| # Ceres Solver - A fast non-linear least squares minimizer |
| # Copyright 2022 Google Inc. All rights reserved. |
| # http://ceres-solver.org/ |
| # |
| # Redistribution and use in source and binary forms, with or without |
| # 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" |
| # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| # POSSIBILITY OF SUCH DAMAGE. |
| # |
| # Authors: pablo.speciale@gmail.com (Pablo Speciale) |
| # alexs.mac@gmail.com (Alex Stewart) |
| # |
| |
| # Config file for Ceres Solver - Find Ceres & dependencies. |
| # |
| # This file is used by CMake when find_package(Ceres) is invoked and either |
| # the directory containing this file either is present in CMAKE_MODULE_PATH |
| # (if Ceres was installed), or exists in the local CMake package registry if |
| # the Ceres build directory was exported. |
| # |
| # This module defines the following variables: |
| # |
| # Ceres_FOUND / CERES_FOUND: True if Ceres has been successfully |
| # found. Both variables are set as although |
| # FindPackage() only references Ceres_FOUND |
| # in Config mode, given the conventions for |
| # <package>_FOUND when FindPackage() is |
| # called in Module mode, users could |
| # reasonably expect to use CERES_FOUND |
| # instead. |
| # |
| # CERES_VERSION: Version of Ceres found. |
| # |
| # CERES_LIBRARIES: Libraries for Ceres and all |
| # dependencies against which Ceres was |
| # compiled. This will not include any optional |
| # dependencies that were disabled when Ceres was |
| # compiled. |
| # |
| # NOTE: There is no equivalent of CERES_INCLUDE_DIRS as the exported |
| # CMake target already includes the definition of its public |
| # include directories. |
| |
| include(CMakeFindDependencyMacro) |
| |
| # Called if we failed to find Ceres or any of its required dependencies, |
| # unsets all public (designed to be used externally) variables and reports |
| # error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument. |
| macro(CERES_REPORT_NOT_FOUND REASON_MSG) |
| # FindPackage() only references Ceres_FOUND, and requires it to be |
| # explicitly set FALSE to denote not found (not merely undefined). |
| set(Ceres_FOUND FALSE) |
| set(CERES_FOUND FALSE) |
| unset(CERES_INCLUDE_DIR) |
| unset(CERES_INCLUDE_DIRS) |
| unset(CERES_LIBRARIES) |
| |
| # Reset the CMake module path to its state when this script was called. |
| set(CMAKE_MODULE_PATH ${CALLERS_CMAKE_MODULE_PATH}) |
| |
| # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by |
| # FindPackage() use the camelcase library name, not uppercase. |
| if (Ceres_FIND_QUIETLY) |
| message(STATUS "Failed to find Ceres - " ${REASON_MSG} ${ARGN}) |
| elseif (Ceres_FIND_REQUIRED) |
| message(FATAL_ERROR "Failed to find Ceres - " ${REASON_MSG} ${ARGN}) |
| else() |
| # Neither QUIETLY nor REQUIRED, use SEND_ERROR which emits an error |
| # that prevents generation, but continues configuration. |
| message(SEND_ERROR "Failed to find Ceres - " ${REASON_MSG} ${ARGN}) |
| endif () |
| return() |
| endmacro(CERES_REPORT_NOT_FOUND) |
| |
| |
| # ceres_message([mode] "message text") |
| # |
| # Wraps the standard cmake 'message' command, but suppresses output |
| # if the QUIET flag was passed to the find_package(Ceres ...) call. |
| function(ceres_message) |
| if (NOT Ceres_FIND_QUIETLY) |
| message(${ARGN}) |
| endif() |
| endfunction() |
| |
| |
| # ceres_pretty_print_cmake_list( OUTPUT_VAR [item1 [item2 ... ]] ) |
| # |
| # Sets ${OUTPUT_VAR} in the caller's scope to a human-readable string |
| # representation of the list passed as the remaining arguments formed |
| # as: "[item1, item2, ..., itemN]". |
| function(ceres_pretty_print_cmake_list OUTPUT_VAR) |
| string(REPLACE ";" ", " PRETTY_LIST_STRING "[${ARGN}]") |
| set(${OUTPUT_VAR} "${PRETTY_LIST_STRING}" PARENT_SCOPE) |
| endfunction() |
| |
| # The list of (optional) components this version of Ceres was compiled with. |
| set(CERES_COMPILED_COMPONENTS "@CERES_COMPILED_COMPONENTS@") |
| |
| # If Ceres was not installed, then by definition it was exported |
| # from a build directory. |
| set(CERES_WAS_INSTALLED @SETUP_CERES_CONFIG_FOR_INSTALLATION@) |
| |
| # Record the state of the CMake module path when this script was |
| # called so that we can ensure that we leave it in the same state on |
| # exit as it was on entry, but modify it locally. |
| set(CALLERS_CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH}) |
| |
| # Get the (current, i.e. installed) directory containing this file. |
| get_filename_component(CERES_CURRENT_CONFIG_DIR |
| "${CMAKE_CURRENT_LIST_FILE}" PATH) |
| |
| if (CERES_WAS_INSTALLED) |
| # Reset CMake module path to the installation directory of this |
| # script, thus we will use the FindPackage() scripts shipped with |
| # Ceres to find Ceres' dependencies, even if the user has equivalently |
| # named FindPackage() scripts in their project. |
| set(CMAKE_MODULE_PATH ${CERES_CURRENT_CONFIG_DIR}) |
| |
| # Build the absolute root install directory as a relative path |
| # (determined when Ceres was configured & built) from the current |
| # install directory for this this file. This allows for the install |
| # tree to be relocated, after Ceres was built, outside of CMake. |
| get_filename_component(CURRENT_ROOT_INSTALL_DIR |
| "${CERES_CURRENT_CONFIG_DIR}/@INSTALL_ROOT_REL_CONFIG_INSTALL_DIR@" |
| ABSOLUTE) |
| if (NOT EXISTS ${CURRENT_ROOT_INSTALL_DIR}) |
| ceres_report_not_found( |
| "Ceres install root: ${CURRENT_ROOT_INSTALL_DIR}, " |
| "determined from relative path from CeresConfig.cmake install location: " |
| "${CERES_CURRENT_CONFIG_DIR}, does not exist. Either the install " |
| "directory was deleted, or the install tree was only partially relocated " |
| "outside of CMake after Ceres was built.") |
| endif (NOT EXISTS ${CURRENT_ROOT_INSTALL_DIR}) |
| |
| else(CERES_WAS_INSTALLED) |
| # Ceres was exported from the build tree. |
| set(CERES_EXPORTED_BUILD_DIR ${CERES_CURRENT_CONFIG_DIR}) |
| get_filename_component(CERES_EXPORTED_SOURCE_DIR |
| "${CERES_EXPORTED_BUILD_DIR}/@INSTALL_ROOT_REL_CONFIG_INSTALL_DIR@" |
| ABSOLUTE) |
| if (NOT EXISTS ${CERES_EXPORTED_SOURCE_DIR}) |
| ceres_report_not_found( |
| "Ceres exported source directory: ${CERES_EXPORTED_SOURCE_DIR}, " |
| "determined from relative path from CeresConfig.cmake exported build " |
| "directory: ${CERES_EXPORTED_BUILD_DIR} does not exist.") |
| endif() |
| |
| # Reset CMake module path to the cmake directory in the Ceres source |
| # tree which was exported, thus we will use the FindPackage() scripts shipped |
| # with Ceres to find Ceres' dependencies, even if the user has equivalently |
| # named FindPackage() scripts in their project. |
| set(CMAKE_MODULE_PATH ${CERES_EXPORTED_SOURCE_DIR}/cmake) |
| endif(CERES_WAS_INSTALLED) |
| |
| # Set the version. |
| set(CERES_VERSION @CERES_VERSION@) |
| |
| include(CMakeFindDependencyMacro) |
| # Optional dependencies |
| @METIS_DEPENDENCY@ |
| @SuiteSparse_DEPENDENCY@ |
| @CUDAToolkit_DEPENDENCY@ |
| @cudss_DEPENDENCY@ |
| @Threads_DEPENDENCY@ |
| |
| # As imported CMake targets are not re-exported when a dependent target is |
| # exported, we must invoke find_package(XXX) here to reload the definition |
| # of their targets. Without this, the dependency target names (e.g. |
| # 'gflags-shared') which will be present in the ceres target would not be |
| # defined, and so CMake will assume that they refer to a library name and |
| # fail to link correctly. |
| |
| # Eigen. |
| # Flag set during configuration and build of Ceres. |
| set(CERES_EIGEN_VERSION @Eigen3_VERSION@) |
| # Search quietly to control the timing of the error message if not found. The |
| # search should be for an exact match, but for usability reasons do a soft |
| # match and reject with an explanation below. |
| find_package(Eigen3 ${CERES_EIGEN_VERSION} QUIET) |
| if (Eigen3_FOUND) |
| if (NOT Eigen3_VERSION VERSION_EQUAL CERES_EIGEN_VERSION) |
| # CMake's VERSION check in FIND_PACKAGE() will accept any version >= the |
| # specified version. However, only version = is supported. Improve |
| # usability by explaining why we don't accept non-exact version matching. |
| ceres_report_not_found("Found Eigen dependency, but the version of Eigen " |
| "found (${Eigen3_VERSION}) does not exactly match the version of Eigen " |
| "Ceres was compiled with (${CERES_EIGEN_VERSION}). This can cause subtle " |
| "bugs by triggering violations of the One Definition Rule. See the " |
| "Wikipedia article http://en.wikipedia.org/wiki/One_Definition_Rule " |
| "for more details") |
| endif () |
| ceres_message(STATUS "Found required Ceres dependency: " |
| "Eigen version ${CERES_EIGEN_VERSION} in ${Eigen3_DIR}") |
| else (Eigen3_FOUND) |
| ceres_report_not_found("Missing required Ceres " |
| "dependency: Eigen version ${CERES_EIGEN_VERSION}, please set " |
| "Eigen3_DIR.") |
| endif (Eigen3_FOUND) |
| |
| # glog (and maybe gflags). |
| # |
| # Flags set during configuration and build of Ceres. |
| set(CERES_USES_MINIGLOG @MINIGLOG@) |
| set(CERES_GLOG_VERSION @glog_VERSION@) |
| set(CERES_GLOG_WAS_BUILT_WITH_CMAKE @FOUND_INSTALLED_GLOG_CMAKE_CONFIGURATION@) |
| |
| set(CERES_USES_GFLAGS @GFLAGS@) |
| set(CERES_GFLAGS_VERSION @gflags_VERSION@) |
| |
| if (CERES_USES_MINIGLOG) |
| # Output message at standard log level (not the lower STATUS) so that |
| # the message is output in GUI during configuration to warn user. |
| ceres_message("-- Found Ceres compiled with miniglog substitute " |
| "for glog, beware this will likely cause problems if glog is later linked.") |
| else(CERES_USES_MINIGLOG) |
| if (CERES_GLOG_WAS_BUILT_WITH_CMAKE) |
| find_package(glog ${CERES_GLOG_VERSION} CONFIG QUIET) |
| set(GLOG_FOUND ${glog_FOUND}) |
| else() |
| # Version of glog against which Ceres was built was not built with CMake, |
| # use the exported glog find_package() module from Ceres to find it again. |
| # Append the locations of glog when Ceres was built to the search path hints. |
| list(APPEND GLOG_INCLUDE_DIR_HINTS "@GLOG_INCLUDE_DIR@") |
| get_filename_component(CERES_BUILD_GLOG_LIBRARY_DIR "@GLOG_LIBRARY@" PATH) |
| list(APPEND GLOG_LIBRARY_DIR_HINTS ${CERES_BUILD_GLOG_LIBRARY_DIR}) |
| |
| # Search quietly s/t we control the timing of the error message if not found. |
| find_package(Glog QUIET) |
| endif() |
| |
| if (GLOG_FOUND) |
| ceres_message(STATUS "Found required Ceres dependency: glog") |
| else() |
| ceres_report_not_found("Missing required Ceres dependency: glog.") |
| endif() |
| |
| # gflags is only a public dependency of Ceres via glog, thus is not required |
| # if Ceres was built with MINIGLOG. |
| if (CERES_USES_GFLAGS) |
| # Search quietly s/t we control the timing of the error message if not found. |
| find_package(gflags ${CERES_GFLAGS_VERSION} QUIET) |
| if (gflags_FOUND AND TARGET gflags) |
| ceres_message(STATUS "Found required Ceres dependency: gflags") |
| else() |
| ceres_report_not_found("Missing required Ceres " |
| "dependency: gflags (not found, or not found as exported CMake target).") |
| endif() |
| endif() |
| endif(CERES_USES_MINIGLOG) |
| |
| # Import exported Ceres targets, if they have not already been imported. |
| if (NOT TARGET ceres AND NOT Ceres_BINARY_DIR) |
| include(${CERES_CURRENT_CONFIG_DIR}/CeresTargets.cmake) |
| endif (NOT TARGET ceres AND NOT Ceres_BINARY_DIR) |
| # Set the expected XX_LIBRARIES variable for FindPackage(). |
| set(CERES_LIBRARIES Ceres::ceres) |
| |
| # Reset CMake module path to its state when this script was called. |
| set(CMAKE_MODULE_PATH ${CALLERS_CMAKE_MODULE_PATH}) |
| |
| # Build the detected Ceres version string to correctly capture whether it |
| # was installed, or exported. |
| ceres_pretty_print_cmake_list(CERES_COMPILED_COMPONENTS_STRING |
| ${CERES_COMPILED_COMPONENTS}) |
| if (CERES_WAS_INSTALLED) |
| set(CERES_DETECTED_VERSION_STRING "Ceres version: ${CERES_VERSION} " |
| "installed in: ${CURRENT_ROOT_INSTALL_DIR} with components: " |
| "${CERES_COMPILED_COMPONENTS_STRING}") |
| else (CERES_WAS_INSTALLED) |
| set(CERES_DETECTED_VERSION_STRING "Ceres version: ${CERES_VERSION} " |
| "exported from build directory: ${CERES_EXPORTED_BUILD_DIR} with " |
| "components: ${CERES_COMPILED_COMPONENTS_STRING}") |
| endif() |
| |
| # If the user called this script through find_package() whilst specifying |
| # particular Ceres components that should be found via: |
| # find_package(Ceres COMPONENTS XXX YYY), check the requested components against |
| # those with which Ceres was compiled. In this case, we should only report |
| # Ceres as found if all the requested components have been found. |
| if (Ceres_FIND_COMPONENTS) |
| foreach (REQUESTED_COMPONENT ${Ceres_FIND_COMPONENTS}) |
| list(FIND CERES_COMPILED_COMPONENTS ${REQUESTED_COMPONENT} HAVE_REQUESTED_COMPONENT) |
| # list(FIND ..) returns -1 if the element was not in the list, but CMake |
| # interprets if (VAR) to be true if VAR is any non-zero number, even |
| # negative ones, hence we have to explicitly check for >= 0. |
| if (HAVE_REQUESTED_COMPONENT EQUAL -1) |
| # Check for the presence of all requested components before reporting |
| # not found, such that we report all of the missing components rather |
| # than just the first. |
| list(APPEND MISSING_CERES_COMPONENTS ${REQUESTED_COMPONENT}) |
| endif() |
| endforeach() |
| if (MISSING_CERES_COMPONENTS) |
| ceres_pretty_print_cmake_list(REQUESTED_CERES_COMPONENTS_STRING |
| ${Ceres_FIND_COMPONENTS}) |
| ceres_pretty_print_cmake_list(MISSING_CERES_COMPONENTS_STRING |
| ${MISSING_CERES_COMPONENTS}) |
| ceres_report_not_found("Missing requested Ceres components: " |
| "${MISSING_CERES_COMPONENTS_STRING} (components requested: " |
| "${REQUESTED_CERES_COMPONENTS_STRING}). Detected " |
| "${CERES_DETECTED_VERSION_STRING}.") |
| endif() |
| endif() |
| |
| # As we use CERES_REPORT_NOT_FOUND() to abort, if we reach this point we have |
| # found Ceres and all required dependencies. |
| ceres_message(STATUS "Found " ${CERES_DETECTED_VERSION_STRING}) |
| |
| # Set CERES_FOUND to be equivalent to Ceres_FOUND, which is set to |
| # TRUE by FindPackage() if this file is found and run, and after which |
| # Ceres_FOUND is not (explicitly, i.e. undefined does not count) set |
| # to FALSE. |
| set(CERES_FOUND TRUE) |
| |
| if (NOT TARGET ceres) |
| # For backwards compatibility, create a local 'alias' target with the |
| # non-namespace-qualified Ceres target name. Note that this is not a |
| # true ALIAS library in CMake terms as they cannot point to imported targets. |
| add_library(ceres INTERFACE IMPORTED) |
| set_target_properties(ceres PROPERTIES INTERFACE_LINK_LIBRARIES Ceres::ceres) |
| endif() |