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Jose's updates #1237

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merged 3 commits into from
Aug 21, 2022
Merged

Jose's updates #1237

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8f509dc
Do not optimize native by default
jlblancoc Jun 2, 2020
ea8e69c
Use system Eigen by default only if found
varunagrawal Jul 7, 2022
441ec33
fix small issue
varunagrawal Jul 7, 2022
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2 changes: 1 addition & 1 deletion cmake/GtsamBuildTypes.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -190,7 +190,7 @@ if(${CMAKE_CXX_COMPILER_ID} STREQUAL "Clang")
endif()

if (NOT MSVC)
option(GTSAM_BUILD_WITH_MARCH_NATIVE "Enable/Disable building with all instructions supported by native architecture (binary may not be portable!)" ON)
option(GTSAM_BUILD_WITH_MARCH_NATIVE "Enable/Disable building with all instructions supported by native architecture (binary may not be portable!)" OFF)
if(GTSAM_BUILD_WITH_MARCH_NATIVE AND (APPLE AND NOT CMAKE_SYSTEM_PROCESSOR STREQUAL "arm64"))
# Add as public flag so all dependant projects also use it, as required
# by Eigen to avid crashes due to SIMD vectorization:
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9 changes: 6 additions & 3 deletions cmake/HandleEigen.cmake
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@@ -1,7 +1,10 @@
###############################################################################
# Option for using system Eigen or GTSAM-bundled Eigen

option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" OFF)
# Default: Use system's Eigen if found automatically:
find_package(Eigen3 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)

if(NOT GTSAM_USE_SYSTEM_EIGEN)
# This option only makes sense if using the embedded copy of Eigen, it is
Expand All @@ -11,7 +14,7 @@ endif()

# Switch for using system Eigen or GTSAM-bundled Eigen
if(GTSAM_USE_SYSTEM_EIGEN)
find_package(Eigen3 REQUIRED)
find_package(Eigen3 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}")
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