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fix CMake so that Eigen discovery and linking is consistent

release/4.3a0
Varun Agrawal 2022-10-25 17:37:29 -04:00
parent 3d4236ee12
commit 1129c95dd5
2 changed files with 4 additions and 7 deletions
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10
cmake/HandleEigen.cmake
View File

@ -1,10 +1,6 @@
###############################################################################
# Option for using system Eigen or GTSAM-bundled Eigen
# Default: Use system's Eigen if found automatically:
find_package(Eigen3 CONFIG QUIET)
set(USE_SYSTEM_EIGEN_INITIAL_VALUE ${Eigen3_FOUND})
option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" ${USE_SYSTEM_EIGEN_INITIAL_VALUE})
unset(USE_SYSTEM_EIGEN_INITIAL_VALUE)
option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" OFF)
if(NOT GTSAM_USE_SYSTEM_EIGEN)
# This option only makes sense if using the embedded copy of Eigen, it is
@ -46,7 +42,7 @@ else()
set(GTSAM_EIGEN_INCLUDE_FOR_INSTALL "include/gtsam/3rdparty/Eigen/")
# The actual include directory (for BUILD cmake target interface):
set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${GTSAM_SOURCE_DIR}/gtsam/3rdparty/Eigen/")
set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${GTSAM_SOURCE_DIR}/gtsam/3rdparty/Eigen")
add_library(gtsam_eigen3 INTERFACE)
@ -59,7 +55,7 @@ else()
install(TARGETS gtsam_eigen3 EXPORT GTSAM-exports PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
list(APPEND GTSAM_EXPORTED_TARGETS gtsam_eigen3)
set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE)
set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}")
endif()
# Detect Eigen version:

1
gtsam/CMakeLists.txt
View File

@ -117,6 +117,7 @@ set_target_properties(gtsam PROPERTIES
VERSION ${gtsam_version}
SOVERSION ${gtsam_soversion})
# Append Eigen include path to either
# system-eigen, or GTSAM eigen path
target_link_libraries(gtsam PUBLIC Eigen3::Eigen)