1# Ceres Solver - A fast non-linear least squares minimizer 2# Copyright 2013 Google Inc. All rights reserved. 3# http://code.google.com/p/ceres-solver/ 4# 5# Redistribution and use in source and binary forms, with or without 6# modification, are permitted provided that the following conditions are met: 7# 8# * Redistributions of source code must retain the above copyright notice, 9# this list of conditions and the following disclaimer. 10# * Redistributions in binary form must reproduce the above copyright notice, 11# this list of conditions and the following disclaimer in the documentation 12# and/or other materials provided with the distribution. 13# * Neither the name of Google Inc. nor the names of its contributors may be 14# used to endorse or promote products derived from this software without 15# specific prior written permission. 16# 17# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 18# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 19# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 20# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 21# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 22# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 23# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 24# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 25# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 26# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 27# POSSIBILITY OF SUCH DAMAGE. 28# 29# Authors: pablo.speciale@gmail.com (Pablo Speciale) 30# alexs.mac@gmail.com (Alex Stewart) 31# 32 33# Config file for Ceres Solver - Find Ceres & dependencies. 34# 35# This file is used by CMake when FIND_PACKAGE( Ceres ) is invoked (and 36# the directory containing this file is present in CMAKE_MODULE_PATH). 37# 38# This module defines the following variables: 39# 40# Ceres_FOUND / CERES_FOUND: True iff Ceres has been successfully 41# found. Both variables are set as although 42# FindPackage() only references Ceres_FOUND 43# in Config mode, given the conventions for 44# <package>_FOUND when FindPackage() is 45# called in Module mode, users could 46# reasonably expect to use CERES_FOUND 47# instead. 48# 49# CERES_VERSION: Version of Ceres found. 50# 51# CERES_INCLUDE_DIRS: Include directories for Ceres and the 52# dependencies which appear in the Ceres public 53# API and are thus required to use Ceres. 54# CERES_LIBRARIES: Libraries for Ceres and all 55# dependencies against which Ceres was 56# compiled. This will not include any optional 57# dependencies that were disabled when Ceres was 58# compiled. 59# 60# The following variables are also defined for legacy compatibility 61# only. Any new code should not use them as they do not conform to 62# the standard CMake FindPackage naming conventions. 63# 64# CERES_INCLUDES = ${CERES_INCLUDE_DIRS}. 65 66# Called if we failed to find Ceres or any of it's required dependencies, 67# unsets all public (designed to be used externally) variables and reports 68# error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument. 69MACRO(CERES_REPORT_NOT_FOUND REASON_MSG) 70 # FindPackage() only references Ceres_FOUND, and requires it to be 71 # explicitly set FALSE to denote not found (not merely undefined). 72 SET(Ceres_FOUND FALSE) 73 SET(CERES_FOUND FALSE) 74 UNSET(CERES_INCLUDE_DIRS) 75 UNSET(CERES_LIBRARIES) 76 77 # Reset the CMake module path to its state when this script was called. 78 SET(CMAKE_MODULE_PATH ${CALLERS_CMAKE_MODULE_PATH}) 79 80 # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by 81 # FindPackage() use the camelcase library name, not uppercase. 82 IF (Ceres_FIND_QUIETLY) 83 MESSAGE(STATUS "Failed to find Ceres - " ${REASON_MSG} ${ARGN}) 84 ELSE (Ceres_FIND_REQUIRED) 85 MESSAGE(FATAL_ERROR "Failed to find Ceres - " ${REASON_MSG} ${ARGN}) 86 ELSE() 87 # Neither QUIETLY nor REQUIRED, use SEND_ERROR which emits an error 88 # that prevents generation, but continues configuration. 89 MESSAGE(SEND_ERROR "Failed to find Ceres - " ${REASON_MSG} ${ARGN}) 90 ENDIF () 91 RETURN() 92ENDMACRO(CERES_REPORT_NOT_FOUND) 93 94# Get the (current, i.e. installed) directory containing this file. 95GET_FILENAME_COMPONENT(CURRENT_CONFIG_INSTALL_DIR 96 "${CMAKE_CURRENT_LIST_FILE}" PATH) 97 98# Record the state of the CMake module path when this script was 99# called so that we can ensure that we leave it in the same state on 100# exit as it was on entry, but modify it locally. 101SET(CALLERS_CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH}) 102# Reset CMake module path to the installation directory of this 103# script, thus we will use the FindPackage() scripts shipped with 104# Ceres to find Ceres' dependencies, even if the user has equivalently 105# named FindPackage() scripts in their project. 106SET(CMAKE_MODULE_PATH ${CURRENT_CONFIG_INSTALL_DIR}) 107 108# Build the absolute root install directory as a relative path 109# (determined when Ceres was configured & built) from the current 110# install directory for this this file. This allows for the install 111# tree to be relocated, after Ceres was built, outside of CMake. 112GET_FILENAME_COMPONENT(CURRENT_ROOT_INSTALL_DIR 113 ${CURRENT_CONFIG_INSTALL_DIR}/@INSTALL_ROOT_REL_CONFIG_INSTALL_DIR@ ABSOLUTE) 114IF (NOT EXISTS ${CURRENT_ROOT_INSTALL_DIR}) 115 CERES_REPORT_NOT_FOUND( 116 "Ceres install root: ${CURRENT_ROOT_INSTALL_DIR}, " 117 "determined from relative path from CeresConfg.cmake install location: " 118 "${CURRENT_CONFIG_INSTALL_DIR}, does not exist. Either the install " 119 "directory was deleted, or the install tree was only partially relocated " 120 "outside of CMake after Ceres was built.") 121ENDIF (NOT EXISTS ${CURRENT_ROOT_INSTALL_DIR}) 122 123# Set the version. 124SET(CERES_VERSION @CERES_VERSION@ ) 125 126# Set the include directories for Ceres (itself). 127SET(CERES_INCLUDE_DIR "${CURRENT_ROOT_INSTALL_DIR}/include") 128IF (NOT EXISTS ${CERES_INCLUDE_DIR}/ceres/ceres.h) 129 CERES_REPORT_NOT_FOUND( 130 "Ceres install root: ${CURRENT_ROOT_INSTALL_DIR}, " 131 "determined from relative path from CeresConfg.cmake install location: " 132 "${CURRENT_CONFIG_INSTALL_DIR}, does not contain Ceres headers. " 133 "Either the install directory was deleted, or the install tree was only " 134 "partially relocated outside of CMake after Ceres was built.") 135ENDIF (NOT EXISTS ${CERES_INCLUDE_DIR}/ceres/ceres.h) 136 137# Append the include directories for all (potentially optional) 138# dependencies with which Ceres was compiled, the libraries themselves 139# come in via CeresTargets-<release/debug>.cmake as link libraries for 140# Ceres target. 141SET(CERES_INCLUDE_DIRS ${CERES_INCLUDE_DIR}) 142 143# Eigen. 144# Flag set during configuration and build of Ceres. 145SET(CERES_EIGEN_VERSION @EIGEN_VERSION@) 146# Append the locations of Eigen when Ceres was built to the search path hints. 147LIST(APPEND EIGEN_INCLUDE_DIR_HINTS @EIGEN_INCLUDE_DIR@) 148# Search quietly s/t we control the timing of the error message if not found. 149FIND_PACKAGE(Eigen ${CERES_EIGEN_VERSION} EXACT QUIET) 150IF (EIGEN_FOUND) 151 MESSAGE(STATUS "Found required Ceres dependency: " 152 "Eigen version ${CERES_EIGEN_VERSION} in ${EIGEN_INCLUDE_DIRS}") 153ELSE (EIGEN_FOUND) 154 CERES_REPORT_NOT_FOUND("Missing required Ceres " 155 "dependency: Eigen version ${CERES_EIGEN_VERSION}, please set " 156 "EIGEN_INCLUDE_DIR.") 157ENDIF (EIGEN_FOUND) 158LIST(APPEND CERES_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS}) 159 160# Glog. 161# Flag set during configuration and build of Ceres. 162SET(CERES_USES_MINIGLOG @MINIGLOG@) 163IF (CERES_USES_MINIGLOG) 164 SET(MINIGLOG_INCLUDE_DIR ${CERES_INCLUDE_DIR}/ceres/internal/miniglog) 165 IF (NOT EXISTS ${MINIGLOG_INCLUDE_DIR}) 166 CERES_REPORT_NOT_FOUND( 167 "Ceres install include directory: " 168 "${CERES_INCLUDE_DIR} does not include miniglog, but Ceres was " 169 "compiled with MINIGLOG enabled (in place of Glog).") 170 ENDIF (NOT EXISTS ${MINIGLOG_INCLUDE_DIR}) 171 LIST(APPEND CERES_INCLUDE_DIRS ${MINIGLOG_INCLUDE_DIR}) 172 # Output message at standard log level (not the lower STATUS) so that 173 # the message is output in GUI during configuration to warn user. 174 MESSAGE("-- Found Ceres installation compiled with miniglog substitute " 175 "for glog, beware this will likely cause problems if glog is later linked.") 176ELSE (CERES_USES_MINIGLOG) 177 # Append the locations of glog when Ceres was built to the search path hints. 178 LIST(APPEND GLOG_INCLUDE_DIR_HINTS @GLOG_INCLUDE_DIR@) 179 GET_FILENAME_COMPONENT(CERES_BUILD_GLOG_LIBRARY_DIR @GLOG_LIBRARY@ PATH) 180 LIST(APPEND GLOG_LIBRARY_DIR_HINTS ${CERES_BUILD_GLOG_LIBRARY_DIR}) 181 182 # Search quietly s/t we control the timing of the error message if not found. 183 FIND_PACKAGE(Glog QUIET) 184 IF (GLOG_FOUND) 185 MESSAGE(STATUS "Found required Ceres dependency: " 186 "Glog in ${GLOG_INCLUDE_DIRS}") 187 ELSE (GLOG_FOUND) 188 CERES_REPORT_NOT_FOUND("Missing required Ceres " 189 "dependency: Glog, please set GLOG_INCLUDE_DIR.") 190 ENDIF (GLOG_FOUND) 191 LIST(APPEND CERES_INCLUDE_DIRS ${GLOG_INCLUDE_DIRS}) 192ENDIF (CERES_USES_MINIGLOG) 193 194# Import exported Ceres targets. 195IF (NOT TARGET ceres AND NOT Ceres_BINARY_DIR) 196 INCLUDE(${CURRENT_CONFIG_INSTALL_DIR}/CeresTargets.cmake) 197ENDIF (NOT TARGET ceres AND NOT Ceres_BINARY_DIR) 198# Set the expected XX_LIBRARIES variable for FindPackage(). 199SET(CERES_LIBRARIES ceres) 200 201# Set legacy include directories variable for backwards compatibility. 202SET(CERES_INCLUDES ${CERES_INCLUDE_DIRS}) 203 204# Reset CMake module path to its state when this script was called. 205SET(CMAKE_MODULE_PATH ${CALLERS_CMAKE_MODULE_PATH}) 206 207# As we use CERES_REPORT_NOT_FOUND() to abort, if we reach this point we have 208# found Ceres and all required dependencies. 209MESSAGE(STATUS "Found Ceres version: ${CERES_VERSION} " 210 "installed in: ${CURRENT_ROOT_INSTALL_DIR}") 211 212# Set CERES_FOUND to be equivalent to Ceres_FOUND, which is set to 213# TRUE by FindPackage() if this file is found and run, and after which 214# Ceres_FOUND is not (explicitly, i.e. undefined does not count) set 215# to FALSE. 216SET(CERES_FOUND TRUE) 217