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Fix CMake so that Eigen discovery and linking is consistent #1314

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Oct 26, 2022
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Fix CMake so that Eigen discovery and linking is consistent #1314

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10 changes: 3 additions & 7 deletions cmake/HandleEigen.cmake
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Original file line number Diff line number Diff line change
@@ -1,10 +1,6 @@
###############################################################################
# Option for using system Eigen or GTSAM-bundled Eigen
# Default: Use system's Eigen if found automatically:
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)
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
Expand Down Expand Up @@ -46,7 +42,7 @@ else()
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 "${GTSAM_SOURCE_DIR}/gtsam/3rdparty/Eigen/")
set(GTSAM_EIGEN_INCLUDE_FOR_BUILD "${GTSAM_SOURCE_DIR}/gtsam/3rdparty/Eigen")

add_library(gtsam_eigen3 INTERFACE)

Expand All @@ -59,7 +55,7 @@ else()
install(TARGETS gtsam_eigen3 EXPORT GTSAM-exports PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})

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

# Detect Eigen version:
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1 change: 1 addition & 0 deletions gtsam/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -117,6 +117,7 @@ set_target_properties(gtsam PROPERTIES
VERSION ${gtsam_version}
SOVERSION ${gtsam_soversion})

# Append Eigen include path to either
# system-eigen, or GTSAM eigen path
target_link_libraries(gtsam PUBLIC Eigen3::Eigen)

Expand Down