gtest.h not found on Mac using Conda

[joansola]

Compilation error gtest/gtest.h file not found.

I install my packages using mamba which is a wrapper over conda.

Here's my setup using mamba (with conda would be the same):

mamba create -n manif
mamba activate manif
mamba install eigen ceres-solver gtest autodiff make

The build setup using cmake

mkdir build
cd build
cmake --install-prefix=/Users/xxxx/mambaforge/envs/manif ..

then with ccmake I activate testing and examples. This is the ccmake setup:

 BUILD_BENCHMARKING               OFF                                                                                                        
 BUILD_EXAMPLES                   ON                                                                                                         
 BUILD_PYTHON_BINDINGS            OFF                                                                                                        
 BUILD_TESTING                    ON                                                                                                         
 BUILD_TESTING_PYTHON             OFF                                                                                                        
 CMAKE_BUILD_TYPE                                                                                                                            
 CMAKE_INSTALL_PREFIX             /Users/xxxx/mambaforge/envs/manif                                                                         
 CMAKE_OSX_ARCHITECTURES                                                                                                                     
 CMAKE_OSX_DEPLOYMENT_TARGET                                                                                                                 
 CMAKE_OSX_SYSROOT                /Library/Developer/CommandLineTools/SDKs/MacOSX14.2.sdk                                                    
 Ceres_DIR                        /Users/xxxx/mambaforge/envs/manif/lib/cmake/Ceres                                                         
 ENABLE_CPPCHECK                  OFF                                                                                                        
 Eigen3_DIR                       /Users/xxxx/mambaforge/envs/manif/share/eigen3/cmake                                                      
 GTest_DIR                        /Users/xxxx/mambaforge/envs/manif/lib/cmake/GTest                                                         
 SuiteSparse_DIR                  SuiteSparse_DIR-NOTFOUND                                                                                   
 TBB_DIR                          TBB_DIR-NOTFOUND                                                                                           
 USE_SYSTEM_WIDE_TL_OPTIONAL      OFF                                                                                                        
 autodiff_DIR                     /Users/xxxx/mambaforge/envs/manif/lib/cmake/autodiff                                                      
 gflags_DIR                       /Users/xxxx/mambaforge/envs/manif/lib/cmake/gflags                                                        
 glog_DIR                         /Users/xxxx/mambaforge/envs/manif/lib/cmake/glog                                                          
 tl-optional_DIR                  tl-optional_DIR-NOTFOUND                                                                                   

see that all deps are found, including gtest.

Then compiling fails:

(manif) jsola@travessani build % make
[  1%] Building CXX object examples/CMakeFiles/so2_average.dir/so2_average.cpp.o
[  2%] Linking CXX executable so2_average
[  2%] Built target so2_average
[  3%] Building CXX object examples/CMakeFiles/se2_average.dir/se2_average.cpp.o
[  5%] Linking CXX executable se2_average
[  5%] Built target se2_average
[  6%] Building CXX object examples/CMakeFiles/se2_interpolation.dir/se2_interpolation.cpp.o
[  7%] Linking CXX executable se2_interpolation
[  7%] Built target se2_interpolation
[  8%] Building CXX object examples/CMakeFiles/se2_decasteljau.dir/se2_DeCasteljau.cpp.o
[ 10%] Linking CXX executable se2_decasteljau
[ 10%] Built target se2_decasteljau
[ 11%] Building CXX object examples/CMakeFiles/se2_localization.dir/se2_localization.cpp.o
[ 12%] Linking CXX executable se2_localization
[ 12%] Built target se2_localization
[ 14%] Building CXX object examples/CMakeFiles/se2_localization_ukfm.dir/se2_localization_ukfm.cpp.o
[ 15%] Linking CXX executable se2_localization_ukfm
[ 15%] Built target se2_localization_ukfm
[ 16%] Building CXX object examples/CMakeFiles/se2_sam.dir/se2_sam.cpp.o
[ 17%] Linking CXX executable se2_sam
[ 17%] Built target se2_sam
[ 19%] Building CXX object examples/CMakeFiles/se3_localization.dir/se3_localization.cpp.o
[ 20%] Linking CXX executable se3_localization
[ 20%] Built target se3_localization
[ 21%] Building CXX object examples/CMakeFiles/se3_sam.dir/se3_sam.cpp.o
[ 23%] Linking CXX executable se3_sam
[ 23%] Built target se3_sam
[ 24%] Building CXX object examples/CMakeFiles/se3_sam_selfcalib.dir/se3_sam_selfcalib.cpp.o
[ 25%] Linking CXX executable se3_sam_selfcalib
[ 25%] Built target se3_sam_selfcalib
[ 26%] Building CXX object examples/CMakeFiles/se_2_3_localization.dir/se_2_3_localization.cpp.o
[ 28%] Linking CXX executable se_2_3_localization
[ 28%] Built target se_2_3_localization
[ 29%] Building CXX object examples/CMakeFiles/bundle_sam.dir/bundle_sam.cpp.o
[ 30%] Linking CXX executable bundle_sam
[ 30%] Built target bundle_sam
[ 32%] Building CXX object test/CMakeFiles/gtest_misc.dir/gtest_misc.cpp.o
/Users/xxxx/dev/manif/test/gtest_misc.cpp:1:10: fatal error: 'gtest/gtest.h' file not found
#include <gtest/gtest.h>
         ^~~~~~~~~~~~~~~
1 error generated.
make[2]: *** [test/CMakeFiles/gtest_misc.dir/gtest_misc.cpp.o] Error 1
make[1]: *** [test/CMakeFiles/gtest_misc.dir/all] Error 2
make: *** [all] Error 2

[joansola]

The end of the cmake command gives us a clue of what is possibly going on:

 CMake Warning (dev) at test/CMakeLists.txt:37 (add_dependencies):
   Policy CMP0046 is not set: Error on non-existent dependency in
   add_dependencies.  Run "cmake --help-policy CMP0046" for policy details.
   Use the cmake_policy command to set the policy and suppress this warning.

   The dependency target "gtest" of target "gtest_misc" does not exist.
 Call Stack (most recent call first):
   test/CMakeLists.txt:53 (manif_add_gtest)
 This warning is for project developers.  Use -Wno-dev to suppress it.
 CMake Warning (dev) at test/CMakeLists.txt:37 (add_dependencies):
   Policy CMP0046 is not set: Error on non-existent dependency in
   add_dependencies.  Run "cmake --help-policy CMP0046" for policy details.
   Use the cmake_policy command to set the policy and suppress this warning.

   The dependency target "gtest" of target "gtest_rn" does not exist.
 Call Stack (most recent call first):
   test/rn/CMakeLists.txt:3 (manif_add_gtest)
 This warning is for project developers.  Use -Wno-dev to suppress it.
 CMake Warning (dev) at test/CMakeLists.txt:37 (add_dependencies):
   Policy CMP0046 is not set: Error on non-existent dependency in
   add_dependencies.  Run "cmake --help-policy CMP0046" for policy details.
   Use the cmake_policy command to set the policy and suppress this warning.

[...] // one block of this ^^^ for each target

[artivis]

Could you try to also install gmock alongside gtest?

[joansola]

OK what I did is uninstall gtest and run ccmake again. the option INSTALL_GTEST was then ON,, and now it works. Also, BUILD_GMOCK is now ON

[joansola]

I however now have trouble with autodiff. I will also uninstall it and proceed with this minimal setup

[artivis]

Don't bother with the autodiff library for now, I haven't added sgal to that set of tests. Ceres auto diff only at the moment.

[joansola]

Oh, the autodiff issue is probably because I need an old version of ceres-solver, since local_parametrization is deprecated in ceres in favor of teh new Manifold class.

[artivis]

Oh, the autodiff issue is probably because I need an old version of ceres-solver, since local_parametrization is deprecated in ceres in favor of teh new Manifold class.

Right, I haven't ported manif to the new Ceres framework yet.

[joansola]

OK now I have it.

Pre-installed gtest did not work -- maybe this could be fixed

Uninstalled ceres-solver, autodiff, gtest

cmake --> make --> OK !

All tests pass except for sgal3 which is the one I wanted to check.

Thanks.

[artivis]

again, I think it's a ceres version issue related to local_parametrization being obsolete. What do you think?

Yeah manif doesn't support the 'new' Ceres yet (#288). If you can install an older Ceres version that would work.
Otherwise I'll see to add support for autodiff.