Cleaning up exported CeresConfig.cmake. - Adding FindPackage scripts for all of Ceres dependencies. - Moving depend.cmake contents to CeresConfig.cmake and cleaning up search for Ceres & required dependencies, no longer push Ceres options into client. - Fixing uninstall to remove ceres include root directory. - Fixing main CMakeLists to install miniglog header if enabled. - Making miniglog library shared/static with Ceres library. Change-Id: If926bebd11720230c5136597ccba672394ed9777
diff --git a/CMakeLists.txt b/CMakeLists.txt index cb022ca..6f267b2 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt
@@ -69,6 +69,9 @@ SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin) SET(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib) SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib) +# Set postfixes for generated libraries based on buildtype. +SET(CMAKE_RELEASE_POSTFIX "") +SET(CMAKE_DEBUG_POSTFIX "-debug") # Important: Always bump the second number (e.g. 1.3.x to 1.4.0) for any # release that changes the ABI. The ABI changes for almost any modification to @@ -114,35 +117,67 @@ OPTION(BUILD_EXAMPLES "Build examples" ON) OPTION(BUILD_SHARED_LIBS "Build Ceres as a shared library." OFF) -# Default locations to search for on various platforms. +# Prior to October 2013, Ceres used some non-CMake standardised variables to +# hold user-specified (as opposed to FindPackage found) include directory and +# library paths for Ceres dependencies. These were were of the form: +# <DEPENDENCY>_LIB / <DEPENDENCY>_INCLUDE. Since then, Ceres now has +# FindPackage() scripts for all of its dependencies which obey the standard +# CMake variables: <DEPENDENCY>_LIBRARIES & <DEPENDENCY>_INCLUDE_DIRS. In order +# to ensure backwards compatibility, we use convert any legacy variables to +# _directory_ hints for the FindPackage() scripts. +MACRO(HANDLE_LEGACY_INCLUDE_DEPENDENCY_HINT + LEGACY_VAR DIRECTORY_HINT_VAR) + IF (DEFINED ${LEGACY_VAR}) + # Get the dependency name (all caps) from the hint directory variable + # for the warning message. + STRING(REGEX MATCH "^[^_]*" DEPENDENCY_NAME ${DIRECTORY_HINT_VAR}) + MESSAGE(WARNING "You are defining a legacy variable ${LEGACY_VAR} " + "to specify the include directory for ${DEPENDENCY_NAME}. This is " + "deprecated and support for it will be removed in a future release. " + "Please use either the search directory hints variable: " + "${DIRECTORY_HINT_VAR} or ${DEPENDENCY_NAME}_INCLUDE_DIR to specify " + "exactly the directory used (no search performed), see: " + "http://homes.cs.washington.edu/~sagarwal/ceres-solver/dev/building.html " + "for more information.") + LIST(APPEND ${DIRECTORY_HINT_VAR} ${${LEGACY_VAR}}) + ENDIF (DEFINED ${LEGACY_VAR}) +ENDMACRO(HANDLE_LEGACY_INCLUDE_DEPENDENCY_HINT) -# Libraries -LIST(APPEND CMAKE_LIBRARY_PATH /opt/local/lib) -LIST(APPEND CMAKE_LIBRARY_PATH /usr/lib) -LIST(APPEND CMAKE_LIBRARY_PATH /usr/lib/atlas) -LIST(APPEND CMAKE_LIBRARY_PATH /usr/lib64/atlas) -LIST(APPEND CMAKE_LIBRARY_PATH /usr/local/homebrew/lib) # Mac OS X -LIST(APPEND CMAKE_LIBRARY_PATH /usr/local/lib) - -# Headers -LIST(APPEND CMAKE_INCLUDE_PATH /opt/local/include) -LIST(APPEND CMAKE_INCLUDE_PATH /opt/local/var/macports/software/eigen3) # Mac OS X -LIST(APPEND CMAKE_INCLUDE_PATH /opt/local/include/eigen3) # Mac OS X -LIST(APPEND CMAKE_INCLUDE_PATH /usr/include) -LIST(APPEND CMAKE_INCLUDE_PATH /usr/include/eigen3) # Ubuntu 10.04's default location. -LIST(APPEND CMAKE_INCLUDE_PATH /usr/local/homebrew/include) # Mac OS X -LIST(APPEND CMAKE_INCLUDE_PATH /usr/local/homebrew/include/eigen3) # Mac OS X -LIST(APPEND CMAKE_INCLUDE_PATH /usr/local/include) -LIST(APPEND CMAKE_INCLUDE_PATH /usr/local/include/eigen3) +MACRO(HANDLE_LEGACY_LIBRARY_DEPENDENCY_HINT + LEGACY_VAR DIRECTORY_HINT_VAR) + IF (DEFINED ${LEGACY_VAR}) + # Get the dependency name (all caps) from the hint directory variable + # for the warning message. + STRING(REGEX MATCH "^[^_]*" DEPENDENCY_NAME ${DIRECTORY_HINT_VAR}) + MESSAGE(WARNING "You are defining a legacy variable ${LEGACY_VAR} " + "to specify the library for ${DEPENDENCY_NAME}. This is " + "deprecated and support for it will be removed in a future release. " + "Please use either the search directory hints variable: " + "${DIRECTORY_HINT_VAR} or ${DEPENDENCY_NAME}_LIBRARY to specify " + "exactly the library used (no search performed), see: " + "http://homes.cs.washington.edu/~sagarwal/ceres-solver/dev/building.html " + "for more information.") + IF (EXISTS ${${LEGACY_VAR}} AND + NOT IS_DIRECTORY ${${LEGACY_VAR}}) + # User specified an explicit (library) file using the legacy variable + # interface, hints to FindPackage() scripts are directories so add the + # parent directory of the specified file. + GET_FILENAME_COMPONENT(DIR_HINT ${${LEGACY_VAR}} PATH) + LIST(APPEND ${DIRECTORY_HINT_VAR} ${DIR_HINT}) + ELSEIF (EXISTS ${${LEGACY_VAR}} AND + IS_DIRECTORY ${${LEGACY_VAR}}) + # User specified a directory hint using the legacy variable, use it. + LIST(APPEND ${DIRECTORY_HINT_VAR} ${${LEGACY_VAR}}) + ENDIF() + ENDIF (DEFINED ${LEGACY_VAR}) +ENDMACRO(HANDLE_LEGACY_LIBRARY_DEPENDENCY_HINT) # Eigen. -FIND_PATH(EIGEN_INCLUDE NAMES Eigen/Core) -IF (NOT EXISTS ${EIGEN_INCLUDE}) - MESSAGE(FATAL_ERROR "Can't find Eigen. Try passing -DEIGEN_INCLUDE=...") -ELSE (NOT EXISTS ${EIGEN_INCLUDE}) - MESSAGE("-- Found Eigen 3.x: ${EIGEN_INCLUDE}") -ENDIF (NOT EXISTS ${EIGEN_INCLUDE}) -MARK_AS_ADVANCED(EIGEN_INCLUDE) +HANDLE_LEGACY_INCLUDE_DEPENDENCY_HINT(EIGEN_INCLUDE EIGEN_INCLUDE_DIR_HINTS) +FIND_PACKAGE(Eigen REQUIRED) +IF (EIGEN_FOUND) + MESSAGE("-- Found Eigen version ${EIGEN_VERSION}: ${EIGEN_INCLUDE_DIRS}") +ENDIF (EIGEN_FOUND) # LAPACK (& BLAS). IF (LAPACK) @@ -210,7 +245,8 @@ # By default, if all of SuiteSparse's dependencies are found, Ceres is # built with SuiteSparse support. - MESSAGE("-- Found all SuiteSparse dependencies. Building with SuiteSparse.") + MESSAGE("-- Found SuiteSparse ${SUITESPARSE_VERSION}, " + "building with SuiteSparse.") ELSE (SUITESPARSE_FOUND) # Disable use of SuiteSparse if it cannot be found and continue. MESSAGE("-- Did not find all SuiteSparse dependencies, disabling " @@ -228,29 +264,13 @@ # CXSparse. IF (CXSPARSE) - SET(CXSPARSE_FOUND ON) - FIND_LIBRARY(CXSPARSE_LIB NAMES cxsparse) - IF (EXISTS ${CXSPARSE_LIB}) - MESSAGE("-- Found CXSparse library in: ${CXSPARSE_LIB}") - ELSE (EXISTS ${CXSPARSE_LIB}) - MESSAGE("-- Did not find CXSparse header") - SET(CXSPARSE_FOUND FALSE) - ENDIF (EXISTS ${CXSPARSE_LIB}) - MARK_AS_ADVANCED(CXSPARSE_LIB) - - FIND_PATH(CXSPARSE_INCLUDE NAMES cs.h) - IF (EXISTS ${CXSPARSE_INCLUDE}) - MESSAGE("-- Found CXSparse header in: ${CXSPARSE_INCLUDE}") - ELSE (EXISTS ${CXSPARSE_INCLUDE}) - MESSAGE("-- Did not find CXSparse header") - SET(CXSPARSE_FOUND FALSE) - ENDIF (EXISTS ${CXSPARSE_INCLUDE}) - MARK_AS_ADVANCED(CXSPARSE_INCLUDE) - + # Don't search with REQUIRED as we can continue without CXSparse. + FIND_PACKAGE(CXSparse) IF (CXSPARSE_FOUND) # By default, if CXSparse and all dependencies are found, Ceres is # built with CXSparse support. - MESSAGE("-- Building with CXSparse.") + MESSAGE("-- Found CXSparse version: ${CXSPARSE_VERSION}, " + "building with CXSparse.") ELSE (CXSPARSE_FOUND) # Disable use of CXSparse if it cannot be found and continue. MESSAGE("-- Did not find CXSparse, Building without CXSparse.") @@ -263,55 +283,70 @@ ELSE (CXSPARSE) MESSAGE("-- Building without CXSparse.") ADD_DEFINITIONS(-DCERES_NO_CXSPARSE) + # Mark as advanced (remove from default GUI view) the CXSparse search + # variables in case user enabled CXSPARSE, FindCXSparse did not find it, so + # made search variables visible in GUI for user to set, but then user disables + # CXSPARSE instead of setting them. + MARK_AS_ADVANCED(FORCE CXSPARSE_INCLUDE_DIR + CXSPARSE_LIBRARY) ENDIF (CXSPARSE) # GFlags. IF (GFLAGS) - FIND_LIBRARY(GFLAGS_LIB NAMES gflags) - IF (NOT EXISTS ${GFLAGS_LIB}) - MESSAGE(FATAL_ERROR - "Can't find Google Flags. Please specify: " - "-DGFLAGS_LIB=...") - ENDIF (NOT EXISTS ${GFLAGS_LIB}) - MARK_AS_ADVANCED(GFLAGS_LIB) - MESSAGE("-- Found Google Flags library: ${GFLAGS_LIB}") - FIND_PATH(GFLAGS_INCLUDE NAMES gflags/gflags.h) - IF (NOT EXISTS ${GFLAGS_INCLUDE}) - MESSAGE(FATAL_ERROR - "Can't find Google Flags. Please specify: " - "-DGFLAGS_INCLUDE=...") - ENDIF (NOT EXISTS ${GFLAGS_INCLUDE}) - MARK_AS_ADVANCED(GFLAGS_INCLUDE) - MESSAGE("-- Found Google Flags header in: ${GFLAGS_INCLUDE}") + HANDLE_LEGACY_INCLUDE_DEPENDENCY_HINT(GFLAGS_INCLUDE GFLAGS_INCLUDE_DIR_HINTS) + HANDLE_LEGACY_LIBRARY_DEPENDENCY_HINT(GFLAGS_LIB GFLAGS_LIBRARY_DIR_HINTS) + + # Don't search with REQUIRED as we can continue without gflags. + FIND_PACKAGE(Gflags) + IF (GFLAGS_FOUND) + MESSAGE("-- Found Google Flags header in: ${GFLAGS_INCLUDE_DIRS}") + ELSE (GFLAGS_FOUND) + MESSAGE("-- Did not find Google Flags (gflags), Building without gflags " + "- no tests or tools will be built!") + # Retain the help string associated with the GFLAGS option + # when updating it to disable use of gflags. + GET_PROPERTY(HELP_STRING CACHE GFLAGS PROPERTY HELPSTRING) + SET(GFLAGS OFF CACHE BOOL "${HELP_STRING}" FORCE) + ADD_DEFINITIONS(-DCERES_NO_GFLAGS) + ENDIF (GFLAGS_FOUND) ELSE (GFLAGS) MESSAGE("-- Google Flags disabled; no tests or tools will be built!") ADD_DEFINITIONS(-DCERES_NO_GFLAGS) + # Mark as advanced (remove from default GUI view) the gflags search + # variables in case user enabled GFLAGS, FindGflags did not find it, so + # made search variables visible in GUI for user to set, but then user disables + # GFLAGS instead of setting them. + MARK_AS_ADVANCED(FORCE GFLAGS_INCLUDE_DIR + GFLAGS_LIBRARY) ENDIF (GFLAGS) # MiniGLog. IF (MINIGLOG) - SET(GLOG_LIB miniglog) - MESSAGE("-- Using minimal Glog substitute (library): ${GLOG_LIB}") - SET(GLOG_INCLUDE internal/ceres/miniglog) - MESSAGE("-- Using minimal Glog substitute (include): ${GLOG_INCLUDE}") -ELSE (MINIGLOG) - FIND_LIBRARY(GLOG_LIB NAMES glog) - IF (EXISTS ${GLOG_LIB}) - MESSAGE("-- Found Google Log library: ${GLOG_LIB}") - ELSE (EXISTS ${GLOG_LIB}) - MESSAGE(FATAL_ERROR - "Can't find Google Log. Please specify: -DGLOG_LIB=...") - ENDIF (EXISTS ${GLOG_LIB}) - MARK_AS_ADVANCED(GLOG_LIB) + SET(GLOG_LIBRARIES miniglog) + MESSAGE("-- Using minimal Glog substitute (library): ${GLOG_LIBRARIES}") + SET(GLOG_INCLUDE_DIRS internal/ceres/miniglog) + MESSAGE("-- Using minimal Glog substitute (include): ${GLOG_INCLUDE_DIRS}") - FIND_PATH(GLOG_INCLUDE NAMES glog/logging.h) - IF (EXISTS ${GLOG_INCLUDE}) - MESSAGE("-- Found Google Log header in: ${GLOG_INCLUDE}") - ELSE (EXISTS ${GLOG_INCLUDE}) - MESSAGE(FATAL_ERROR - "Can't find Google Log. Please specify: -DGLOG_INCLUDE=...") - ENDIF (EXISTS ${GLOG_INCLUDE}) - MARK_AS_ADVANCED(GLOG_INCLUDE) + # Mark as advanced (remove from default GUI view) the glog search + # variables in case user disables MINIGLOG, FindGlog did not find it, so + # made search variables visible in GUI for user to set, but then user enables + # MINIGLOG instead of setting them. + MARK_AS_ADVANCED(FORCE GLOG_INCLUDE_DIR + GLOG_LIBRARY) +ELSE (MINIGLOG) + HANDLE_LEGACY_INCLUDE_DEPENDENCY_HINT(GLOG_INCLUDE GLOG_INCLUDE_DIR_HINTS) + HANDLE_LEGACY_LIBRARY_DEPENDENCY_HINT(GLOG_LIB GLOG_LIBRARY_DIR_HINTS) + + # Don't search with REQUIRED so that configuration continues if not found and + # we can output an error messages explaining MINIGLOG option. + FIND_PACKAGE(Glog) + IF (GLOG_FOUND) + MESSAGE("-- Found Google Log header in: ${GLOG_INCLUDE_DIRS}") + ELSE (GLOG_FOUND) + MESSAGE(FATAL_ERROR "Can't find Google Log. Please set GLOG_INCLUDE_DIR & " + "GLOG_LIBRARY or enable MINIGLOG option to use minimal glog " + "implementation.") + ENDIF (GLOG_FOUND) ENDIF (MINIGLOG) IF (NOT SCHUR_SPECIALIZATIONS) @@ -393,15 +428,8 @@ include internal internal/ceres - ${GLOG_INCLUDE} - ${EIGEN_INCLUDE} - ) - -FILE(GLOB CERES_HDRS ${CMAKE_SOURCE_DIR}/include/ceres/*.h) -INSTALL(FILES ${CERES_HDRS} DESTINATION include/ceres) - -FILE(GLOB CERES_PUBLIC_INTERNAL_HDRS ${CMAKE_SOURCE_DIR}/include/ceres/internal/*.h) -INSTALL(FILES ${CERES_PUBLIC_INTERNAL_HDRS} DESTINATION include/ceres/internal) + ${GLOG_INCLUDE_DIRS} + ${EIGEN_INCLUDE_DIRS}) IF (SUITESPARSE) INCLUDE_DIRECTORIES(${SUITESPARSE_INCLUDE_DIRS}) @@ -412,7 +440,7 @@ ENDIF (CXSPARSE) IF (GFLAGS) - INCLUDE_DIRECTORIES(${GFLAGS_INCLUDE}) + INCLUDE_DIRECTORIES(${GFLAGS_INCLUDE_DIRS}) ENDIF (GFLAGS) IF (BUILD_SHARED_LIBS) @@ -529,6 +557,7 @@ "${CMAKE_CXX_FLAGS} -Qunused-arguments -mllvm -inline-threshold=600") # Older versions of Clang (<= 2.9) do not support the 'return-type-c-linkage' # option, so check for its presence before adding it to the default flags set. + INCLUDE(CheckCXXCompilerFlag) CHECK_CXX_COMPILER_FLAG("-Wno-return-type-c-linkage" HAVE_RETURN_TYPE_C_LINKAGE) IF (HAVE_RETURN_TYPE_C_LINKAGE) @@ -571,6 +600,20 @@ MESSAGE("-- Do not build any example.") ENDIF (BUILD_EXAMPLES) +# Setup installation of Ceres public headers. +FILE(GLOB CERES_HDRS ${CMAKE_SOURCE_DIR}/include/ceres/*.h) +INSTALL(FILES ${CERES_HDRS} DESTINATION include/ceres) + +FILE(GLOB CERES_PUBLIC_INTERNAL_HDRS ${CMAKE_SOURCE_DIR}/include/ceres/internal/*.h) +INSTALL(FILES ${CERES_PUBLIC_INTERNAL_HDRS} DESTINATION include/ceres/internal) + +IF (MINIGLOG) + # Install miniglog header if being used as logging #includes appear in + # installed public Ceres headers. + INSTALL(FILES ${CMAKE_SOURCE_DIR}/internal/ceres/miniglog/glog/logging.h + DESTINATION include/ceres/internal/miniglog/glog) +ENDIF (MINIGLOG) + # Add an uninstall target to remove all installed files. CONFIGURE_FILE("${CMAKE_SOURCE_DIR}/cmake/uninstall.cmake.in" "${CMAKE_BINARY_DIR}/cmake/uninstall.cmake" @@ -605,7 +648,7 @@ # install prefix (which may be at runtime different from the chosen # CMAKE_INSTALL_PREFIX if under Windows the package was installed anywhere) # This relative path will be configured into the CeresConfig.cmake. -FILE(RELATIVE_PATH relInstallDir +FILE(RELATIVE_PATH INSTALL_ROOT_REL_CONFIG_INSTALL_DIR ${CMAKE_INSTALL_PREFIX}/${CMAKECONFIG_INSTALL_DIR} ${CMAKE_INSTALL_PREFIX}) # Create a CeresConfig.cmake file. <name>Config.cmake files are searched by @@ -621,8 +664,11 @@ CONFIGURE_FILE("${CMAKE_SOURCE_DIR}/cmake/CeresConfigVersion.cmake.in" "${CMAKE_CURRENT_BINARY_DIR}/CeresConfigVersion.cmake" @ONLY) -# Install these two files into the same directory as the generated exports-file. +# Install these files into the same directory as the generated exports-file, +# we include the FindPackage scripts for libraries whose headers are included +# in the public API of Ceres and should thus be present in CERES_INCLUDE_DIRS. INSTALL(FILES "${CMAKE_CURRENT_BINARY_DIR}/CeresConfig.cmake" "${CMAKE_CURRENT_BINARY_DIR}/CeresConfigVersion.cmake" - "${CMAKE_SOURCE_DIR}/cmake/depend.cmake" + "${CMAKE_SOURCE_DIR}/cmake/FindEigen.cmake" + "${CMAKE_SOURCE_DIR}/cmake/FindGlog.cmake" DESTINATION ${CMAKECONFIG_INSTALL_DIR})
diff --git a/cmake/CeresConfig.cmake.in b/cmake/CeresConfig.cmake.in index d000046..6044700 100644 --- a/cmake/CeresConfig.cmake.in +++ b/cmake/CeresConfig.cmake.in
@@ -26,24 +26,161 @@ # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. # -# Author: pablo.speciale@gmail.com (Pablo Speciale) +# Authors: pablo.speciale@gmail.com (Pablo Speciale) +# alexs.mac@gmail.com (Alex Stewart) # -# Get the directory -GET_FILENAME_COMPONENT(currentDir ${CMAKE_CURRENT_LIST_FILE} PATH) +# Config file for Ceres Solver - Find Ceres & dependencies. +# +# This file is used by CMake when FIND_PACKAGE( Ceres ) is invoked (and +# the directory containing this file is present in CMAKE_MODULE_PATH). +# +# This module defines the following variables: +# +# CERES_VERSION +# CERES_INCLUDE_DIRS: Include directories for Ceres and the dependencies which +# appear in the Ceres public API and are thus required to +# use Ceres. +# 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. +# +# The following variables are also defined for legacy compatibility only. +# Any new code should not use them as they do not conform to the standard CMake +# FindPackage naming conventions. +# +# CERES_INCLUDES = ${CERES_INCLUDE_DIRS}. -# Get the chosen install prefix -GET_FILENAME_COMPONENT(rootDir ${currentDir}/@relInstallDir@ ABSOLUTE) +# Called if we failed to find Ceres 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(CERES_REPORT_NOT_FOUND REASON_MSG) + UNSET(CERES_FOUND) + UNSET(CERES_INCLUDE_DIRS) + UNSET(CERES_LIBRARIES) -# Set the version + # 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}) + ELSE (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) + +# Get the (current, i.e. installed) directory containing this file. +SET(CURRENT_CONFIG_INSTALL_DIR ${CMAKE_CURRENT_LIST_DIR}) + +# 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}) +# 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 ${CURRENT_CONFIG_INSTALL_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 + ${CURRENT_CONFIG_INSTALL_DIR}/@INSTALL_ROOT_REL_CONFIG_INSTALL_DIR@ ABSOLUTE) +IF (NOT EXISTS ${CURRENT_ROOT_INSTALL_DIR}) + CERES_REPORT_NOT_FOUND( + "Ceres install root: ${CURRENT_ROOT_INSTALL_DIR}, " + "determined from relative path from CeresConfg.cmake install location: " + "${CURRENT_CONFIG_INSTALL_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 ${CURRENT_ROOT_INSTALL_DIR}) + +# Set the version. SET(CERES_VERSION @CERES_VERSION@ ) -# What is my include directory -SET(CERES_INCLUDES "${rootDir}/@INCLUDE_INSTALL_DIR@") +# Set the include directories for Ceres (itself). +SET(CERES_INCLUDE_DIR "${CURRENT_ROOT_INSTALL_DIR}/@INCLUDE_INSTALL_DIR@") +IF (NOT EXISTS ${CERES_INCLUDE_DIR}/ceres/ceres.h) + CERES_REPORT_NOT_FOUND( + "Ceres install root: ${CURRENT_ROOT_INSTALL_DIR}, " + "determined from relative path from CeresConfg.cmake install location: " + "${CURRENT_CONFIG_INSTALL_DIR}, does not contain Ceres headers. " + "Either the install directory was deleted, or the install tree was only " + "partially relocated outside of CMake after Ceres was built.") +ENDIF (NOT EXISTS ${CERES_INCLUDE_DIR}/ceres/ceres.h) -# Import the exported targets -INCLUDE(${currentDir}/CeresTargets.cmake) -INCLUDE(${currentDir}/depend.cmake) +# Append the include directories for all (potentially optional) dependencies +# with which Ceres was compiled, the libraries themselves come in via +# CeresTargets-<release/debug>.cmake as link libraries for Ceres target. +SET(CERES_INCLUDE_DIRS ${CERES_INCLUDE_DIR}) -# Set the expected library variable +# Eigen. +# Flag set during configuration and build of Ceres. +SET(CERES_EIGEN_VERSION @EIGEN_VERSION@) +# Search quietly s/t we control the timing of the error message if not found. +FIND_PACKAGE(Eigen ${CERES_EIGEN_VERSION} EXACT QUIET) +IF (EIGEN_FOUND) + MESSAGE(STATUS "Found required Ceres dependency: " + "Eigen version ${CERES_EIGEN_VERSION} in ${EIGEN_INCLUDE_DIRS}") +ELSE (EIGEN_FOUND) + CERES_REPORT_NOT_FOUND("Missing required Ceres " + "dependency: Eigen version ${CERES_EIGEN_VERSION}, please set " + "EIGEN_INCLUDE_DIR.") +ENDIF (EIGEN_FOUND) +LIST(APPEND CERES_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS}) + +# Glog. +# Flag set during configuration and build of Ceres. +SET(CERES_USES_MINIGLOG @MINIGLOG@) +IF (CERES_USES_MINIGLOG) + SET(MINIGLOG_INCLUDE_DIR ${CERES_INCLUDE_DIR}/ceres/internal/miniglog) + IF (NOT EXISTS ${MINIGLOG_INCLUDE_DIR}) + CERES_REPORT_NOT_FOUND( + "Ceres install include directory: " + "${CERES_INCLUDE_DIR} does not include miniglog, but Ceres was " + "compiled with MINIGLOG enabled (in place of Glog).") + ENDIF (NOT EXISTS ${MINIGLOG_INCLUDE_DIR}) + LIST(APPEND CERES_INCLUDE_DIRS ${MINIGLOG_INCLUDE_DIR}) + # Output message at standard log level (not the lower STATUS) so that + # the message is output in GUI during configuration to warn user. + MESSAGE("-- Found Ceres installation compiled with miniglog substitute " + "for glog, beware this will likely cause problems if glog is later linked.") +ELSE (CERES_USES_MINIGLOG) + # Search quietly s/t we control the timing of the error message if not found. + FIND_PACKAGE(Glog QUIET) + IF (GLOG_FOUND) + MESSAGE(STATUS "Found required Ceres dependency: " + "Glog in ${GLOG_INCLUDE_DIRS}") + ELSE (GLOG_FOUND) + CERES_REPORT_NOT_FOUND("Missing required Ceres " + "dependency: Glog, please set GLOG_INCLUDE_DIR.") + ENDIF (GLOG_FOUND) + LIST(APPEND CERES_INCLUDE_DIRS ${GLOG_INCLUDE_DIRS}) +ENDIF (CERES_USES_MINIGLOG) + +# Import exported Ceres targets. +IF (NOT TARGET ceres AND NOT Ceres_BINARY_DIR) + INCLUDE(${CURRENT_CONFIG_INSTALL_DIR}/CeresTargets.cmake) +ENDIF (NOT TARGET ceres AND NOT Ceres_BINARY_DIR) +# Set the expected XX_LIBRARIES variable for FindPackage(). SET(CERES_LIBRARIES ceres) + +# Set legacy include directories variable for backwards compatibility. +SET(CERES_INCLUDES ${CERES_INCLUDE_DIRS}) + +# Reset CMake module path to its state when this script was called. +SET(CMAKE_MODULE_PATH ${CALLERS_CMAKE_MODULE_PATH}) + +# As we use CERES_REPORT_NOT_FOUND() to abort, if we reach this point we have +# found Ceres and all required dependencies. +MESSAGE(STATUS "Found Ceres version: ${CERES_VERSION} " + "installed in: ${CURRENT_ROOT_INSTALL_DIR}")
diff --git a/cmake/FindCXSparse.cmake b/cmake/FindCXSparse.cmake new file mode 100644 index 0000000..cebddb5 --- /dev/null +++ b/cmake/FindCXSparse.cmake
@@ -0,0 +1,198 @@ +# Ceres Solver - A fast non-linear least squares minimizer +# Copyright 2013 Google Inc. All rights reserved. +# http://code.google.com/p/ceres-solver/ +# +# 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. +# +# Author: alexs.mac@gmail.com (Alex Stewart) +# + +# FindCXSparse.cmake - Find CXSparse libraries & dependencies. +# +# This module defines the following variables which should be referenced +# by the caller to use the library. +# +# CXSPARSE_FOUND: TRUE iff CXSparse and all dependencies have been found. +# CXSPARSE_INCLUDE_DIRS: Include directories for CXSparse. +# CXSPARSE_LIBRARIES: Libraries for CXSparse and all dependencies. +# +# CXSPARSE_VERSION: Extracted from cs.h. +# CXSPARSE_MAIN_VERSION: Equal to 3 if CXSPARSE_VERSION = 3.1.2 +# CXSPARSE_SUB_VERSION: Equal to 1 if CXSPARSE_VERSION = 3.1.2 +# CXSPARSE_SUBSUB_VERSION: Equal to 2 if CXSPARSE_VERSION = 3.1.2 +# +# The following variables control the behaviour of this module: +# +# CXSPARSE_INCLUDE_DIR_HINTS: List of additional directories in which to +# search for CXSparse includes, +# e.g: /timbuktu/include. +# CXSPARSE_LIBRARY_DIR_HINTS: List of additional directories in which to +# search for CXSparse libraries, e.g: /timbuktu/lib. +# +# The following variables are also defined by this module, but in line with +# CMake recommended FindPackage() module style should NOT be referenced directly +# by callers (use the plural variables detailed above instead). These variables +# do however affect the behaviour of the module via FIND_[PATH/LIBRARY]() which +# are NOT re-called (i.e. search for library is not repeated) if these variables +# are set with valid values _in the CMake cache_. This means that if these +# variables are set directly in the cache, either by the user in the CMake GUI, +# or by the user passing -DVAR=VALUE directives to CMake when called (which +# explicitly defines a cache variable), then they will be used verbatim, +# bypassing the HINTS variables and other hard-coded search locations. +# +# CXSPARSE_INCLUDE_DIR: Include directory for CXSparse, not including the +# include directory of any dependencies. +# CXSPARSE_LIBRARY: CXSparse library, not including the libraries of any +# dependencies. + +# Called if we failed to find CXSparse 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(CXSPARSE_REPORT_NOT_FOUND REASON_MSG) + UNSET(CXSPARSE_FOUND) + UNSET(CXSPARSE_INCLUDE_DIRS) + UNSET(CXSPARSE_LIBRARIES) + # Make results of search visible in the CMake GUI if CXSparse has not + # been found so that user does not have to toggle to advanced view. + MARK_AS_ADVANCED(CLEAR CXSPARSE_INCLUDE_DIR + CXSPARSE_LIBRARY) + # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by FindPackage() + # use the camelcase library name, not uppercase. + IF (CXSparse_FIND_QUIETLY) + MESSAGE(STATUS "Failed to find CXSparse - " ${REASON_MSG} ${ARGN}) + ELSEIF (CXSparse_FIND_REQUIRED) + MESSAGE(FATAL_ERROR "Failed to find CXSparse - " ${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 CXSparse - " ${REASON_MSG} ${ARGN}) + ENDIF () +ENDMACRO(CXSPARSE_REPORT_NOT_FOUND) + +# TODO: Add standard Windows search locations for CXSparse. +LIST(APPEND CXSPARSE_CHECK_INCLUDE_DIRS + /usr/include + /usr/local/include + /usr/local/homebrew/include # Mac OS X + /opt/local/var/macports/software # Mac OS X. + /opt/local/include) +LIST(APPEND CXSPARSE_CHECK_LIBRARY_DIRS + /usr/lib + /usr/local/lib + /usr/local/homebrew/lib # Mac OS X. + /opt/local/lib) + +# Search supplied hint directories first if supplied. +FIND_PATH(CXSPARSE_INCLUDE_DIR + NAMES cs.h + PATHS ${CXSPARSE_INCLUDE_DIR_HINTS} + ${CXSPARSE_CHECK_INCLUDE_DIRS}) +IF (NOT CXSPARSE_INCLUDE_DIR OR + NOT EXISTS ${CXSPARSE_INCLUDE_DIR}) + CXSPARSE_REPORT_NOT_FOUND( + "Could not find CXSparse include directory, set CXSPARSE_INCLUDE_DIR " + "to directory containing cs.h") +ENDIF (NOT CXSPARSE_INCLUDE_DIR OR + NOT EXISTS ${CXSPARSE_INCLUDE_DIR}) + +FIND_LIBRARY(CXSPARSE_LIBRARY NAMES cxsparse + PATHS ${CXSPARSE_LIBRARY_DIR_HINTS} + ${CXSPARSE_CHECK_LIBRARY_DIRS}) +IF (NOT CXSPARSE_LIBRARY OR + NOT EXISTS ${CXSPARSE_LIBRARY}) + CXSPARSE_REPORT_NOT_FOUND( + "Could not find CXSparse library, set CXSPARSE_LIBRARY " + "to full path to libcxsparse.") +ENDIF (NOT CXSPARSE_LIBRARY OR + NOT EXISTS ${CXSPARSE_LIBRARY}) + +# Mark internally as found, then verify. CXSPARSE_REPORT_NOT_FOUND() unsets +# if called. +SET(CXSPARSE_FOUND TRUE) + +# Extract CXSparse version from cs.h +IF (CXSPARSE_INCLUDE_DIR) + SET(CXSPARSE_VERSION_FILE ${CXSPARSE_INCLUDE_DIR}/cs.h) + IF (NOT EXISTS ${CXSPARSE_VERSION_FILE}) + CXSPARSE_REPORT_NOT_FOUND( + "Could not find file: ${CXSPARSE_VERSION_FILE} " + "containing version information in CXSparse install located at: " + "${CXSPARSE_INCLUDE_DIR}.") + ELSE (NOT EXISTS ${CXSPARSE_VERSION_FILE}) + FILE(READ ${CXSPARSE_INCLUDE_DIR}/cs.h CXSPARSE_VERSION_FILE_CONTENTS) + + STRING(REGEX MATCH "#define CS_VER [0-9]+" + CXSPARSE_MAIN_VERSION "${CXSPARSE_VERSION_FILE_CONTENTS}") + STRING(REGEX REPLACE "#define CS_VER ([0-9]+)" "\\1" + CXSPARSE_MAIN_VERSION "${CXSPARSE_MAIN_VERSION}") + + STRING(REGEX MATCH "#define CS_SUBVER [0-9]+" + CXSPARSE_SUB_VERSION "${CXSPARSE_VERSION_FILE_CONTENTS}") + STRING(REGEX REPLACE "#define CS_SUBVER ([0-9]+)" "\\1" + CXSPARSE_SUB_VERSION "${CXSPARSE_SUB_VERSION}") + + STRING(REGEX MATCH "#define CS_SUBSUB [0-9]+" + CXSPARSE_SUBSUB_VERSION "${CXSPARSE_VERSION_FILE_CONTENTS}") + STRING(REGEX REPLACE "#define CS_SUBSUB ([0-9]+)" "\\1" + CXSPARSE_SUBSUB_VERSION "${CXSPARSE_SUBSUB_VERSION}") + + # This is on a single line s/t CMake does not interpret it as a list of + # elements and insert ';' separators which would result in 3.;1.;2 nonsense. + SET(CXSPARSE_VERSION "${CXSPARSE_MAIN_VERSION}.${CXSPARSE_SUB_VERSION}.${CXSPARSE_SUBSUB_VERSION}") + ENDIF (NOT EXISTS ${CXSPARSE_VERSION_FILE}) +ENDIF (CXSPARSE_INCLUDE_DIR) + +# Catch the case when the caller has set CXSPARSE_LIBRARY in the cache / GUI and +# thus FIND_LIBRARY was not called, but specified library is invalid, otherwise +# we would report CXSparse as found. +# TODO: This regex for CXSparse library is pretty primitive, could it be better? +IF (CXSPARSE_LIBRARY AND + EXISTS ${CXSPARSE_LIBRARY} AND + NOT ${CXSPARSE_LIBRARY} MATCHES ".*cxsparse[^/]*") + CXSPARSE_REPORT_NOT_FOUND( + "Caller defined CXSPARSE_LIBRARY: " + "${CXSPARSE_LIBRARY} does not match CXSparse.") +ENDIF (CXSPARSE_LIBRARY AND + EXISTS ${CXSPARSE_LIBRARY} AND + NOT ${CXSPARSE_LIBRARY} MATCHES ".*cxsparse[^/]*") + +# Set standard CMake FindPackage variables if found. +IF (CXSPARSE_FOUND) + SET(CXSPARSE_INCLUDE_DIRS ${CXSPARSE_INCLUDE_DIR}) + SET(CXSPARSE_LIBRARIES ${CXSPARSE_LIBRARY}) +ENDIF (CXSPARSE_FOUND) + +# Handle REQUIRED / QUIET optional arguments and version. +INCLUDE(FindPackageHandleStandardArgs) +FIND_PACKAGE_HANDLE_STANDARD_ARGS(CXSparse + REQUIRED_VARS CXSPARSE_INCLUDE_DIRS CXSPARSE_LIBRARIES + VERSION_VAR CXSPARSE_VERSION) + +# Only mark internal variables as advanced if we found CXSparse, otherwise +# leave them visible in the standard GUI for the user to set manually. +IF (CXSPARSE_FOUND) + MARK_AS_ADVANCED(FORCE CXSPARSE_INCLUDE_DIR + CXSPARSE_LIBRARY) +ENDIF (CXSPARSE_FOUND)
diff --git a/cmake/FindEigen.cmake b/cmake/FindEigen.cmake new file mode 100644 index 0000000..26a2a06 --- /dev/null +++ b/cmake/FindEigen.cmake
@@ -0,0 +1,157 @@ +# Ceres Solver - A fast non-linear least squares minimizer +# Copyright 2013 Google Inc. All rights reserved. +# http://code.google.com/p/ceres-solver/ +# +# 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. +# +# Author: alexs.mac@gmail.com (Alex Stewart) +# + +# FindEigen.cmake - Find Eigen library, version >= 3. +# +# This module defines the following variables: +# +# EIGEN_FOUND: TRUE iff Eigen is found. +# EIGEN_INCLUDE_DIRS: Include directories for Eigen. +# +# EIGEN_VERSION: Extracted from Eigen/src/Core/util/Macros.h +# EIGEN_WORLD_VERSION: Equal to 3 if EIGEN_VERSION = 3.2.0 +# EIGEN_MAJOR_VERSION: Equal to 2 if EIGEN_VERSION = 3.2.0 +# EIGEN_MINOR_VERSION: Equal to 0 if EIGEN_VERSION = 3.2.0 +# +# The following variables control the behaviour of this module: +# +# EIGEN_INCLUDE_DIR_HINTS: List of additional directories in which to +# search for eigen includes, e.g: /timbuktu/eigen3. +# +# The following variables are also defined by this module, but in line with +# CMake recommended FindPackage() module style should NOT be referenced directly +# by callers (use the plural variables detailed above instead). These variables +# do however affect the behaviour of the module via FIND_[PATH/LIBRARY]() which +# are NOT re-called (i.e. search for library is not repeated) if these variables +# are set with valid values _in the CMake cache_. This means that if these +# variables are set directly in the cache, either by the user in the CMake GUI, +# or by the user passing -DVAR=VALUE directives to CMake when called (which +# explicitly defines a cache variable), then they will be used verbatim, +# bypassing the HINTS variables and other hard-coded search locations. +# +# EIGEN_INCLUDE_DIR: Include directory for CXSparse, not including the +# include directory of any dependencies. + +# Called if we failed to find Eigen 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(EIGEN_REPORT_NOT_FOUND REASON_MSG) + UNSET(EIGEN_FOUND) + UNSET(EIGEN_INCLUDE_DIRS) + # Make results of search visible in the CMake GUI if Eigen has not + # been found so that user does not have to toggle to advanced view. + MARK_AS_ADVANCED(CLEAR EIGEN_INCLUDE_DIR) + # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by FindPackage() + # use the camelcase library name, not uppercase. + IF (Eigen_FIND_QUIETLY) + MESSAGE(STATUS "Failed to find Eigen - " ${REASON_MSG} ${ARGN}) + ELSEIF (Eigen_FIND_REQUIRED) + MESSAGE(FATAL_ERROR "Failed to find Eigen - " ${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 Eigen - " ${REASON_MSG} ${ARGN}) + ENDIF () +ENDMACRO(EIGEN_REPORT_NOT_FOUND) + +# TODO: Add standard Windows search locations for Eigen. +LIST(APPEND EIGEN_CHECK_INCLUDE_DIRS + /usr/include/eigen3 + /usr/local/include/eigen3 + /usr/local/homebrew/include/eigen3 # Mac OS X + /opt/local/var/macports/software/eigen3 # Mac OS X. + /opt/local/include/eigen3) + +# Search supplied hint directories first if supplied. +FIND_PATH(EIGEN_INCLUDE_DIR + NAMES Eigen/Core + PATHS ${EIGEN_INCLUDE_DIR_HINTS} + ${EIGEN_CHECK_INCLUDE_DIRS}) +IF (NOT EIGEN_INCLUDE_DIR OR + NOT EXISTS ${EIGEN_INCLUDE_DIR}) + EIGEN_REPORT_NOT_FOUND( + "Could not find eigen3 include directory, set EIGEN_INCLUDE_DIR to " + "path to eigen3 include directory, e.g. /usr/local/include/eigen3.") +ENDIF (NOT EIGEN_INCLUDE_DIR OR + NOT EXISTS ${EIGEN_INCLUDE_DIR}) + +# Mark internally as found, then verify. EIGEN_REPORT_NOT_FOUND() unsets +# if called. +SET(EIGEN_FOUND TRUE) + +# Extract Eigen version from Eigen/src/Core/util/Macros.h +IF (EIGEN_INCLUDE_DIR) + SET(EIGEN_VERSION_FILE ${EIGEN_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h) + IF (NOT EXISTS ${EIGEN_VERSION_FILE}) + EIGEN_REPORT_NOT_FOUND( + "Could not find file: ${EIGEN_VERSION_FILE} " + "containing version information in Eigen install located at: " + "${EIGEN_INCLUDE_DIR}.") + ELSE (NOT EXISTS ${EIGEN_VERSION_FILE}) + FILE(READ ${EIGEN_VERSION_FILE} EIGEN_VERSION_FILE_CONTENTS) + + STRING(REGEX MATCH "#define EIGEN_WORLD_VERSION [0-9]+" + EIGEN_WORLD_VERSION "${EIGEN_VERSION_FILE_CONTENTS}") + STRING(REGEX REPLACE "#define EIGEN_WORLD_VERSION ([0-9]+)" "\\1" + EIGEN_WORLD_VERSION "${EIGEN_WORLD_VERSION}") + + STRING(REGEX MATCH "#define EIGEN_MAJOR_VERSION [0-9]+" + EIGEN_MAJOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}") + STRING(REGEX REPLACE "#define EIGEN_MAJOR_VERSION ([0-9]+)" "\\1" + EIGEN_MAJOR_VERSION "${EIGEN_MAJOR_VERSION}") + + STRING(REGEX MATCH "#define EIGEN_MINOR_VERSION [0-9]+" + EIGEN_MINOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}") + STRING(REGEX REPLACE "#define EIGEN_MINOR_VERSION ([0-9]+)" "\\1" + EIGEN_MINOR_VERSION "${EIGEN_MINOR_VERSION}") + + # This is on a single line s/t CMake does not interpret it as a list of + # elements and insert ';' separators which would result in 3.;2.;0 nonsense. + SET(EIGEN_VERSION "${EIGEN_WORLD_VERSION}.${EIGEN_MAJOR_VERSION}.${EIGEN_MINOR_VERSION}") + ENDIF (NOT EXISTS ${EIGEN_VERSION_FILE}) +ENDIF (EIGEN_INCLUDE_DIR) + +# Set standard CMake FindPackage variables if found. +IF (EIGEN_FOUND) + SET(EIGEN_INCLUDE_DIRS ${EIGEN_INCLUDE_DIR}) +ENDIF (EIGEN_FOUND) + +# Handle REQUIRED / QUIET optional arguments and version. +INCLUDE(FindPackageHandleStandardArgs) +FIND_PACKAGE_HANDLE_STANDARD_ARGS(Eigen + REQUIRED_VARS EIGEN_INCLUDE_DIRS + VERSION_VAR EIGEN_VERSION) + +# Only mark internal variables as advanced if we found Eigen, otherwise +# leave it visible in the standard GUI for the user to set manually. +IF (EIGEN_FOUND) + MARK_AS_ADVANCED(FORCE EIGEN_INCLUDE_DIR) +ENDIF (EIGEN_FOUND)
diff --git a/cmake/FindGflags.cmake b/cmake/FindGflags.cmake new file mode 100644 index 0000000..17fc70a --- /dev/null +++ b/cmake/FindGflags.cmake
@@ -0,0 +1,166 @@ +# Ceres Solver - A fast non-linear least squares minimizer +# Copyright 2013 Google Inc. All rights reserved. +# http://code.google.com/p/ceres-solver/ +# +# 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. +# +# Author: alexs.mac@gmail.com (Alex Stewart) +# + +# FindGflags.cmake - Find Google gflags logging library. +# +# This module defines the following variables: +# +# GFLAGS_FOUND: TRUE iff gflags is found. +# GFLAGS_INCLUDE_DIRS: Include directories for gflags. +# GFLAGS_LIBRARIES: Libraries required to link gflags. +# +# The following variables control the behaviour of this module: +# +# GFLAGS_INCLUDE_DIR_HINTS: List of additional directories in which to +# search for gflags includes, e.g: /timbuktu/include. +# GFLAGS_LIBRARY_DIR_HINTS: List of additional directories in which to +# search for gflags libraries, e.g: /timbuktu/lib. +# +# The following variables are also defined by this module, but in line with +# CMake recommended FindPackage() module style should NOT be referenced directly +# by callers (use the plural variables detailed above instead). These variables +# do however affect the behaviour of the module via FIND_[PATH/LIBRARY]() which +# are NOT re-called (i.e. search for library is not repeated) if these variables +# are set with valid values _in the CMake cache_. This means that if these +# variables are set directly in the cache, either by the user in the CMake GUI, +# or by the user passing -DVAR=VALUE directives to CMake when called (which +# explicitly defines a cache variable), then they will be used verbatim, +# bypassing the HINTS variables and other hard-coded search locations. +# +# GFLAGS_INCLUDE_DIR: Include directory for gflags, not including the +# include directory of any dependencies. +# GFLAGS_LIBRARY: gflags library, not including the libraries of any +# dependencies. + +# Called if we failed to find gflags 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(GFLAGS_REPORT_NOT_FOUND REASON_MSG) + UNSET(GFLAGS_FOUND) + UNSET(GFLAGS_INCLUDE_DIRS) + UNSET(GFLAGS_LIBRARIES) + # Make results of search visible in the CMake GUI if gflags has not + # been found so that user does not have to toggle to advanced view. + MARK_AS_ADVANCED(CLEAR GFLAGS_INCLUDE_DIR + GFLAGS_LIBRARY) + # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by FindPackage() + # use the camelcase library name, not uppercase. + IF (Gflags_FIND_QUIETLY) + MESSAGE(STATUS "Failed to find gflags - " ${REASON_MSG} ${ARGN}) + ELSEIF (Gflags_FIND_REQUIRED) + MESSAGE(FATAL_ERROR "Failed to find gflags - " ${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 gflags - " ${REASON_MSG} ${ARGN}) + ENDIF () +ENDMACRO(GFLAGS_REPORT_NOT_FOUND) + +# TODO: Add standard Windows search locations for gflags. +LIST(APPEND GFLAGS_CHECK_INCLUDE_DIRS + /usr/include + /usr/local/include + /usr/local/homebrew/include # Mac OS X + /opt/local/var/macports/software # Mac OS X. + /opt/local/include) +LIST(APPEND GFLAGS_CHECK_LIBRARY_DIRS + /usr/lib + /usr/local/lib + /usr/local/homebrew/lib # Mac OS X. + /opt/local/lib) + +# Search supplied hint directories first if supplied. +FIND_PATH(GFLAGS_INCLUDE_DIR + NAMES gflags/gflags.h + PATHS ${GFLAGS_INCLUDE_HINTS} + ${GFLAGS_CHECK_INCLUDE_DIRS}) +IF (NOT GFLAGS_INCLUDE_DIR OR + NOT EXISTS ${GFLAGS_INCLUDE_DIR}) + GFLAGS_REPORT_NOT_FOUND( + "Could not find gflags include directory, set GFLAGS_INCLUDE_DIR " + "to directory containing gflags/gflags.h") +ENDIF (NOT GFLAGS_INCLUDE_DIR OR + NOT EXISTS ${GFLAGS_INCLUDE_DIR}) + +FIND_LIBRARY(GFLAGS_LIBRARY NAMES gflags + PATHS ${GFLAGS_LIBRARY_HINTS} + ${GFLAGS_CHECK_LIBRARY_DIRS}) +IF (NOT GFLAGS_LIBRARY OR + NOT EXISTS ${GFLAGS_LIBRARY}) + GFLAGS_REPORT_NOT_FOUND( + "Could not find gflags library, set GFLAGS_LIBRARY " + "to full path to libgflags.") +ENDIF (NOT GFLAGS_LIBRARY OR + NOT EXISTS ${GFLAGS_LIBRARY}) + +# Mark internally as found, then verify. GFLAGS_REPORT_NOT_FOUND() unsets +# if called. +SET(GFLAGS_FOUND TRUE) + +# gflags does not seem to provide any record of the version in its +# source tree, thus cannot extract version. + +# Catch case when caller has set GFLAGS_INCLUDE_DIR in the cache / GUI and +# thus FIND_[PATH/LIBRARY] are not called, but specified locations are +# invalid, otherwise we would report the library as found. +IF (GFLAGS_INCLUDE_DIR AND + NOT EXISTS ${GFLAGS_INCLUDE_DIR}/gflags/gflags.h) + GFLAGS_REPORT_NOT_FOUND( + "Caller defined GFLAGS_INCLUDE_DIR:" + " ${GFLAGS_INCLUDE_DIR} does not contain gflags/gflags.h header.") +ENDIF (GFLAGS_INCLUDE_DIR AND + NOT EXISTS ${GFLAGS_INCLUDE_DIR}/gflags/gflags.h) +# TODO: This regex for gflags library is pretty primitive, could it be better? +IF (GFLAGS_LIBRARY AND + NOT ${GFLAGS_LIBRARY} MATCHES ".*gflags[^/]*") + GFLAGS_REPORT_NOT_FOUND( + "Caller defined GFLAGS_LIBRARY: " + "${GFLAGS_LIBRARY} does not match gflags.") +ENDIF (GFLAGS_LIBRARY AND + NOT ${GFLAGS_LIBRARY} MATCHES ".*gflags[^/]*") + +# Set standard CMake FindPackage variables if found. +IF (GFLAGS_FOUND) + SET(GFLAGS_INCLUDE_DIRS ${GFLAGS_INCLUDE_DIR}) + SET(GFLAGS_LIBRARIES ${GFLAGS_LIBRARY}) +ENDIF (GFLAGS_FOUND) + +# Handle REQUIRED / QUIET optional arguments. +INCLUDE(FindPackageHandleStandardArgs) +FIND_PACKAGE_HANDLE_STANDARD_ARGS(Gflags DEFAULT_MSG + GFLAGS_INCLUDE_DIRS GFLAGS_LIBRARIES) + +# Only mark internal variables as advanced if we found gflags, otherwise +# leave them visible in the standard GUI for the user to set manually. +IF (GFLAGS_FOUND) + MARK_AS_ADVANCED(FORCE GFLAGS_INCLUDE_DIR + GFLAGS_LIBRARY) +ENDIF (GFLAGS_FOUND)
diff --git a/cmake/FindGlog.cmake b/cmake/FindGlog.cmake new file mode 100644 index 0000000..30b95e2 --- /dev/null +++ b/cmake/FindGlog.cmake
@@ -0,0 +1,166 @@ +# Ceres Solver - A fast non-linear least squares minimizer +# Copyright 2013 Google Inc. All rights reserved. +# http://code.google.com/p/ceres-solver/ +# +# 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. +# +# Author: alexs.mac@gmail.com (Alex Stewart) +# + +# FindGlog.cmake - Find Google glog logging library. +# +# This module defines the following variables: +# +# GLOG_FOUND: TRUE iff glog is found. +# GLOG_INCLUDE_DIRS: Include directories for glog. +# GLOG_LIBRARIES: Libraries required to link glog. +# +# The following variables control the behaviour of this module: +# +# GLOG_INCLUDE_DIRS_HINTS: List of additional directories in which to +# search for glog includes, e.g: /timbuktu/include. +# GLOG_LIBRARY_DIRS_HINTS: List of additional directories in which to +# search for glog libraries, e.g: /timbuktu/lib. +# +# The following variables are also defined by this module, but in line with +# CMake recommended FindPackage() module style should NOT be referenced directly +# by callers (use the plural variables detailed above instead). These variables +# do however affect the behaviour of the module via FIND_[PATH/LIBRARY]() which +# are NOT re-called (i.e. search for library is not repeated) if these variables +# are set with valid values _in the CMake cache_. This means that if these +# variables are set directly in the cache, either by the user in the CMake GUI, +# or by the user passing -DVAR=VALUE directives to CMake when called (which +# explicitly defines a cache variable), then they will be used verbatim, +# bypassing the HINTS variables and other hard-coded search locations. +# +# GLOG_INCLUDE_DIR: Include directory for glog, not including the +# include directory of any dependencies. +# GLOG_LIBRARY: glog library, not including the libraries of any +# dependencies. + +# Called if we failed to find glog 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(GLOG_REPORT_NOT_FOUND REASON_MSG) + UNSET(GLOG_FOUND) + UNSET(GLOG_INCLUDE_DIRS) + UNSET(GLOG_LIBRARIES) + # Make results of search visible in the CMake GUI if glog has not + # been found so that user does not have to toggle to advanced view. + MARK_AS_ADVANCED(CLEAR GLOG_INCLUDE_DIR + GLOG_LIBRARY) + # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by FindPackage() + # use the camelcase library name, not uppercase. + IF (Glog_FIND_QUIETLY) + MESSAGE(STATUS "Failed to find glog - " ${REASON_MSG} ${ARGN}) + ELSEIF (Glog_FIND_REQUIRED) + MESSAGE(FATAL_ERROR "Failed to find glog - " ${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 glog - " ${REASON_MSG} ${ARGN}) + ENDIF () +ENDMACRO(GLOG_REPORT_NOT_FOUND) + +# TODO: Add standard Windows search locations for glog. +LIST(APPEND GLOG_CHECK_INCLUDE_DIRS + /usr/include + /usr/local/include + /usr/local/homebrew/include # Mac OS X + /opt/local/var/macports/software # Mac OS X. + /opt/local/include) +LIST(APPEND GLOG_CHECK_LIBRARY_DIRS + /usr/lib + /usr/local/lib + /usr/local/homebrew/lib # Mac OS X. + /opt/local/lib) + +# Search supplied hint directories first if supplied. +FIND_PATH(GLOG_INCLUDE_DIR + NAMES glog/logging.h + PATHS ${GLOG_INCLUDE_DIR_HINTS} + ${GLOG_CHECK_INCLUDE_DIRS}) +IF (NOT GLOG_INCLUDE_DIR OR + NOT EXISTS ${GLOG_INCLUDE_DIR}) + GLOG_REPORT_NOT_FOUND( + "Could not find glog include directory, set GLOG_INCLUDE_DIR " + "to directory containing glog/logging.h") +ENDIF (NOT GLOG_INCLUDE_DIR OR + NOT EXISTS ${GLOG_INCLUDE_DIR}) + +FIND_LIBRARY(GLOG_LIBRARY NAMES glog + PATHS ${GLOG_LIBRARY_DIR_HINTS} + ${GLOG_CHECK_LIBRARY_DIRS}) +IF (NOT GLOG_LIBRARY OR + NOT EXISTS ${GLOG_LIBRARY}) + GLOG_REPORT_NOT_FOUND( + "Could not find glog library, set GLOG_LIBRARY " + "to full path to libglog.") +ENDIF (NOT GLOG_LIBRARY OR + NOT EXISTS ${GLOG_LIBRARY}) + +# Mark internally as found, then verify. GLOG_REPORT_NOT_FOUND() unsets +# if called. +SET(GLOG_FOUND TRUE) + +# Glog does not seem to provide any record of the version in its +# source tree, thus cannot extract version. + +# Catch case when caller has set GLOG_INCLUDE_DIR in the cache / GUI and +# thus FIND_[PATH/LIBRARY] are not called, but specified locations are +# invalid, otherwise we would report the library as found. +IF (GLOG_INCLUDE_DIR AND + NOT EXISTS ${GLOG_INCLUDE_DIR}/glog/logging.h) + GLOG_REPORT_NOT_FOUND( + "Caller defined GLOG_INCLUDE_DIR:" + " ${GLOG_INCLUDE_DIR} does not contain glog/logging.h header.") +ENDIF (GLOG_INCLUDE_DIR AND + NOT EXISTS ${GLOG_INCLUDE_DIR}/glog/logging.h) +# TODO: This regex for glog library is pretty primitive, could it be better? +IF (GLOG_LIBRARY AND + NOT ${GLOG_LIBRARY} MATCHES ".*glog[^/]*") + GLOG_REPORT_NOT_FOUND( + "Caller defined GLOG_LIBRARY: " + "${GLOG_LIBRARY} does not match glog.") +ENDIF (GLOG_LIBRARY AND + NOT ${GLOG_LIBRARY} MATCHES ".*glog[^/]*") + +# Set standard CMake FindPackage variables if found. +IF (GLOG_FOUND) + SET(GLOG_INCLUDE_DIRS ${GLOG_INCLUDE_DIR}) + SET(GLOG_LIBRARIES ${GLOG_LIBRARY}) +ENDIF (GLOG_FOUND) + +# Handle REQUIRED / QUIET optional arguments. +INCLUDE(FindPackageHandleStandardArgs) +FIND_PACKAGE_HANDLE_STANDARD_ARGS(Glog DEFAULT_MSG + GLOG_INCLUDE_DIRS GLOG_LIBRARIES) + +# Only mark internal variables as advanced if we found glog, otherwise +# leave them visible in the standard GUI for the user to set manually. +IF (GLOG_FOUND) + MARK_AS_ADVANCED(FORCE GLOG_INCLUDE_DIR + GLOG_LIBRARY) +ENDIF (GLOG_FOUND)
diff --git a/cmake/FindSuiteSparse.cmake b/cmake/FindSuiteSparse.cmake index a0beab9..4dc6c7e 100644 --- a/cmake/FindSuiteSparse.cmake +++ b/cmake/FindSuiteSparse.cmake
@@ -48,6 +48,15 @@ # install, in which case found version of SuiteSparse cannot be used to link # a shared library due to a bug (static linking is unaffected). # +# The following variables control the behaviour of this module: +# +# SUITESPARSE_INCLUDE_DIR_HINTS: List of additional directories in which to +# search for SuiteSparse includes, +# e.g: /timbuktu/include. +# SUITESPARSE_LIBRARY_DIR_HINTS: List of additional directories in which to +# search for SuiteSparse libraries, +# e.g: /timbuktu/lib. +# # The following variables define the presence / includes & libraries for the # SuiteSparse components searched for, the SUITESPARSE_XX variables are the # union of the variables for all components. @@ -101,9 +110,31 @@ # TBB_FOUND # TBB_LIBRARIES +# 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) + UNSET(SUITESPARSE_FOUND) + UNSET(SUITESPARSE_INCLUDE_DIRS) + UNSET(SUITESPARSE_LIBRARIES) + UNSET(SUITESPARSE_VERSION) + UNSET(SUITESPARSE_MAIN_VERSION) + UNSET(SUITESPARSE_SUB_VERSION) + UNSET(SUITESPARSE_SUBSUB_VERSION) + # 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}) + ELSE (SuiteSparse_FIND_QUIETLY) + MESSAGE(FATAL_ERROR "Failed to find SuiteSparse - " ${REASON_MSG} ${ARGN}) + ENDIF (SuiteSparse_FIND_QUIETLY) +ENDMACRO(SUITESPARSE_REPORT_NOT_FOUND) + # Specify search directories for include files and libraries (this is the union -# of the search directories for all OSs). +# of the search directories for all OSs). Search user-specified hint +# directories first if supplied. LIST(APPEND SUITESPARSE_CHECK_INCLUDE_DIRS + ${SUITESPARSE_INCLUDE_DIR_HINTS} /opt/local/include /opt/local/include/ufsparse # Mac OS X /usr/include @@ -112,6 +143,7 @@ /usr/local/include /usr/local/include/suitesparse) LIST(APPEND SUITESPARSE_CHECK_LIBRARY_DIRS + ${SUITESPARSE_LIBRARY_DIR_HINTS} /opt/local/lib /opt/local/lib/ufsparse # Mac OS X /usr/lib @@ -123,13 +155,15 @@ # BLAS. FIND_PACKAGE(BLAS QUIET) IF (NOT BLAS_FOUND) - MESSAGE("-- Did not find BLAS library (required for SuiteSparse).") + SUITESPARSE_REPORT_NOT_FOUND( + "Did not find BLAS library (required for SuiteSparse).") ENDIF (NOT BLAS_FOUND) # LAPACK. FIND_PACKAGE(LAPACK QUIET) IF (NOT LAPACK_FOUND) - MESSAGE("-- Did not find LAPACK library (required for SuiteSparse).") + SUITESPARSE_REPORT_NOT_FOUND( + "Did not find LAPACK library (required for SuiteSparse).") ENDIF (NOT LAPACK_FOUND) # AMD. @@ -137,9 +171,9 @@ FIND_LIBRARY(AMD_LIBRARY NAMES amd PATHS ${SUITESPARSE_CHECK_LIBRARY_DIRS}) IF (EXISTS ${AMD_LIBRARY}) - MESSAGE("-- Found AMD library: ${AMD_LIBRARY}") + MESSAGE(STATUS "Found AMD library: ${AMD_LIBRARY}") ELSE (EXISTS ${AMD_LIBRARY}) - MESSAGE("-- Did not find AMD library") + SUITESPARSE_REPORT_NOT_FOUND("Did not find AMD library.") SET(AMD_FOUND FALSE) ENDIF (EXISTS ${AMD_LIBRARY}) MARK_AS_ADVANCED(AMD_LIBRARY) @@ -147,9 +181,9 @@ FIND_PATH(AMD_INCLUDE_DIR NAMES amd.h PATHS ${SUITESPARSE_CHECK_INCLUDE_DIRS}) IF (EXISTS ${AMD_INCLUDE_DIR}) - MESSAGE("-- Found AMD header in: ${AMD_INCLUDE_DIR}") + MESSAGE(STATUS "Found AMD header in: ${AMD_INCLUDE_DIR}") ELSE (EXISTS ${AMD_INCLUDE_DIR}) - MESSAGE("-- Did not find AMD header") + SUITESPARSE_REPORT_NOT_FOUND("Did not find AMD header.") SET(AMD_FOUND FALSE) ENDIF (EXISTS ${AMD_INCLUDE_DIR}) MARK_AS_ADVANCED(AMD_INCLUDE_DIR) @@ -159,9 +193,9 @@ FIND_LIBRARY(CAMD_LIBRARY NAMES camd PATHS ${SUITESPARSE_CHECK_LIBRARY_DIRS}) IF (EXISTS ${CAMD_LIBRARY}) - MESSAGE("-- Found CAMD library: ${CAMD_LIBRARY}") + MESSAGE(STATUS "Found CAMD library: ${CAMD_LIBRARY}") ELSE (EXISTS ${CAMD_LIBRARY}) - MESSAGE("-- Did not find CAMD library") + SUITESPARSE_REPORT_NOT_FOUND("Did not find CAMD library.") SET(CAMD_FOUND FALSE) ENDIF (EXISTS ${CAMD_LIBRARY}) MARK_AS_ADVANCED(CAMD_LIBRARY) @@ -169,9 +203,9 @@ FIND_PATH(CAMD_INCLUDE_DIR NAMES camd.h PATHS ${SUITESPARSE_CHECK_INCLUDE_DIRS}) IF (EXISTS ${CAMD_INCLUDE_DIR}) - MESSAGE("-- Found CAMD header in: ${CAMD_INCLUDE_DIR}") + MESSAGE(STATUS "Found CAMD header in: ${CAMD_INCLUDE_DIR}") ELSE (EXISTS ${CAMD_INCLUDE_DIR}) - MESSAGE("-- Did not find CAMD header") + SUITESPARSE_REPORT_NOT_FOUND("Did not find CAMD header.") SET(CAMD_FOUND FALSE) ENDIF (EXISTS ${CAMD_INCLUDE_DIR}) MARK_AS_ADVANCED(CAMD_INCLUDE_DIR) @@ -181,9 +215,9 @@ FIND_LIBRARY(COLAMD_LIBRARY NAMES colamd PATHS ${SUITESPARSE_CHECK_LIBRARY_DIRS}) IF (EXISTS ${COLAMD_LIBRARY}) - MESSAGE("-- Found COLAMD library: ${COLAMD_LIBRARY}") + MESSAGE(STATUS "Found COLAMD library: ${COLAMD_LIBRARY}") ELSE (EXISTS ${COLAMD_LIBRARY}) - MESSAGE("-- Did not find COLAMD library") + SUITESPARSE_REPORT_NOT_FOUND("Did not find COLAMD library.") SET(COLAMD_FOUND FALSE) ENDIF (EXISTS ${COLAMD_LIBRARY}) MARK_AS_ADVANCED(COLAMD_LIBRARY) @@ -191,9 +225,9 @@ FIND_PATH(COLAMD_INCLUDE_DIR NAMES colamd.h PATHS ${SUITESPARSE_CHECK_INCLUDE_DIRS}) IF (EXISTS ${COLAMD_INCLUDE_DIR}) - MESSAGE("-- Found COLAMD header in: ${COLAMD_INCLUDE_DIR}") + MESSAGE(STATUS "Found COLAMD header in: ${COLAMD_INCLUDE_DIR}") ELSE (EXISTS ${COLAMD_INCLUDE_DIR}) - MESSAGE("-- Did not find COLAMD header") + SUITESPARSE_REPORT_NOT_FOUND("Did not find COLAMD header.") SET(COLAMD_FOUND FALSE) ENDIF (EXISTS ${COLAMD_INCLUDE_DIR}) MARK_AS_ADVANCED(COLAMD_INCLUDE_DIR) @@ -203,9 +237,9 @@ FIND_LIBRARY(CCOLAMD_LIBRARY NAMES ccolamd PATHS ${SUITESPARSE_CHECK_LIBRARY_DIRS}) IF (EXISTS ${CCOLAMD_LIBRARY}) - MESSAGE("-- Found CCOLAMD library: ${CCOLAMD_LIBRARY}") + MESSAGE(STATUS "Found CCOLAMD library: ${CCOLAMD_LIBRARY}") ELSE (EXISTS ${CCOLAMD_LIBRARY}) - MESSAGE("-- Did not find CCOLAMD library") + SUITESPARSE_REPORT_NOT_FOUND("Did not find CCOLAMD library.") SET(CCOLAMD_FOUND FALSE) ENDIF (EXISTS ${CCOLAMD_LIBRARY}) MARK_AS_ADVANCED(CCOLAMD_LIBRARY) @@ -213,9 +247,9 @@ FIND_PATH(CCOLAMD_INCLUDE_DIR NAMES ccolamd.h PATHS ${SUITESPARSE_CHECK_INCLUDE_DIRS}) IF (EXISTS ${CCOLAMD_INCLUDE_DIR}) - MESSAGE("-- Found CCOLAMD header in: ${CCOLAMD_INCLUDE_DIR}") + MESSAGE(STATUS "Found CCOLAMD header in: ${CCOLAMD_INCLUDE_DIR}") ELSE (EXISTS ${CCOLAMD_INCLUDE_DIR}) - MESSAGE("-- Did not find CCOLAMD header") + SUITESPARSE_REPORT_NOT_FOUND("Did not find CCOLAMD header.") SET(CCOLAMD_FOUND FALSE) ENDIF (EXISTS ${CCOLAMD_INCLUDE_DIR}) MARK_AS_ADVANCED(CCOLAMD_INCLUDE_DIR) @@ -225,9 +259,9 @@ FIND_LIBRARY(CHOLMOD_LIBRARY NAMES cholmod PATHS ${SUITESPARSE_CHECK_LIBRARY_DIRS}) IF (EXISTS ${CHOLMOD_LIBRARY}) - MESSAGE("-- Found CHOLMOD library: ${CHOLMOD_LIBRARY}") + MESSAGE(STATUS "Found CHOLMOD library: ${CHOLMOD_LIBRARY}") ELSE (EXISTS ${CHOLMOD_LIBRARY}) - MESSAGE("-- Did not find CHOLMOD library") + SUITESPARSE_REPORT_NOT_FOUND("Did not find CHOLMOD library.") SET(CHOLMOD_FOUND FALSE) ENDIF (EXISTS ${CHOLMOD_LIBRARY}) MARK_AS_ADVANCED(CHOLMOD_LIBRARY) @@ -235,9 +269,9 @@ FIND_PATH(CHOLMOD_INCLUDE_DIR NAMES cholmod.h PATHS ${SUITESPARSE_CHECK_INCLUDE_DIRS}) IF (EXISTS ${CHOLMOD_INCLUDE_DIR}) - MESSAGE("-- Found CHOLMOD header in: ${CHOLMOD_INCLUDE_DIR}") + MESSAGE(STATUS "Found CHOLMOD header in: ${CHOLMOD_INCLUDE_DIR}") ELSE (EXISTS ${CHOLMOD_INCLUDE_DIR}) - MESSAGE("-- Did not find CHOLMOD header") + SUITESPARSE_REPORT_NOT_FOUND("Did not find CHOLMOD header.") SET(CHOLMOD_FOUND FALSE) ENDIF (EXISTS ${CHOLMOD_INCLUDE_DIR}) MARK_AS_ADVANCED(CHOLMOD_INCLUDE_DIR) @@ -247,9 +281,9 @@ FIND_LIBRARY(SUITESPARSEQR_LIBRARY NAMES spqr PATHS ${SUITESPARSE_CHECK_LIBRARY_DIRS}) IF (EXISTS ${SUITESPARSEQR_LIBRARY}) - MESSAGE("-- Found SuiteSparseQR library: ${SUITESPARSEQR_LIBRARY}") + MESSAGE(STATUS "Found SuiteSparseQR library: ${SUITESPARSEQR_LIBRARY}") ELSE (EXISTS ${SUITESPARSEQR_LIBRARY}) - MESSAGE("-- Did not find SUITESPARSEQR library") + SUITESPARSE_REPORT_NOT_FOUND("Did not find SUITESPARSEQR library.") SET(SUITESPARSEQR_FOUND FALSE) ENDIF (EXISTS ${SUITESPARSEQR_LIBRARY}) MARK_AS_ADVANCED(SUITESPARSEQR_LIBRARY) @@ -257,9 +291,9 @@ FIND_PATH(SUITESPARSEQR_INCLUDE_DIR NAMES SuiteSparseQR.hpp PATHS ${SUITESPARSE_CHECK_INCLUDE_DIRS}) IF (EXISTS ${SUITESPARSEQR_INCLUDE_DIR}) - MESSAGE("-- Found SuiteSparseQR header in: ${SUITESPARSEQR_INCLUDE_DIR}") + MESSAGE(STATUS "Found SuiteSparseQR header in: ${SUITESPARSEQR_INCLUDE_DIR}") ELSE (EXISTS ${SUITESPARSEQR_INCLUDE_DIR}) - MESSAGE("-- Did not find SUITESPARSEQR header") + SUITESPARSE_REPORT_NOT_FOUND("Did not find SUITESPARSEQR header.") SET(SUITESPARSEQR_FOUND FALSE) ENDIF (EXISTS ${SUITESPARSEQR_INCLUDE_DIR}) MARK_AS_ADVANCED(SUITESPARSEQR_INCLUDE_DIR) @@ -272,10 +306,11 @@ FIND_LIBRARY(TBB_LIBRARIES NAMES tbb PATHS ${SUITESPARSE_CHECK_LIBRARY_DIRS}) IF (EXISTS ${TBB_LIBRARIES}) - MESSAGE("-- Found Intel Thread Building Blocks (TBB) library: ${TBB_LIBRARIES}, " - "assuming SuiteSparseQR was compiled with TBB.") + MESSAGE(STATUS "Found Intel Thread Building Blocks (TBB) library: " + "${TBB_LIBRARIES}, assuming SuiteSparseQR was compiled with TBB.") ELSE (EXISTS ${TBB_LIBRARIES}) - MESSAGE("-- Did not find TBB library") + MESSAGE(STATUS "Did not find Intel TBB library, assuming SuiteSparseQR was " + "not compiled with TBB.") SET(TBB_FOUND FALSE) ENDIF (EXISTS ${TBB_LIBRARIES}) MARK_AS_ADVANCED(TBB_LIBRARIES) @@ -284,7 +319,7 @@ FIND_LIBRARY(TBB_MALLOC_LIB NAMES tbbmalloc PATHS ${SUITESPARSE_CHECK_LIBRARY_DIRS}) IF (EXISTS ${TBB_MALLOC_LIB}) - MESSAGE("-- Found Intel Thread Building Blocks (TBB) Malloc library: " + MESSAGE(STATUS "Found Intel Thread Building Blocks (TBB) Malloc library: " "${TBB_MALLOC_LIB}") # Append TBB malloc library to TBB libraries list whilst retaining # any CMake generated help string (cache variable). @@ -299,7 +334,7 @@ ELSE (EXISTS ${TBB_MALLOC_LIB}) # If we cannot find all required TBB components do not include it as # a dependency. - MESSAGE("-- Did not find Intel Thread Building Blocks (TBB) Malloc " + MESSAGE(STATUS "Did not find Intel Thread Building Blocks (TBB) Malloc " "Library, discarding TBB as a dependency.") SET(TBB_FOUND FALSE) ENDIF (EXISTS ${TBB_MALLOC_LIB}) @@ -317,19 +352,23 @@ FIND_LIBRARY(SUITESPARSE_CONFIG_LIBRARY NAMES suitesparseconfig PATHS ${SUITESPARSE_CHECK_LIBRARY_DIRS}) IF (EXISTS ${SUITESPARSE_CONFIG_LIBRARY}) - MESSAGE("-- Found SuiteSparse_config library: ${SUITESPARSE_CONFIG_LIBRARY}") + MESSAGE(STATUS "Found SuiteSparse_config library: " + "${SUITESPARSE_CONFIG_LIBRARY}") ELSE (EXISTS ${SUITESPARSE_CONFIG_LIBRARY}) - MESSAGE("-- Did not find SuiteSparse_config library") + MESSAGE(STATUS "Did not find SuiteSparse_config library (should be present " + "in SuiteSparse >= v4 installs).") ENDIF (EXISTS ${SUITESPARSE_CONFIG_LIBRARY}) MARK_AS_ADVANCED(SUITESPARSE_CONFIG_LIBRARY) FIND_PATH(SUITESPARSE_CONFIG_INCLUDE_DIR NAMES SuiteSparse_config.h PATHS ${SUITESPARSE_CHECK_INCLUDE_DIRS}) IF (EXISTS ${SUITESPARSE_CONFIG_INCLUDE_DIR}) - MESSAGE("-- Found SuiteSparse_config header in: ${SUITESPARSE_CONFIG_INCLUDE_DIR}") + MESSAGE(STATUS "Found SuiteSparse_config header in: " + "${SUITESPARSE_CONFIG_INCLUDE_DIR}") SET(UFCONFIG_FOUND FALSE) ELSE (EXISTS ${SUITESPARSE_CONFIG_INCLUDE_DIR}) - MESSAGE("-- Did not find SuiteSparse_config header") + MESSAGE(STATUS "Did not find SuiteSparse_config header (should be present " + "in SuiteSparse >= v4 installs).") ENDIF (EXISTS ${SUITESPARSE_CONFIG_INCLUDE_DIR}) MARK_AS_ADVANCED(SUITESPARSE_CONFIG_INCLUDE_DIR) @@ -342,9 +381,11 @@ FIND_LIBRARY(LIBRT_LIBRARY NAMES rt PATHS ${SUITESPARSE_CHECK_LIBRARY_DIRS}) IF (LIBRT_LIBRARY) - MESSAGE("-- Adding librt: ${LIBRT_LIBRARY} to SuiteSparse_config libraries.") + MESSAGE(STATUS "Adding librt: ${LIBRT_LIBRARY} to " + "SuiteSparse_config libraries (required on Linux & Unix [not OSX] if " + "SuiteSparse is compiled with timing).") ELSE (LIBRT_LIBRARY) - MESSAGE("-- Could not find librt, but found SuiteSparse_config, " + MESSAGE(STATUS "Could not find librt, but found SuiteSparse_config, " "assuming that SuiteSparse was compiled without timing.") ENDIF (LIBRT_LIBRARY) MARK_AS_ADVANCED(LIBRT_LIBRARY) @@ -356,9 +397,10 @@ FIND_PATH(UFCONFIG_INCLUDE_DIR NAMES UFconfig.h PATHS ${SUITESPARSE_CHECK_INCLUDE_DIRS}) IF (EXISTS ${UFCONFIG_INCLUDE_DIR}) - MESSAGE("-- Found UFconfig header in: ${UFCONFIG_INCLUDE_DIR}") + MESSAGE(STATUS "Found UFconfig header in: ${UFCONFIG_INCLUDE_DIR}") ELSE (EXISTS ${UFCONFIG_INCLUDE_DIR}) - MESSAGE("-- Did not find UFconfig header") + MESSAGE(STATUS "Did not find UFconfig header (should be present " + "in SuiteSparse < v4 installs)") SET(UFCONFIG_FOUND FALSE) ENDIF (EXISTS ${UFCONFIG_INCLUDE_DIR}) MARK_AS_ADVANCED(UFCONFIG_INCLUDE_DIR) @@ -369,60 +411,83 @@ # <= v3, SuiteSparse_config.h for >= v4). IF (UFCONFIG_FOUND) # SuiteSparse version <= 3. - FILE(READ "${UFCONFIG_INCLUDE_DIR}/UFconfig.h" UFCONFIG_CONTENTS) + SET(SUITESPARSE_VERSION_FILE ${UFCONFIG_INCLUDE_DIR}/UFconfig.h) + IF (NOT EXISTS ${SUITESPARSE_VERSION_FILE}) + SUITESPARSE_REPORT_NOT_FOUND( + "Could not find file: ${SUITESPARSE_VERSION_FILE} containing version " + "information for <= v3 SuiteSparse installs, but UFconfig was found " + "(only present in <= v3 installs).") + ELSE (NOT EXISTS ${SUITESPARSE_VERSION_FILE}) + FILE(READ ${SUITESPARSE_VERSION_FILE} UFCONFIG_CONTENTS) - STRING(REGEX MATCH "#define SUITESPARSE_MAIN_VERSION [0-9]+" - SUITESPARSE_MAIN_VERSION "${UFCONFIG_CONTENTS}") - STRING(REGEX REPLACE "#define SUITESPARSE_MAIN_VERSION ([0-9]+)" "\\1" - SUITESPARSE_MAIN_VERSION "${SUITESPARSE_MAIN_VERSION}") + STRING(REGEX MATCH "#define SUITESPARSE_MAIN_VERSION [0-9]+" + SUITESPARSE_MAIN_VERSION "${UFCONFIG_CONTENTS}") + STRING(REGEX REPLACE "#define SUITESPARSE_MAIN_VERSION ([0-9]+)" "\\1" + SUITESPARSE_MAIN_VERSION "${SUITESPARSE_MAIN_VERSION}") - STRING(REGEX MATCH "#define SUITESPARSE_SUB_VERSION [0-9]+" - SUITESPARSE_SUB_VERSION "${UFCONFIG_CONTENTS}") - STRING(REGEX REPLACE "#define SUITESPARSE_SUB_VERSION ([0-9]+)" "\\1" - SUITESPARSE_SUB_VERSION "${SUITESPARSE_SUB_VERSION}") + STRING(REGEX MATCH "#define SUITESPARSE_SUB_VERSION [0-9]+" + SUITESPARSE_SUB_VERSION "${UFCONFIG_CONTENTS}") + STRING(REGEX REPLACE "#define SUITESPARSE_SUB_VERSION ([0-9]+)" "\\1" + SUITESPARSE_SUB_VERSION "${SUITESPARSE_SUB_VERSION}") - STRING(REGEX MATCH "#define SUITESPARSE_SUBSUB_VERSION [0-9]+" - SUITESPARSE_SUBSUB_VERSION "${UFCONFIG_CONTENTS}") - STRING(REGEX REPLACE "#define SUITESPARSE_SUBSUB_VERSION ([0-9]+)" "\\1" - SUITESPARSE_SUBSUB_VERSION "${SUITESPARSE_SUBSUB_VERSION}") + STRING(REGEX MATCH "#define SUITESPARSE_SUBSUB_VERSION [0-9]+" + SUITESPARSE_SUBSUB_VERSION "${UFCONFIG_CONTENTS}") + STRING(REGEX REPLACE "#define SUITESPARSE_SUBSUB_VERSION ([0-9]+)" "\\1" + SUITESPARSE_SUBSUB_VERSION "${SUITESPARSE_SUBSUB_VERSION}") + + # This is on a single line s/t CMake does not interpret it as a list of + # elements and insert ';' separators which would result in 4.;2.;1 nonsense. + SET(SUITESPARSE_VERSION + "${SUITESPARSE_MAIN_VERSION}.${SUITESPARSE_SUB_VERSION}.${SUITESPARSE_SUBSUB_VERSION}") + ENDIF (NOT EXISTS ${SUITESPARSE_VERSION_FILE}) ENDIF (UFCONFIG_FOUND) IF (SUITESPARSE_CONFIG_FOUND) # SuiteSparse version >= 4. - FILE(READ "${SUITESPARSE_CONFIG_INCLUDE_DIR}/SuiteSparse_config.h" - SUITESPARSE_CONFIG_CONTENTS) + 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 ${SUITESPARSE_VERSION_FILE} SUITESPARSE_CONFIG_CONTENTS) - STRING(REGEX MATCH "#define SUITESPARSE_MAIN_VERSION [0-9]+" - SUITESPARSE_MAIN_VERSION "${SUITESPARSE_CONFIG_CONTENTS}") - STRING(REGEX REPLACE "#define SUITESPARSE_MAIN_VERSION ([0-9]+)" "\\1" - SUITESPARSE_MAIN_VERSION "${SUITESPARSE_MAIN_VERSION}") + STRING(REGEX MATCH "#define SUITESPARSE_MAIN_VERSION [0-9]+" + SUITESPARSE_MAIN_VERSION "${SUITESPARSE_CONFIG_CONTENTS}") + STRING(REGEX REPLACE "#define SUITESPARSE_MAIN_VERSION ([0-9]+)" "\\1" + SUITESPARSE_MAIN_VERSION "${SUITESPARSE_MAIN_VERSION}") - STRING(REGEX MATCH "#define SUITESPARSE_SUB_VERSION [0-9]+" - SUITESPARSE_SUB_VERSION "${SUITESPARSE_CONFIG_CONTENTS}") - STRING(REGEX REPLACE "#define SUITESPARSE_SUB_VERSION ([0-9]+)" "\\1" - SUITESPARSE_SUB_VERSION "${SUITESPARSE_SUB_VERSION}") + STRING(REGEX MATCH "#define SUITESPARSE_SUB_VERSION [0-9]+" + SUITESPARSE_SUB_VERSION "${SUITESPARSE_CONFIG_CONTENTS}") + STRING(REGEX REPLACE "#define SUITESPARSE_SUB_VERSION ([0-9]+)" "\\1" + SUITESPARSE_SUB_VERSION "${SUITESPARSE_SUB_VERSION}") - STRING(REGEX MATCH "#define SUITESPARSE_SUBSUB_VERSION [0-9]+" - SUITESPARSE_SUBSUB_VERSION "${SUITESPARSE_CONFIG_CONTENTS}") - STRING(REGEX REPLACE "#define SUITESPARSE_SUBSUB_VERSION ([0-9]+)" "\\1" - SUITESPARSE_SUBSUB_VERSION "${SUITESPARSE_SUBSUB_VERSION}") + STRING(REGEX MATCH "#define SUITESPARSE_SUBSUB_VERSION [0-9]+" + SUITESPARSE_SUBSUB_VERSION "${SUITESPARSE_CONFIG_CONTENTS}") + STRING(REGEX REPLACE "#define SUITESPARSE_SUBSUB_VERSION ([0-9]+)" "\\1" + SUITESPARSE_SUBSUB_VERSION "${SUITESPARSE_SUBSUB_VERSION}") + + # This is on a single line s/t CMake does not interpret it as a list of + # elements and insert ';' separators which would result in 4.;2.;1 nonsense. + SET(SUITESPARSE_VERSION + "${SUITESPARSE_MAIN_VERSION}.${SUITESPARSE_SUB_VERSION}.${SUITESPARSE_SUBSUB_VERSION}") + ENDIF (NOT EXISTS ${SUITESPARSE_VERSION_FILE}) ENDIF (SUITESPARSE_CONFIG_FOUND) -# This is on a single line s/t CMake does not interpret it as a list of -# elements and insert ';' separators which would result in 4.;2.;1 nonsense. -SET(SUITESPARSE_VERSION - "${SUITESPARSE_MAIN_VERSION}.${SUITESPARSE_SUB_VERSION}.${SUITESPARSE_SUBSUB_VERSION}") - # METIS (Optional dependency). FIND_LIBRARY(METIS_LIBRARY NAMES metis PATHS ${SUITESPARSE_CHECK_LIBRARY_DIRS}) IF (EXISTS ${METIS_LIBRARY}) - MESSAGE("-- Found METIS library: ${METIS_LIBRARY}") + MESSAGE(STATUS "Found METIS library: ${METIS_LIBRARY}.") ELSE (EXISTS ${METIS_LIBRARY}) - MESSAGE("-- Did not find METIS library") + MESSAGE(STATUS "Did not find METIS library (optional SuiteSparse dependency)") ENDIF (EXISTS ${METIS_LIBRARY}) MARK_AS_ADVANCED(METIS_LIBRARY) +# Only mark SuiteSparse as found if all required dependencies have been found. +SET(SUITESPARSE_FOUND FALSE) IF (AMD_FOUND AND CAMD_FOUND AND COLAMD_FOUND AND @@ -468,10 +533,10 @@ LIST(APPEND SUITESPARSE_LIBRARIES ${METIS_LIBRARY}) ENDIF (METIS_FOUND) - MESSAGE("-- Found SuiteSparse version: ${SUITESPARSE_VERSION}") + MESSAGE(STATUS "Found SuiteSparse version: ${SUITESPARSE_VERSION}") ELSE() - SET(SUITESPARSE_FOUND FALSE) - MESSAGE("-- Failed to find some/all required components of SuiteSparse.") + SUITESPARSE_REPORT_NOT_FOUND( + "Failed to find some/all required components of SuiteSparse.") ENDIF() # Determine if we are running on Ubuntu with the package install of SuiteSparse @@ -494,6 +559,9 @@ # We are on Ubuntu, and the SuiteSparse version matches the broken # system install version and is a system install. SET(SUITESPARSE_IS_BROKEN_SHARED_LINKING_UBUNTU_SYSTEM_VERSION TRUE) + MESSAGE(STATUS "Found system install of SuiteSparse " + "${SUITESPARSE_VERSION} running on Ubuntu, which has a known bug " + "preventing linking of shared libraries (static linking unaffected).") ENDIF (LSB_DISTRIBUTOR_ID MATCHES "Ubuntu" AND SUITESPARSE_LIBRARIES MATCHES "/usr/lib/libamd") ENDIF (LSB_RELEASE_EXECUTABLE) @@ -508,5 +576,6 @@ # by FindPackageHandleStandardArgs() in conjunction with handling the REQUIRED # and QUIET optional arguments, as such we use an intermediary variable. SET(SUITESPARSE_FOUND_COPY ${SUITESPARSE_FOUND}) -FIND_PACKAGE_HANDLE_STANDARD_ARGS(SuiteSparse DEFAULT_MSG - SUITESPARSE_FOUND_COPY SUITESPARSE_INCLUDE_DIRS SUITESPARSE_LIBRARIES) +FIND_PACKAGE_HANDLE_STANDARD_ARGS(SuiteSparse + REQUIRED_VARS SUITESPARSE_FOUND_COPY SUITESPARSE_INCLUDE_DIRS SUITESPARSE_LIBRARIES + VERSION_VAR SUITESPARSE_VERSION)
diff --git a/cmake/depend.cmake b/cmake/depend.cmake deleted file mode 100644 index 275a440..0000000 --- a/cmake/depend.cmake +++ /dev/null
@@ -1,103 +0,0 @@ -# Ceres Solver - A fast non-linear least squares minimizer -# Copyright 2013 Google Inc. All rights reserved. -# http://code.google.com/p/ceres-solver/ -# -# 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. -# -# Author: pablo.speciale@gmail.com (Pablo Speciale) -# - -# Default locations to search for on various platforms. -LIST(APPEND SEARCH_LIBS /usr/lib) -LIST(APPEND SEARCH_LIBS /usr/local/lib) -LIST(APPEND SEARCH_LIBS /usr/local/homebrew/lib) # Mac OS X -LIST(APPEND SEARCH_LIBS /opt/local/lib) - -LIST(APPEND SEARCH_HEADERS /usr/include) -LIST(APPEND SEARCH_HEADERS /usr/local/include) -LIST(APPEND SEARCH_HEADERS /usr/local/homebrew/include) # Mac OS X -LIST(APPEND SEARCH_HEADERS /opt/local/include) - -# Locations to search for Eigen -SET(EIGEN_SEARCH_HEADERS ${SEARCH_HEADERS}) -LIST(APPEND EIGEN_SEARCH_HEADERS /usr/include/eigen3) # Ubuntu 10.04's default location. -LIST(APPEND EIGEN_SEARCH_HEADERS /usr/local/include/eigen3) -LIST(APPEND EIGEN_SEARCH_HEADERS /usr/local/homebrew/include/eigen3) # Mac OS X -LIST(APPEND EIGEN_SEARCH_HEADERS /opt/local/var/macports/software/eigen3/opt/local/include/eigen3) # Mac OS X - -# Google Flags -OPTION(GFLAGS - "Enable Google Flags." - ON) - -IF (GFLAGS) - MESSAGE("-- Check for Google Flags") - FIND_LIBRARY(GFLAGS_LIB NAMES gflags PATHS ${SEARCH_LIBS}) - IF (NOT EXISTS ${GFLAGS_LIB}) - MESSAGE(FATAL_ERROR - "Can't find Google Flags. Please specify: " - "-DGFLAGS_LIB=...") - ENDIF (NOT EXISTS ${GFLAGS_LIB}) - MESSAGE("-- Found Google Flags library: ${GFLAGS_LIB}") - FIND_PATH(GFLAGS_INCLUDE NAMES gflags/gflags.h PATHS ${SEARCH_HEADERS}) - IF (NOT EXISTS ${GFLAGS_INCLUDE}) - MESSAGE(FATAL_ERROR - "Can't find Google Flags. Please specify: " - "-DGFLAGS_INCLUDE=...") - ENDIF (NOT EXISTS ${GFLAGS_INCLUDE}) - MESSAGE("-- Found Google Flags header in: ${GFLAGS_INCLUDE}") -ENDIF (GFLAGS) - -# Google Logging -MESSAGE("-- Check for Google Log") -FIND_LIBRARY(GLOG_LIB NAMES glog PATHS ${SEARCH_LIBS}) -IF (NOT EXISTS ${GLOG_LIB}) - MESSAGE(FATAL_ERROR - "Can't find Google Log. Please specify: " - "-DGLOG_LIB=...") -ENDIF (NOT EXISTS ${GLOG_LIB}) -MESSAGE("-- Found Google Log library: ${GLOG_LIB}") - -FIND_PATH(GLOG_INCLUDE NAMES glog/logging.h PATHS ${SEARCH_HEADERS}) -IF (NOT EXISTS ${GLOG_INCLUDE}) - MESSAGE(FATAL_ERROR - "Can't find Google Log. Please specify: " - "-DGLOG_INCLUDE=...") -ENDIF (NOT EXISTS ${GLOG_INCLUDE}) -MESSAGE("-- Found Google Log header in: ${GLOG_INCLUDE}") - -# Eigen -MESSAGE("-- Check for Eigen 3.x") -FIND_PATH(EIGEN_INCLUDE NAMES Eigen/Core PATHS ${EIGEN_SEARCH_HEADERS}) -IF (NOT EXISTS ${EIGEN_INCLUDE}) - MESSAGE(FATAL_ERROR "Can't find Eigen. Try passing -DEIGEN_INCLUDE=...") -ENDIF (NOT EXISTS ${EIGEN_INCLUDE}) -MESSAGE("-- Found Eigen 3.x: ${EIGEN_INCLUDE}") - - -INCLUDE_DIRECTORIES( - ${GLOG_INCLUDE} - ${EIGEN_INCLUDE} - )
diff --git a/cmake/uninstall.cmake.in b/cmake/uninstall.cmake.in index 66c57f6..dce3284 100644 --- a/cmake/uninstall.cmake.in +++ b/cmake/uninstall.cmake.in
@@ -27,25 +27,71 @@ # POSSIBILITY OF SUCH DAMAGE. # # Author: arnaudgelas@gmail.com (Arnaud Gelas) +# alexs.mac@gmail.com (Alex Stewart) + +IF (COMMAND cmake_policy) + # Ignore empty elements in LIST() commands. + CMAKE_POLICY(SET CMP0007 OLD) +ENDIF (COMMAND cmake_policy) IF (NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt") - MESSAGE(FATAL_ERROR - "Cannot find install manifest: \"@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt\"") + MESSAGE(FATAL_ERROR "Cannot find install manifest: " + "\"@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt\"") ENDIF (NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt") -FILE(READ "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt" files) -STRING(REGEX REPLACE "\n" ";" files "${files}") -LIST(REVERSE files) -FOREACH (file ${files}) - MESSAGE(STATUS "Uninstalling \"$ENV{DESTDIR}${file}\"") - IF (EXISTS "$ENV{DESTDIR}${file}") - EXECUTE_PROCESS(COMMAND @CMAKE_COMMAND@ -E remove "$ENV{DESTDIR}${file}" - OUTPUT_VARIABLE rm_out - RESULT_VARIABLE rm_retval) - IF (NOT ${rm_retval} EQUAL 0) - MESSAGE(FATAL_ERROR "Problem when removing \"$ENV{DESTDIR}${file}\"") - ENDIF (NOT ${rm_retval} EQUAL 0) - ELSE (EXISTS "$ENV{DESTDIR}${file}") - MESSAGE(STATUS "File \"$ENV{DESTDIR}${file}\" does not exist.") - ENDIF (EXISTS "$ENV{DESTDIR}${file}") -ENDFOREACH(file) +FILE(READ "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt" INSTALL_MANIFEST) +STRING(REGEX REPLACE "\n" ";" INSTALL_MANIFEST "${INSTALL_MANIFEST}") +LIST(REVERSE INSTALL_MANIFEST) + +FOREACH (INSTALLED_FILE ${INSTALL_MANIFEST}) + # Save the root ceres include install directory, e.g. /usr/local/include/ceres + # so that we can remove it at the end. + IF (NOT CERES_INCLUDE_INSTALL_ROOT) + GET_FILENAME_COMPONENT(FILE_NAME ${INSTALLED_FILE} NAME) + IF (FILE_NAME STREQUAL ceres.h) + # Ensure that the directory is nested as we expect, as we are going to + # remove it, and we do not want to remove files pertaining to anyone else. + GET_FILENAME_COMPONENT(PARENT_DIR ${INSTALLED_FILE} PATH) + GET_FILENAME_COMPONENT(PARENT_DIR_NAME ${PARENT_DIR} NAME) + IF (PARENT_DIR_NAME STREQUAL ceres AND IS_DIRECTORY ${PARENT_DIR}) + SET(CERES_INCLUDE_INSTALL_ROOT ${PARENT_DIR}) + ENDIF (PARENT_DIR_NAME STREQUAL ceres AND IS_DIRECTORY ${PARENT_DIR}) + ENDIF (FILE_NAME STREQUAL ceres.h) + ENDIF (NOT CERES_INCLUDE_INSTALL_ROOT) + + MESSAGE(STATUS "Uninstalling \"$ENV{DESTDIR}${INSTALLED_FILE}\"") + IF (EXISTS "$ENV{DESTDIR}${INSTALLED_FILE}") + EXECUTE_PROCESS(COMMAND @CMAKE_COMMAND@ + -E remove "$ENV{DESTDIR}${INSTALLED_FILE}" + OUTPUT_VARIABLE RM_OUT + RESULT_VARIABLE RM_RETVAL) + IF (NOT ${RM_RETVAL} EQUAL 0) + MESSAGE(FATAL_ERROR + "Problem when removing \"$ENV{DESTDIR}${INSTALLED_FILE}\"") + ENDIF (NOT ${RM_RETVAL} EQUAL 0) + ELSE (EXISTS "$ENV{DESTDIR}${INSTALLED_FILE}") + MESSAGE(STATUS "File \"$ENV{DESTDIR}${INSTALLED_FILE}\" does not exist.") + ENDIF (EXISTS "$ENV{DESTDIR}${INSTALLED_FILE}") +ENDFOREACH(INSTALLED_FILE) + +# Removing Ceres include install directory. +IF (CERES_INCLUDE_INSTALL_ROOT AND + EXISTS ${CERES_INCLUDE_INSTALL_ROOT}) + MESSAGE(STATUS "Removing Ceres include install directory: " + "\"$ENV{DESTDIR}${CERES_INCLUDE_INSTALL_ROOT}\"") + EXECUTE_PROCESS(COMMAND @CMAKE_COMMAND@ + -E remove_directory + "$ENV{DESTDIR}${CERES_INCLUDE_INSTALL_ROOT}" + OUTPUT_VARIABLE RM_OUT + RESULT_VARIABLE RM_RETVAL) + IF (NOT ${RM_RETVAL} EQUAL 0) + MESSAGE(FATAL_ERROR + "Failed to remove: \"$ENV{DESTDIR}${CERES_INCLUDE_INSTALL_ROOT\"") + ENDIF (NOT ${RM_RETVAL} EQUAL 0) +ELSE (CERES_INCLUDE_INSTALL_ROOT AND + EXISTS ${CERES_INCLUDE_INSTALL_ROOT}) + MESSAGE(FATAL_ERROR "Failed to find Ceres installed include directory " + "(e.g. /usr/local/include/ceres), candidate: " + "\"$ENV{DESTDIR}${CERES_INCLUDE_INSTALL_ROOT}\"") +ENDIF (CERES_INCLUDE_INSTALL_ROOT AND + EXISTS ${CERES_INCLUDE_INSTALL_ROOT})
diff --git a/docs/source/building.rst b/docs/source/building.rst index 49fdb3c..b276baa 100644 --- a/docs/source/building.rst +++ b/docs/source/building.rst
@@ -262,12 +262,15 @@ #. Try running ``Configure``. It won't work. It'll show a bunch of options. You'll need to set: - #. ``GLOG_INCLUDE`` - #. ``GLOG_LIB`` - #. ``GFLAGS_LIB`` - #. ``GFLAGS_INCLUDE`` + #. ``EIGEN_INCLUDE_DIR`` + #. ``GLOG_INCLUDE_DIR`` + #. ``GLOG_LIBRARY`` + #. ``GFLAGS_INCLUDE_DIR`` + #. ``GFLAGS_LIBRARY`` - to the appropriate place where you unpacked/built them. + to the appropriate place where you unpacked/built them. If any of the + variables are not visible in the ``CMake`` GUI, toggle to the + *Advanced View* with ``<t>``. #. You may have to tweak some more settings to generate a MSVC project. After each adjustment, try pressing Configure & Generate @@ -317,6 +320,27 @@ command line. In general, you should only modify these options from their defaults if you know what you are doing. +.. NOTE:: + + If you are setting variables via ``-D<VARIABLE>=<VALUE>`` when calling + ``CMake``, it is important to understand that this forcibly **overwrites** the + variable ``<VARIABLE>`` in the ``CMake`` cache at the start of *every configure*. + + This can lead to confusion if you are invoking the ``CMake`` + `curses <http://www.gnu.org/software/ncurses/ncurses.html>`_ terminal GUI + (via ``ccmake``, e.g. ```ccmake -D<VARIABLE>=<VALUE> <PATH_TO_SRC>``). + In this case, even if you change the value of ``<VARIABLE>`` in the ``CMake`` + GUI, your changes will be **overwritten** with the value passed via + ``-D<VARIABLE>=<VALUE>`` (if one exists) at the start of each configure. + + As such, it is generally easier not to pass values to ``CMake`` via ``-D`` + and instead interactively experiment with their values in the ``CMake`` GUI. + If they are not present in the *Standard View*, toggle to the *Advanced View* + with ``<t>``. + +Options controlling Ceres configuration +-------------------- + #. ``LAPACK [Default: ON]``: By default Ceres will use ``LAPACK`` (& ``BLAS``) if they are found. Turn this ``OFF`` to build Ceres without ``LAPACK``. Turning this ``OFF`` also disables @@ -365,6 +389,47 @@ addition, ``make ceres_docs`` can be used to build only the documentation. + +Options controlling Ceres dependency locations +-------------------- + +Ceres uses the ``CMake`` +`find_package <http://www.cmake.org/cmake/help/v2.8.12/cmake.html#command:find_package>`_ +function to find all of its dependencies using +``Find<DEPENDENCY_NAME>.cmake`` scripts which are either included in Ceres +(for most dependencies) or are shipped as standard with ``CMake`` +(for ``LAPACK`` & ``BLAS``). These scripts will search all of the "standard" +install locations for various OSs for each dependency. However, particularly +for Windows, they may fail to find the library, in this case you will have to +manually specify its installed location. The ``Find<DEPENDENCY_NAME>.cmake`` +scripts shipped with Ceres support two ways for you to do this: + +#. Set the *hints* variables specifying the *directories* to search in + preference, but in addition, to the search directories in the + ``Find<DEPENDENCY_NAME>.cmake`` script: + + - ``<DEPENDENCY_NAME (CAPS)>_INCLUDE_DIR_HINTS`` + - ``<DEPENDENCY_NAME (CAPS)>_LIBRARY_DIR_HINTS`` + + These variables should be set via ``-D<VAR>=<VALUE>`` + ``CMake`` arguments as they are not visible in the GUI. + +#. Set the variables specifying the *explicit* include directory + and library file to use: + + - ``<DEPENDENCY_NAME (CAPS)>_INCLUDE_DIR`` + - ``<DEPENDENCY_NAME (CAPS)>_LIBRARY`` + + This bypasses *all* searching in the + ``Find<DEPENDENCY_NAME>.cmake`` script, but validation is still + performed. + + These variables are available to set in the ``CMake`` GUI. They + are visible in the *Standard View* if the library has not been + found (but the current Ceres configuration requires it), but + are always visible in the *Advanced View*. They can also be + set directly via ``-D<VAR>=<VALUE>`` arguments to ``CMake``. + .. _section-using-ceres: Using Ceres with CMake @@ -385,7 +450,7 @@ PROJECT(helloworld) FIND_PACKAGE(Ceres REQUIRED) - INCLUDE_DIRECTORIES(${CERES_INCLUDES}) + INCLUDE_DIRECTORIES(${CERES_INCLUDE_DIRS}) # helloworld ADD_EXECUTABLE(helloworld helloworld.cc)
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt index 9dfc80b..5205ccb 100644 --- a/examples/CMakeLists.txt +++ b/examples/CMakeLists.txt
@@ -53,26 +53,26 @@ IF (GFLAGS) ADD_EXECUTABLE(powell powell.cc) - TARGET_LINK_LIBRARIES(powell ceres) + TARGET_LINK_LIBRARIES(powell ceres ${GFLAGS_LIBRARIES}) ADD_EXECUTABLE(nist nist.cc) - TARGET_LINK_LIBRARIES(nist ceres) + TARGET_LINK_LIBRARIES(nist ceres ${GFLAGS_LIBRARIES}) ADD_EXECUTABLE(circle_fit circle_fit.cc) - TARGET_LINK_LIBRARIES(circle_fit ceres) + TARGET_LINK_LIBRARIES(circle_fit ceres ${GFLAGS_LIBRARIES}) ADD_EXECUTABLE(bundle_adjuster bundle_adjuster.cc bal_problem.cc) - TARGET_LINK_LIBRARIES(bundle_adjuster ceres) + TARGET_LINK_LIBRARIES(bundle_adjuster ceres ${GFLAGS_LIBRARIES}) ADD_EXECUTABLE(libmv_bundle_adjuster libmv_bundle_adjuster.cc) - TARGET_LINK_LIBRARIES(libmv_bundle_adjuster ceres) + TARGET_LINK_LIBRARIES(libmv_bundle_adjuster ceres ${GFLAGS_LIBRARIES}) ADD_EXECUTABLE(denoising denoising.cc fields_of_experts.cc) - TARGET_LINK_LIBRARIES(denoising ceres) + TARGET_LINK_LIBRARIES(denoising ceres ${GFLAGS_LIBRARIES}) ENDIF (GFLAGS)
diff --git a/internal/ceres/CMakeLists.txt b/internal/ceres/CMakeLists.txt index cefe809..eee8abf 100644 --- a/internal/ceres/CMakeLists.txt +++ b/internal/ceres/CMakeLists.txt
@@ -130,9 +130,10 @@ FILE(GLOB CERES_INTERNAL_SCHUR_FILES generated/schur_eliminator_d_d_d.cc) ENDIF (SCHUR_SPECIALIZATIONS) -# For Android, use the internal Glog implementation. +# Primarily for Android, but optionally for others, use the minimal internal +# Glog implementation. IF (MINIGLOG) - ADD_LIBRARY(miniglog STATIC miniglog/glog/logging.cc) + ADD_LIBRARY(miniglog miniglog/glog/logging.cc) INSTALL(TARGETS miniglog EXPORT CeresExport RUNTIME DESTINATION bin @@ -140,18 +141,14 @@ ARCHIVE DESTINATION lib${LIB_SUFFIX}) ENDIF (MINIGLOG) -SET(CERES_LIBRARY_DEPENDENCIES ${GLOG_LIB}) - -IF (GFLAGS) - LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${GFLAGS_LIB}) -ENDIF (GFLAGS) +SET(CERES_LIBRARY_DEPENDENCIES ${GLOG_LIBRARIES}) IF (SUITESPARSE AND SUITESPARSE_FOUND) LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${SUITESPARSE_LIBRARIES}) ENDIF (SUITESPARSE AND SUITESPARSE_FOUND) IF (CXSPARSE AND CXSPARSE_FOUND) - LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${CXSPARSE_LIB}) + LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${CXSPARSE_LIBRARIES}) ENDIF (CXSPARSE AND CXSPARSE_FOUND) IF (BLAS_FOUND AND LAPACK_FOUND) @@ -190,8 +187,8 @@ numeric_diff_test_utils.cc test_util.cc) - TARGET_LINK_LIBRARIES(gtest ${GFLAGS_LIB} ${GLOG_LIB}) - TARGET_LINK_LIBRARIES(test_util ceres gtest ${GLOG_LIB}) + TARGET_LINK_LIBRARIES(gtest ${GFLAGS_LIBRARIES} ${GLOG_LIBRARIES}) + TARGET_LINK_LIBRARIES(test_util ceres gtest ${GLOG_LIBRARIES}) MACRO (CERES_TEST NAME) ADD_EXECUTABLE(${NAME}_test ${NAME}_test.cc)