CMakeLists.txt

# Ceres Solver - A fast non-linear least squares minimizer
# Copyright 2015 Google Inc. All rights reserved.
# http://ceres-solver.org/
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# * Redistributions of source code must retain the above copyright notice,
#   this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above copyright notice,
#   this list of conditions and the following disclaimer in the documentation
#   and/or other materials provided with the distribution.
# * Neither the name of Google Inc. nor the names of its contributors may be
#   used to endorse or promote products derived from this software without
#   specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
# Authors: keir@google.com (Keir Mierle)
#          alexs.mac@gmail.com (Alex Stewart)

cmake_minimum_required(VERSION 3.5)
cmake_policy(VERSION 3.5)

# Set the C++ version (must be >= C++11) when compiling Ceres.
#
# Reflect a user-specified (via -D) CMAKE_CXX_STANDARD if present, otherwise
# default to C++11.
set(DEFAULT_CXX_STANDARD ${CMAKE_CXX_STANDARD})
if (NOT DEFAULT_CXX_STANDARD)
  set(DEFAULT_CXX_STANDARD 11)
endif()
set(CMAKE_CXX_STANDARD ${DEFAULT_CXX_STANDARD} CACHE STRING
  "C++ standard (minimum 11)" FORCE)
# Restrict CMAKE_CXX_STANDARD to the valid versions permitted and ensure that
# if one was forced via -D that it is in the valid set.
set(ALLOWED_CXX_STANDARDS 11 14 17)
set_property(CACHE CMAKE_CXX_STANDARD PROPERTY STRINGS ${ALLOWED_CXX_STANDARDS})
list(FIND ALLOWED_CXX_STANDARDS ${CMAKE_CXX_STANDARD} POSITION)
if (POSITION LESS 0)
  message(FATAL_ERROR "Invalid CMAKE_CXX_STANDARD: ${CMAKE_CXX_STANDARD}. "
    "Must be one of: ${ALLOWED_CXX_STANDARDS}")
endif()
# Specify the standard as a hard requirement, otherwise CMAKE_CXX_STANDARD is
# interpreted as a suggestion that can decay *back* to lower versions.
set(CMAKE_CXX_STANDARD_REQUIRED ON CACHE BOOL "")
mark_as_advanced(CMAKE_CXX_STANDARD_REQUIRED)

# MSVC versions < 2013 did not fully support >= C++11.
if (MSVC AND MSVC_VERSION VERSION_LESS 1800)
  message(FATAL_ERROR "Invalid MSVC_VERSION: ${MSVC_VERSION}. Ceres requires at "
    "least MSVC 2013 Update 4+")
endif()

project(Ceres C CXX)

# NOTE: The 'generic' CMake variables CMAKE_[SOURCE/BINARY]_DIR should not be
#       used.  Always use the project-specific variants (generated by CMake):
#       <PROJECT_NAME_MATCHING_CASE>_[SOURCE/BINARY]_DIR, e.g.
#       Ceres_SOURCE_DIR (note, *not* CERES_SOURCE_DIR) instead, as these will
#       always point to the correct directories for the Ceres project, even if
#       it is nested inside another source tree, whereas the 'generic'
#       CMake variables refer to the *first* project() declaration, i.e. the
#       top-level project, not Ceres, if Ceres is nested.

# Make CMake aware of the cmake folder for local FindXXX scripts,
# append rather than set in case the user has passed their own
# additional paths via -D.
list(APPEND CMAKE_MODULE_PATH "${Ceres_SOURCE_DIR}/cmake")
include(UpdateCacheVariable)

# Set up the git hook to make Gerrit Change-Id: lines in commit messages.
include(AddGerritCommitHook)
add_gerrit_commit_hook(${Ceres_SOURCE_DIR} ${Ceres_BINARY_DIR})

# On OS X, add the Homebrew prefix to the set of prefixes searched by
# CMake in find_path & find_library.  This should ensure that we can
# still build Ceres even if Homebrew is installed in a non-standard
# location (not /usr/local).
if (CMAKE_SYSTEM_NAME MATCHES "Darwin")
  find_program(HOMEBREW_EXECUTABLE brew)
  mark_as_advanced(FORCE HOMEBREW_EXECUTABLE)
  if (HOMEBREW_EXECUTABLE)
    # Detected a Homebrew install, query for its install prefix.
    execute_process(COMMAND ${HOMEBREW_EXECUTABLE} --prefix
      OUTPUT_VARIABLE HOMEBREW_INSTALL_PREFIX
      OUTPUT_STRIP_TRAILING_WHITESPACE)
    message(STATUS "Detected Homebrew with install prefix: "
      "${HOMEBREW_INSTALL_PREFIX}, adding to CMake search paths.")
    list(APPEND CMAKE_PREFIX_PATH "${HOMEBREW_INSTALL_PREFIX}")
  endif()
endif()

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${Ceres_BINARY_DIR}/bin)
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${Ceres_BINARY_DIR}/lib)
set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${Ceres_BINARY_DIR}/lib)
# Set postfixes for generated libraries based on buildtype.
set(CMAKE_RELEASE_POSTFIX "")
set(CMAKE_DEBUG_POSTFIX "-debug")

# Read the Ceres version from the source, such that we only ever have a single
# definition of the Ceres version.
include(ReadCeresVersionFromSource)
read_ceres_version_from_source(${Ceres_SOURCE_DIR})

enable_testing()

include(CMakeDependentOption)
option(MINIGLOG "Use a stripped down version of glog." OFF)
option(GFLAGS "Enable Google Flags." ON)
option(SUITESPARSE "Enable SuiteSparse." ON)
option(CXSPARSE "Enable CXSparse." ON)
option(LAPACK "Enable use of LAPACK directly within Ceres." ON)
# Template specializations for the Schur complement based solvers. If
# compile time, binary size or compiler performance is an issue, you
# may consider disabling this.
option(SCHUR_SPECIALIZATIONS "Enable fixed-size schur specializations." ON)
option(CUSTOM_BLAS
       "Use handcoded BLAS routines (usually faster) instead of Eigen."
       ON)
# Multithreading using OpenMP
cmake_dependent_option(
  OPENMP "Enable threaded solving in Ceres (requires OpenMP)" ON
  "NOT TBB;NOT CXX11_THREADS" OFF)
# Multithreading using TBB
cmake_dependent_option(
  TBB "Enable threaded solving in Ceres with TBB (requires TBB and C++11)" OFF
  "NOT OPENMP;NOT CXX11_THREADS" OFF)
# Multithreading using C++11 primitives.
cmake_dependent_option(
  CXX11_THREADS "Enable threaded solving in Ceres with C++11 primitives" OFF
  "NOT OPENMP;NOT TBB" OFF)
# Enable the use of Eigen as a sparse linear algebra library for
# solving the nonlinear least squares problems.
option(EIGENSPARSE "Enable Eigen as a sparse linear algebra library." ON)
option(EXPORT_BUILD_DIR
  "Export build directory using CMake (enables external use without install)." OFF)
option(BUILD_TESTING "Enable tests" ON)
option(BUILD_DOCUMENTATION "Build User's Guide (html)" OFF)
option(BUILD_EXAMPLES "Build examples" ON)
option(BUILD_BENCHMARKS "Build Ceres benchmarking suite" ON)
option(BUILD_SHARED_LIBS "Build Ceres as a shared library." OFF)
if (MSVC)
  option(MSVC_USE_STATIC_CRT
    "MS Visual Studio: Use static C-Run Time Library in place of shared." OFF)

  if (BUILD_TESTING AND BUILD_SHARED_LIBS)
    message(
      "-- Disabling tests. The flags BUILD_TESTING and BUILD_SHARED_LIBS"
      " are incompatible with MSVC.")
    update_cache_variable(BUILD_TESTING OFF)
  endif (BUILD_TESTING AND BUILD_SHARED_LIBS)
endif (MSVC)
# Allow user to specify a suffix for the library install directory, the only
# really sensible option (other than "") being "64", such that:
# ${CMAKE_INSTALL_PREFIX}/lib -> ${CMAKE_INSTALL_PREFIX}/lib64.
#
# Heuristic for determining LIB_SUFFIX. FHS recommends that 64-bit systems
# install native libraries to lib64 rather than lib. Most distros seem to
# follow this convention with a couple notable exceptions (Debian-based and
# Arch-based distros) which we try to detect here.
if (CMAKE_SYSTEM_NAME MATCHES "Linux" AND
    NOT DEFINED LIB_SUFFIX AND
    NOT CMAKE_CROSSCOMPILING AND
    CMAKE_SIZEOF_VOID_P EQUAL "8" AND
    NOT EXISTS "/etc/debian_version" AND
    NOT EXISTS "/etc/arch-release")
  message("-- Detected non-Debian/Arch-based 64-bit Linux distribution. "
    "Defaulting to library install directory: lib${LIB_SUFFIX}. You can "
    "override this by specifying LIB_SUFFIX.")
  set(LIB_SUFFIX "64")
endif ()
# Only create the cache variable (for the CMake GUI) after attempting to detect
# the suffix *if not specified by the user* (NOT DEFINED LIB_SUFFIX in if())
# s/t the user could override our autodetected suffix with "" if desired.
set(LIB_SUFFIX "${LIB_SUFFIX}" CACHE STRING
  "Suffix of library install directory (to support lib/lib64)." FORCE)

# IOS is defined iff using the iOS.cmake CMake toolchain to build a static
# library for iOS.
if (IOS)
  message(STATUS "Building Ceres for iOS platform: ${IOS_PLATFORM}")

  # Ceres requires at least iOS 7.0+.
  if (IOS_DEPLOYMENT_TARGET VERSION_LESS 7.0)
    message(FATAL_ERROR "Unsupported iOS version: ${IOS_DEPLOYMENT_TARGET}, Ceres "
      "requires at least iOS version 7.0")
  endif()

  update_cache_variable(MINIGLOG ON)
  message(STATUS "Building for iOS: Forcing use of miniglog instead of glog.")

  update_cache_variable(SUITESPARSE OFF)
  update_cache_variable(CXSPARSE OFF)
  update_cache_variable(GFLAGS OFF)
  update_cache_variable(OPENMP OFF)
  update_cache_variable(TBB OFF)
  # Apple claims that the BLAS call dsyrk_ is a private API, and will not allow
  # you to submit to the Apple Store if the symbol is present.
  update_cache_variable(LAPACK OFF)
  message(STATUS "Building for iOS: SuiteSparse, CXSparse, LAPACK, gflags, "
    "and OpenMP are not available.")

  update_cache_variable(BUILD_EXAMPLES OFF)
  message(STATUS "Building for iOS: Will not build examples.")
endif (IOS)

unset(CERES_COMPILE_OPTIONS)
message("-- Building with C++${CMAKE_CXX_STANDARD}")

# Eigen.
find_package(Eigen REQUIRED)
if (EIGEN_FOUND)
  message("-- Found Eigen version ${EIGEN_VERSION}: ${EIGEN_INCLUDE_DIRS}")
  if (EIGEN_VERSION VERSION_LESS 3.1.0)
    message(FATAL_ERROR "-- Ceres requires Eigen version >= 3.1.0 in order "
      "that Eigen/SparseCore be available, detected version of Eigen is: "
      "${EIGEN_VERSION}")
  endif (EIGEN_VERSION VERSION_LESS 3.1.0)

  if (CMAKE_SYSTEM_PROCESSOR MATCHES "^(aarch64.*|AARCH64.*)" AND
      EIGEN_VERSION VERSION_LESS 3.3.4)
    # As per issue #289: https://github.com/ceres-solver/ceres-solver/issues/289
    # the bundle_adjustment_test will fail for Eigen < 3.3.4 on aarch64.
    message(FATAL_ERROR "-- Ceres requires Eigen version >= 3.3.4 on aarch64. "
      "Detected version of Eigen is: ${EIGEN_VERSION}.")
  endif()

  if (EIGENSPARSE)
    message("-- Enabling use of Eigen as a sparse linear algebra library.")
    list(APPEND CERES_COMPILE_OPTIONS CERES_USE_EIGEN_SPARSE)
    if (EIGEN_VERSION VERSION_LESS 3.2.2)
      message("   WARNING:")
      message("")
      message("   Your version of Eigen (${EIGEN_VERSION}) is older than ")
      message("   version 3.2.2.  The performance of SPARSE_NORMAL_CHOLESKY ")
      message("   and SPARSE_SCHUR linear solvers will suffer.")
    endif (EIGEN_VERSION VERSION_LESS 3.2.2)
  else (EIGENSPARSE)
    message("-- Disabling use of Eigen as a sparse linear algebra library.")
    message("   This does not affect the covariance estimation algorithm ")
    message("   which can still use the EIGEN_SPARSE_QR algorithm.")
    add_definitions(-DEIGEN_MPL2_ONLY)
  endif (EIGENSPARSE)
endif (EIGEN_FOUND)

if (LAPACK)
  find_package(LAPACK QUIET)
  if (LAPACK_FOUND)
    message("-- Found LAPACK library: ${LAPACK_LIBRARIES}")
  else (LAPACK_FOUND)
    message("-- Did not find LAPACK library, disabling LAPACK support.")
    update_cache_variable(LAPACK OFF)
    list(APPEND CERES_COMPILE_OPTIONS CERES_NO_LAPACK)
  endif (LAPACK_FOUND)
else (LAPACK)
  message("-- Building without LAPACK.")
  list(APPEND CERES_COMPILE_OPTIONS CERES_NO_LAPACK)
endif (LAPACK)

if (SUITESPARSE)
  # By default, if SuiteSparse and all dependencies are found, Ceres is
  # built with SuiteSparse support.

  # Check for SuiteSparse and dependencies.
  find_package(SuiteSparse)
  if (SUITESPARSE_FOUND)
    # On Ubuntu the system install of SuiteSparse (v3.4.0) up to at least
    # Ubuntu 13.10 cannot be used to link shared libraries.
    if (BUILD_SHARED_LIBS AND
        SUITESPARSE_IS_BROKEN_SHARED_LINKING_UBUNTU_SYSTEM_VERSION)
      message(FATAL_ERROR "You are attempting to build Ceres as a shared "
        "library on Ubuntu using a system package install of SuiteSparse "
        "3.4.0. This package is broken and does not support the "
        "construction of shared libraries (you can still build Ceres as "
        "a static library).  If you wish to build a shared version of Ceres "
        "you should uninstall the system install of SuiteSparse "
        "(libsuitesparse-dev) and perform a source install of SuiteSparse "
        "(we recommend that you use the latest version), "
        "see http://ceres-solver.org/building.html for more information.")
    endif (BUILD_SHARED_LIBS AND
      SUITESPARSE_IS_BROKEN_SHARED_LINKING_UBUNTU_SYSTEM_VERSION)

    # By default, if all of SuiteSparse's dependencies are found, Ceres is
    # built with SuiteSparse support.
    message("-- Found SuiteSparse ${SUITESPARSE_VERSION}, "
            "building with SuiteSparse.")
  else (SUITESPARSE_FOUND)
    # Disable use of SuiteSparse if it cannot be found and continue.
    message("-- Did not find all SuiteSparse dependencies, disabling "
      "SuiteSparse support.")
    update_cache_variable(SUITESPARSE OFF)
    list(APPEND CERES_COMPILE_OPTIONS CERES_NO_SUITESPARSE)
  endif (SUITESPARSE_FOUND)
else (SUITESPARSE)
  message("-- Building without SuiteSparse.")
  list(APPEND CERES_COMPILE_OPTIONS CERES_NO_SUITESPARSE)
endif (SUITESPARSE)

# CXSparse.
if (CXSPARSE)
  # Don't search with REQUIRED as we can continue without CXSparse.
  find_package(CXSparse)
  if (CXSPARSE_FOUND)
    # By default, if CXSparse and all dependencies are found, Ceres is
    # built with CXSparse support.
    message("-- Found CXSparse version: ${CXSPARSE_VERSION}, "
      "building with CXSparse.")
  else (CXSPARSE_FOUND)
    # Disable use of CXSparse if it cannot be found and continue.
    message("-- Did not find CXSparse, Building without CXSparse.")
    update_cache_variable(CXSPARSE OFF)
    list(APPEND CERES_COMPILE_OPTIONS CERES_NO_CXSPARSE)
  endif (CXSPARSE_FOUND)
else (CXSPARSE)
  message("-- Building without CXSparse.")
  list(APPEND CERES_COMPILE_OPTIONS CERES_NO_CXSPARSE)
  # Mark as advanced (remove from default GUI view) the CXSparse search
  # variables in case user enabled CXSPARSE, FindCXSparse did not find it, so
  # made search variables visible in GUI for user to set, but then user disables
  # CXSPARSE instead of setting them.
  mark_as_advanced(FORCE CXSPARSE_INCLUDE_DIR
                         CXSPARSE_LIBRARY)
endif (CXSPARSE)

# Ensure that the user understands they have disabled all sparse libraries.
if (NOT SUITESPARSE AND NOT CXSPARSE AND NOT EIGENSPARSE)
  message("   ===============================================================")
  message("   Compiling without any sparse library: SuiteSparse, CXSparse ")
  message("   & Eigen (Sparse) are all disabled or unavailable.  No sparse ")
  message("   linear solvers (SPARSE_NORMAL_CHOLESKY & SPARSE_SCHUR)")
  message("   will be available when Ceres is used.")
  message("   ===============================================================")
endif(NOT SUITESPARSE AND NOT CXSPARSE AND NOT EIGENSPARSE)

# GFlags.
if (GFLAGS)
  # Don't search with REQUIRED as we can continue without gflags.
  find_package(Gflags)
  if (GFLAGS_FOUND)
    message("-- Found Google Flags header in: ${GFLAGS_INCLUDE_DIRS}, "
      "in namespace: ${GFLAGS_NAMESPACE}")
    add_definitions(-DCERES_GFLAGS_NAMESPACE=${GFLAGS_NAMESPACE})
  else (GFLAGS_FOUND)
    message("-- Did not find Google Flags (gflags), Building without gflags "
      "- no tests or tools will be built!")
    update_cache_variable(GFLAGS OFF)
  endif (GFLAGS_FOUND)
else (GFLAGS)
  message("-- Google Flags disabled; no tests or tools will be built!")
  # Mark as advanced (remove from default GUI view) the gflags search
  # variables in case user enabled GFLAGS, FindGflags did not find it, so
  # made search variables visible in GUI for user to set, but then user disables
  # GFLAGS instead of setting them.
  mark_as_advanced(FORCE GFLAGS_INCLUDE_DIR
                         GFLAGS_LIBRARY
                         GFLAGS_NAMESPACE)
endif (GFLAGS)

# MiniGLog.
if (MINIGLOG)
  message("-- Compiling minimal glog substitute into Ceres.")
  set(GLOG_INCLUDE_DIRS internal/ceres/miniglog)
  set(MINIGLOG_MAX_LOG_LEVEL 2 CACHE STRING "The maximum message severity level to be logged")
  add_definitions("-DMAX_LOG_LEVEL=${MINIGLOG_MAX_LOG_LEVEL}")
  message("-- Using minimal glog substitute (include): ${GLOG_INCLUDE_DIRS}")
  message("-- Max log level for minimal glog substitute: ${MINIGLOG_MAX_LOG_LEVEL}")

  # Mark as advanced (remove from default GUI view) the glog search
  # variables in case user disables MINIGLOG, FindGlog did not find it, so
  # made search variables visible in GUI for user to set, but then user enables
  # MINIGLOG instead of setting them.
  mark_as_advanced(FORCE GLOG_INCLUDE_DIR
                         GLOG_LIBRARY)
else (MINIGLOG)
  unset(MINIGLOG_MAX_LOG_LEVEL CACHE)
  # Don't search with REQUIRED so that configuration continues if not found and
  # we can output an error messages explaining MINIGLOG option.
  find_package(Glog)
  if (NOT GLOG_FOUND)
    message(FATAL_ERROR "Can't find Google Log (glog). Please set either: "
      "glog_DIR (newer CMake built versions of glog) or GLOG_INCLUDE_DIR & "
      "GLOG_LIBRARY or enable MINIGLOG option to use minimal glog "
      "implementation.")
  endif(NOT GLOG_FOUND)
  # By default, assume gflags was found, updating the message if it was not.
  set(GLOG_GFLAGS_DEPENDENCY_MESSAGE
    " Assuming glog was built with gflags support as gflags was found. "
    "This will make gflags a public dependency of Ceres.")
  if (NOT GFLAGS_FOUND)
    set(GLOG_GFLAGS_DEPENDENCY_MESSAGE
      " Assuming glog was NOT built with gflags support as gflags was "
      "not found.  If glog was built with gflags, please set the "
      "gflags search locations such that it can be found by Ceres.  "
      "Otherwise, Ceres may fail to link due to missing gflags symbols.")
  endif(NOT GFLAGS_FOUND)
  message("-- Found Google Log (glog)." ${GLOG_GFLAGS_DEPENDENCY_MESSAGE})
endif (MINIGLOG)

if (NOT SCHUR_SPECIALIZATIONS)
  list(APPEND CERES_COMPILE_OPTIONS CERES_RESTRICT_SCHUR_SPECIALIZATION)
  message("-- Disabling Schur specializations (faster compiles)")
endif (NOT SCHUR_SPECIALIZATIONS)

if (NOT CUSTOM_BLAS)
  list(APPEND CERES_COMPILE_OPTIONS CERES_NO_CUSTOM_BLAS)
  message("-- Disabling custom blas")
endif (NOT CUSTOM_BLAS)

if (OPENMP)
  # Find quietly, as we can continue without OpenMP if it is not found.
  find_package(OpenMP QUIET)
  if (OPENMP_FOUND)
    message("-- Building with OpenMP.")
    list(APPEND CERES_COMPILE_OPTIONS CERES_USE_OPENMP)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
  else (OPENMP_FOUND)
    message("-- Failed to find OpenMP, disabling. This is expected on "
      "Clang < 3.8, and at least Xcode <= 8.  See Ceres documentation for "
      "instructions to build with LLVM from Homebrew to enable OpenMP on OS X.")
    update_cache_variable(OPENMP OFF)
  endif (OPENMP_FOUND)
else (OPENMP)
  message("-- Building without OpenMP, disabling.")
endif (OPENMP)

# Initialise CMAKE_REQUIRED_FLAGS used by CheckCXXSourceCompiles with the
# contents of CMAKE_CXX_FLAGS such that if the user has passed extra flags
# they are used when checking for compiler features.
set(CMAKE_REQUIRED_FLAGS ${CMAKE_CXX_FLAGS})

if (TBB)
  find_package(TBB QUIET)
  if (TBB_FOUND)
    message("-- Building with TBB (version: ${TBB_VERSION}).")
    list(APPEND CERES_COMPILE_OPTIONS CERES_USE_TBB)
    include_directories(${TBB_INCLUDE_DIRS})
  else (TBB_FOUND)
    message("-- Failed to find TBB, disabling.")
    update_cache_variable(TBB OFF)
  endif (TBB_FOUND)
endif()

if (CXX11_THREADS)
  message("-- Building with C++11 threads.")
  list(APPEND CERES_COMPILE_OPTIONS CERES_USE_CXX11_THREADS)
endif()

if (NOT OPENMP AND NOT TBB AND NOT CXX11_THREADS)
  message("-- Neither OpenMP, TBB or C++11 threads is enabled, "
    "disabling multithreading.")
  list(APPEND CERES_COMPILE_OPTIONS CERES_NO_THREADS)
endif (NOT OPENMP AND NOT TBB AND NOT CXX11_THREADS)

if (BUILD_BENCHMARKS)
  find_package(benchmark QUIET)
  if (benchmark_FOUND)
     message("-- Found Google benchmark library. Building Ceres benchmarks.")
  else()
     message("-- Failed to find Google benchmark library, disabling build of benchmarks.")
     update_cache_variable(BUILD_BENCHMARKS OFF)
  endif()
  mark_as_advanced(benchmark_DIR)
endif()

include_directories(
  include
  internal
  internal/ceres
  ${GLOG_INCLUDE_DIRS})

# Eigen SparseQR generates various compiler warnings related to unused and
# uninitialised local variables.  To avoid having to individually suppress these
# warnings around the #include statments for Eigen headers across all GCC/Clang
# versions, we tell CMake to treat Eigen headers as system headers.  This
# results in all compiler warnings from them being suppressed.
#
# Note that this is *not* propagated to clients, ie CERES_INCLUDE_DIRS
# used by clients after find_package(Ceres) does not identify Eigen as
# as system headers.
include_directories(SYSTEM ${EIGEN_INCLUDE_DIRS})

if (SUITESPARSE)
  include_directories(${SUITESPARSE_INCLUDE_DIRS})
endif (SUITESPARSE)

if (CXSPARSE)
  include_directories(${CXSPARSE_INCLUDE_DIRS})
endif (CXSPARSE)

if (GFLAGS)
  include_directories(${GFLAGS_INCLUDE_DIRS})
endif (GFLAGS)

if (BUILD_SHARED_LIBS)
  message("-- Building Ceres as a shared library.")
  # The CERES_BUILDING_SHARED_LIBRARY compile definition is NOT stored in
  # CERES_COMPILE_OPTIONS as it must only be defined when Ceres is compiled
  # not when it is used as it controls the CERES_EXPORT macro which provides
  # dllimport/export support in MSVC.
  add_definitions(-DCERES_BUILDING_SHARED_LIBRARY)
  list(APPEND CERES_COMPILE_OPTIONS CERES_USING_SHARED_LIBRARY)
else (BUILD_SHARED_LIBS)
  message("-- Building Ceres as a static library.")
endif (BUILD_SHARED_LIBS)

# Change the default build type from Debug to Release, while still
# supporting overriding the build type.
#
# The CACHE STRING logic here and elsewhere is needed to force CMake
# to pay attention to the value of these variables.
if (NOT CMAKE_BUILD_TYPE)
  message("-- No build type specified; defaulting to CMAKE_BUILD_TYPE=Release.")
  set(CMAKE_BUILD_TYPE Release CACHE STRING
    "Choose the type of build, options are: None Debug Release RelWithDebInfo MinSizeRel."
    FORCE)
else (NOT CMAKE_BUILD_TYPE)
  if (CMAKE_BUILD_TYPE STREQUAL "Debug")
    message("\n=================================================================================")
    message("\n-- Build type: Debug. Performance will be terrible!")
    message("-- Add -DCMAKE_BUILD_TYPE=Release to the CMake command line to get an optimized build.")
    message("\n=================================================================================")
  endif (CMAKE_BUILD_TYPE STREQUAL "Debug")
endif (NOT CMAKE_BUILD_TYPE)

# Set the default Ceres flags to an empty string.
set (CERES_CXX_FLAGS)

if (CMAKE_BUILD_TYPE STREQUAL "Release")
  if (CMAKE_COMPILER_IS_GNUCXX)
    # Linux
    if (CMAKE_SYSTEM_NAME MATCHES "Linux")
      if (NOT GCC_VERSION VERSION_LESS 4.2)
        set (CERES_CXX_FLAGS "${CERES_CXX_FLAGS} -march=native -mtune=native")
      endif (NOT GCC_VERSION VERSION_LESS 4.2)
    endif (CMAKE_SYSTEM_NAME MATCHES "Linux")
    # Mac OS X
    if (CMAKE_SYSTEM_NAME MATCHES "Darwin")
      set (CERES_CXX_FLAGS "${CERES_CXX_FLAGS} -msse3")
      # Use of -fast only applicable for Apple's GCC
      # Assume this is being used if GCC version < 4.3 on OSX
      execute_process(COMMAND ${CMAKE_C_COMPILER}
        ARGS ${CMAKE_CXX_COMPILER_ARG1} -dumpversion
        OUTPUT_VARIABLE GCC_VERSION
        OUTPUT_STRIP_TRAILING_WHITESPACE)
      if (GCC_VERSION VERSION_LESS 4.3)
        set (CERES_CXX_FLAGS "${CERES_CXX_FLAGS} -fast")
      endif (GCC_VERSION VERSION_LESS 4.3)
    endif (CMAKE_SYSTEM_NAME MATCHES "Darwin")
  endif (CMAKE_COMPILER_IS_GNUCXX)
endif (CMAKE_BUILD_TYPE STREQUAL "Release")

set (CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} ${CERES_CXX_FLAGS}")

if (MINGW)
  # MinGW produces code that segfaults when performing matrix multiplications
  # in Eigen when compiled with -O3 (see [1]), as such force the use of -O2
  # which works.
  #
  # [1] http://eigen.tuxfamily.org/bz/show_bug.cgi?id=556
  message("-- MinGW detected, forcing -O2 instead of -O3 in Release for Eigen due "
          "to a MinGW bug: http://eigen.tuxfamily.org/bz/show_bug.cgi?id=556")
  string(REPLACE "-O3" "-O2" CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE}")
  update_cache_variable(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE}")
endif (MINGW)

# After the tweaks for the compile settings, disable some warnings on MSVC.
if (MSVC)
  # On MSVC, math constants are not included in <cmath> or <math.h> unless
  # _USE_MATH_DEFINES is defined [1].  As we use M_PI in the examples, ensure
  # that _USE_MATH_DEFINES is defined before the first inclusion of <cmath>.
  #
  # [1] https://msdn.microsoft.com/en-us/library/4hwaceh6.aspx
  add_definitions("-D_USE_MATH_DEFINES")
  # Disable signed/unsigned int conversion warnings.
  add_definitions("/wd4018")
  # Disable warning about using struct/class for the same symobl.
  add_definitions("/wd4099")
  # Disable warning about the insecurity of using "std::copy".
  add_definitions("/wd4996")
  # Disable performance warning about int-to-bool conversion.
  add_definitions("/wd4800")
  # Disable performance warning about fopen insecurity.
  add_definitions("/wd4996")
  # Disable warning about int64 to int32 conversion. Disabling
  # this warning may not be correct; needs investigation.
  # TODO(keir): Investigate these warnings in more detail.
  add_definitions("/wd4244")
  # It's not possible to use STL types in DLL interfaces in a portable and
  # reliable way. However, that's what happens with Google Log and Google Flags
  # on Windows. MSVC gets upset about this and throws warnings that we can't do
  # much about. The real solution is to link static versions of Google Log and
  # Google Test, but that seems tricky on Windows. So, disable the warning.
  add_definitions("/wd4251")

  # Google Flags doesn't have their DLL import/export stuff set up correctly,
  # which results in linker warnings. This is irrelevant for Ceres, so ignore
  # the warnings.
  set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /ignore:4049")

  # Update the C/CXX flags for MSVC to use either the static or shared
  # C-Run Time (CRT) library based on the user option: MSVC_USE_STATIC_CRT.
  list(APPEND C_CXX_FLAGS
    CMAKE_CXX_FLAGS
    CMAKE_CXX_FLAGS_DEBUG
    CMAKE_CXX_FLAGS_RELEASE
    CMAKE_CXX_FLAGS_MINSIZEREL
    CMAKE_CXX_FLAGS_RELWITHDEBINFO)

  foreach(FLAG_VAR ${C_CXX_FLAGS})
    if (MSVC_USE_STATIC_CRT)
      # Use static CRT.
      if (${FLAG_VAR} MATCHES "/MD")
        string(REGEX REPLACE "/MD" "/MT" ${FLAG_VAR} "${${FLAG_VAR}}")
      endif (${FLAG_VAR} MATCHES "/MD")
    else (MSVC_USE_STATIC_CRT)
      # Use shared, not static, CRT.
      if (${FLAG_VAR} MATCHES "/MT")
        string(REGEX REPLACE "/MT" "/MD" ${FLAG_VAR} "${${FLAG_VAR}}")
      endif (${FLAG_VAR} MATCHES "/MT")
    endif (MSVC_USE_STATIC_CRT)
  endforeach()

  # Tuple sizes of 10 are used by Gtest.
  add_definitions("-D_VARIADIC_MAX=10")

  include(CheckIfUnderscorePrefixedBesselFunctionsExist)
  check_if_underscore_prefixed_bessel_functions_exist(
    HAVE_UNDERSCORE_PREFIXED_BESSEL_FUNCTIONS)
  if (HAVE_UNDERSCORE_PREFIXED_BESSEL_FUNCTIONS)
    list(APPEND CERES_COMPILE_OPTIONS
      CERES_MSVC_USE_UNDERSCORE_PREFIXED_BESSEL_FUNCTIONS)
  endif()
endif (MSVC)

if (UNIX)
  # GCC is not strict enough by default, so enable most of the warnings.
  set(CMAKE_CXX_FLAGS
    "${CMAKE_CXX_FLAGS} -Wno-unknown-pragmas -Wno-sign-compare -Wno-unused-parameter -Wno-missing-field-initializers")
endif (UNIX)

# Use a larger inlining threshold for Clang, since it hobbles Eigen,
# resulting in an unreasonably slow version of the blas routines. The
# -Qunused-arguments is needed because CMake passes the inline
# threshold to the linker and clang complains about it and dies.
if (CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
  set(CMAKE_CXX_FLAGS
    "${CMAKE_CXX_FLAGS} -Qunused-arguments -mllvm -inline-threshold=600")

  # Older versions of Clang (<= 2.9) do not support the 'return-type-c-linkage'
  # option, so check for its presence before adding it to the default flags set.
  include(CheckCXXCompilerFlag)
  check_cxx_compiler_flag("-Wno-return-type-c-linkage"
                          HAVE_RETURN_TYPE_C_LINKAGE)
  if (HAVE_RETURN_TYPE_C_LINKAGE)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-return-type-c-linkage")
  endif(HAVE_RETURN_TYPE_C_LINKAGE)
endif ()

# Xcode 4.5.x used Clang 4.1 (Apple version), this has a bug that prevents
# compilation of Ceres.
if (APPLE AND CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
  execute_process(COMMAND ${CMAKE_CXX_COMPILER}
    ARGS ${CMAKE_CXX_COMPILER_ARG1} -dumpversion
    OUTPUT_VARIABLE CLANG_VERSION
    OUTPUT_STRIP_TRAILING_WHITESPACE)
  # Use version > 4.0 & < 4.2 to catch all 4.1(.x) versions.
  if (CLANG_VERSION VERSION_GREATER 4.0 AND
      CLANG_VERSION VERSION_LESS 4.2)
    message(FATAL_ERROR "You are attempting to build Ceres on OS X using Xcode "
      "4.5.x (Clang version: ${CLANG_VERSION}). This version of Clang has a "
      "bug that prevents compilation of Ceres, please update to "
      "Xcode >= 4.6.3.")
  endif (CLANG_VERSION VERSION_GREATER 4.0 AND
    CLANG_VERSION VERSION_LESS 4.2)
endif (APPLE AND CMAKE_CXX_COMPILER_ID STREQUAL "Clang")

# Configure the Ceres config.h compile options header using the current
# compile options and put the configured header into the Ceres build
# directory.  Note that the ceres/internal subdir in <build>/config where
# the configured config.h is placed is important, because Ceres will be
# built against this configured header, it needs to have the same relative
# include path as it would if it were in the source tree (or installed).
list(REMOVE_DUPLICATES CERES_COMPILE_OPTIONS)
include(CreateCeresConfig)
create_ceres_config("${CERES_COMPILE_OPTIONS}"
  ${Ceres_BINARY_DIR}/config/ceres/internal)
# Force the location containing the configured config.h to the front of the
# include_directories list (by default it is appended to the back) to ensure
# that if the user has an installed version of Ceres in the same location as one
# of the dependencies (e.g. /usr/local) that we find the config.h we just
# configured, not the (older) installed config.h.
include_directories(BEFORE ${Ceres_BINARY_DIR}/config)

add_subdirectory(internal/ceres)

if (BUILD_DOCUMENTATION)
  set(CERES_DOCS_INSTALL_DIR "share/doc/ceres" CACHE STRING
      "Ceres docs install path relative to CMAKE_INSTALL_PREFIX")

  find_package(Sphinx QUIET)
  if (NOT SPHINX_FOUND)
    message("-- Failed to find Sphinx, disabling build of documentation.")
    update_cache_variable(BUILD_DOCUMENTATION OFF)
  else()
    # Generate the User's Guide (html).
    # The corresponding target is ceres_docs, but is included in ALL.
    message("-- Build the HTML documentation.")
    add_subdirectory(docs)
  endif()
endif (BUILD_DOCUMENTATION)

if (BUILD_EXAMPLES)
  message("-- Build the examples.")
  add_subdirectory(examples)
else (BUILD_EXAMPLES)
  message("-- Do not build any example.")
endif (BUILD_EXAMPLES)

# Setup installation of Ceres public headers.
file(GLOB CERES_HDRS ${Ceres_SOURCE_DIR}/include/ceres/*.h)
install(FILES ${CERES_HDRS} DESTINATION include/ceres)

file(GLOB CERES_PUBLIC_INTERNAL_HDRS ${Ceres_SOURCE_DIR}/include/ceres/internal/*.h)
install(FILES ${CERES_PUBLIC_INTERNAL_HDRS} DESTINATION include/ceres/internal)

# Also setup installation of Ceres config.h configured with the current
# build options into the installed headers directory.
install(FILES ${Ceres_BINARY_DIR}/config/ceres/internal/config.h
        DESTINATION include/ceres/internal)

if (MINIGLOG)
  # Install miniglog header if being used as logging #includes appear in
  # installed public Ceres headers.
  install(FILES ${Ceres_SOURCE_DIR}/internal/ceres/miniglog/glog/logging.h
          DESTINATION include/ceres/internal/miniglog/glog)
endif (MINIGLOG)

# Ceres supports two mechanisms by which it can be detected & imported into
# client code which uses CMake via find_package(Ceres):
#
#   1) Installation (e.g. to /usr/local), using CMake's install() function.
#
#   2) (Optional) Export of the current build directory into the local CMake
#      package registry, using CMake's export() function.  This allows use of
#      Ceres from other projects without requiring installation.
#
# In both cases, we need to generate a configured CeresConfig.cmake which
# includes additional autogenerated files which in concert create an imported
# target for Ceres in a client project when find_package(Ceres) is invoked.
# The key distinctions are where this file is located, and whether client code
# references installed copies of the compiled Ceres headers/libraries,
# (option #1: installation), or the originals in the source/build directories
# (option #2: export of build directory).
#
# NOTE: If Ceres is both exported and installed, provided that the installation
#       path is present in CMAKE_MODULE_PATH when find_package(Ceres) is called,
#       the installed version is preferred.

# Build the list of Ceres components for CeresConfig.cmake from the current set
# of compile options.
include(CeresCompileOptionsToComponents)
ceres_compile_options_to_components("${CERES_COMPILE_OPTIONS}"
  CERES_COMPILED_COMPONENTS)

# Create a CeresConfigVersion.cmake file containing the version information,
# used by both export() & install().
configure_file("${Ceres_SOURCE_DIR}/cmake/CeresConfigVersion.cmake.in"
               "${Ceres_BINARY_DIR}/CeresConfigVersion.cmake" @ONLY)

# Install method #1: Put Ceres in CMAKE_INSTALL_PREFIX: /usr/local or equivalent.

# Set the install path for the installed CeresConfig.cmake configuration file
# relative to CMAKE_INSTALL_PREFIX.
if (WIN32)
  set(RELATIVE_CMAKECONFIG_INSTALL_DIR CMake)
else ()
  set(RELATIVE_CMAKECONFIG_INSTALL_DIR lib${LIB_SUFFIX}/cmake/Ceres)
endif ()

# This "exports" for installation all targets which have been put into the
# export set "CeresExport". This generates a CeresTargets.cmake file which,
# when read in by a client project as part of find_package(Ceres) creates
# imported library targets for Ceres (with dependency relations) which can be
# used in target_link_libraries() calls in the client project to use Ceres.
install(EXPORT CeresExport
        DESTINATION ${RELATIVE_CMAKECONFIG_INSTALL_DIR} FILE CeresTargets.cmake)

# Save the relative path from the installed CeresConfig.cmake file to the
# install prefix.  We do not save an absolute path in case the installed package
# is subsequently relocated after installation (on Windows).
file(RELATIVE_PATH INSTALL_ROOT_REL_CONFIG_INSTALL_DIR
     ${CMAKE_INSTALL_PREFIX}/${RELATIVE_CMAKECONFIG_INSTALL_DIR}
     ${CMAKE_INSTALL_PREFIX})

# Configure a CeresConfig.cmake file for an installed version of Ceres from the
# template, reflecting the current build options.
#
# NOTE: The -install suffix is necessary to distinguish the install version from
#       the exported version, which must be named CeresConfig.cmake in
#       Ceres_BINARY_DIR to be detected.  The suffix is removed when
#       it is installed.
set(SETUP_CERES_CONFIG_FOR_INSTALLATION TRUE)
configure_file("${Ceres_SOURCE_DIR}/cmake/CeresConfig.cmake.in"
               "${Ceres_BINARY_DIR}/CeresConfig-install.cmake" @ONLY)

# Install the configuration files into the same directory as the autogenerated
# CeresTargets.cmake file.  We include the find_package() scripts for libraries
# whose headers are included in the public API of Ceres and should thus be
# present in CERES_INCLUDE_DIRS.
install(FILES "${Ceres_BINARY_DIR}/CeresConfig-install.cmake"
        RENAME CeresConfig.cmake
        DESTINATION ${RELATIVE_CMAKECONFIG_INSTALL_DIR})
install(FILES "${Ceres_BINARY_DIR}/CeresConfigVersion.cmake"
              "${Ceres_SOURCE_DIR}/cmake/FindEigen.cmake"
              "${Ceres_SOURCE_DIR}/cmake/FindGlog.cmake"
              "${Ceres_SOURCE_DIR}/cmake/FindGflags.cmake"
        DESTINATION ${RELATIVE_CMAKECONFIG_INSTALL_DIR})

# Create an uninstall target to remove all installed files.
configure_file("${Ceres_SOURCE_DIR}/cmake/uninstall.cmake.in"
               "${Ceres_BINARY_DIR}/cmake/uninstall.cmake"
               @ONLY)
add_custom_target(uninstall
                  COMMAND ${CMAKE_COMMAND} -P ${Ceres_BINARY_DIR}/cmake/uninstall.cmake)

# Install method #2: Put Ceres build into local CMake registry.
#
# Optionally export the Ceres build directory into the local CMake package
# registry (~/.cmake/packages on *nix & OS X).  This allows the detection &
# use of Ceres without requiring that it be installed.
if (EXPORT_BUILD_DIR)
  message("-- Export Ceres build directory to local CMake package registry.")

  # Save the relative path from the build directory to the source directory.
  file(RELATIVE_PATH INSTALL_ROOT_REL_CONFIG_INSTALL_DIR
    ${Ceres_BINARY_DIR}
    ${Ceres_SOURCE_DIR})

  # Analogously to install(EXPORT ...), export the Ceres target from the build
  # directory as a package called Ceres into the local CMake package registry.
  export(TARGETS ceres FILE ${Ceres_BINARY_DIR}/CeresTargets.cmake)
  export(PACKAGE ${CMAKE_PROJECT_NAME})

  # Configure a CeresConfig.cmake file for the export of the Ceres build
  # directory from the template, reflecting the current build options.
  set(SETUP_CERES_CONFIG_FOR_INSTALLATION FALSE)
  configure_file("${Ceres_SOURCE_DIR}/cmake/CeresConfig.cmake.in"
    "${Ceres_BINARY_DIR}/CeresConfig.cmake" @ONLY)

endif (EXPORT_BUILD_DIR)