| # Ceres Solver - A fast non-linear least squares minimizer |
| # Copyright 2015 Google Inc. All rights reserved. |
| # http://ceres-solver.org/ |
| # |
| # Redistribution and use in source and binary forms, with or without |
| # modification, are permitted provided that the following conditions are met: |
| # |
| # * Redistributions of source code must retain the above copyright notice, |
| # this list of conditions and the following disclaimer. |
| # * Redistributions in binary form must reproduce the above copyright notice, |
| # this list of conditions and the following disclaimer in the documentation |
| # and/or other materials provided with the distribution. |
| # * Neither the name of Google Inc. nor the names of its contributors may be |
| # used to endorse or promote products derived from this software without |
| # specific prior written permission. |
| # |
| # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| # POSSIBILITY OF SUCH DAMAGE. |
| # |
| # 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. |
| |
| # Reset CALLERS_CMAKE_FIND_LIBRARY_PREFIXES to its value when |
| # FindCXSparse was invoked. |
| macro(CXSPARSE_RESET_FIND_LIBRARY_PREFIX) |
| if (MSVC) |
| set(CMAKE_FIND_LIBRARY_PREFIXES "${CALLERS_CMAKE_FIND_LIBRARY_PREFIXES}") |
| endif (MSVC) |
| endmacro(CXSPARSE_RESET_FIND_LIBRARY_PREFIX) |
| |
| # 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) |
| |
| cxsparse_reset_find_library_prefix() |
| |
| # 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} ${ARGN}) |
| endif () |
| return() |
| endmacro(CXSPARSE_REPORT_NOT_FOUND) |
| |
| # Protect against any alternative find_package scripts for this library having |
| # been called previously (in a client project) which set CXSPARSE_FOUND, but not |
| # the other variables we require / set here which could cause the search logic |
| # here to fail. |
| unset(CXSPARSE_FOUND) |
| |
| # Handle possible presence of lib prefix for libraries on MSVC, see |
| # also CXSPARSE_RESET_FIND_LIBRARY_PREFIX(). |
| if (MSVC) |
| # Preserve the caller's original values for CMAKE_FIND_LIBRARY_PREFIXES |
| # s/t we can set it back before returning. |
| set(CALLERS_CMAKE_FIND_LIBRARY_PREFIXES "${CMAKE_FIND_LIBRARY_PREFIXES}") |
| # The empty string in this list is important, it represents the case when |
| # the libraries have no prefix (shared libraries / DLLs). |
| set(CMAKE_FIND_LIBRARY_PREFIXES "lib" "" "${CMAKE_FIND_LIBRARY_PREFIXES}") |
| endif (MSVC) |
| |
| # 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) |
| # Additional suffixes to try appending to each search path. |
| list(APPEND CXSPARSE_CHECK_PATH_SUFFIXES |
| suitesparse) # Linux/Windows |
| |
| # Search supplied hint directories first if supplied. |
| find_path(CXSPARSE_INCLUDE_DIR |
| NAMES cs.h |
| HINTS ${CXSPARSE_INCLUDE_DIR_HINTS} |
| PATHS ${CXSPARSE_CHECK_INCLUDE_DIRS} |
| PATH_SUFFIXES ${CXSPARSE_CHECK_PATH_SUFFIXES}) |
| 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 |
| HINTS ${CXSPARSE_LIBRARY_DIR_HINTS} |
| PATHS ${CXSPARSE_CHECK_LIBRARY_DIRS} |
| PATH_SUFFIXES ${CXSPARSE_CHECK_PATH_SUFFIXES}) |
| 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) |
| |
| cxsparse_reset_find_library_prefix() |
| |
| # 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) |