blob: c0e7767c6ff3c738929d45b2df32fc207ac9a9d2 [file] [log] [blame]
# 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.
#
# Authors: pablo.speciale@gmail.com (Pablo Speciale)
# alexs.mac@gmail.com (Alex Stewart)
#
# Config file for Ceres Solver - Find Ceres & dependencies.
#
# This file is used by CMake when find_package(Ceres) is invoked and either
# the directory containing this file either is present in CMAKE_MODULE_PATH
# (if Ceres was installed), or exists in the local CMake package registry if
# the Ceres build directory was exported.
#
# This module defines the following variables:
#
# Ceres_FOUND / CERES_FOUND: True if Ceres has been successfully
# found. Both variables are set as although
# FindPackage() only references Ceres_FOUND
# in Config mode, given the conventions for
# <package>_FOUND when FindPackage() is
# called in Module mode, users could
# reasonably expect to use CERES_FOUND
# instead.
#
# CERES_VERSION: Version of Ceres found.
#
# CERES_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}.
# Called if we failed to find Ceres or any of its required dependencies,
# unsets all public (designed to be used externally) variables and reports
# error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument.
macro(CERES_REPORT_NOT_FOUND REASON_MSG)
# FindPackage() only references Ceres_FOUND, and requires it to be
# explicitly set FALSE to denote not found (not merely undefined).
set(Ceres_FOUND FALSE)
set(CERES_FOUND FALSE)
unset(CERES_INCLUDE_DIRS)
unset(CERES_LIBRARIES)
# Reset the CMake module path to its state when this script was called.
set(CMAKE_MODULE_PATH ${CALLERS_CMAKE_MODULE_PATH})
# Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by
# FindPackage() use the camelcase library name, not uppercase.
if (Ceres_FIND_QUIETLY)
message(STATUS "Failed to find Ceres - " ${REASON_MSG} ${ARGN})
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)
# ceres_pretty_print_cmake_list( OUTPUT_VAR [item1 [item2 ... ]] )
#
# Sets ${OUTPUT_VAR} in the caller's scope to a human-readable string
# representation of the list passed as the remaining arguments formed
# as: "[item1, item2, ..., itemN]".
function(ceres_pretty_print_cmake_list OUTPUT_VAR)
string(REPLACE ";" ", " PRETTY_LIST_STRING "[${ARGN}]")
set(${OUTPUT_VAR} "${PRETTY_LIST_STRING}" PARENT_SCOPE)
endfunction()
# The list of (optional) components this version of Ceres was compiled with.
set(CERES_COMPILED_COMPONENTS "@CERES_COMPILED_COMPONENTS@")
# If Ceres was not installed, then by definition it was exported
# from a build directory.
set(CERES_WAS_INSTALLED @SETUP_CERES_CONFIG_FOR_INSTALLATION@)
# Record the state of the CMake module path when this script was
# called so that we can ensure that we leave it in the same state on
# exit as it was on entry, but modify it locally.
set(CALLERS_CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH})
# Get the (current, i.e. installed) directory containing this file.
get_filename_component(CERES_CURRENT_CONFIG_DIR
"${CMAKE_CURRENT_LIST_FILE}" PATH)
if (CERES_WAS_INSTALLED)
# Reset CMake module path to the installation directory of this
# script, thus we will use the FindPackage() scripts shipped with
# Ceres to find Ceres' dependencies, even if the user has equivalently
# named FindPackage() scripts in their project.
set(CMAKE_MODULE_PATH ${CERES_CURRENT_CONFIG_DIR})
# Build the absolute root install directory as a relative path
# (determined when Ceres was configured & built) from the current
# install directory for this this file. This allows for the install
# tree to be relocated, after Ceres was built, outside of CMake.
get_filename_component(CURRENT_ROOT_INSTALL_DIR
${CERES_CURRENT_CONFIG_DIR}/@INSTALL_ROOT_REL_CONFIG_INSTALL_DIR@
ABSOLUTE)
if (NOT EXISTS ${CURRENT_ROOT_INSTALL_DIR})
ceres_report_not_found(
"Ceres install root: ${CURRENT_ROOT_INSTALL_DIR}, "
"determined from relative path from CeresConfig.cmake install location: "
"${CERES_CURRENT_CONFIG_DIR}, does not exist. Either the install "
"directory was deleted, or the install tree was only partially relocated "
"outside of CMake after Ceres was built.")
endif (NOT EXISTS ${CURRENT_ROOT_INSTALL_DIR})
# Set the include directories for Ceres (itself).
set(CERES_INCLUDE_DIR "${CURRENT_ROOT_INSTALL_DIR}/include")
if (NOT EXISTS ${CERES_INCLUDE_DIR}/ceres/ceres.h)
ceres_report_not_found(
"Ceres install root: ${CURRENT_ROOT_INSTALL_DIR}, "
"determined from relative path from CeresConfig.cmake install location: "
"${CERES_CURRENT_CONFIG_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)
list(APPEND CERES_INCLUDE_DIRS ${CERES_INCLUDE_DIR})
else(CERES_WAS_INSTALLED)
# Ceres was exported from the build tree.
set(CERES_EXPORTED_BUILD_DIR ${CERES_CURRENT_CONFIG_DIR})
get_filename_component(CERES_EXPORTED_SOURCE_DIR
${CERES_EXPORTED_BUILD_DIR}/@INSTALL_ROOT_REL_CONFIG_INSTALL_DIR@
ABSOLUTE)
if (NOT EXISTS ${CERES_EXPORTED_SOURCE_DIR})
ceres_report_not_found(
"Ceres exported source directory: ${CERES_EXPORTED_SOURCE_DIR}, "
"determined from relative path from CeresConfig.cmake exported build "
"directory: ${CERES_EXPORTED_BUILD_DIR} does not exist.")
endif()
# Reset CMake module path to the cmake directory in the Ceres source
# tree which was exported, thus we will use the FindPackage() scripts shipped
# with Ceres to find Ceres' dependencies, even if the user has equivalently
# named FindPackage() scripts in their project.
set(CMAKE_MODULE_PATH ${CERES_EXPORTED_SOURCE_DIR}/cmake)
# Set the include directories for Ceres (itself).
set(CERES_INCLUDE_DIR "${CERES_EXPORTED_SOURCE_DIR}/include")
if (NOT EXISTS ${CERES_INCLUDE_DIR}/ceres/ceres.h)
ceres_report_not_found(
"Ceres exported source directory: ${CERES_EXPORTED_SOURCE_DIR}, "
"determined from relative path from CeresConfig.cmake exported build "
"directory: ${CERES_EXPORTED_BUILD_DIR}, does not contain Ceres headers.")
endif (NOT EXISTS ${CERES_INCLUDE_DIR}/ceres/ceres.h)
list(APPEND CERES_INCLUDE_DIRS ${CERES_INCLUDE_DIR})
# Append the path to the configured config.h in the exported build directory
# to the Ceres include directories.
set(CERES_CONFIG_FILE
${CERES_EXPORTED_BUILD_DIR}/config/ceres/internal/config.h)
if (NOT EXISTS ${CERES_CONFIG_FILE})
ceres_report_not_found(
"Ceres exported build directory: ${CERES_EXPORTED_BUILD_DIR}, "
"does not contain required configured Ceres config.h, it is not here: "
"${CERES_CONFIG_FILE}.")
endif (NOT EXISTS ${CERES_CONFIG_FILE})
list(APPEND CERES_INCLUDE_DIRS ${CERES_EXPORTED_BUILD_DIR}/config)
endif(CERES_WAS_INSTALLED)
# Set the version.
set(CERES_VERSION @CERES_VERSION@ )
# Eigen.
# Flag set during configuration and build of Ceres.
set(CERES_EIGEN_VERSION @EIGEN_VERSION@)
# Append the locations of Eigen when Ceres was built to the search path hints.
list(APPEND EIGEN_INCLUDE_DIR_HINTS @EIGEN_INCLUDE_DIR@)
# Search quietly to control the timing of the error message if not found. The
# search should be for an exact match, but for usability reasons do a soft
# match and reject with an explanation below.
find_package(Eigen ${CERES_EIGEN_VERSION} QUIET)
if (EIGEN_FOUND)
if (NOT EIGEN_VERSION VERSION_EQUAL CERES_EIGEN_VERSION)
# CMake's VERSION check in FIND_PACKAGE() will accept any version >= the
# specified version. However, only version = is supported. Improve
# usability by explaining why we don't accept non-exact version matching.
ceres_report_not_found("Found Eigen dependency, but the version of Eigen "
"found (${EIGEN_VERSION}) does not exactly match the version of Eigen "
"Ceres was compiled with (${CERES_EIGEN_VERSION}). This can cause subtle "
"bugs by triggering violations of the One Definition Rule. See the "
"Wikipedia article http://en.wikipedia.org/wiki/One_Definition_Rule "
"for more details")
endif ()
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@)
set(CERES_USES_GFLAGS @GFLAGS@)
if (CERES_USES_MINIGLOG)
set(MINIGLOG_INCLUDE_DIR ${CERES_INCLUDE_DIR}/ceres/internal/miniglog)
if (NOT EXISTS ${MINIGLOG_INCLUDE_DIR})
ceres_report_not_found(
"Ceres include directory: "
"${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 compiled with miniglog substitute "
"for glog, beware this will likely cause problems if glog is later linked.")
else (CERES_USES_MINIGLOG)
# Append the locations of glog when Ceres was built to the search path hints.
set(GLOG_WAS_BUILT_WITH_CMAKE @FOUND_INSTALLED_GLOG_CMAKE_CONFIGURATION@)
if (GLOG_WAS_BUILT_WITH_CMAKE)
set(glog_DIR @glog_DIR@)
set(GLOG_PREFER_EXPORTED_GLOG_CMAKE_CONFIGURATION TRUE)
else()
list(APPEND GLOG_INCLUDE_DIR_HINTS @GLOG_INCLUDE_DIR@)
get_filename_component(CERES_BUILD_GLOG_LIBRARY_DIR @GLOG_LIBRARY@ PATH)
list(APPEND GLOG_LIBRARY_DIR_HINTS ${CERES_BUILD_GLOG_LIBRARY_DIR})
endif()
# Search quietly s/t we control the timing of the error message if not found.
find_package(Glog QUIET)
if (GLOG_FOUND)
message(STATUS "Found required Ceres dependency: glog")
else (GLOG_FOUND)
ceres_report_not_found("Missing required Ceres "
"dependency: glog. Searched using GLOG_INCLUDE_DIR_HINTS: "
"${GLOG_INCLUDE_DIR_HINTS} and glog_DIR: ${glog_DIR}.")
endif (GLOG_FOUND)
list(APPEND CERES_INCLUDE_DIRS ${GLOG_INCLUDE_DIRS})
# gflags is only a public dependency of Ceres via glog, thus is not required
# if Ceres was built with MINIGLOG.
if (CERES_USES_GFLAGS)
# If gflags was found as an imported CMake target, we need to call
# find_packge(Gflags) again here, as imported CMake targets are not
# re-exported. Without this, the 'gflags-shared' target name which is
# present in CERES_LIBRARIES in this case would not be defined, and so
# CMake will assume it is a library name (which it is not) and fail to link.
#
# Append the locations of gflags when Ceres was built to the search path
# hints.
set(GFLAGS_WAS_BUILT_WITH_CMAKE @FOUND_INSTALLED_GFLAGS_CMAKE_CONFIGURATION@)
if (GFLAGS_WAS_BUILT_WITH_CMAKE)
set(gflags_DIR @gflags_DIR@)
set(GFLAGS_PREFER_EXPORTED_GFLAGS_CMAKE_CONFIGURATION TRUE)
else()
list(APPEND GFLAGS_INCLUDE_DIR_HINTS @GFLAGS_INCLUDE_DIR@)
get_filename_component(CERES_BUILD_GFLAGS_LIBRARY_DIR @GFLAGS_LIBRARY@ PATH)
list(APPEND GFLAGS_LIBRARY_DIR_HINTS ${CERES_BUILD_GFLAGS_LIBRARY_DIR})
endif()
# Search quietly s/t we control the timing of the error message if not found.
find_package(Gflags QUIET)
if (GFLAGS_FOUND)
message(STATUS "Found required Ceres dependency: gflags")
else()
ceres_report_not_found("Missing required Ceres "
"dependency: gflags. Searched using GFLAGS_INCLUDE_DIR_HINTS: "
"${GFLAGS_INCLUDE_DIR_HINTS} and gflags_DIR: ${gflags_DIR}.")
endif()
list(APPEND CERES_INCLUDE_DIRS ${GFLAGS_INCLUDE_DIR_HINTS})
endif()
endif (CERES_USES_MINIGLOG)
# Import exported Ceres targets, if they have not already been imported.
if (NOT TARGET ceres AND NOT Ceres_BINARY_DIR)
include(${CERES_CURRENT_CONFIG_DIR}/CeresTargets.cmake)
endif (NOT TARGET ceres AND NOT Ceres_BINARY_DIR)
# Set the expected XX_LIBRARIES variable for FindPackage().
set(CERES_LIBRARIES ceres)
# Make user aware of any compile flags that will be added to their targets
# which use Ceres (i.e. flags exported in the Ceres target). Only CMake
# versions >= 2.8.12 support target_compile_options().
if (TARGET ${CERES_LIBRARIES} AND
NOT CMAKE_VERSION VERSION_LESS "2.8.12")
get_target_property(CERES_INTERFACE_COMPILE_OPTIONS
${CERES_LIBRARIES} INTERFACE_COMPILE_OPTIONS)
if (CERES_WAS_INSTALLED)
set(CERES_LOCATION "${CURRENT_ROOT_INSTALL_DIR}")
else()
set(CERES_LOCATION "${CERES_EXPORTED_BUILD_DIR}")
endif()
# Check for -std=c++11 flags.
if (CERES_INTERFACE_COMPILE_OPTIONS MATCHES ".*std=c\\+\\+11.*")
message(STATUS "Ceres version ${CERES_VERSION} detected here: "
"${CERES_LOCATION} was built with C++11. Ceres target will add "
"C++11 flags to compile options for targets using it.")
endif()
endif()
# 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})
# Build the detected Ceres version string to correctly capture whether it
# was installed, or exported.
ceres_pretty_print_cmake_list(CERES_COMPILED_COMPONENTS_STRING
${CERES_COMPILED_COMPONENTS})
if (CERES_WAS_INSTALLED)
set(CERES_DETECTED_VERSION_STRING "Ceres version: ${CERES_VERSION} "
"installed in: ${CURRENT_ROOT_INSTALL_DIR} with components: "
"${CERES_COMPILED_COMPONENTS_STRING}")
else (CERES_WAS_INSTALLED)
set(CERES_DETECTED_VERSION_STRING "Ceres version: ${CERES_VERSION} "
"exported from build directory: ${CERES_EXPORTED_BUILD_DIR} with "
"components: ${CERES_COMPILED_COMPONENTS_STRING}")
endif()
# If the user called this script through find_package() whilst specifying
# particular Ceres components that should be found via:
# find_package(Ceres COMPONENTS XXX YYY), check the requested components against
# those with which Ceres was compiled. In this case, we should only report
# Ceres as found if all the requested components have been found.
if (Ceres_FIND_COMPONENTS)
foreach (REQUESTED_COMPONENT ${Ceres_FIND_COMPONENTS})
list(FIND CERES_COMPILED_COMPONENTS ${REQUESTED_COMPONENT} HAVE_REQUESTED_COMPONENT)
# list(FIND ..) returns -1 if the element was not in the list, but CMake
# interprets if (VAR) to be true if VAR is any non-zero number, even
# negative ones, hence we have to explicitly check for >= 0.
if (HAVE_REQUESTED_COMPONENT EQUAL -1)
# Check for the presence of all requested components before reporting
# not found, such that we report all of the missing components rather
# than just the first.
list(APPEND MISSING_CERES_COMPONENTS ${REQUESTED_COMPONENT})
endif()
endforeach()
if (MISSING_CERES_COMPONENTS)
ceres_pretty_print_cmake_list(REQUESTED_CERES_COMPONENTS_STRING
${Ceres_FIND_COMPONENTS})
ceres_pretty_print_cmake_list(MISSING_CERES_COMPONENTS_STRING
${MISSING_CERES_COMPONENTS})
ceres_report_not_found("Missing requested Ceres components: "
"${MISSING_CERES_COMPONENTS_STRING} (components requested: "
"${REQUESTED_CERES_COMPONENTS_STRING}). Detected "
"${CERES_DETECTED_VERSION_STRING}.")
endif()
endif()
# As we use CERES_REPORT_NOT_FOUND() to abort, if we reach this point we have
# found Ceres and all required dependencies.
message(STATUS "Found " ${CERES_DETECTED_VERSION_STRING})
# Set CERES_FOUND to be equivalent to Ceres_FOUND, which is set to
# TRUE by FindPackage() if this file is found and run, and after which
# Ceres_FOUND is not (explicitly, i.e. undefined does not count) set
# to FALSE.
set(CERES_FOUND TRUE)