91 lines
4.5 KiB
CMake
91 lines
4.5 KiB
CMake
###############################################################################
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# Option for using system Eigen or GTSAM-bundled Eigen
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option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" OFF)
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if(NOT GTSAM_USE_SYSTEM_EIGEN)
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# This option only makes sense if using the embedded copy of Eigen, it is
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# used to decide whether to *install* the "unsupported" module:
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option(GTSAM_WITH_EIGEN_UNSUPPORTED "Install Eigen's unsupported modules" OFF)
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endif()
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# Switch for using system Eigen or GTSAM-bundled Eigen
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if(GTSAM_USE_SYSTEM_EIGEN)
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# Since Eigen 3.3.0 a Eigen3Config.cmake is available so use it.
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find_package(Eigen3 CONFIG REQUIRED) # need to find again as REQUIRED
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# The actual include directory (for BUILD cmake target interface):
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# Note: EIGEN3_INCLUDE_DIR points to some random location on some eigen
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# versions. So here I use the target itself to get the proper include
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# directory (it is generated by cmake, thus has the correct path)
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get_target_property(GTSAM_EIGEN_INCLUDE_FOR_BUILD Eigen3::Eigen INTERFACE_INCLUDE_DIRECTORIES)
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# check if MKL is also enabled - can have one or the other, but not both!
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# Note: Eigen >= v3.2.5 includes our patches
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if(EIGEN_USE_MKL_ALL AND (EIGEN3_VERSION VERSION_LESS 3.2.5))
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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")
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endif()
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# Check for Eigen version which doesn't work with MKL
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# See http://eigen.tuxfamily.org/bz/show_bug.cgi?id=1527 for details.
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if(EIGEN_USE_MKL_ALL AND (EIGEN3_VERSION VERSION_EQUAL 3.3.4))
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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.")
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endif()
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else()
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# Use bundled Eigen include path.
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# Clear any variables set by FindEigen3
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if(EIGEN3_INCLUDE_DIR)
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set(EIGEN3_INCLUDE_DIR NOTFOUND CACHE STRING "" FORCE)
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endif()
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# set full path to be used by external projects
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# this will be added to GTSAM_INCLUDE_DIR by gtsam_extra.cmake.in
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set(GTSAM_EIGEN_INCLUDE_FOR_INSTALL "include/gtsam/3rdparty/Eigen/")
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# The actual include directory (for BUILD cmake target interface):
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set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${GTSAM_SOURCE_DIR}/gtsam/3rdparty/Eigen")
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add_library(gtsam_eigen3 INTERFACE)
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target_include_directories(gtsam_eigen3 INTERFACE
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$<BUILD_INTERFACE:${GTSAM_EIGEN_INCLUDE_FOR_BUILD}>
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$<INSTALL_INTERFACE:${GTSAM_EIGEN_INCLUDE_FOR_INSTALL}>
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)
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add_library(Eigen3::Eigen ALIAS gtsam_eigen3)
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install(TARGETS gtsam_eigen3 EXPORT GTSAM-exports PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
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list(APPEND GTSAM_EXPORTED_TARGETS gtsam_eigen3)
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set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}")
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endif()
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# Detect Eigen version:
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set(EIGEN_VER_H "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}/Eigen/src/Core/util/Macros.h")
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if (EXISTS ${EIGEN_VER_H})
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file(READ "${EIGEN_VER_H}" STR_EIGEN_VERSION)
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# Extract the Eigen version from the Macros.h file, lines "#define EIGEN_WORLD_VERSION XX", etc...
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string(REGEX MATCH "EIGEN_WORLD_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_WORLD "${STR_EIGEN_VERSION}")
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string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_WORLD "${GTSAM_EIGEN_VERSION_WORLD}")
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string(REGEX MATCH "EIGEN_MAJOR_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_MAJOR "${STR_EIGEN_VERSION}")
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string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_MAJOR "${GTSAM_EIGEN_VERSION_MAJOR}")
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string(REGEX MATCH "EIGEN_MINOR_VERSION[ ]+[0-9]+" GTSAM_EIGEN_VERSION_MINOR "${STR_EIGEN_VERSION}")
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string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_MINOR "${GTSAM_EIGEN_VERSION_MINOR}")
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set(GTSAM_EIGEN_VERSION "${GTSAM_EIGEN_VERSION_WORLD}.${GTSAM_EIGEN_VERSION_MAJOR}.${GTSAM_EIGEN_VERSION_MINOR}")
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message(STATUS "Found Eigen version: ${GTSAM_EIGEN_VERSION}")
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else()
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message(WARNING "Cannot determine Eigen version, missing file: `${EIGEN_VER_H}`")
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endif ()
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if (MSVC)
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if (BUILD_SHARED_LIBS)
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# mute eigen static assert to avoid errors in shared lib
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list_append_cache(GTSAM_COMPILE_DEFINITIONS_PUBLIC EIGEN_NO_STATIC_ASSERT)
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endif()
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list_append_cache(GTSAM_COMPILE_OPTIONS_PRIVATE "/wd4244") # Disable loss of precision which is thrown all over our Eigen
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endif()
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