CMakeLists.txt

project(GTSAM CXX C)
cmake_minimum_required(VERSION 2.6)

# Set the version number for the library
set (GTSAM_VERSION_MAJOR 3)
set (GTSAM_VERSION_MINOR 1)
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
option(GTSAM_BUILD_TIMING                "Enable/Disable building of timing scripts" OFF) # These do not currently work
if(GTSAM_UNSTABLE_AVAILABLE)
    option(GTSAM_BUILD_UNSTABLE              "Enable/Disable libgtsam_unstable"          ON)
endif()
option(GTSAM_BUILD_STATIC_LIBRARY        "Build a static gtsam library, instead of shared" OFF)
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)
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)
option(GTSAM_THROW_CHEIRALITY_EXCEPTION "Throw exception when a triangulated point is behind a camera" ON)

# 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()

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()

# 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)
	    add_definitions(-DBOOST_ALL_DYN_LINK)
	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
    NOT Boost_THREAD_LIBRARY OR NOT Boost_DATE_TIME_LIBRARY OR NOT Boost_REGEX_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_LIBRARY} ${Boost_SYSTEM_LIBRARY} ${Boost_FILESYSTEM_LIBRARY}
	${Boost_THREAD_LIBRARY} ${Boost_DATE_TIME_LIBRARY} ${Boost_REGEX_LIBRARY})
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()
      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)

# 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
	include_directories(BEFORE ${TBB_INCLUDE_DIRS})
	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()
	list(APPEND GTSAM_ADDITIONAL_LIBRARIES ${GTSAM_TBB_LIBRARIES})
else()
	set(GTSAM_USE_TBB 0)  # This will go into config.h
endif()


###############################################################################
# Find Google perftools
find_package(GooglePerfTools)


###############################################################################
# Find MKL
if(GTSAM_USE_EIGEN_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
        include_directories(${MKL_INCLUDE_DIR})
        list(APPEND GTSAM_ADDITIONAL_LIBRARIES ${MKL_LIBRARIES})
    endif()
endif()


###############################################################################
# Find OpenMP (if we're also using MKL)
if(GTSAM_USE_EIGEN_MKL AND GTSAM_USE_EIGEN_MKL_OPENMP AND GTSAM_USE_EIGEN_MKL)
    find_package(OpenMP)

    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()
endif()


###############################################################################
# Option for using system Eigen or GTSAM-bundled Eigen
### 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)

# 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
install(FILES ${PROJECT_BINARY_DIR}/gtsam/3rdparty/gtsam_eigen_includes.h DESTINATION include/gtsam/3rdparty)


###############################################################################
# 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()

# Include boost - use 'BEFORE' so that a specific boost specified to CMake
# takes precedence over a system-installed one.
include_directories(BEFORE ${Boost_INCLUDE_DIR})

# 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
  gtsam/3rdparty/UFconfig 
  gtsam/3rdparty/CCOLAMD/Include
  gtsam/3rdparty/metis-5.1.0/include
  gtsam/3rdparty/metis-5.1.0/libmetis
  gtsam/3rdparty/metis-5.1.0/GKlib
  ${PROJECT_SOURCE_DIR}
  ${PROJECT_BINARY_DIR} # So we can include generated config header files
  CppUnitLite)

if(MSVC)
	add_definitions(-D_CRT_SECURE_NO_WARNINGS -D_SCL_SECURE_NO_WARNINGS)
	add_definitions(/wd4251 /wd4275 /wd4251 /wd4661 /wd4344) # Disable non-DLL-exported base class and other warnings
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)
    add_definitions(-Wno-unused-local-typedefs)
  endif()
endif()

if(GTSAM_ENABLE_CONSISTENCY_CHECKS)
  add_definitions(-DGTSAM_EXTRA_CONSISTENCY_CHECKS)
endif()

###############################################################################
# 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
add_subdirectory(examples)

# 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()

# 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 "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(${GTSAM_BUILD_TIMING}                "Build Timing scripts           ")
if (DOXYGEN_FOUND)
    print_config_flag(${GTSAM_BUILD_DOCS}              "Build Docs                     ")
endif()
print_config_flag(${GTSAM_BUILD_STATIC_LIBRARY}        "Build static GTSAM library instead of shared")
print_config_flag(${GTSAM_BUILD_TYPE_POSTFIXES}        "Put build type in library name ")
if(GTSAM_UNSTABLE_AVAILABLE)
    print_config_flag(${GTSAM_BUILD_UNSTABLE}          "Build libgtsam_unstable        ")
endif()
string(TOUPPER "${CMAKE_BUILD_TYPE}" cmake_build_type_toupper)
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()
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}")


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 "===============================================================")

# Print warnings at the end
if(GTSAM_WITH_TBB AND NOT TBB_FOUND)
	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.")
endif()
if(GTSAM_WITH_EIGEN_MKL AND NOT MKL_FOUND)
	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.")
endif()
if(GTSAM_WITH_EIGEN_MKL_OPENMP AND NOT OPENMP_FOUND AND MKL_FOUND)
	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.")
endif()

# Include CPack *after* all flags
include(CPack)