diff --git a/cmake_modules/FindEigen.cmake b/cmake_modules/FindEigen.cmake
index 5d8ecdac63aa87c1b43e37f64d10702884e876b6..d44ea8903d4c5a72af468d603dc1d8e5a6bbf542 100644
--- a/cmake_modules/FindEigen.cmake
+++ b/cmake_modules/FindEigen.cmake
@@ -35,14 +35,25 @@
#
# EIGEN_FOUND: TRUE iff Eigen is found.
# EIGEN_INCLUDE_DIRS: Include directories for Eigen.
-#
# EIGEN_VERSION: Extracted from Eigen/src/Core/util/Macros.h
# EIGEN_WORLD_VERSION: Equal to 3 if EIGEN_VERSION = 3.2.0
# EIGEN_MAJOR_VERSION: Equal to 2 if EIGEN_VERSION = 3.2.0
# EIGEN_MINOR_VERSION: Equal to 0 if EIGEN_VERSION = 3.2.0
+# FOUND_INSTALLED_EIGEN_CMAKE_CONFIGURATION: True iff the version of Eigen
+# found was built & installed /
+# exported as a CMake package.
#
# The following variables control the behaviour of this module:
#
+# EIGEN_PREFER_EXPORTED_EIGEN_CMAKE_CONFIGURATION: TRUE/FALSE, iff TRUE then
+# then prefer using an exported CMake configuration
+# generated by Eigen over searching for the
+# Eigen components manually. Otherwise (FALSE)
+# ignore any exported Eigen CMake configurations and
+# always perform a manual search for the components.
+# Default: TRUE iff user does not define this variable
+# before we are called, and does NOT specify
+# EIGEN_INCLUDE_DIR_HINTS, otherwise FALSE.
# EIGEN_INCLUDE_DIR_HINTS: List of additional directories in which to
# search for eigen includes, e.g: /timbuktu/eigen3.
#
@@ -66,6 +77,7 @@
macro(EIGEN_REPORT_NOT_FOUND REASON_MSG)
unset(EIGEN_FOUND)
unset(EIGEN_INCLUDE_DIRS)
+ unset(FOUND_INSTALLED_EIGEN_CMAKE_CONFIGURATION)
# Make results of search visible in the CMake GUI if Eigen has not
# been found so that user does not have to toggle to advanced view.
mark_as_advanced(CLEAR EIGEN_INCLUDE_DIR)
@@ -83,39 +95,122 @@ macro(EIGEN_REPORT_NOT_FOUND REASON_MSG)
return()
endmacro(EIGEN_REPORT_NOT_FOUND)
-# Search user-installed locations first, so that we prefer user installs
-# to system installs where both exist.
-#
-# TODO: Add standard Windows search locations for Eigen.
-list(APPEND EIGEN_CHECK_INCLUDE_DIRS
- /usr/local/include
- /usr/local/homebrew/include # Mac OS X
- /opt/local/var/macports/software # Mac OS X.
- /opt/local/include
- /usr/include)
-# Additional suffixes to try appending to each search path.
-list(APPEND EIGEN_CHECK_PATH_SUFFIXES
- eigen3 # Default root directory for Eigen.
- Eigen/include/eigen3 ) # Windows (for C:/Program Files prefix).
-
-# Search supplied hint directories first if supplied.
-find_path(EIGEN_INCLUDE_DIR
- NAMES Eigen/Core
- PATHS ${EIGEN_INCLUDE_DIR_HINTS}
- ${EIGEN_CHECK_INCLUDE_DIRS}
- PATH_SUFFIXES ${EIGEN_CHECK_PATH_SUFFIXES})
-
-if (NOT EIGEN_INCLUDE_DIR OR
+# Protect against any alternative find_package scripts for this library having
+# been called previously (in a client project) which set EIGEN_FOUND, but not
+# the other variables we require / set here which could cause the search logic
+# here to fail.
+unset(EIGEN_FOUND)
+
+# -----------------------------------------------------------------
+# By default, if the user has expressed no preference for using an exported
+# Eigen CMake configuration over performing a search for the installed
+# components, and has not specified any hints for the search locations, then
+# prefer an exported configuration if available.
+if (NOT DEFINED EIGEN_PREFER_EXPORTED_EIGEN_CMAKE_CONFIGURATION
+ AND NOT EIGEN_INCLUDE_DIR_HINTS)
+ message(STATUS "No preference for use of exported Eigen CMake configuration "
+ "set, and no hints for include directory provided. "
+ "Defaulting to preferring an installed/exported Eigen CMake configuration "
+ "if available.")
+ set(EIGEN_PREFER_EXPORTED_EIGEN_CMAKE_CONFIGURATION TRUE)
+endif()
+
+if (EIGEN_PREFER_EXPORTED_EIGEN_CMAKE_CONFIGURATION)
+ # Try to find an exported CMake configuration for Eigen.
+ #
+ # We search twice, s/t we can invert the ordering of precedence used by
+ # find_package() for exported package build directories, and installed
+ # packages (found via CMAKE_SYSTEM_PREFIX_PATH), listed as items 6) and 7)
+ # respectively in [1].
+ #
+ # By default, exported build directories are (in theory) detected first, and
+ # this is usually the case on Windows. However, on OS X & Linux, the install
+ # path (/usr/local) is typically present in the PATH environment variable
+ # which is checked in item 4) in [1] (i.e. before both of the above, unless
+ # NO_SYSTEM_ENVIRONMENT_PATH is passed). As such on those OSs installed
+ # packages are usually detected in preference to exported package build
+ # directories.
+ #
+ # To ensure a more consistent response across all OSs, and as users usually
+ # want to prefer an installed version of a package over a locally built one
+ # where both exist (esp. as the exported build directory might be removed
+ # after installation), we first search with NO_CMAKE_PACKAGE_REGISTRY which
+ # means any build directories exported by the user are ignored, and thus
+ # installed directories are preferred. If this fails to find the package
+ # we then research again, but without NO_CMAKE_PACKAGE_REGISTRY, so any
+ # exported build directories will now be detected.
+ #
+ # To prevent confusion on Windows, we also pass NO_CMAKE_BUILDS_PATH (which
+ # is item 5) in [1]), to not preferentially use projects that were built
+ # recently with the CMake GUI to ensure that we always prefer an installed
+ # version if available.
+ #
+ # [1] http://www.cmake.org/cmake/help/v2.8.11/cmake.html#command:find_package
+ find_package(Eigen3 QUIET
+ NO_MODULE
+ NO_CMAKE_PACKAGE_REGISTRY
+ NO_CMAKE_BUILDS_PATH)
+ if (EIGEN3_FOUND)
+ message(STATUS "Found installed version of Eigen: ${Eigen3_DIR}")
+ else()
+ # Failed to find an installed version of Eigen, repeat search allowing
+ # exported build directories.
+ message(STATUS "Failed to find installed Eigen CMake configuration, "
+ "searching for Eigen build directories exported with CMake.")
+ # Again pass NO_CMAKE_BUILDS_PATH, as we know that Eigen is exported and
+ # do not want to treat projects built with the CMake GUI preferentially.
+ find_package(Eigen3 QUIET
+ NO_MODULE
+ NO_CMAKE_BUILDS_PATH)
+ if (EIGEN3_FOUND)
+ message(STATUS "Found exported Eigen build directory: ${Eigen3_DIR}")
+ endif()
+ endif()
+ if (EIGEN3_FOUND)
+ set(FOUND_INSTALLED_EIGEN_CMAKE_CONFIGURATION TRUE)
+ set(EIGEN_FOUND ${EIGEN3_FOUND})
+ set(EIGEN_INCLUDE_DIR "${EIGEN3_INCLUDE_DIR}" CACHE STRING
+ "Eigen include directory" FORCE)
+ else()
+ message(STATUS "Failed to find an installed/exported CMake configuration "
+ "for Eigen, will perform search for installed Eigen components.")
+ endif()
+endif()
+
+if (NOT EIGEN_FOUND)
+ # Search user-installed locations first, so that we prefer user installs
+ # to system installs where both exist.
+ list(APPEND EIGEN_CHECK_INCLUDE_DIRS
+ /usr/local/include
+ /usr/local/homebrew/include # Mac OS X
+ /opt/local/var/macports/software # Mac OS X.
+ /opt/local/include
+ /usr/include)
+ # Additional suffixes to try appending to each search path.
+ list(APPEND EIGEN_CHECK_PATH_SUFFIXES
+ eigen3 # Default root directory for Eigen.
+ Eigen/include/eigen3 # Windows (for C:/Program Files prefix) < 3.3
+ Eigen3/include/eigen3 ) # Windows (for C:/Program Files prefix) >= 3.3
+
+ # Search supplied hint directories first if supplied.
+ find_path(EIGEN_INCLUDE_DIR
+ NAMES Eigen/Core
+ HINTS ${EIGEN_INCLUDE_DIR_HINTS}
+ PATHS ${EIGEN_CHECK_INCLUDE_DIRS}
+ PATH_SUFFIXES ${EIGEN_CHECK_PATH_SUFFIXES})
+
+ if (NOT EIGEN_INCLUDE_DIR OR
+ NOT EXISTS ${EIGEN_INCLUDE_DIR})
+ eigen_report_not_found(
+ "Could not find eigen3 include directory, set EIGEN_INCLUDE_DIR to "
+ "path to eigen3 include directory, e.g. /usr/local/include/eigen3.")
+ endif (NOT EIGEN_INCLUDE_DIR OR
NOT EXISTS ${EIGEN_INCLUDE_DIR})
- eigen_report_not_found(
- "Could not find eigen3 include directory, set EIGEN_INCLUDE_DIR to "
- "path to eigen3 include directory, e.g. /usr/local/include/eigen3.")
-endif (NOT EIGEN_INCLUDE_DIR OR
- NOT EXISTS ${EIGEN_INCLUDE_DIR})
-# Mark internally as found, then verify. EIGEN_REPORT_NOT_FOUND() unsets
-# if called.
-set(EIGEN_FOUND TRUE)
+ # Mark internally as found, then verify. EIGEN_REPORT_NOT_FOUND() unsets
+ # if called.
+ set(EIGEN_FOUND TRUE)
+endif()
# Extract Eigen version from Eigen/src/Core/util/Macros.h
if (EIGEN_INCLUDE_DIR)
@@ -163,5 +258,6 @@ find_package_handle_standard_args(Eigen
# Only mark internal variables as advanced if we found Eigen, otherwise
# leave it visible in the standard GUI for the user to set manually.
if (EIGEN_FOUND)
- mark_as_advanced(FORCE EIGEN_INCLUDE_DIR)
-endif (EIGEN_FOUND)
+ mark_as_advanced(FORCE EIGEN_INCLUDE_DIR
+ Eigen3_DIR) # Autogenerated by find_package(Eigen3)
+endif (EIGEN_FOUND)
\ No newline at end of file
diff --git a/cmake_modules/wolfConfig.cmake b/cmake_modules/wolfConfig.cmake
index 877b55b41d3b648c87d563945c8fad81668ba1d1..4e15cc1d44b19135e96a1c67dd0f8e187982734f 100644
--- a/cmake_modules/wolfConfig.cmake
+++ b/cmake_modules/wolfConfig.cmake
@@ -143,6 +143,7 @@ list(APPEND wolf_INCLUDE_DIRS ${wolf_INCLUDE_DIR})
set(wolf_VERSION 0.0.1)
# Eigen.
+
# Flag set during configuration and build of wolf.
set(wolf_EIGEN_VERSION @EIGEN_VERSION@)
# Append the locations of Eigen when wolf was built to the search path hints.
@@ -150,8 +151,12 @@ list(APPEND EIGEN_INCLUDE_DIR_HINTS /usr/include/eigen3)
# Search quietly to control the timing of the error message if not found. The
# search should be for an exact match, but for usability reasons do a soft
# match and reject with an explanation below.
-find_package(Eigen ${wolf_EIGEN_VERSION} QUIET)
-if (EIGEN_FOUND)
+
+find_package(Eigen3 ${wolf_EIGEN_VERSION} QUIET)
+
+# Flag set with currently found Eigen version.
+set(EIGEN_VERSION @EIGEN_VERSION@)
+if (EIGEN3_FOUND)
if (NOT EIGEN_VERSION VERSION_EQUAL wolf_EIGEN_VERSION)
# CMake's VERSION check in FIND_PACKAGE() will accept any version >= the
# specified version. However, only version = is supported. Improve
@@ -164,13 +169,13 @@ if (EIGEN_FOUND)
"for more details")
endif ()
message(STATUS "Found required wolf dependency: "
- "Eigen version ${wolf_EIGEN_VERSION} in ${EIGEN_INCLUDE_DIRS}")
-else (EIGEN_FOUND)
+ "Eigen version ${wolf_EIGEN_VERSION} in ${EIGEN3_INCLUDE_DIR}")
+else (EIGEN3_FOUND)
wolf_report_not_found("Missing required wolf "
"dependency: Eigen version ${wolf_EIGEN_VERSION}, please set "
- "EIGEN_INCLUDE_DIR.")
-endif (EIGEN_FOUND)
-list(APPEND wolf_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
+ "EIGEN3_INCLUDE_DIR.")
+endif (EIGEN3_FOUND)
+list(APPEND wolf_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
# Import exported wolf targets, if they have not already been imported.
if (NOT TARGET wolf AND NOT wolf_BINARY_DIR)
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 152595422b16a653d70bfa7600d6fe0a62b305b0..19929c49c1de4ca08e32feaee6dc89f49ffaa8ce 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -29,7 +29,7 @@ ENDIF(BUILD_EXAMPLES OR BUILD_TESTS)
#find dependencies.
-FIND_PACKAGE(Eigen 3.2.92 REQUIRED)
+FIND_PACKAGE(Eigen3 3.2.92 REQUIRED)
FIND_PACKAGE(Threads REQUIRED)
@@ -144,7 +144,7 @@ ELSE (SPDLOG_INCLUDE_DIR)
MESSAGE(FATAL_ERROR "Could not find spdlog")
ENDIF (SPDLOG_INCLUDE_DIR)
-INCLUDE_DIRECTORIES(${EIGEN_INCLUDE_DIRS})
+INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIRS})
IF(Ceres_FOUND)
INCLUDE_DIRECTORIES(${CERES_INCLUDE_DIRS})