NAMES blas)
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IF (EXISTS ${BLAS_LIB})
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MESSAGE("-- Found BLAS library: ${BLAS_LIB}")
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ELSE (EXISTS ${BLAS_LIB})
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MESSAGE("-- Did not find BLAS library")
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SET(BLAS_AND_LAPACK_FOUND FALSE)
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ENDIF (EXISTS ${BLAS_LIB})
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FIND_LIBRARY(LAPACK_LIB NAMES lapack)
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ENDIF (APPLE)
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IF (EXISTS ${LAPACK_LIB})
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MESSAGE("-- Found LAPACK library: ${LAPACK_LIB}")
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ELSE (EXISTS ${LAPACK_LIB})
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SET(BLAS_AND_LAPACK_FOUND FALSE)
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MESSAGE("-- Did not find LAPACK library")
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ENDIF (EXISTS ${LAPACK_LIB})
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SET(SUITESPARSE_FOUND
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AMD_FOUND AND
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CAMD_FOUND AND
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COLAMD_FOUND AND
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CCOLAMD_FOUND AND
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CHOLMOD_FOUND AND
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BLAS_AND_LAPACK_FOUND)
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# By default, if all of SuiteSparse's dependencies are found, Ceres is
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# built with SuiteSparse support. -DSUITESPARSE=ON/OFF can be used to
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# enable/disable SuiteSparse explicitly.
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IF (DEFINED SUITESPARSE)
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IF (SUITESPARSE AND NOT SUITESPARSE_FOUND)
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MESSAGE(FATAL_ERROR "One or more of SuiteSparse's dependencies was not found")
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ENDIF (SUITESPARSE AND NOT SUITESPARSE_FOUND)
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ELSE (DEFINED SUITESPARSE)
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IF (SUITESPARSE_FOUND)
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MESSAGE("-- Found all SuiteSparse dependencies. Building with SuiteSparse")
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SET(SUITESPARSE ON)
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ELSE (SUITESPARSE_FOUND)
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MESSAGE("-- Did not find all SuiteSparse dependencies. Building without SuiteSparse")
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SET(SUITESPARSE OFF)
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ADD_DEFINITIONS(-DCERES_NO_SUITESPARSE)
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ENDIF (SUITESPARSE_FOUND)
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ENDIF (DEFINED SUITESPARSE)
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# Google Flags
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OPTION(GFLAGS
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"Enable Google Flags."
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ON)
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IF (GFLAGS)
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MESSAGE("-- Check for Google Flags")
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FIND_LIBRARY(GFLAGS_LIB NAMES gflags PATHS ${SEARCH_LIBS})
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IF (NOT EXISTS ${GFLAGS_LIB})
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MESSAGE(FATAL_ERROR
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"Can't find Google Flags. Please specify: "
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"-DGFLAGS_LIB=...")
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ENDIF (NOT EXISTS ${GFLAGS_LIB})
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MESSAGE("-- Found Google Flags library: ${GFLAGS_LIB}")
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FIND_PATH(GFLAGS_INCLUDE NAMES gflags/gflags.h PATHS ${SEARCH_HEADERS})
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IF (NOT EXISTS ${GFLAGS_INCLUDE})
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MESSAGE(FATAL_ERROR
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"Can't find Google Flags. Please specify: "
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"-DGFLAGS_INCLUDE=...")
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ENDIF (NOT EXISTS ${GFLAGS_INCLUDE})
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MESSAGE("-- Found Google Flags header in: ${GFLAGS_INCLUDE}")
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ELSE (GFLAGS)
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MESSAGE("-- Google Flags disabled; no tests or tools will be built!")
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ADD_DEFINITIONS(-DCERES_NO_GFLAGS)
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ENDIF (GFLAGS)
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# Google Logging
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MESSAGE("-- Check for Google Log")
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FIND_LIBRARY(GLOG_LIB NAMES glog PATHS ${SEARCH_LIBS})
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IF (NOT EXISTS ${GLOG_LIB})
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MESSAGE(FATAL_ERROR
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"Can't find Google Log. Please specify: "
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"-DGLOG_LIB=...")
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ENDIF (NOT EXISTS ${GLOG_LIB})
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MESSAGE("-- Found Google Log library: ${GLOG_LIB}")
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FIND_PATH(GLOG_INCLUDE NAMES glog/logging.h PATHS ${SEARCH_HEADERS})
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IF (NOT EXISTS ${GLOG_INCLUDE})
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MESSAGE(FATAL_ERROR
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"Can't find Google Log. Please specify: "
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"-DGLOG_INCLUDE=...")
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ENDIF (NOT EXISTS ${GLOG_INCLUDE})
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MESSAGE("-- Found Google Log header in: ${GLOG_INCLUDE}")
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# Eigen
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MESSAGE("-- Check for Eigen 3.0")
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FIND_PATH(EIGEN_INCLUDE NAMES Eigen/Core PATHS ${EIGEN_SEARCH_HEADERS})
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IF (NOT EXISTS ${EIGEN_INCLUDE})
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MESSAGE(FATAL_ERROR "Can't find Eigen. Try passing -DEIGEN_INCLUDE=...")
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ENDIF (NOT EXISTS ${EIGEN_INCLUDE})
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MESSAGE("-- Found Eigen 3.0: ${EIGEN_INCLUDE}")
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# Template specializations for the Schur complement based solvers. If
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# compile time, binary size or compiler performance is an issue, you
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# may consider disabling this.
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OPTION(SCHUR_SPECIALIZATIONS
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"Enable fixed-size schur specializations."
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ON)
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IF (NOT SCHUR_SPECIALIZATIONS)
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ADD_DEFINITIONS(-DCERES_RESTRICT_SCHUR_SPECIALIZATION)
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MESSAGE("-- Disabling Schur specializations (faster compiles)")
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ENDIF (NOT SCHUR_SPECIALIZATIONS)
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# Multithreading using OpenMP
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OPTION(OPENMP
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"Enable threaded solving in Ceres (requires OpenMP)"
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ON)
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IF (OPENMP)
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FIND_PACKAGE(OpenMP)
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IF(OPENMP_FOUND)
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MESSAGE("-- Found OpenMP.")
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SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
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ADD_DEFINITIONS(-DCERES_USE_OPENMP)
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ELSE(OPENMP_FOUND)
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MESSAGE("-- Can't find OpenMP. Continuing without it.")
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ENDIF(OPENMP_FOUND)
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ENDIF (OPENMP)
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# Protocol buffers
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OPTION(PROTOBUF
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"Enable protocol buffers support."
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ON)
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IF (PROTOBUF)
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FIND_PACKAGE(Protobuf)
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IF (PROTOBUF_FOUND)
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INCLUDE_DIRECTORIES(${PROTOBUF_INCLUDE_DIRS})
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INCLUDE_DIRECTORIES(${CMAKE_CURRENT_BINARY_DIR}/internal)
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ELSE (PROTOBUF_FOUND)
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ADD_DEFINITIONS(-DCERES_DONT_HAVE_PROTOCOL_BUFFERS)
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ENDIF (PROTOBUF_FOUND)
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ELSE (PROTOBUF)
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ADD_DEFINITIONS(-DCERES_DONT_HAVE_PROTOCOL_BUFFERS)
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ENDIF (PROTOBUF)
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IF (UNIX)
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# Atleast on linux, we need pthreads to be enabled for mutex to
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# compile. This may not work on windows or android.
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FIND_PACKAGE(Threads REQUIRED)
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SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${CMAKE_THREAD_LIBS_INIT}")
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ADD_DEFINITIONS(-DCERES_HAVE_PTHREAD)
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ADD_DEFINITIONS(-DCERES_HAVE_RWLOCK)
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ENDIF (UNIX)
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# Use the std namespace for the hash<> and related templates. This may vary by
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# system.
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ADD_DEFINITIONS("\"-DCERES_HASH_NAMESPACE_START=namespace std { namespace tr1 {\"")
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ADD_DEFINITIONS("\"-DCERES_HASH_NAMESPACE_END=}}\"")
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INCLUDE_DIRECTORIES(
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include
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internal
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internal/ceres
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${GLOG_INCLUDE}
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${EIGEN_INCLUDE}
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)
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IF (SUITESPARSE)
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INCLUDE_DIRECTORIES(${CHOLMOD_INCLUDE})
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ENDIF(SUITESPARSE)
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IF (GFLAGS)
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INCLUDE_DIRECTORIES(${GFLAGS_INCLUDE})
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ENDIF (GFLAGS)
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# Change the default build type from Debug to Release, while still
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# supporting overriding the build type.
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IF (NOT CMAKE_BUILD_TYPE)
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SET(CMAKE_BUILD_TYPE Release)
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ENDIF (NOT CMAKE_BUILD_TYPE)
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ADD_SUBDIRECTORY(internal/ceres)
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ADD_SUBDIRECTORY(examples)
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# TODO(sameeragarwal): The following flags break the old gcc that
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# ships on Mac OS X. Make this conditional on operating system and
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# compiler.
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#SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mtune=native -march=native")
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