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project ( GTSAM CXX C )
cmake_minimum_required ( VERSION 2.6 )
# Set the version number for the library
set ( GTSAM_VERSION_MAJOR 3 )
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set ( GTSAM_VERSION_MINOR 1 )
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set ( GTSAM_VERSION_PATCH 0 )
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 )
# 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 ${ CMAKE_BINARY_DIR } )
message ( FATAL_ERROR "In-source builds not allowed. Please make a new directory (called a build directory) and run CMake from there. You may need to remove CMakeCache.txt. " )
endif ( )
# See whether gtsam_unstable is available (it will be present only if we're using an SVN checkout)
if ( EXISTS "${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 ( )
###############################################################################
# Set up options
# Configurable Options
if ( GTSAM_UNSTABLE_AVAILABLE )
option ( GTSAM_BUILD_UNSTABLE "Enable/Disable libgtsam_unstable" ON )
endif ( )
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option ( GTSAM_BUILD_STATIC_LIBRARY "Build a static gtsam library, instead of shared" OFF )
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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." OFF )
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." OFF )
option ( GTSAM_ENABLE_CONSISTENCY_CHECKS "Enable/Disable expensive consistency checks" OFF )
option ( GTSAM_WITH_TBB "Use Intel Threaded Building Blocks (TBB) if available" ON )
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option ( GTSAM_WITH_EIGEN_MKL "Eigen will use Intel MKL if available" ON )
option ( GTSAM_WITH_EIGEN_MKL_OPENMP "Eigen, when using Intel MKL, will also use OpenMP for multithreading if available" ON )
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option ( GTSAM_THROW_CHEIRALITY_EXCEPTION "Throw exception when a triangulated point is behind a camera" ON )
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# 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_BUILD_WRAP "Enable/Disable building of matlab wrap utility (necessary for matlab interface)" ON )
# Check / set dependent variables for MATLAB wrapper
if ( GTSAM_INSTALL_MATLAB_TOOLBOX AND NOT GTSAM_BUILD_WRAP )
message ( FATAL_ERROR "GTSAM_INSTALL_MATLAB_TOOLBOX is enabled, please also enable GTSAM_BUILD_WRAP" )
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 ( )
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if ( GTSAM_INSTALL_MATLAB_TOOLBOX AND GTSAM_BUILD_STATIC_LIBRARY )
message ( FATAL_ERROR "GTSAM_INSTALL_MATLAB_TOOLBOX and GTSAM_BUILD_STATIC_LIBRARY are both enabled. 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 GTSAM_BUILD_STATIC_LIBRARY." )
endif ( )
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# 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 using Boost shared libs, disable auto linking
if ( MSVC )
# Some libraries, at least Boost Program Options, rely on this to export DLL symbols
# Disable autolinking
if ( NOT Boost_USE_STATIC_LIBS )
add_definitions ( -DBOOST_ALL_NO_LIB )
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add_definitions ( -DBOOST_ALL_DYN_LINK )
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endif ( )
endif ( )
find_package ( Boost 1.43 COMPONENTS serialization system filesystem thread program_options date_time regex timer chrono )
# Required components
if ( NOT Boost_SERIALIZATION_LIBRARY OR NOT Boost_SYSTEM_LIBRARY OR NOT Boost_FILESYSTEM_LIBRARY OR
N O T B o o s t _ T H R E A D _ L I B R A R Y O R N O T B o o s t _ D A T E _ T I M E _ L I B R A R Y O R N O T B o o s t _ R E G E X _ L I B R A R Y )
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
$ { B o o s t _ S E R I A L I Z A T I O N _ L I B R A R Y } $ { B o o s t _ S Y S T E M _ L I B R A R Y } $ { B o o s t _ F I L E S Y S T E M _ L I B R A R Y }
$ { B o o s t _ T H R E A D _ L I B R A R Y } $ { B o o s t _ D A T E _ T I M E _ L I B R A R Y } $ { B o o s t _ R E G E X _ L I B R A R Y } )
if ( GTSAM_DISABLE_NEW_TIMERS )
message ( "WARNING: GTSAM timing instrumentation manually disabled" )
add_definitions ( -DGTSAM_DISABLE_NEW_TIMERS )
else ( )
if ( Boost_TIMER_LIBRARY )
list ( APPEND GTSAM_BOOST_LIBRARIES ${ Boost_TIMER_LIBRARY } ${ Boost_CHRONO_LIBRARY } )
else ( )
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list ( APPEND GTSAM_BOOST_LIBRARIES rt ) # When using the header-only boost timer library, need -lrt
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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 )
# 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
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include_directories ( BEFORE ${ TBB_INCLUDE_DIRS } )
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set ( GTSAM_TBB_LIBRARIES "" )
if ( TBB_DEBUG_LIBRARIES )
foreach ( lib ${ TBB_LIBRARIES } )
list ( APPEND GTSAM_TBB_LIBRARIES optimized "${lib}" )
endforeach ( )
foreach ( lib ${ TBB_DEBUG_LIBRARIES } )
list ( APPEND GTSAM_TBB_LIBRARIES debug "${lib}" )
endforeach ( )
else ( )
set ( GTSAM_TBB_LIBRARIES ${ TBB_LIBRARIES } )
endif ( )
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list ( APPEND GTSAM_ADDITIONAL_LIBRARIES ${ GTSAM_TBB_LIBRARIES } )
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else ( )
set ( GTSAM_USE_TBB 0 ) # This will go into config.h
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endif ( )
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###############################################################################
# Find Google perftools
find_package ( GooglePerfTools )
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###############################################################################
# Find MKL
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find_package ( MKL )
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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
include_directories ( ${ MKL_INCLUDE_DIR } )
list ( APPEND GTSAM_ADDITIONAL_LIBRARIES ${ MKL_LIBRARIES } )
else ( )
set ( GTSAM_USE_EIGEN_MKL 0 )
set ( EIGEN_USE_MKL_ALL 0 )
endif ( )
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###############################################################################
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# Find OpenMP (if we're also using MKL)
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if ( GTSAM_WITH_EIGEN_MKL AND GTSAM_USE_EIGEN_MKL_OPENMP AND GTSAM_USE_EIGEN_MKL )
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find_package ( OpenMP )
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if ( OPENMP_FOUND AND GTSAM_USE_EIGEN_MKL AND GTSAM_WITH_EIGEN_MKL_OPENMP )
set ( GTSAM_USE_EIGEN_MKL_OPENMP 1 ) # This will go into config.h
set ( CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}" )
endif ( )
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endif ( )
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###############################################################################
# Option for using system Eigen or GTSAM-bundled Eigen
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### Disabled until our patches are included in Eigen ###
### See: http://eigen.tuxfamily.org/bz/show_bug.cgi?id=704 (Householder QR MKL selection)
### http://eigen.tuxfamily.org/bz/show_bug.cgi?id=705 (Fix MKL LLT return code)
### http://eigen.tuxfamily.org/bz/show_bug.cgi?id=716 (Improved comma initialization)
# option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" OFF)
set ( GTSAM_USE_SYSTEM_EIGEN OFF )
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# Switch for using system Eigen or GTSAM-bundled Eigen
if ( GTSAM_USE_SYSTEM_EIGEN )
# Use generic Eigen include paths e.g. <Eigen/Core>
set ( GTSAM_EIGEN_INCLUDE_PREFIX "" )
find_package ( Eigen3 REQUIRED )
include_directories ( AFTER "${EIGEN3_INCLUDE_DIR}" )
else ( )
# Use bundled Eigen include paths e.g. <gtsam/3rdparty/Eigen/Eigen/Core>
set ( GTSAM_EIGEN_INCLUDE_PREFIX "gtsam/3rdparty/Eigen/" )
# Clear any variables set by FindEigen3
if ( EIGEN3_INCLUDE_DIR )
set ( EIGEN3_INCLUDE_DIR NOTFOUND CACHE STRING "" FORCE )
endif ( )
endif ( )
# Write Eigen include file with the paths for either the system Eigen or the GTSAM-bundled Eigen
configure_file ( gtsam/3rdparty/gtsam_eigen_includes.h.in gtsam/3rdparty/gtsam_eigen_includes.h )
# Install the configuration file for Eigen
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install ( FILES ${ PROJECT_BINARY_DIR } /gtsam/3rdparty/gtsam_eigen_includes.h DESTINATION include/gtsam/3rdparty )
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###############################################################################
# Global compile options
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# Build list of possible allocators
set ( possible_allocators "" )
if ( GTSAM_USE_TBB )
list ( APPEND possible_allocators TBB )
set ( preferred_allocator TBB )
else ( )
list ( APPEND possible_allocators BoostPool STL )
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set ( preferred_allocator STL )
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endif ( )
if ( GOOGLE_PERFTOOLS_FOUND )
list ( APPEND possible_allocators tcmalloc )
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endif ( )
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# Check if current allocator choice is valid and set cache option
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list ( FIND possible_allocators "${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 ( )
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# Include boost - use 'BEFORE' so that a specific boost specified to CMake
# takes precedence over a system-installed one.
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include_directories ( BEFORE ${ Boost_INCLUDE_DIR } )
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# Add includes for source directories 'BEFORE' boost and any system include
# paths so that the compiler uses GTSAM headers in our source directory instead
# of any previously installed GTSAM headers.
include_directories ( BEFORE
g t s a m / 3 r d p a r t y / U F c o n f i g
g t s a m / 3 r d p a r t y / C C O L A M D / I n c l u d e
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g t s a m / 3 r d p a r t y / m e t i s - 5 . 1 . 0 / i n c l u d e
g t s a m / 3 r d p a r t y / m e t i s - 5 . 1 . 0 / l i b m e t i s
g t s a m / 3 r d p a r t y / m e t i s - 5 . 1 . 0 / G K l i b
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$ { P R O J E C T _ S O U R C E _ D I R }
$ { P R O J E C T _ B I N A R Y _ D I R } # So we can include generated config header files
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C p p U n i t L i t e )
if ( MSVC )
add_definitions ( -D_CRT_SECURE_NO_WARNINGS -D_SCL_SECURE_NO_WARNINGS )
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add_definitions ( /wd4251 /wd4275 /wd4251 /wd4661 /wd4344 ) # Disable non-DLL-exported base class and other warnings
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endif ( )
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# 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 )
add_definitions ( -Wno-unused-local-typedefs )
endif ( )
endif ( )
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if ( GTSAM_ENABLE_CONSISTENCY_CHECKS )
add_definitions ( -DGTSAM_EXTRA_CONSISTENCY_CHECKS )
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endif ( )
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###############################################################################
# Add components
# Build CppUnitLite
add_subdirectory ( CppUnitLite )
# Build wrap
if ( GTSAM_BUILD_WRAP )
add_subdirectory ( wrap )
endif ( GTSAM_BUILD_WRAP )
# Build GTSAM library
add_subdirectory ( gtsam )
# Build Tests
add_subdirectory ( tests )
# Build examples
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add_subdirectory ( examples )
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# Matlab toolbox
if ( GTSAM_INSTALL_MATLAB_TOOLBOX )
add_subdirectory ( matlab )
endif ( )
# Build gtsam_unstable
if ( GTSAM_BUILD_UNSTABLE )
add_subdirectory ( gtsam_unstable )
endif ( GTSAM_BUILD_UNSTABLE )
# Install config and export files
GtsamMakeConfigFile ( GTSAM "${CMAKE_CURRENT_SOURCE_DIR}/gtsam_extra.cmake.in" )
export ( TARGETS ${ GTSAM_EXPORTED_TARGETS } FILE GTSAM-exports.cmake )
# Check for doxygen availability - optional dependency
find_package ( Doxygen )
# Doxygen documentation - enabling options in subfolder
if ( DOXYGEN_FOUND )
add_subdirectory ( doc )
endif ( )
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# CMake Tools
add_subdirectory ( cmake )
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###############################################################################
# Set up CPack
set ( CPACK_PACKAGE_DESCRIPTION_SUMMARY "GTSAM" )
set ( CPACK_PACKAGE_VENDOR "Frank Dellaert, Georgia Institute of Technology" )
set ( CPACK_PACKAGE_CONTACT "Frank Dellaert, dellaert@cc.gatech.edu" )
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set ( CPACK_PACKAGE_DESCRIPTION_FILE "${CMAKE_CURRENT_SOURCE_DIR}/README.md" )
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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 "Build flags " )
print_config_flag ( ${ GTSAM_BUILD_TESTS } "Build Tests " )
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print_config_flag ( ${ GTSAM_BUILD_EXAMPLES_ALWAYS } "Build examples with 'make all' " )
print_config_flag ( ${ GTSAM_BUILD_TIMING } "Build Timing scripts " )
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if ( DOXYGEN_FOUND )
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print_config_flag ( ${ GTSAM_BUILD_DOCS } "Build Docs " )
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endif ( )
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print_config_flag ( ${ GTSAM_BUILD_STATIC_LIBRARY } "Build static GTSAM library instead of shared" )
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print_config_flag ( ${ GTSAM_BUILD_TYPE_POSTFIXES } "Put build type in library name " )
if ( GTSAM_UNSTABLE_AVAILABLE )
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print_config_flag ( ${ GTSAM_BUILD_UNSTABLE } "Build libgtsam_unstable " )
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endif ( )
string ( TOUPPER "${CMAKE_BUILD_TYPE}" cmake_build_type_toupper )
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if ( NOT MSVC AND NOT XCODE_VERSION )
message ( STATUS " Build type : ${CMAKE_BUILD_TYPE}" )
message ( STATUS " C compilation flags : ${CMAKE_C_FLAGS} ${CMAKE_C_FLAGS_${cmake_build_type_toupper}}" )
message ( STATUS " C++ compilation flags : ${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_${cmake_build_type_toupper}}" )
endif ( )
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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 ( )
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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" )
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elseif ( OPENMP_FOUND AND NOT GTSAM_WITH_EIGEN_MKL )
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message ( STATUS " Eigen will use MKL and OpenMP : OpenMP found but GTSAM_WITH_EIGEN_MKL is disabled" )
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elseif ( OPENMP_FOUND AND NOT MKL_FOUND )
message ( STATUS " Eigen will use MKL and OpenMP : OpenMP found but MKL not found" )
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elseif ( OPENMP_FOUND )
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message ( STATUS " Eigen will use MKL and OpenMP : OpenMP found but GTSAM_WITH_EIGEN_MKL_OPENMP is disabled" )
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else ( )
message ( STATUS " Eigen will use MKL and OpenMP : OpenMP not found" )
endif ( )
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message ( STATUS " Default allocator : ${GTSAM_DEFAULT_ALLOCATOR}" )
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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_POSE3_EXPMAP } "Pose3 retract is full ExpMap " )
message ( STATUS "MATLAB toolbox flags " )
print_config_flag ( ${ GTSAM_INSTALL_MATLAB_TOOLBOX } "Install matlab toolbox " )
print_config_flag ( ${ GTSAM_BUILD_WRAP } "Build Wrap " )
message ( STATUS "===============================================================" )
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# Print warnings at the end
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if ( GTSAM_WITH_TBB AND NOT TBB_FOUND )
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message ( WARNING "TBB was not found - this is ok, but note that GTSAM parallelization will be disabled. Set GTSAM_WITH_TBB to 'Off' to avoid this warning." )
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endif ( )
if ( GTSAM_WITH_EIGEN_MKL AND NOT MKL_FOUND )
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message ( WARNING "MKL was not found - this is ok, but note that MKL yields better performance. Set GTSAM_WITH_EIGEN_MKL to 'Off' to disable this warning." )
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endif ( )
if ( GTSAM_WITH_EIGEN_MKL_OPENMP AND NOT OPENMP_FOUND AND MKL_FOUND )
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message ( WARNING "Your compiler does not support OpenMP - this is ok, but performance may be improved with OpenMP. Set GTSAM_WITH_EIGEN_MKL_OPENMP to 'Off' to avoid this warning." )
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endif ( )
# Include CPack *after* all flags
include ( CPack )
