Clean up CMake build

CMakeLists.txt

@@ -1,23 +1,8 @@
-cmake_minimum_required(VERSION 3.9)
-if (POLICY CMP0082)
-    cmake_policy(SET CMP0082 NEW) # install from sub-directories immediately
-endif()
-if (POLICY CMP0102)
-cmake_policy(SET CMP0102 NEW) # set policy on advanced variables and cmake cache
-endif()
-if (POLICY CMP0156)
-cmake_policy(SET CMP0156 NEW) # new linker strategies
-endif()
+cmake_minimum_required(VERSION 3.9...3.29)
 if (POLICY CMP0167)
 cmake_policy(SET CMP0167 OLD) # Don't complain about boost
 endif()
 
-# allow parent project to override options
-if (POLICY CMP0077)
-  cmake_policy(SET CMP0077 NEW)
-endif(POLICY CMP0077)
-
-
 # Set the version number for the library
 set (GTSAM_VERSION_MAJOR 4)
 set (GTSAM_VERSION_MINOR 3)
@@ -47,9 +32,9 @@ if(MSVC)
   set(CMAKE_EXE_LINKER_FLAGS ${MSVC_LINKER_FLAGS})
   set(CMAKE_MODULE_LINKER_FLAGS ${MSVC_LINKER_FLAGS})
   set(CMAKE_SHARED_LINKER_FLAGS ${MSVC_LINKER_FLAGS})
-  set(CMAKE_STATIC_LINKER_FLAGS ${MSVC_LINKER_FLAGS})
 endif()
 
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 include(GtsamMakeConfigFile)
 include(GNUInstallDirs)

cmake/GtsamBuildTypes.cmake

@@ -108,13 +108,15 @@ endif()
 
 # Other (non-preprocessor macros) compiler flags:
 if(MSVC)
+  set(CMAKE_3_15 $<VERSION_LESS:${CMAKE_VERSION},3.15>)
+  set(CMAKE_3_25 $<VERSION_LESS:${CMAKE_VERSION},3.25>)
   # Common to all configurations, next for each configuration:
   set(GTSAM_COMPILE_OPTIONS_PRIVATE_COMMON          /W3 /GR /EHsc /MP  CACHE STRING "(User editable) Private compiler flags for all configurations.")
-  set(GTSAM_COMPILE_OPTIONS_PRIVATE_DEBUG           /MDd /Zi /Ob0 /Od /RTC1  CACHE STRING "(User editable) Private compiler flags for Debug configuration.")
-  set(GTSAM_COMPILE_OPTIONS_PRIVATE_RELWITHDEBINFO  /MD /O2 /D /Zi /d2Zi+  CACHE STRING "(User editable) Private compiler flags for RelWithDebInfo configuration.")
-  set(GTSAM_COMPILE_OPTIONS_PRIVATE_RELEASE         /MD /O2  CACHE STRING "(User editable) Private compiler flags for Release configuration.")
-  set(GTSAM_COMPILE_OPTIONS_PRIVATE_PROFILING       /MD /O2  /Zi  CACHE STRING "(User editable) Private compiler flags for Profiling configuration.")
-  set(GTSAM_COMPILE_OPTIONS_PRIVATE_TIMING          /MD /O2  CACHE STRING "(User editable) Private compiler flags for Timing configuration.")
+  set(GTSAM_COMPILE_OPTIONS_PRIVATE_DEBUG           $<${CMAKE_3_15}:/MDd> $<${CMAKE_3_25}:/Zi> /Ob0 /Od /RTC1  CACHE STRING "(User editable) Private compiler flags for Debug configuration.")
+  set(GTSAM_COMPILE_OPTIONS_PRIVATE_RELWITHDEBINFO  $<${CMAKE_3_15}:/MD> /O2  $<${CMAKE_3_25}:/Zi>  CACHE STRING "(User editable) Private compiler flags for RelWithDebInfo configuration.")
+  set(GTSAM_COMPILE_OPTIONS_PRIVATE_RELEASE         $<${CMAKE_3_15}:/MD> /O2  CACHE STRING "(User editable) Private compiler flags for Release configuration.")
+  set(GTSAM_COMPILE_OPTIONS_PRIVATE_PROFILING       $<${CMAKE_3_15}:/MD> /O2  $<${CMAKE_3_25}:/Zi>  CACHE STRING "(User editable) Private compiler flags for Profiling configuration.")
+  set(GTSAM_COMPILE_OPTIONS_PRIVATE_TIMING          $<${CMAKE_3_15}:/MD> /O2  CACHE STRING "(User editable) Private compiler flags for Timing configuration.")
 else()
   # Common to all configurations, next for each configuration:
 
@@ -130,7 +132,6 @@ else()
 
   set(GTSAM_COMPILE_OPTIONS_PRIVATE_COMMON
     -Wall                                          # Enable common warnings
-    -fPIC                                          # ensure proper code generation for shared libraries
     $<$<CXX_COMPILER_ID:GNU>:-Wreturn-local-addr -Werror=return-local-addr>            # Error: return local address
     $<$<CXX_COMPILER_ID:Clang>:-Wreturn-stack-address   -Werror=return-stack-address>  # Error: return local address
     $<$<CXX_COMPILER_ID:Clang>:-Wno-weak-template-vtables>  # TODO(dellaert): don't know how to resolve
@@ -155,20 +156,9 @@ mark_as_advanced(GTSAM_COMPILE_OPTIONS_PRIVATE_PROFILING)
 mark_as_advanced(GTSAM_COMPILE_OPTIONS_PRIVATE_TIMING)
 
 # Enable C++17:
-if (NOT CMAKE_VERSION VERSION_LESS 3.8)
-    set(GTSAM_COMPILE_FEATURES_PUBLIC "cxx_std_17" CACHE STRING "CMake compile features property for all gtsam targets.")
-    # See: https://cmake.org/cmake/help/latest/prop_tgt/CXX_EXTENSIONS.html
-    set(CMAKE_CXX_EXTENSIONS OFF)
-    if (MSVC)
-      # NOTE(jlblanco): seems to be required in addition to the cxx_std_17 above?
-      list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC /std:c++17)
-    endif()
-else()
-  # Old cmake versions:
-  if (NOT MSVC)
-    list_append_cache(GTSAM_COMPILE_OPTIONS_PUBLIC $<$<COMPILE_LANGUAGE:CXX>:-std=c++17>)
-  endif()
-endif()
+set(GTSAM_COMPILE_FEATURES_PUBLIC "cxx_std_17" CACHE STRING "CMake compile features property for all gtsam targets.")
+# See: https://cmake.org/cmake/help/latest/prop_tgt/CXX_EXTENSIONS.html
+set(CMAKE_CXX_EXTENSIONS OFF)
 
 # Merge all user-defined flags into the variables that are to be actually used by CMake:
 foreach(build_type "common" ${GTSAM_CMAKE_CONFIGURATION_TYPES})
@@ -250,9 +240,9 @@ endif()
 
 # Make common binary output directory when on Windows
 if(WIN32)
-  set(RUNTIME_OUTPUT_PATH "${GTSAM_BINARY_DIR}/bin")
-  set(EXECUTABLE_OUTPUT_PATH "${GTSAM_BINARY_DIR}/bin")
-  set(LIBRARY_OUTPUT_PATH "${GTSAM_BINARY_DIR}/lib")
+  set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${GTSAM_BINARY_DIR}/bin")
+  set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${GTSAM_BINARY_DIR}/lib")
+  set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${GTSAM_BINARY_DIR}/lib")
 endif()
 
 # Set up build type list for cmake-gui

cmake/HandleEigen.cmake

@@ -13,12 +13,6 @@ if(GTSAM_USE_SYSTEM_EIGEN)
     # Since Eigen 3.3.0 a Eigen3Config.cmake is available so use it.
     find_package(Eigen3 CONFIG REQUIRED) # need to find again as REQUIRED
 
-    # 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
     if(EIGEN_USE_MKL_ALL AND (EIGEN3_VERSION VERSION_LESS 3.2.5))
@@ -30,6 +24,8 @@ 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()
+
+    set(GTSAM_EIGEN_VERSION "${EIGEN3_VERSION}")
 else()
     # Use bundled Eigen include path.
     # Clear any variables set by FindEigen3
@@ -46,7 +42,7 @@ else()
 
     add_library(gtsam_eigen3 INTERFACE)
 
-    target_include_directories(gtsam_eigen3 INTERFACE
+    target_include_directories(gtsam_eigen3 SYSTEM INTERFACE
       $<BUILD_INTERFACE:${GTSAM_EIGEN_INCLUDE_FOR_BUILD}>
       $<INSTALL_INTERFACE:${GTSAM_EIGEN_INCLUDE_FOR_INSTALL}>
     )
@@ -56,11 +52,8 @@ else()
 
     list(APPEND GTSAM_EXPORTED_TARGETS gtsam_eigen3)
     set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}")
-endif()
-
-# Detect Eigen version:
-set(EIGEN_VER_H "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}/Eigen/src/Core/util/Macros.h")
-if (EXISTS ${EIGEN_VER_H})
+    # Detect Eigen version:
+    set(EIGEN_VER_H "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}/Eigen/src/Core/util/Macros.h")
     file(READ "${EIGEN_VER_H}" STR_EIGEN_VERSION)
 
     # Extract the Eigen version from the Macros.h file, lines "#define EIGEN_WORLD_VERSION  XX", etc...
@@ -75,11 +68,9 @@ if (EXISTS ${EIGEN_VER_H})
     string(REGEX MATCH "[0-9]+" GTSAM_EIGEN_VERSION_MINOR "${GTSAM_EIGEN_VERSION_MINOR}")
 
     set(GTSAM_EIGEN_VERSION "${GTSAM_EIGEN_VERSION_WORLD}.${GTSAM_EIGEN_VERSION_MAJOR}.${GTSAM_EIGEN_VERSION_MINOR}")
+endif()
 
-    message(STATUS "Found Eigen version: ${GTSAM_EIGEN_VERSION}")
-else()
-    message(WARNING "Cannot determine Eigen version, missing file: `${EIGEN_VER_H}`")
-endif ()
+message(STATUS "Found Eigen version: ${GTSAM_EIGEN_VERSION}")
 
 if (MSVC)
     if (GTSAM_SHARED_LIB)

gtsam/3rdparty/cephes/CMakeLists.txt

@@ -103,11 +103,7 @@ set_target_properties(
              C_STANDARD 99)
 
 if(WIN32)
-  set_target_properties(
-    cephes-gtsam
-    PROPERTIES PREFIX ""
-               COMPILE_FLAGS /w
-               RUNTIME_OUTPUT_DIRECTORY "${PROJECT_BINARY_DIR}/../../../bin")
+  set_target_properties(cephes-gtsam PROPERTIES COMPILE_FLAGS /w)
 endif()
 
 if(APPLE)

gtsam/3rdparty/metis/GKlib/GKlibSystem.cmake

@@ -15,7 +15,6 @@ option(GKRAND "enable GKRAND support" OFF)
 
 # Add compiler flags.
 if(MSVC)
-  set(GKlib_COPTS "/Ox")
   set(GKlib_COPTIONS "-DWIN32 -DMSC -D_CRT_SECURE_NO_DEPRECATE -DUSE_GKREGEX")
 elseif(MINGW)
   set(GKlib_COPTS "-DUSE_GKREGEX")

gtsam/3rdparty/metis/libmetis/CMakeLists.txt

@@ -3,17 +3,14 @@ include_directories(.)
 # Find sources.
 file(GLOB metis_sources *.c)
 # Build libmetis.
-add_definitions(-fPIC)
 add_library(metis-gtsam ${METIS_LIBRARY_TYPE} ${GKlib_sources} ${metis_sources})
 if(UNIX)
   target_link_libraries(metis-gtsam m)
 endif()
 
 if(WIN32)
 		set_target_properties(metis-gtsam PROPERTIES
-			PREFIX ""
 			COMPILE_FLAGS /w
-			RUNTIME_OUTPUT_DIRECTORY "${PROJECT_BINARY_DIR}/../../../bin"
 			WINDOWS_EXPORT_ALL_SYMBOLS ON)
 endif()
 

gtsam/CMakeLists.txt

@@ -183,10 +183,7 @@ if(WIN32) # Add 'lib' prefix to static library to avoid filename collision with
 			PREFIX "lib")
 		target_compile_definitions(gtsam PRIVATE GTSAM_IMPORT_STATIC)
 	else()
-		set_target_properties(gtsam PROPERTIES
-			PREFIX ""
-			DEFINE_SYMBOL GTSAM_EXPORTS
-			RUNTIME_OUTPUT_DIRECTORY "${GTSAM_BINARY_DIR}/bin")
+		set_target_properties(gtsam PROPERTIES DEFINE_SYMBOL GTSAM_EXPORTS)
 	endif()
 endif()
 

gtsam_unstable/CMakeLists.txt

@@ -107,9 +107,7 @@ if(WIN32) # Add 'lib' prefix to static library to avoid filename collision with
 			COMPILE_DEFINITIONS GTSAM_UNSTABLE_IMPORT_STATIC)
 	else()
 		set_target_properties(gtsam_unstable PROPERTIES
-			PREFIX ""
-			DEFINE_SYMBOL GTSAM_UNSTABLE_EXPORTS
-			RUNTIME_OUTPUT_DIRECTORY "${PROJECT_BINARY_DIR}/bin")
+			DEFINE_SYMBOL GTSAM_UNSTABLE_EXPORTS)
 	endif()
 endif()