| # 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 no priority which emits a message | |
| # but continues configuration and allows generation. | |
| MESSAGE("-- Failed to find CXSparse - " ${REASON_MSG} ${ARGN}) | |
| ENDIF () | |
| ENDMACRO(CXSPARSE_REPORT_NOT_FOUND) | |
| # Search user-installed locations first, so that we prefer user installs | |
| # to system installs where both exist. | |
| # | |
| # TODO: Add standard Windows search locations for CXSparse. | |
| LIST(APPEND CXSPARSE_CHECK_INCLUDE_DIRS | |
| /usr/local/include | |
| /usr/local/homebrew/include # Mac OS X | |
| /opt/local/var/macports/software # Mac OS X. | |
| /opt/local/include | |
| /usr/include) | |
| LIST(APPEND CXSPARSE_CHECK_LIBRARY_DIRS | |
| /usr/local/lib | |
| /usr/local/homebrew/lib # Mac OS X. | |
| /opt/local/lib | |
| /usr/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 ${CXSPARSE_VERSION_FILE}) | |
| ENDIF (CXSPARSE_INCLUDE_DIR) | |
| # Catch the case when the caller has set CXSPARSE_LIBRARY in the cache / GUI and | |
| # thus FIND_LIBRARY was not called, but specified library is invalid, otherwise | |
| # we would report CXSparse as found. | |
| # TODO: This regex for CXSparse library is pretty primitive, we use lowercase | |
| # for comparison to handle Windows using CamelCase library names, could | |
| # this check be better? | |
| STRING(TOLOWER "${CXSPARSE_LIBRARY}" LOWERCASE_CXSPARSE_LIBRARY) | |
| IF (CXSPARSE_LIBRARY AND | |
| EXISTS ${CXSPARSE_LIBRARY} AND | |
| NOT "${LOWERCASE_CXSPARSE_LIBRARY}" MATCHES ".*cxsparse[^/]*") | |
| CXSPARSE_REPORT_NOT_FOUND( | |
| "Caller defined CXSPARSE_LIBRARY: " | |
| "${CXSPARSE_LIBRARY} does not match CXSparse.") | |
| ENDIF (CXSPARSE_LIBRARY AND | |
| EXISTS ${CXSPARSE_LIBRARY} AND | |
| NOT "${LOWERCASE_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) |