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# Ceres Solver - A fast non-linear least squares minimizer
# Copyright 2022 Google Inc. All rights reserved.
# http://ceres-solver.org/
#
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# modification, are permitted provided that the following conditions are met:
#
# * Redistributions of source code must retain the above copyright notice,
# this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above copyright notice,
# this list of conditions and the following disclaimer in the documentation
# and/or other materials provided with the distribution.
# * Neither the name of Google Inc. nor the names of its contributors may be
# used to endorse or promote products derived from this software without
# specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
# Author: alexs.mac@gmail.com (Alex Stewart)
#
#[=======================================================================[.rst:
FindSuiteSparse
===============
Module for locating SuiteSparse libraries and its dependencies.
This module defines the following variables:
``SuiteSparse_FOUND``
``TRUE`` iff SuiteSparse and all dependencies have been found.
``SuiteSparse_VERSION``
Extracted from ``SuiteSparse_config.h`` (>= v4).
``SuiteSparse_VERSION_MAJOR``
Equal to 4 if ``SuiteSparse_VERSION`` = 4.2.1
``SuiteSparse_VERSION_MINOR``
Equal to 2 if ``SuiteSparse_VERSION`` = 4.2.1
``SuiteSparse_VERSION_PATCH``
Equal to 1 if ``SuiteSparse_VERSION`` = 4.2.1
The following variables control the behaviour of this module:
``SuiteSparse_NO_CMAKE``
Do not attempt to use the native SuiteSparse CMake package configuration.
Targets
-------
The following targets define the SuiteSparse components searched for.
``SuiteSparse::AMD``
Symmetric Approximate Minimum Degree (AMD)
``SuiteSparse::CAMD``
Constrained Approximate Minimum Degree (CAMD)
``SuiteSparse::COLAMD``
Column Approximate Minimum Degree (COLAMD)
``SuiteSparse::CCOLAMD``
Constrained Column Approximate Minimum Degree (CCOLAMD)
``SuiteSparse::CHOLMOD``
Sparse Supernodal Cholesky Factorization and Update/Downdate (CHOLMOD)
``SuiteSparse::SPQR``
Multifrontal Sparse QR (SuiteSparseQR)
``SuiteSparse::Config``
Common configuration for all but CSparse (SuiteSparse version >= 4).
Optional SuiteSparse dependencies:
``METIS::METIS``
Serial Graph Partitioning and Fill-reducing Matrix Ordering (METIS)
]=======================================================================]
if (NOT SuiteSparse_NO_CMAKE)
find_package (SuiteSparse NO_MODULE QUIET)
endif (NOT SuiteSparse_NO_CMAKE)
if (SuiteSparse_FOUND)
return ()
endif (SuiteSparse_FOUND)
if (NOT SuiteSparse_FIND_COMPONENTS)
set (SuiteSparse_FIND_COMPONENTS
AMD
CAMD
CCOLAMD
CHOLMOD
COLAMD
SPQR
)
endif (NOT SuiteSparse_FIND_COMPONENTS)
include (CheckLibraryExists)
# CHOLMOD depends on AMD, CAMD, CCOLAMD, and COLAMD
if (CHOLMOD IN_LIST SuiteSparse_FIND_COMPONENTS)
list (APPEND SuiteSparse_FIND_COMPONENTS AMD CAMD CCOLAMD COLAMD)
endif (CHOLMOD IN_LIST SuiteSparse_FIND_COMPONENTS)
# SPQR depends on CHOLMOD
if (SPQR IN_LIST SuiteSparse_FIND_COMPONENTS)
list (APPEND SuiteSparse_FIND_COMPONENTS CHOLMOD)
endif (SPQR IN_LIST SuiteSparse_FIND_COMPONENTS)
# Do note list components multiple times
list (REMOVE_DUPLICATES SuiteSparse_FIND_COMPONENTS)
# Reset CALLERS_CMAKE_FIND_LIBRARY_PREFIXES to its value when
# FindSuiteSparse was invoked.
macro(SuiteSparse_RESET_FIND_LIBRARY_PREFIX)
if (MSVC)
set(CMAKE_FIND_LIBRARY_PREFIXES "${CALLERS_CMAKE_FIND_LIBRARY_PREFIXES}")
endif (MSVC)
endmacro(SuiteSparse_RESET_FIND_LIBRARY_PREFIX)
# Called if we failed to find SuiteSparse or any of it's required dependencies,
# unsets all public (designed to be used externally) variables and reports
# error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument.
macro(SuiteSparse_REPORT_NOT_FOUND REASON_MSG)
# Do NOT unset SuiteSparse_FOUND_REQUIRED_VARS here, as it is used by
# FindPackageHandleStandardArgs() to generate the automatic error message on
# failure which highlights which components are missing.
suitesparse_reset_find_library_prefix()
# Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by FindPackage()
# use the camelcase library name, not uppercase.
if (SuiteSparse_FIND_QUIETLY)
message(STATUS "Failed to find SuiteSparse - " ${REASON_MSG} ${ARGN})
elseif (SuiteSparse_FIND_REQUIRED)
message(FATAL_ERROR "Failed to find SuiteSparse - " ${REASON_MSG} ${ARGN})
else()
# Neither QUIETLY nor REQUIRED, use no priority which emits a message
# but continues configuration and allows generation.
message("-- Failed to find SuiteSparse - " ${REASON_MSG} ${ARGN})
endif (SuiteSparse_FIND_QUIETLY)
# Do not call return(), s/t we keep processing if not called with REQUIRED
# and report all missing components, rather than bailing after failing to find
# the first.
endmacro(SuiteSparse_REPORT_NOT_FOUND)
# Handle possible presence of lib prefix for libraries on MSVC, see
# also SuiteSparse_RESET_FIND_LIBRARY_PREFIX().
if (MSVC)
# Preserve the caller's original values for CMAKE_FIND_LIBRARY_PREFIXES
# s/t we can set it back before returning.
set(CALLERS_CMAKE_FIND_LIBRARY_PREFIXES "${CMAKE_FIND_LIBRARY_PREFIXES}")
# The empty string in this list is important, it represents the case when
# the libraries have no prefix (shared libraries / DLLs).
set(CMAKE_FIND_LIBRARY_PREFIXES "lib" "" "${CMAKE_FIND_LIBRARY_PREFIXES}")
endif (MSVC)
# Additional suffixes to try appending to each search path.
list(APPEND SuiteSparse_CHECK_PATH_SUFFIXES
suitesparse) # Windows/Ubuntu
# Wrappers to find_path/library that pass the SuiteSparse search hints/paths.
#
# suitesparse_find_component(<component> [FILES name1 [name2 ...]]
# [LIBRARIES name1 [name2 ...]]
# [REQUIRED])
macro(suitesparse_find_component COMPONENT)
include(CMakeParseArguments)
set(OPTIONS REQUIRED)
set(MULTI_VALUE_ARGS FILES LIBRARIES)
cmake_parse_arguments(SuiteSparse_FIND_${COMPONENT}
"${OPTIONS}" "" "${MULTI_VALUE_ARGS}" ${ARGN})
if (SuiteSparse_FIND_${COMPONENT}_REQUIRED)
list(APPEND SuiteSparse_FOUND_REQUIRED_VARS SuiteSparse_${COMPONENT}_FOUND)
endif()
set(SuiteSparse_${COMPONENT}_FOUND TRUE)
if (SuiteSparse_FIND_${COMPONENT}_FILES)
find_path(SuiteSparse_${COMPONENT}_INCLUDE_DIR
NAMES ${SuiteSparse_FIND_${COMPONENT}_FILES}
PATH_SUFFIXES ${SuiteSparse_CHECK_PATH_SUFFIXES})
if (SuiteSparse_${COMPONENT}_INCLUDE_DIR)
message(STATUS "Found ${COMPONENT} headers in: "
"${SuiteSparse_${COMPONENT}_INCLUDE_DIR}")
mark_as_advanced(SuiteSparse_${COMPONENT}_INCLUDE_DIR)
else()
# Specified headers not found.
set(SuiteSparse_${COMPONENT}_FOUND FALSE)
if (SuiteSparse_FIND_${COMPONENT}_REQUIRED)
suitesparse_report_not_found(
"Did not find ${COMPONENT} header (required SuiteSparse component).")
else()
message(STATUS "Did not find ${COMPONENT} header (optional "
"SuiteSparse component).")
# Hide optional vars from CMake GUI even if not found.
mark_as_advanced(SuiteSparse_${COMPONENT}_INCLUDE_DIR)
endif()
endif()
endif()
if (SuiteSparse_FIND_${COMPONENT}_LIBRARIES)
find_library(SuiteSparse_${COMPONENT}_LIBRARY
NAMES ${SuiteSparse_FIND_${COMPONENT}_LIBRARIES}
PATH_SUFFIXES ${SuiteSparse_CHECK_PATH_SUFFIXES})
if (SuiteSparse_${COMPONENT}_LIBRARY)
message(STATUS "Found ${COMPONENT} library: ${SuiteSparse_${COMPONENT}_LIBRARY}")
mark_as_advanced(SuiteSparse_${COMPONENT}_LIBRARY)
else ()
# Specified libraries not found.
set(SuiteSparse_${COMPONENT}_FOUND FALSE)
if (SuiteSparse_FIND_${COMPONENT}_REQUIRED)
suitesparse_report_not_found(
"Did not find ${COMPONENT} library (required SuiteSparse component).")
else()
message(STATUS "Did not find ${COMPONENT} library (optional SuiteSparse "
"dependency)")
# Hide optional vars from CMake GUI even if not found.
mark_as_advanced(SuiteSparse_${COMPONENT}_LIBRARY)
endif()
endif()
endif()
# Define the target only if the include directory and the library were found
if (SuiteSparse_${COMPONENT}_INCLUDE_DIR AND SuiteSparse_${COMPONENT}_LIBRARY)
if (NOT TARGET SuiteSparse::${COMPONENT})
add_library(SuiteSparse::${COMPONENT} IMPORTED UNKNOWN)
endif (NOT TARGET SuiteSparse::${COMPONENT})
set_property(TARGET SuiteSparse::${COMPONENT} PROPERTY
INTERFACE_INCLUDE_DIRECTORIES ${SuiteSparse_${COMPONENT}_INCLUDE_DIR})
set_property(TARGET SuiteSparse::${COMPONENT} PROPERTY
IMPORTED_LOCATION ${SuiteSparse_${COMPONENT}_LIBRARY})
endif (SuiteSparse_${COMPONENT}_INCLUDE_DIR AND SuiteSparse_${COMPONENT}_LIBRARY)
endmacro()
# Given the number of components of SuiteSparse, and to ensure that the
# automatic failure message generated by FindPackageHandleStandardArgs()
# when not all required components are found is helpful, we maintain a list
# of all variables that must be defined for SuiteSparse to be considered found.
unset(SuiteSparse_FOUND_REQUIRED_VARS)
# BLAS.
find_package(BLAS QUIET)
if (NOT BLAS_FOUND)
suitesparse_report_not_found(
"Did not find BLAS library (required for SuiteSparse).")
endif (NOT BLAS_FOUND)
list(APPEND SuiteSparse_FOUND_REQUIRED_VARS BLAS_FOUND)
# LAPACK.
find_package(LAPACK QUIET)
if (NOT LAPACK_FOUND)
suitesparse_report_not_found(
"Did not find LAPACK library (required for SuiteSparse).")
endif (NOT LAPACK_FOUND)
list(APPEND SuiteSparse_FOUND_REQUIRED_VARS LAPACK_FOUND)
foreach (component IN LISTS SuiteSparse_FIND_COMPONENTS)
string (TOLOWER ${component} component_lower)
if (component STREQUAL "SPQR")
set (component_header SuiteSparseQR.hpp)
else (component STREQUAL "SPQR")
set (component_header ${component_lower}.h)
endif (component STREQUAL "SPQR")
suitesparse_find_component(${component} REQUIRED FILES ${component_header}
LIBRARIES ${component_lower})
endforeach (component IN LISTS SuiteSparse_FIND_COMPONENTS)
if (TARGET SuiteSparse::SPQR)
# SuiteSparseQR may be compiled with Intel Threading Building Blocks,
# we assume that if TBB is installed, SuiteSparseQR was compiled with
# support for it, this will do no harm if it wasn't.
find_package(TBB QUIET)
if (TBB_FOUND)
message(STATUS "Found Intel Thread Building Blocks (TBB) library "
"(${TBB_VERSION_MAJOR}.${TBB_VERSION_MINOR} / ${TBB_INTERFACE_VERSION}) "
"include location: ${TBB_INCLUDE_DIRS}. Assuming SuiteSparseQR was "
"compiled with TBB.")
# Add the TBB libraries to the SuiteSparseQR libraries (the only
# libraries to optionally depend on TBB).
if (TARGET TBB::tbb)
# Native TBB package configuration provides an imported target. Use it if
# available.
set_property (TARGET SuiteSparse::SPQR APPEND PROPERTY
INTERFACE_LINK_LIBRARIES TBB::tbb)
else (TARGET TBB::tbb)
set_property (TARGET SuiteSparse::SPQR APPEND PROPERTY
INTERFACE_INCLUDE_DIRECTORIES ${TBB_INCLUDE_DIRS})
set_property (TARGET SuiteSparse::SPQR APPEND PROPERTY
INTERFACE_LINK_LIBRARIES ${TBB_LIBRARIES})
endif (TARGET TBB::tbb)
else (TBB_FOUND)
message(STATUS "Did not find Intel TBB library, assuming SuiteSparseQR was "
"not compiled with TBB.")
endif (TBB_FOUND)
endif (TARGET SuiteSparse::SPQR)
# SuiteSparse_config.
#
# If SuiteSparse version is >= 4 then SuiteSparse_config is required.
suitesparse_find_component(
Config FILES SuiteSparse_config.h LIBRARIES suitesparseconfig)
check_library_exists(rt shm_open "" HAVE_LIBRT)
if (TARGET SuiteSparse::Config)
# SuiteSparse_config (SuiteSparse version >= 4) requires librt library for
# timing by default when compiled on Linux or Unix, but not on OSX (which
# does not have librt).
if (HAVE_LIBRT)
message(STATUS "Adding librt to "
"SuiteSparse_config libraries (required on Linux & Unix [not OSX] if "
"SuiteSparse is compiled with timing).")
set_property (TARGET SuiteSparse::Config APPEND PROPERTY
INTERFACE_LINK_LIBRARIES $<LINK_ONLY:rt>)
else (HAVE_LIBRT)
message(STATUS "Could not find librt, but found SuiteSparse_config, "
"assuming that SuiteSparse was compiled without timing.")
endif (HAVE_LIBRT)
# Add BLAS and LAPACK as dependencies of SuiteSparse::Config for convenience
# given that all components depend on it.
if (BLAS_FOUND)
if (TARGET BLAS::BLAS)
set_property (TARGET SuiteSparse::Config APPEND PROPERTY
INTERFACE_LINK_LIBRARIES $<LINK_ONLY:BLAS::BLAS>)
else (TARGET BLAS::BLAS)
set_property (TARGET SuiteSparse::Config APPEND PROPERTY
INTERFACE_LINK_LIBRARIES ${BLAS_LIBRARIES})
endif (TARGET BLAS::BLAS)
endif (BLAS_FOUND)
if (LAPACK_FOUND)
if (TARGET LAPACK::LAPACK)
set_property (TARGET SuiteSparse::Config APPEND PROPERTY
INTERFACE_LINK_LIBRARIES $<LINK_ONLY:LAPACK::LAPACK>)
else (TARGET LAPACK::LAPACK)
set_property (TARGET SuiteSparse::Config APPEND PROPERTY
INTERFACE_LINK_LIBRARIES ${LAPACK_LIBRARIES})
endif (TARGET LAPACK::LAPACK)
endif (LAPACK_FOUND)
# SuiteSparse version >= 4.
set(SuiteSparse_VERSION_FILE
${SuiteSparse_Config_INCLUDE_DIR}/SuiteSparse_config.h)
if (NOT EXISTS ${SuiteSparse_VERSION_FILE})
suitesparse_report_not_found(
"Could not find file: ${SuiteSparse_VERSION_FILE} containing version "
"information for >= v4 SuiteSparse installs, but SuiteSparse_config was "
"found (only present in >= v4 installs).")
else (NOT EXISTS ${SuiteSparse_VERSION_FILE})
file(READ ${SuiteSparse_VERSION_FILE} Config_CONTENTS)
string(REGEX MATCH "#define SUITESPARSE_MAIN_VERSION [0-9]+"
SuiteSparse_VERSION_MAJOR "${Config_CONTENTS}")
string(REGEX REPLACE "#define SUITESPARSE_MAIN_VERSION ([0-9]+)" "\\1"
SuiteSparse_VERSION_MAJOR "${SuiteSparse_VERSION_MAJOR}")
string(REGEX MATCH "#define SUITESPARSE_SUB_VERSION [0-9]+"
SuiteSparse_VERSION_MINOR "${Config_CONTENTS}")
string(REGEX REPLACE "#define SUITESPARSE_SUB_VERSION ([0-9]+)" "\\1"
SuiteSparse_VERSION_MINOR "${SuiteSparse_VERSION_MINOR}")
string(REGEX MATCH "#define SUITESPARSE_SUBSUB_VERSION [0-9]+"
SuiteSparse_VERSION_PATCH "${Config_CONTENTS}")
string(REGEX REPLACE "#define SUITESPARSE_SUBSUB_VERSION ([0-9]+)" "\\1"
SuiteSparse_VERSION_PATCH "${SuiteSparse_VERSION_PATCH}")
# This is on a single line s/t CMake does not interpret it as a list of
# elements and insert ';' separators which would result in 4.;2.;1 nonsense.
set(SuiteSparse_VERSION
"${SuiteSparse_VERSION_MAJOR}.${SuiteSparse_VERSION_MINOR}.${SuiteSparse_VERSION_PATCH}")
set(SuiteSparse_VERSION_COMPONENTS 3)
endif (NOT EXISTS ${SuiteSparse_VERSION_FILE})
endif (TARGET SuiteSparse::Config)
# METIS (Optional dependency).
find_package (METIS)
# CHOLMOD requires AMD CAMD CCOLAMD COLAMD
if (TARGET SuiteSparse::CHOLMOD)
# METIS is optional
if (TARGET METIS::METIS)
set_property (TARGET SuiteSparse::CHOLMOD APPEND PROPERTY
INTERFACE_LINK_LIBRARIES METIS::METIS)
endif (TARGET METIS::METIS)
foreach (component IN ITEMS AMD CAMD CCOLAMD COLAMD)
if (TARGET SuiteSparse::${component})
set_property (TARGET SuiteSparse::CHOLMOD APPEND PROPERTY
INTERFACE_LINK_LIBRARIES SuiteSparse::${component})
else (TARGET SuiteSparse::${component})
# Consider CHOLMOD not found if COLAMD cannot be found
set (SuiteSparse_CHOLMOD_FOUND FALSE)
endif (TARGET SuiteSparse::${component})
endforeach (component IN ITEMS AMD CAMD CCOLAMD COLAMD)
endif (TARGET SuiteSparse::CHOLMOD)
# SPQR requires CHOLMOD
if (TARGET SuiteSparse::SPQR)
if (TARGET SuiteSparse::CHOLMOD)
set_property (TARGET SuiteSparse::SPQR APPEND PROPERTY
INTERFACE_LINK_LIBRARIES SuiteSparse::CHOLMOD)
else (TARGET SuiteSparse::CHOLMOD)
# Consider SPQR not found if CHOLMOD cannot be found
set (SuiteSparse_SQPR_FOUND FALSE)
endif (TARGET SuiteSparse::CHOLMOD)
endif (TARGET SuiteSparse::SPQR)
# Add SuiteSparse::Config as dependency to all components
if (TARGET SuiteSparse::Config)
foreach (component IN LISTS SuiteSparse_FIND_COMPONENTS)
if (component STREQUAL Config)
continue ()
endif (component STREQUAL Config)
if (TARGET SuiteSparse::${component})
set_property (TARGET SuiteSparse::${component} APPEND PROPERTY
INTERFACE_LINK_LIBRARIES SuiteSparse::Config)
endif (TARGET SuiteSparse::${component})
endforeach (component IN LISTS SuiteSparse_FIND_COMPONENTS)
endif (TARGET SuiteSparse::Config)
suitesparse_reset_find_library_prefix()
# Handle REQUIRED and QUIET arguments to FIND_PACKAGE
include(FindPackageHandleStandardArgs)
if (SuiteSparse_FOUND)
find_package_handle_standard_args(SuiteSparse
REQUIRED_VARS ${SuiteSparse_FOUND_REQUIRED_VARS}
VERSION_VAR SuiteSparse_VERSION
FAIL_MESSAGE "Failed to find some/all required components of SuiteSparse."
HANDLE_COMPONENTS)
else (SuiteSparse_FOUND)
# Do not pass VERSION_VAR to FindPackageHandleStandardArgs() if we failed to
# find SuiteSparse to avoid a confusing autogenerated failure message
# that states 'not found (missing: FOO) (found version: x.y.z)'.
find_package_handle_standard_args(SuiteSparse
REQUIRED_VARS ${SuiteSparse_FOUND_REQUIRED_VARS}
FAIL_MESSAGE "Failed to find some/all required components of SuiteSparse."
HANDLE_COMPONENTS)
endif (SuiteSparse_FOUND)