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})