mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Alex Stewart
ee7e2cb3c8
- Adding the Homebrew install prefix to CMAKE_PREFIX_PATH, irrespective of whether it is a standard location (e.g. /usr/local) overrides any user-specified HINTS locations according to the search order of CMake's find_xxx() functions. - Now we append the relevant include/lib directory to its respective HINTS directory variable (to the back to avoid overriding any user specified values). This achieves the same effect, but only after searching any user specified values. - Also adds Homebrew install prefix to find_package() calls for dependencies optionally exported with CMake after the possible user specified <DEPENDENCY_NAME>_DIR prefix. - Raised as issue #431 Change-Id: I47030f0f4fd9b96665fac57279be2285d9700b9a
285 lines
14 KiB
CMake
285 lines
14 KiB
CMake
# 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)
|
|
#
|
|
|
|
# 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
|
|
# FOUND_INSTALLED_EIGEN_CMAKE_CONFIGURATION: True iff the version of Eigen
|
|
# found was built & installed /
|
|
# exported as a CMake package.
|
|
#
|
|
# The following variables control the behaviour of this module:
|
|
#
|
|
# EIGEN_PREFER_EXPORTED_EIGEN_CMAKE_CONFIGURATION: TRUE/FALSE, iff TRUE then
|
|
# then prefer using an exported CMake configuration
|
|
# generated by Eigen over searching for the
|
|
# Eigen components manually. Otherwise (FALSE)
|
|
# ignore any exported Eigen CMake configurations and
|
|
# always perform a manual search for the components.
|
|
# Default: TRUE iff user does not define this variable
|
|
# before we are called, and does NOT specify
|
|
# EIGEN_INCLUDE_DIR_HINTS, otherwise FALSE.
|
|
# 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)
|
|
unset(FOUND_INSTALLED_EIGEN_CMAKE_CONFIGURATION)
|
|
# 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 no priority which emits a message
|
|
# but continues configuration and allows generation.
|
|
message("-- Failed to find Eigen - " ${REASON_MSG} ${ARGN})
|
|
endif ()
|
|
return()
|
|
endmacro(EIGEN_REPORT_NOT_FOUND)
|
|
|
|
# Protect against any alternative find_package scripts for this library having
|
|
# been called previously (in a client project) which set EIGEN_FOUND, but not
|
|
# the other variables we require / set here which could cause the search logic
|
|
# here to fail.
|
|
unset(EIGEN_FOUND)
|
|
|
|
# -----------------------------------------------------------------
|
|
# By default, if the user has expressed no preference for using an exported
|
|
# Eigen CMake configuration over performing a search for the installed
|
|
# components, and has not specified any hints for the search locations, then
|
|
# prefer an exported configuration if available.
|
|
if (NOT DEFINED EIGEN_PREFER_EXPORTED_EIGEN_CMAKE_CONFIGURATION
|
|
AND NOT EIGEN_INCLUDE_DIR_HINTS)
|
|
message(STATUS "No preference for use of exported Eigen CMake configuration "
|
|
"set, and no hints for include directory provided. "
|
|
"Defaulting to preferring an installed/exported Eigen CMake configuration "
|
|
"if available.")
|
|
set(EIGEN_PREFER_EXPORTED_EIGEN_CMAKE_CONFIGURATION TRUE)
|
|
endif()
|
|
|
|
# On macOS, add the Homebrew prefix (with appropriate suffixes) to the
|
|
# respective HINTS directories (after any user-specified locations). This
|
|
# handles Homebrew installations into non-standard locations (not /usr/local).
|
|
# We do not use CMAKE_PREFIX_PATH for this as given the search ordering of
|
|
# find_xxx(), doing so would override any user-specified HINTS locations with
|
|
# the Homebrew version if it exists.
|
|
if (CMAKE_SYSTEM_NAME MATCHES "Darwin")
|
|
find_program(HOMEBREW_EXECUTABLE brew)
|
|
mark_as_advanced(FORCE HOMEBREW_EXECUTABLE)
|
|
if (HOMEBREW_EXECUTABLE)
|
|
# Detected a Homebrew install, query for its install prefix.
|
|
execute_process(COMMAND ${HOMEBREW_EXECUTABLE} --prefix
|
|
OUTPUT_VARIABLE HOMEBREW_INSTALL_PREFIX
|
|
OUTPUT_STRIP_TRAILING_WHITESPACE)
|
|
message(STATUS "Detected Homebrew with install prefix: "
|
|
"${HOMEBREW_INSTALL_PREFIX}, adding to CMake search paths.")
|
|
list(APPEND EIGEN_INCLUDE_DIR_HINTS "${HOMEBREW_INSTALL_PREFIX}/include")
|
|
endif()
|
|
endif()
|
|
|
|
if (EIGEN_PREFER_EXPORTED_EIGEN_CMAKE_CONFIGURATION)
|
|
# Try to find an exported CMake configuration for Eigen.
|
|
#
|
|
# We search twice, s/t we can invert the ordering of precedence used by
|
|
# find_package() for exported package build directories, and installed
|
|
# packages (found via CMAKE_SYSTEM_PREFIX_PATH), listed as items 6) and 7)
|
|
# respectively in [1].
|
|
#
|
|
# By default, exported build directories are (in theory) detected first, and
|
|
# this is usually the case on Windows. However, on OS X & Linux, the install
|
|
# path (/usr/local) is typically present in the PATH environment variable
|
|
# which is checked in item 4) in [1] (i.e. before both of the above, unless
|
|
# NO_SYSTEM_ENVIRONMENT_PATH is passed). As such on those OSs installed
|
|
# packages are usually detected in preference to exported package build
|
|
# directories.
|
|
#
|
|
# To ensure a more consistent response across all OSs, and as users usually
|
|
# want to prefer an installed version of a package over a locally built one
|
|
# where both exist (esp. as the exported build directory might be removed
|
|
# after installation), we first search with NO_CMAKE_PACKAGE_REGISTRY which
|
|
# means any build directories exported by the user are ignored, and thus
|
|
# installed directories are preferred. If this fails to find the package
|
|
# we then research again, but without NO_CMAKE_PACKAGE_REGISTRY, so any
|
|
# exported build directories will now be detected.
|
|
#
|
|
# To prevent confusion on Windows, we also pass NO_CMAKE_BUILDS_PATH (which
|
|
# is item 5) in [1]), to not preferentially use projects that were built
|
|
# recently with the CMake GUI to ensure that we always prefer an installed
|
|
# version if available.
|
|
#
|
|
# [1] http://www.cmake.org/cmake/help/v2.8.11/cmake.html#command:find_package
|
|
find_package(Eigen3 QUIET
|
|
HINTS ${Eigen3_DIR} ${HOMEBREW_INSTALL_PREFIX}
|
|
NO_MODULE
|
|
NO_CMAKE_PACKAGE_REGISTRY
|
|
NO_CMAKE_BUILDS_PATH)
|
|
if (EIGEN3_FOUND)
|
|
message(STATUS "Found installed version of Eigen: ${Eigen3_DIR}")
|
|
else()
|
|
# Failed to find an installed version of Eigen, repeat search allowing
|
|
# exported build directories.
|
|
message(STATUS "Failed to find installed Eigen CMake configuration, "
|
|
"searching for Eigen build directories exported with CMake.")
|
|
# Again pass NO_CMAKE_BUILDS_PATH, as we know that Eigen is exported and
|
|
# do not want to treat projects built with the CMake GUI preferentially.
|
|
find_package(Eigen3 QUIET
|
|
NO_MODULE
|
|
NO_CMAKE_BUILDS_PATH)
|
|
if (EIGEN3_FOUND)
|
|
message(STATUS "Found exported Eigen build directory: ${Eigen3_DIR}")
|
|
endif()
|
|
endif()
|
|
if (EIGEN3_FOUND)
|
|
set(FOUND_INSTALLED_EIGEN_CMAKE_CONFIGURATION TRUE)
|
|
set(EIGEN_FOUND ${EIGEN3_FOUND})
|
|
set(EIGEN_INCLUDE_DIR "${EIGEN3_INCLUDE_DIR}" CACHE STRING
|
|
"Eigen include directory" FORCE)
|
|
else()
|
|
message(STATUS "Failed to find an installed/exported CMake configuration "
|
|
"for Eigen, will perform search for installed Eigen components.")
|
|
endif()
|
|
endif()
|
|
|
|
if (NOT EIGEN_FOUND)
|
|
# Search user-installed locations first, so that we prefer user installs
|
|
# to system installs where both exist.
|
|
list(APPEND EIGEN_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)
|
|
# Additional suffixes to try appending to each search path.
|
|
list(APPEND EIGEN_CHECK_PATH_SUFFIXES
|
|
eigen3 # Default root directory for Eigen.
|
|
Eigen/include/eigen3 # Windows (for C:/Program Files prefix) < 3.3
|
|
Eigen3/include/eigen3 ) # Windows (for C:/Program Files prefix) >= 3.3
|
|
|
|
# Search supplied hint directories first if supplied.
|
|
find_path(EIGEN_INCLUDE_DIR
|
|
NAMES Eigen/Core
|
|
HINTS ${EIGEN_INCLUDE_DIR_HINTS}
|
|
PATHS ${EIGEN_CHECK_INCLUDE_DIRS}
|
|
PATH_SUFFIXES ${EIGEN_CHECK_PATH_SUFFIXES})
|
|
|
|
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)
|
|
endif()
|
|
|
|
# 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
|
|
Eigen3_DIR) # Autogenerated by find_package(Eigen3)
|
|
endif (EIGEN_FOUND)
|