project(GTSAM CXX C) cmake_minimum_required(VERSION 3.0) # new feature to Cmake Version > 2.8.12 # Mac ONLY. Define Relative Path on Mac OS if(NOT DEFINED CMAKE_MACOSX_RPATH) set(CMAKE_MACOSX_RPATH 0) endif() # Set the version number for the library set (GTSAM_VERSION_MAJOR 4) set (GTSAM_VERSION_MINOR 0) set (GTSAM_VERSION_PATCH 3) math (EXPR GTSAM_VERSION_NUMERIC "10000 * ${GTSAM_VERSION_MAJOR} + 100 * ${GTSAM_VERSION_MINOR} + ${GTSAM_VERSION_PATCH}") set (GTSAM_VERSION_STRING "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}") ############################################################################### # Gather information, perform checks, set defaults # Set the default install path to home #set (CMAKE_INSTALL_PREFIX ${HOME} CACHE PATH "Install prefix for library") set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${CMAKE_CURRENT_SOURCE_DIR}/cmake") include(GtsamMakeConfigFile) include(GNUInstallDirs) # Record the root dir for gtsam - needed during external builds, e.g., ROS set(GTSAM_SOURCE_ROOT_DIR ${CMAKE_CURRENT_SOURCE_DIR}) message(STATUS "GTSAM_SOURCE_ROOT_DIR: [${GTSAM_SOURCE_ROOT_DIR}]") # Load build type flags and default to Debug mode include(GtsamBuildTypes) # Use macros for creating tests/timing scripts include(GtsamTesting) include(GtsamPrinting) # guard against in-source builds if(${CMAKE_SOURCE_DIR} STREQUAL ${CMAKE_BINARY_DIR}) message(FATAL_ERROR "In-source builds not allowed. Please make a new directory (called a build directory) and run CMake from there. You may need to remove CMakeCache.txt. ") endif() # See whether gtsam_unstable is available (it will be present only if we're using a git checkout) if(EXISTS "${PROJECT_SOURCE_DIR}/gtsam_unstable" AND IS_DIRECTORY "${PROJECT_SOURCE_DIR}/gtsam_unstable") set(GTSAM_UNSTABLE_AVAILABLE 1) else() set(GTSAM_UNSTABLE_AVAILABLE 0) endif() # ---------------------------------------------------------------------------- # Uninstall target, for "make uninstall" # ---------------------------------------------------------------------------- configure_file( "${CMAKE_CURRENT_SOURCE_DIR}/cmake/cmake_uninstall.cmake.in" "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake" IMMEDIATE @ONLY) add_custom_target(uninstall "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake") ############################################################################### # Set up options # Configurable Options if(GTSAM_UNSTABLE_AVAILABLE) option(GTSAM_BUILD_UNSTABLE "Enable/Disable libgtsam_unstable" ON) endif() option(BUILD_SHARED_LIBS "Build shared gtsam library, instead of static" ON) option(GTSAM_USE_QUATERNIONS "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices. If enable, Rot3::EXPMAP is enforced by default." OFF) option(GTSAM_POSE3_EXPMAP "Enable/Disable using Pose3::EXPMAP as the default mode. If disabled, Pose3::FIRST_ORDER will be used." ON) option(GTSAM_ROT3_EXPMAP "Ignore if GTSAM_USE_QUATERNIONS is OFF (Rot3::EXPMAP by default). Otherwise, enable Rot3::EXPMAP, or if disabled, use Rot3::CAYLEY." ON) option(GTSAM_ENABLE_CONSISTENCY_CHECKS "Enable/Disable expensive consistency checks" OFF) option(GTSAM_WITH_TBB "Use Intel Threaded Building Blocks (TBB) if available" ON) option(GTSAM_WITH_EIGEN_MKL "Eigen will use Intel MKL if available" OFF) option(GTSAM_WITH_EIGEN_MKL_OPENMP "Eigen, when using Intel MKL, will also use OpenMP for multithreading if available" OFF) option(GTSAM_THROW_CHEIRALITY_EXCEPTION "Throw exception when a triangulated point is behind a camera" ON) option(GTSAM_ALLOW_DEPRECATED_SINCE_V41 "Allow use of methods/functions deprecated in GTSAM 4.1" ON) option(GTSAM_TYPEDEF_POINTS_TO_VECTORS "Typedef Point2 and Point3 to Eigen::Vector equivalents" OFF) option(GTSAM_SUPPORT_NESTED_DISSECTION "Support Metis-based nested dissection" ON) option(GTSAM_TANGENT_PREINTEGRATION "Use new ImuFactor with integration on tangent space" ON) if(NOT MSVC AND NOT XCODE_VERSION) option(GTSAM_BUILD_WITH_CCACHE "Use ccache compiler cache" ON) endif() if(NOT MSVC AND NOT XCODE_VERSION) # Set the build type to upper case for downstream use string(TOUPPER "${CMAKE_BUILD_TYPE}" CMAKE_BUILD_TYPE_UPPER) # Set the GTSAM_BUILD_TAG variable. # If build type is Release, set to blank (""), else set to the build type. if(${CMAKE_BUILD_TYPE_UPPER} STREQUAL "RELEASE") set(GTSAM_BUILD_TAG "") # Don't create release mode tag on installed directory else() set(GTSAM_BUILD_TAG "${CMAKE_BUILD_TYPE}") endif() endif() # Options relating to MATLAB wrapper # TODO: Check for matlab mex binary before handling building of binaries option(GTSAM_INSTALL_MATLAB_TOOLBOX "Enable/Disable installation of matlab toolbox" OFF) option(GTSAM_INSTALL_CYTHON_TOOLBOX "Enable/Disable installation of Cython toolbox" OFF) option(GTSAM_BUILD_WRAP "Enable/Disable building of matlab/cython wrap utility (necessary for matlab/cython interface)" ON) set(GTSAM_PYTHON_VERSION "Default" CACHE STRING "The version of python to build the cython wrapper for (or Default)") # Check / set dependent variables for MATLAB wrapper if((GTSAM_INSTALL_MATLAB_TOOLBOX OR GTSAM_INSTALL_CYTHON_TOOLBOX) AND NOT GTSAM_BUILD_WRAP) message(FATAL_ERROR "GTSAM_INSTALL_MATLAB_TOOLBOX or GTSAM_INSTALL_CYTHON_TOOLBOX is enabled, please also enable GTSAM_BUILD_WRAP") endif() if((GTSAM_INSTALL_MATLAB_TOOLBOX OR GTSAM_INSTALL_CYTHON_TOOLBOX) AND GTSAM_BUILD_TYPE_POSTFIXES) set(CURRENT_POSTFIX ${CMAKE_${CMAKE_BUILD_TYPE_UPPER}_POSTFIX}) endif() if(GTSAM_INSTALL_WRAP AND NOT GTSAM_BUILD_WRAP) message(FATAL_ERROR "GTSAM_INSTALL_WRAP is enabled, please also enable GTSAM_BUILD_WRAP") endif() if(GTSAM_INSTALL_MATLAB_TOOLBOX AND NOT BUILD_SHARED_LIBS) message(FATAL_ERROR "GTSAM_INSTALL_MATLAB_TOOLBOX and BUILD_SHARED_LIBS=OFF. The MATLAB wrapper cannot be compiled with a static GTSAM library because mex modules are themselves shared libraries. If you want a self-contained mex module, enable GTSAM_MEX_BUILD_STATIC_MODULE instead of BUILD_SHARED_LIBS=OFF.") endif() if(GTSAM_INSTALL_MATLAB_TOOLBOX AND GTSAM_TYPEDEF_POINTS_TO_VECTORS) message(FATAL_ERROR "GTSAM_INSTALL_MATLAB_TOOLBOX and GTSAM_TYPEDEF_POINTS_TO_VECTORS are both enabled. For now, the MATLAB toolbox cannot deal with this yet. Please turn one of the two options off.") endif() if(GTSAM_INSTALL_CYTHON_TOOLBOX AND GTSAM_TYPEDEF_POINTS_TO_VECTORS) message(FATAL_ERROR "GTSAM_INSTALL_CYTHON_TOOLBOX and GTSAM_TYPEDEF_POINTS_TO_VECTORS are both enabled. For now, the CYTHON toolbox cannot deal with this yet. Please turn one of the two options off.") endif() # Flags for choosing default packaging tools set(CPACK_SOURCE_GENERATOR "TGZ" CACHE STRING "CPack Default Source Generator") set(CPACK_GENERATOR "TGZ" CACHE STRING "CPack Default Binary Generator") ############################################################################### # Find boost # To change the path for boost, you will need to set: # BOOST_ROOT: path to install prefix for boost # Boost_NO_SYSTEM_PATHS: set to true to keep the find script from ignoring BOOST_ROOT if(MSVC) # By default, boost only builds static libraries on windows set(Boost_USE_STATIC_LIBS ON) # only find static libs # If we ever reset above on windows and, ... # If we use Boost shared libs, disable auto linking. # Some libraries, at least Boost Program Options, rely on this to export DLL symbols. if(NOT Boost_USE_STATIC_LIBS) list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC BOOST_ALL_NO_LIB BOOST_ALL_DYN_LINK) endif() # Virtual memory range for PCH exceeded on VS2015 if(MSVC_VERSION LESS 1910) # older than VS2017 list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE -Zm295) endif() endif() # If building DLLs in MSVC, we need to avoid EIGEN_STATIC_ASSERT() # or explicit instantiation will generate build errors. # See: https://bitbucket.org/gtborg/gtsam/issues/417/fail-to-build-on-msvc-2017 # if(MSVC AND BUILD_SHARED_LIBS) list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC EIGEN_NO_STATIC_ASSERT) endif() # Store these in variables so they are automatically replicated in GTSAMConfig.cmake and such. set(BOOST_FIND_MINIMUM_VERSION 1.43) set(BOOST_FIND_MINIMUM_COMPONENTS serialization system filesystem thread program_options date_time timer chrono regex) find_package(Boost ${BOOST_FIND_MINIMUM_VERSION} COMPONENTS ${BOOST_FIND_MINIMUM_COMPONENTS}) # Required components if(NOT Boost_SERIALIZATION_LIBRARY OR NOT Boost_SYSTEM_LIBRARY OR NOT Boost_FILESYSTEM_LIBRARY OR NOT Boost_THREAD_LIBRARY OR NOT Boost_DATE_TIME_LIBRARY) message(FATAL_ERROR "Missing required Boost components >= v1.43, please install/upgrade Boost or configure your search paths.") endif() option(GTSAM_DISABLE_NEW_TIMERS "Disables using Boost.chrono for timing" OFF) # Allow for not using the timer libraries on boost < 1.48 (GTSAM timing code falls back to old timer library) set(GTSAM_BOOST_LIBRARIES Boost::serialization Boost::system Boost::filesystem Boost::thread Boost::date_time Boost::regex ) if (GTSAM_DISABLE_NEW_TIMERS) message("WARNING: GTSAM timing instrumentation manually disabled") list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC DGTSAM_DISABLE_NEW_TIMERS) else() if(Boost_TIMER_LIBRARY) list(APPEND GTSAM_BOOST_LIBRARIES Boost::timer Boost::chrono) else() list(APPEND GTSAM_BOOST_LIBRARIES rt) # When using the header-only boost timer library, need -lrt message("WARNING: GTSAM timing instrumentation will use the older, less accurate, Boost timer library because boost older than 1.48 was found.") endif() endif() ############################################################################### # Find TBB find_package(TBB 4.4 COMPONENTS tbb tbbmalloc) # Set up variables if we're using TBB if(TBB_FOUND AND GTSAM_WITH_TBB) set(GTSAM_USE_TBB 1) # This will go into config.h if ((${TBB_VERSION_MAJOR} GREATER 2020) OR (${TBB_VERSION_MAJOR} EQUAL 2020)) set(TBB_GREATER_EQUAL_2020 1) else() set(TBB_GREATER_EQUAL_2020 0) endif() # all definitions and link requisites will go via imported targets: # tbb & tbbmalloc list(APPEND GTSAM_ADDITIONAL_LIBRARIES tbb tbbmalloc) else() set(GTSAM_USE_TBB 0) # This will go into config.h endif() ############################################################################### # Prohibit Timing build mode in combination with TBB if(GTSAM_USE_TBB AND (CMAKE_BUILD_TYPE STREQUAL "Timing")) message(FATAL_ERROR "Timing build mode cannot be used together with TBB. Use a sampling profiler such as Instruments or Intel VTune Amplifier instead.") endif() ############################################################################### # Find Google perftools find_package(GooglePerfTools) ############################################################################### # Support ccache, if installed if(NOT MSVC AND NOT XCODE_VERSION) find_program(CCACHE_FOUND ccache) if(CCACHE_FOUND) if(GTSAM_BUILD_WITH_CCACHE) set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE ccache) set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK ccache) else() set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "") set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK "") endif() endif(CCACHE_FOUND) endif() ############################################################################### # Find MKL find_package(MKL) if(MKL_FOUND AND GTSAM_WITH_EIGEN_MKL) set(GTSAM_USE_EIGEN_MKL 1) # This will go into config.h set(EIGEN_USE_MKL_ALL 1) # This will go into config.h - it makes Eigen use MKL list(APPEND GTSAM_ADDITIONAL_LIBRARIES ${MKL_LIBRARIES}) # --no-as-needed is required with gcc according to the MKL link advisor if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU") set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--no-as-needed") endif() else() set(GTSAM_USE_EIGEN_MKL 0) set(EIGEN_USE_MKL_ALL 0) endif() ############################################################################### # Find OpenMP (if we're also using MKL) find_package(OpenMP) # do this here to generate correct message if disabled if(GTSAM_WITH_EIGEN_MKL AND GTSAM_WITH_EIGEN_MKL_OPENMP AND GTSAM_USE_EIGEN_MKL) if(OPENMP_FOUND AND GTSAM_USE_EIGEN_MKL AND GTSAM_WITH_EIGEN_MKL_OPENMP) set(GTSAM_USE_EIGEN_MKL_OPENMP 1) # This will go into config.h list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC ${OpenMP_CXX_FLAGS}) endif() endif() ############################################################################### # Option for using system Eigen or GTSAM-bundled Eigen ### These patches only affect usage of MKL. If you want to enable MKL, you *must* ### use our patched version of Eigen ### See: http://eigen.tuxfamily.org/bz/show_bug.cgi?id=704 (Householder QR MKL selection) ### http://eigen.tuxfamily.org/bz/show_bug.cgi?id=705 (Fix MKL LLT return code) option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" OFF) option(GTSAM_WITH_EIGEN_UNSUPPORTED "Install Eigen's unsupported modules" OFF) # Switch for using system Eigen or GTSAM-bundled Eigen if(GTSAM_USE_SYSTEM_EIGEN) find_package(Eigen3 REQUIRED) # Use generic Eigen include paths e.g. set(GTSAM_EIGEN_INCLUDE_FOR_INSTALL "${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 if(EIGEN_USE_MKL_ALL AND (EIGEN3_VERSION VERSION_LESS 3.2.5)) message(FATAL_ERROR "MKL requires at least Eigen 3.2.5, and your system appears to have an older version. Disable GTSAM_USE_SYSTEM_EIGEN to use GTSAM's copy of Eigen, or disable GTSAM_WITH_EIGEN_MKL") endif() # Check for Eigen version which doesn't work with MKL # See http://eigen.tuxfamily.org/bz/show_bug.cgi?id=1527 for details. 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 "${EIGEN3_INCLUDE_DIR}") else() # Use bundled Eigen include path. # Clear any variables set by FindEigen3 if(EIGEN3_INCLUDE_DIR) set(EIGEN3_INCLUDE_DIR NOTFOUND CACHE STRING "" FORCE) endif() # set full path to be used by external projects # this will be added to GTSAM_INCLUDE_DIR by gtsam_extra.cmake.in set(GTSAM_EIGEN_INCLUDE_FOR_INSTALL "include/gtsam/3rdparty/Eigen/") # The actual include directory (for BUILD cmake target interface): set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${CMAKE_SOURCE_DIR}/gtsam/3rdparty/Eigen/") endif() # Detect Eigen version: set(EIGEN_VER_H "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}/Eigen/src/Core/util/Macros.h") if (EXISTS ${EIGEN_VER_H}) file(READ "${EIGEN_VER_H}" STR_EIGEN_VERSION) # Extract the Eigen version from the Macros.h file, lines "#define EIGEN_WORLD_VERSION XX", etc... string(REGEX MATCH "EIGEN_WORLD_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_WORLD "${STR_EIGEN_VERSION}") string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_WORLD "${GTSAM_EIGEN_VERSION_WORLD}") string(REGEX MATCH "EIGEN_MAJOR_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_MAJOR "${STR_EIGEN_VERSION}") string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_MAJOR "${GTSAM_EIGEN_VERSION_MAJOR}") string(REGEX MATCH "EIGEN_MINOR_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_MINOR "${STR_EIGEN_VERSION}") string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_MINOR "${GTSAM_EIGEN_VERSION_MINOR}") set(GTSAM_EIGEN_VERSION "${GTSAM_EIGEN_VERSION_WORLD}.${GTSAM_EIGEN_VERSION_MAJOR}.${GTSAM_EIGEN_VERSION_MINOR}") message(STATUS "Found Eigen version: ${GTSAM_EIGEN_VERSION}") else() message(WARNING "Cannot determine Eigen version, missing file: `${EIGEN_VER_H}`") endif () if (MSVC) if (BUILD_SHARED_LIBS) # mute eigen static assert to avoid errors in shared lib list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC EIGEN_NO_STATIC_ASSERT) endif() list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE "/wd4244") # Disable loss of precision which is thrown all over our Eigen endif() if (APPLE AND BUILD_SHARED_LIBS) # Set the default install directory on macOS set(CMAKE_INSTALL_NAME_DIR "${CMAKE_INSTALL_PREFIX}/lib") endif() ############################################################################### # Global compile options # Build list of possible allocators set(possible_allocators "") if(GTSAM_USE_TBB) list(APPEND possible_allocators TBB) set(preferred_allocator TBB) else() list(APPEND possible_allocators BoostPool STL) set(preferred_allocator STL) endif() if(GOOGLE_PERFTOOLS_FOUND) list(APPEND possible_allocators tcmalloc) endif() # Check if current allocator choice is valid and set cache option list(FIND possible_allocators "${GTSAM_DEFAULT_ALLOCATOR}" allocator_valid) if(allocator_valid EQUAL -1) set(GTSAM_DEFAULT_ALLOCATOR ${preferred_allocator} CACHE STRING "Default allocator" FORCE) else() set(GTSAM_DEFAULT_ALLOCATOR ${preferred_allocator} CACHE STRING "Default allocator") endif() set_property(CACHE GTSAM_DEFAULT_ALLOCATOR PROPERTY STRINGS ${possible_allocators}) mark_as_advanced(GTSAM_DEFAULT_ALLOCATOR) # Define compile flags depending on allocator if("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "BoostPool") set(GTSAM_ALLOCATOR_BOOSTPOOL 1) elseif("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "STL") set(GTSAM_ALLOCATOR_STL 1) elseif("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "TBB") set(GTSAM_ALLOCATOR_TBB 1) elseif("${GTSAM_DEFAULT_ALLOCATOR}" STREQUAL "tcmalloc") set(GTSAM_ALLOCATOR_STL 1) # tcmalloc replaces malloc, so to use it we use the STL allocator list(APPEND GTSAM_ADDITIONAL_LIBRARIES "tcmalloc") endif() if(MSVC) list_append_cache(GTSAM_COMPILE_DEFINITIONS_PRIVATE _CRT_SECURE_NO_WARNINGS _SCL_SECURE_NO_WARNINGS) list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE /wd4251 /wd4275 /wd4251 /wd4661 /wd4344 /wd4503) # Disable non-DLL-exported base class and other warnings list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE /bigobj) # Allow large object files for template-based code endif() # GCC 4.8+ complains about local typedefs which we use for shared_ptr etc. if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU") if (NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 4.8) list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE -Wno-unused-local-typedefs) endif() endif() # As of XCode 7, clang also complains about this if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang") if (NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS 7.0) list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE -Wno-unused-local-typedefs) endif() endif() if(GTSAM_ENABLE_CONSISTENCY_CHECKS) # This should be made PUBLIC if GTSAM_EXTRA_CONSISTENCY_CHECKS is someday used in a public .h list_append_cache(GTSAM_COMPILE_DEFINITIONS_PRIVATE GTSAM_EXTRA_CONSISTENCY_CHECKS) endif() ############################################################################### # Add components # Build CppUnitLite add_subdirectory(CppUnitLite) # Build wrap if (GTSAM_BUILD_WRAP) add_subdirectory(wrap) # suppress warning of cython line being too long if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU") set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-misleading-indentation") endif() endif(GTSAM_BUILD_WRAP) # Build GTSAM library add_subdirectory(gtsam) # Build Tests add_subdirectory(tests) # Build examples add_subdirectory(examples) # Build timing add_subdirectory(timing) # Build gtsam_unstable if (GTSAM_BUILD_UNSTABLE) add_subdirectory(gtsam_unstable) endif() # Matlab toolbox if (GTSAM_INSTALL_MATLAB_TOOLBOX) add_subdirectory(matlab) endif() # Cython wrap if (GTSAM_INSTALL_CYTHON_TOOLBOX) set(GTSAM_INSTALL_CYTHON_TOOLBOX 1) # Set up cache options # Cython install path appended with Build type (e.g. cython, cythonDebug, etc). # This does not override custom values set from the command line set(GTSAM_CYTHON_INSTALL_PATH "${PROJECT_BINARY_DIR}/cython${GTSAM_BUILD_TAG}" CACHE PATH "Cython toolbox destination, blank defaults to PROJECT_BINARY_DIR/cython") set(GTSAM_EIGENCY_INSTALL_PATH ${GTSAM_CYTHON_INSTALL_PATH}/gtsam_eigency) add_subdirectory(cython ${GTSAM_CYTHON_INSTALL_PATH}) else() set(GTSAM_INSTALL_CYTHON_TOOLBOX 0) # This will go into config.h endif() # Install config and export files GtsamMakeConfigFile(GTSAM "${CMAKE_CURRENT_SOURCE_DIR}/gtsam_extra.cmake.in") export(TARGETS ${GTSAM_EXPORTED_TARGETS} FILE GTSAM-exports.cmake) # Check for doxygen availability - optional dependency find_package(Doxygen) # Doxygen documentation - enabling options in subfolder if (DOXYGEN_FOUND) add_subdirectory(doc) endif() # CMake Tools add_subdirectory(cmake) ############################################################################### # Set up CPack set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "GTSAM") set(CPACK_PACKAGE_VENDOR "Frank Dellaert, Georgia Institute of Technology") set(CPACK_PACKAGE_CONTACT "Frank Dellaert, dellaert@cc.gatech.edu") set(CPACK_PACKAGE_DESCRIPTION_FILE "${CMAKE_CURRENT_SOURCE_DIR}/README.md") set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE") set(CPACK_PACKAGE_VERSION_MAJOR ${GTSAM_VERSION_MAJOR}) set(CPACK_PACKAGE_VERSION_MINOR ${GTSAM_VERSION_MINOR}) set(CPACK_PACKAGE_VERSION_PATCH ${GTSAM_VERSION_PATCH}) set(CPACK_PACKAGE_INSTALL_DIRECTORY "CMake ${CMake_VERSION_MAJOR}.${CMake_VERSION_MINOR}") #set(CPACK_INSTALLED_DIRECTORIES "doc;.") # Include doc directory #set(CPACK_INSTALLED_DIRECTORIES ".") # FIXME: throws error set(CPACK_SOURCE_IGNORE_FILES "/build*;/\\\\.;/makestats.sh$") set(CPACK_SOURCE_IGNORE_FILES "${CPACK_SOURCE_IGNORE_FILES}" "/gtsam_unstable/") set(CPACK_SOURCE_IGNORE_FILES "${CPACK_SOURCE_IGNORE_FILES}" "/package_scripts/") set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}") #set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-aspn${GTSAM_VERSION_PATCH}") # Used for creating ASPN tarballs # Deb-package specific cpack set(CPACK_DEBIAN_PACKAGE_NAME "libgtsam-dev") set(CPACK_DEBIAN_PACKAGE_DEPENDS "libboost-dev (>= 1.43)") #Example: "libc6 (>= 2.3.1-6), libgcc1 (>= 1:3.4.2-12)") ############################################################################### # Print configuration variables message(STATUS "===============================================================") message(STATUS "================ Configuration Options ======================") message(STATUS " CMAKE_CXX_COMPILER_ID type : ${CMAKE_CXX_COMPILER_ID}") message(STATUS " CMAKE_CXX_COMPILER_VERSION : ${CMAKE_CXX_COMPILER_VERSION}") message(STATUS " CMake version : ${CMAKE_VERSION}") message(STATUS " CMake generator : ${CMAKE_GENERATOR}") message(STATUS " CMake build tool : ${CMAKE_BUILD_TOOL}") message(STATUS "Build flags ") print_config_flag(${GTSAM_BUILD_TESTS} "Build Tests ") print_config_flag(${GTSAM_BUILD_EXAMPLES_ALWAYS} "Build examples with 'make all' ") print_config_flag(${GTSAM_BUILD_TIMING_ALWAYS} "Build timing scripts with 'make all'") if (DOXYGEN_FOUND) print_config_flag(${GTSAM_BUILD_DOCS} "Build Docs ") endif() print_config_flag(${BUILD_SHARED_LIBS} "Build shared GTSAM libraries ") print_config_flag(${GTSAM_BUILD_TYPE_POSTFIXES} "Put build type in library name ") if(GTSAM_UNSTABLE_AVAILABLE) print_config_flag(${GTSAM_BUILD_UNSTABLE} "Build libgtsam_unstable ") endif() if(NOT MSVC AND NOT XCODE_VERSION) print_config_flag(${GTSAM_BUILD_WITH_MARCH_NATIVE} "Build for native architecture ") message(STATUS " Build type : ${CMAKE_BUILD_TYPE}") message(STATUS " C compilation flags : ${CMAKE_C_FLAGS} ${CMAKE_C_FLAGS_${CMAKE_BUILD_TYPE_UPPER}}") message(STATUS " C++ compilation flags : ${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_${CMAKE_BUILD_TYPE_UPPER}}") endif() print_build_options_for_target(gtsam) message(STATUS " Use System Eigen : ${GTSAM_USE_SYSTEM_EIGEN} (Using version: ${GTSAM_EIGEN_VERSION})") if(GTSAM_USE_TBB) message(STATUS " Use Intel TBB : Yes") elseif(TBB_FOUND) message(STATUS " Use Intel TBB : TBB found but GTSAM_WITH_TBB is disabled") else() message(STATUS " Use Intel TBB : TBB not found") endif() if(GTSAM_USE_EIGEN_MKL) message(STATUS " Eigen will use MKL : Yes") elseif(MKL_FOUND) message(STATUS " Eigen will use MKL : MKL found but GTSAM_WITH_EIGEN_MKL is disabled") else() message(STATUS " Eigen will use MKL : MKL not found") endif() if(GTSAM_USE_EIGEN_MKL_OPENMP) message(STATUS " Eigen will use MKL and OpenMP : Yes") elseif(OPENMP_FOUND AND NOT GTSAM_WITH_EIGEN_MKL) message(STATUS " Eigen will use MKL and OpenMP : OpenMP found but GTSAM_WITH_EIGEN_MKL is disabled") elseif(OPENMP_FOUND AND NOT MKL_FOUND) message(STATUS " Eigen will use MKL and OpenMP : OpenMP found but MKL not found") elseif(OPENMP_FOUND) message(STATUS " Eigen will use MKL and OpenMP : OpenMP found but GTSAM_WITH_EIGEN_MKL_OPENMP is disabled") else() message(STATUS " Eigen will use MKL and OpenMP : OpenMP not found") endif() message(STATUS " Default allocator : ${GTSAM_DEFAULT_ALLOCATOR}") if(GTSAM_THROW_CHEIRALITY_EXCEPTION) message(STATUS " Cheirality exceptions enabled : YES") else() message(STATUS " Cheirality exceptions enabled : NO") endif() if(NOT MSVC AND NOT XCODE_VERSION) if(CCACHE_FOUND AND GTSAM_BUILD_WITH_CCACHE) message(STATUS " Build with ccache : Yes") elseif(CCACHE_FOUND) message(STATUS " Build with ccache : ccache found but GTSAM_BUILD_WITH_CCACHE is disabled") else() message(STATUS " Build with ccache : No") endif() endif() message(STATUS "Packaging flags ") message(STATUS " CPack Source Generator : ${CPACK_SOURCE_GENERATOR}") message(STATUS " CPack Generator : ${CPACK_GENERATOR}") message(STATUS "GTSAM flags ") print_config_flag(${GTSAM_USE_QUATERNIONS} "Quaternions as default Rot3 ") print_config_flag(${GTSAM_ENABLE_CONSISTENCY_CHECKS} "Runtime consistency checking ") print_config_flag(${GTSAM_ROT3_EXPMAP} "Rot3 retract is full ExpMap ") print_config_flag(${GTSAM_POSE3_EXPMAP} "Pose3 retract is full ExpMap ") print_config_flag(${GTSAM_ALLOW_DEPRECATED_SINCE_V41} "Allow features deprecated in GTSAM 4.1") print_config_flag(${GTSAM_TYPEDEF_POINTS_TO_VECTORS} "Point3 is typedef to Vector3 ") print_config_flag(${GTSAM_SUPPORT_NESTED_DISSECTION} "Metis-based Nested Dissection ") print_config_flag(${GTSAM_TANGENT_PREINTEGRATION} "Use tangent-space preintegration") print_config_flag(${GTSAM_BUILD_WRAP} "Build Wrap ") message(STATUS "MATLAB toolbox flags ") print_config_flag(${GTSAM_INSTALL_MATLAB_TOOLBOX} "Install MATLAB toolbox ") if (${GTSAM_INSTALL_MATLAB_TOOLBOX}) message(STATUS " MATLAB root : ${MATLAB_ROOT}") message(STATUS " MEX binary : ${MEX_COMMAND}") endif() message(STATUS "Cython toolbox flags ") print_config_flag(${GTSAM_INSTALL_CYTHON_TOOLBOX} "Install Cython toolbox ") if(GTSAM_INSTALL_CYTHON_TOOLBOX) message(STATUS " Python version : ${GTSAM_PYTHON_VERSION}") endif() message(STATUS "===============================================================") # Print warnings at the end if(GTSAM_WITH_TBB AND NOT TBB_FOUND) message(WARNING "TBB 4.4 or newer was not found - this is ok, but note that GTSAM parallelization will be disabled. Set GTSAM_WITH_TBB to 'Off' to avoid this warning.") endif() if(GTSAM_WITH_EIGEN_MKL AND NOT MKL_FOUND) message(WARNING "MKL was not found - this is ok, but note that MKL will be disabled. Set GTSAM_WITH_EIGEN_MKL to 'Off' to disable this warning. See INSTALL.md for notes on performance.") endif() if(GTSAM_WITH_EIGEN_MKL_OPENMP AND NOT OPENMP_FOUND AND MKL_FOUND) message(WARNING "Your compiler does not support OpenMP. Set GTSAM_WITH_EIGEN_MKL_OPENMP to 'Off' to avoid this warning. See INSTALL.md for notes on performance.") endif() # Include CPack *after* all flags include(CPack)