78 lines
3.8 KiB
CMake
78 lines
3.8 KiB
CMake
###############################################################################
|
|
# Option for using system Eigen or GTSAM-bundled Eigen
|
|
|
|
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
|
|
# used to decide whether to *install* the "unsupported" module:
|
|
option(GTSAM_WITH_EIGEN_UNSUPPORTED "Install Eigen's unsupported modules" OFF)
|
|
endif()
|
|
|
|
# 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. <Eigen/Core>
|
|
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 "${GTSAM_SOURCE_DIR}/gtsam/3rdparty/Eigen/")
|
|
endif()
|
|
|
|
# Detect Eigen version:
|
|
set(EIGEN_VER_H "${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()
|