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Use eigen3 config.cmake #1304

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Oct 25, 2022
Merged

Use eigen3 config.cmake #1304

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ec3d6b3
Use cannonical library name for eigen
OznOg Oct 5, 2022
774cfd2
Use Eigen Config file for cmake detection
OznOg Oct 7, 2022
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2 changes: 0 additions & 2 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -101,8 +101,6 @@ if(GTSAM_BUILD_PYTHON OR GTSAM_INSTALL_MATLAB_TOOLBOX)
# Copy matlab.h to the correct folder.
configure_file(${PROJECT_SOURCE_DIR}/wrap/matlab.h
${PROJECT_BINARY_DIR}/wrap/matlab.h COPYONLY)
# Add the include directories so that matlab.h can be found
include_directories("${PROJECT_BINARY_DIR}" "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}")

add_subdirectory(wrap)
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/wrap/cmake")
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4 changes: 4 additions & 0 deletions cmake/Config.cmake.in
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Expand Up @@ -21,6 +21,10 @@ else()
find_dependency(Boost @BOOST_FIND_MINIMUM_VERSION@ COMPONENTS @BOOST_FIND_MINIMUM_COMPONENTS@)
endif()

if(@GTSAM_USE_SYSTEM_EIGEN@)
find_dependency(Eigen3 REQUIRED)
endif()

# Load exports
include(${OUR_CMAKE_DIR}/@PACKAGE_NAME@-exports.cmake)

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81 changes: 0 additions & 81 deletions cmake/FindEigen3.cmake
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28 changes: 21 additions & 7 deletions cmake/HandleEigen.cmake
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
###############################################################################
# Option for using system Eigen or GTSAM-bundled Eigen
# Default: Use system's Eigen if found automatically:
find_package(Eigen3 QUIET)
find_package(Eigen3 CONFIG QUIET)
set(USE_SYSTEM_EIGEN_INITIAL_VALUE ${Eigen3_FOUND})
option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" ${USE_SYSTEM_EIGEN_INITIAL_VALUE})
unset(USE_SYSTEM_EIGEN_INITIAL_VALUE)
Expand All @@ -14,10 +14,14 @@ endif()

# Switch for using system Eigen or GTSAM-bundled Eigen
if(GTSAM_USE_SYSTEM_EIGEN)
find_package(Eigen3 REQUIRED) # need to find again as REQUIRED
# Since Eigen 3.3.0 a Eigen3Config.cmake is available so use it.
find_package(Eigen3 CONFIG REQUIRED) # need to find again as REQUIRED

# Use generic Eigen include paths e.g. <Eigen/Core>
set(GTSAM_EIGEN_INCLUDE_FOR_INSTALL "${EIGEN3_INCLUDE_DIR}")
# The actual include directory (for BUILD cmake target interface):
# Note: EIGEN3_INCLUDE_DIR points to some random location on some eigen
# versions. So here I use the target itself to get the proper include
# directory (it is generated by cmake, thus has the correct path)
get_target_property(GTSAM_EIGEN_INCLUDE_FOR_BUILD Eigen3::Eigen INTERFACE_INCLUDE_DIRECTORIES)

# check if MKL is also enabled - can have one or the other, but not both!
# Note: Eigen >= v3.2.5 includes our patches
Expand All @@ -30,9 +34,6 @@ if(GTSAM_USE_SYSTEM_EIGEN)
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
Expand All @@ -46,6 +47,19 @@ else()

# The actual include directory (for BUILD cmake target interface):
set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${GTSAM_SOURCE_DIR}/gtsam/3rdparty/Eigen/")

add_library(gtsam_eigen3 INTERFACE)

target_include_directories(gtsam_eigen3 INTERFACE
$<BUILD_INTERFACE:${GTSAM_EIGEN_INCLUDE_FOR_BUILD}>
$<INSTALL_INTERFACE:${GTSAM_EIGEN_INCLUDE_FOR_INSTALL}>
)
add_library(Eigen3::Eigen ALIAS gtsam_eigen3)

install(TARGETS gtsam_eigen3 EXPORT GTSAM-exports PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})

list(APPEND GTSAM_EXPORTED_TARGETS gtsam_eigen3)
set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE)
endif()

# Detect Eigen version:
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7 changes: 2 additions & 5 deletions gtsam/CMakeLists.txt
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Expand Up @@ -117,12 +117,9 @@ set_target_properties(gtsam PROPERTIES
VERSION ${gtsam_version}
SOVERSION ${gtsam_soversion})

# Append Eigen include path, set in top-level CMakeLists.txt to either
# system-eigen, or GTSAM eigen path
target_include_directories(gtsam PUBLIC
$<BUILD_INTERFACE:${GTSAM_EIGEN_INCLUDE_FOR_BUILD}>
$<INSTALL_INTERFACE:${GTSAM_EIGEN_INCLUDE_FOR_INSTALL}>
)
target_link_libraries(gtsam PUBLIC Eigen3::Eigen)

# MKL include dir:
if (GTSAM_USE_EIGEN_MKL)
target_include_directories(gtsam PUBLIC ${MKL_INCLUDE_DIR})
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