12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Use cannonical library name for eigen

release/4.3a0
Sébastien Gonzalve 2022-10-05 20:15:39 +02:00
parent 903d7c6a2e
commit ec3d6b36da
3 changed files with 23 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
CMakeLists.txt
View File

@ -101,8 +101,6 @@ if(GTSAM_BUILD_PYTHON OR GTSAM_INSTALL_MATLAB_TOOLBOX)
# Copy matlab.h to the correct folder.
configure_file(${PROJECT_SOURCE_DIR}/wrap/matlab.h
${PROJECT_BINARY_DIR}/wrap/matlab.h COPYONLY)
# Add the include directories so that matlab.h can be found
include_directories("${PROJECT_BINARY_DIR}" "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}")
add_subdirectory(wrap)
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/wrap/cmake")

26
cmake/HandleEigen.cmake
View File

@ -16,8 +16,14 @@ endif()
if(GTSAM_USE_SYSTEM_EIGEN)
find_package(Eigen3 REQUIRED) # need to find again as REQUIRED
# Use generic Eigen include paths e.g. <Eigen/Core>
set(GTSAM_EIGEN_INCLUDE_FOR_INSTALL "${EIGEN3_INCLUDE_DIR}")
add_library(Eigen3::Eigen INTERFACE IMPORTED)
set_target_properties(Eigen3::Eigen PROPERTIES
INTERFACE_INCLUDE_DIRECTORIES ${EIGEN3_INCLUDE_DIR}
)
# The actual include directory (for BUILD cmake target interface):
set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${EIGEN3_INCLUDE_DIR}/")
# check if MKL is also enabled - can have one or the other, but not both!
# Note: Eigen >= v3.2.5 includes our patches
@ -30,9 +36,6 @@ if(GTSAM_USE_SYSTEM_EIGEN)
if(EIGEN_USE_MKL_ALL AND (EIGEN3_VERSION VERSION_EQUAL 3.3.4))
message(FATAL_ERROR "MKL does not work with Eigen 3.3.4 because of a bug in Eigen. See http://eigen.tuxfamily.org/bz/show_bug.cgi?id=1527. Disable GTSAM_USE_SYSTEM_EIGEN to use GTSAM's copy of Eigen, disable GTSAM_WITH_EIGEN_MKL, or upgrade/patch your installation of Eigen.")
endif()
# The actual include directory (for BUILD cmake target interface):
set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${EIGEN3_INCLUDE_DIR}")
else()
# Use bundled Eigen include path.
# Clear any variables set by FindEigen3
@ -46,6 +49,19 @@ else()
# The actual include directory (for BUILD cmake target interface):
set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${GTSAM_SOURCE_DIR}/gtsam/3rdparty/Eigen/")
add_library(gtsam_eigen3 INTERFACE)
target_include_directories(gtsam_eigen3 INTERFACE
$<BUILD_INTERFACE:${GTSAM_EIGEN_INCLUDE_FOR_BUILD}>
$<INSTALL_INTERFACE:${GTSAM_EIGEN_INCLUDE_FOR_INSTALL}>
)
add_library(Eigen3::Eigen ALIAS gtsam_eigen3)
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)
endif()
# Detect Eigen version:

7
gtsam/CMakeLists.txt
View File

@ -117,12 +117,9 @@ set_target_properties(gtsam PROPERTIES
VERSION ${gtsam_version}
SOVERSION ${gtsam_soversion})
# Append Eigen include path, set in top-level CMakeLists.txt to either
# system-eigen, or GTSAM eigen path
target_include_directories(gtsam PUBLIC
$<BUILD_INTERFACE:${GTSAM_EIGEN_INCLUDE_FOR_BUILD}>
$<INSTALL_INTERFACE:${GTSAM_EIGEN_INCLUDE_FOR_INSTALL}>
)
target_link_libraries(gtsam PUBLIC Eigen3::Eigen)
# MKL include dir:
if (GTSAM_USE_EIGEN_MKL)
target_include_directories(gtsam PUBLIC ${MKL_INCLUDE_DIR})