mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Keir Mierle
7492b0d8de
Since Ceres is moving to using GitHub for issues, and the Google Code URL in the current copyright header will soon become invalid, update all the headers. Change-Id: I1fce70375d1bcf098591f07b4d8f01a5c1e0789c
217 lines
10 KiB
CMake
217 lines
10 KiB
CMake
# Ceres Solver - A fast non-linear least squares minimizer
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# Copyright 2015 Google Inc. All rights reserved.
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# http://ceres-solver.org/
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# * Redistributions of source code must retain the above copyright notice,
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# this list of conditions and the following disclaimer.
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# * Redistributions in binary form must reproduce the above copyright notice,
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# this list of conditions and the following disclaimer in the documentation
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# and/or other materials provided with the distribution.
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# * Neither the name of Google Inc. nor the names of its contributors may be
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# used to endorse or promote products derived from this software without
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# specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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# Authors: pablo.speciale@gmail.com (Pablo Speciale)
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# alexs.mac@gmail.com (Alex Stewart)
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#
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# Config file for Ceres Solver - Find Ceres & dependencies.
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#
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# This file is used by CMake when FIND_PACKAGE( Ceres ) is invoked (and
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# the directory containing this file is present in CMAKE_MODULE_PATH).
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#
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# This module defines the following variables:
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#
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# Ceres_FOUND / CERES_FOUND: True iff Ceres has been successfully
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# found. Both variables are set as although
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# FindPackage() only references Ceres_FOUND
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# in Config mode, given the conventions for
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# <package>_FOUND when FindPackage() is
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# called in Module mode, users could
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# reasonably expect to use CERES_FOUND
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# instead.
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#
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# CERES_VERSION: Version of Ceres found.
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#
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# CERES_INCLUDE_DIRS: Include directories for Ceres and the
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# dependencies which appear in the Ceres public
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# API and are thus required to use Ceres.
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# CERES_LIBRARIES: Libraries for Ceres and all
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# dependencies against which Ceres was
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# compiled. This will not include any optional
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# dependencies that were disabled when Ceres was
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# compiled.
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#
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# The following variables are also defined for legacy compatibility
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# only. Any new code should not use them as they do not conform to
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# the standard CMake FindPackage naming conventions.
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#
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# CERES_INCLUDES = ${CERES_INCLUDE_DIRS}.
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# Called if we failed to find Ceres or any of it's required dependencies,
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# unsets all public (designed to be used externally) variables and reports
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# error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument.
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MACRO(CERES_REPORT_NOT_FOUND REASON_MSG)
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# FindPackage() only references Ceres_FOUND, and requires it to be
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# explicitly set FALSE to denote not found (not merely undefined).
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SET(Ceres_FOUND FALSE)
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SET(CERES_FOUND FALSE)
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UNSET(CERES_INCLUDE_DIRS)
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UNSET(CERES_LIBRARIES)
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# Reset the CMake module path to its state when this script was called.
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SET(CMAKE_MODULE_PATH ${CALLERS_CMAKE_MODULE_PATH})
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# Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by
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# FindPackage() use the camelcase library name, not uppercase.
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IF (Ceres_FIND_QUIETLY)
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MESSAGE(STATUS "Failed to find Ceres - " ${REASON_MSG} ${ARGN})
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ELSE (Ceres_FIND_REQUIRED)
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MESSAGE(FATAL_ERROR "Failed to find Ceres - " ${REASON_MSG} ${ARGN})
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ELSE()
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# Neither QUIETLY nor REQUIRED, use SEND_ERROR which emits an error
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# that prevents generation, but continues configuration.
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MESSAGE(SEND_ERROR "Failed to find Ceres - " ${REASON_MSG} ${ARGN})
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ENDIF ()
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RETURN()
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ENDMACRO(CERES_REPORT_NOT_FOUND)
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# Get the (current, i.e. installed) directory containing this file.
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GET_FILENAME_COMPONENT(CERES_CURRENT_CONFIG_INSTALL_DIR
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"${CMAKE_CURRENT_LIST_FILE}" PATH)
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# Record the state of the CMake module path when this script was
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# called so that we can ensure that we leave it in the same state on
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# exit as it was on entry, but modify it locally.
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SET(CALLERS_CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH})
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# Reset CMake module path to the installation directory of this
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# script, thus we will use the FindPackage() scripts shipped with
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# Ceres to find Ceres' dependencies, even if the user has equivalently
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# named FindPackage() scripts in their project.
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SET(CMAKE_MODULE_PATH ${CERES_CURRENT_CONFIG_INSTALL_DIR})
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# Build the absolute root install directory as a relative path
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# (determined when Ceres was configured & built) from the current
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# install directory for this this file. This allows for the install
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# tree to be relocated, after Ceres was built, outside of CMake.
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GET_FILENAME_COMPONENT(CURRENT_ROOT_INSTALL_DIR
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${CERES_CURRENT_CONFIG_INSTALL_DIR}/@INSTALL_ROOT_REL_CONFIG_INSTALL_DIR@ ABSOLUTE)
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IF (NOT EXISTS ${CURRENT_ROOT_INSTALL_DIR})
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CERES_REPORT_NOT_FOUND(
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"Ceres install root: ${CURRENT_ROOT_INSTALL_DIR}, "
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"determined from relative path from CeresConfg.cmake install location: "
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"${CERES_CURRENT_CONFIG_INSTALL_DIR}, does not exist. Either the install "
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"directory was deleted, or the install tree was only partially relocated "
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"outside of CMake after Ceres was built.")
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ENDIF (NOT EXISTS ${CURRENT_ROOT_INSTALL_DIR})
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# Set the version.
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SET(CERES_VERSION @CERES_VERSION@ )
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# Set the include directories for Ceres (itself).
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SET(CERES_INCLUDE_DIR "${CURRENT_ROOT_INSTALL_DIR}/include")
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IF (NOT EXISTS ${CERES_INCLUDE_DIR}/ceres/ceres.h)
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CERES_REPORT_NOT_FOUND(
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"Ceres install root: ${CURRENT_ROOT_INSTALL_DIR}, "
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"determined from relative path from CeresConfg.cmake install location: "
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"${CERES_CURRENT_CONFIG_INSTALL_DIR}, does not contain Ceres headers. "
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"Either the install directory was deleted, or the install tree was only "
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"partially relocated outside of CMake after Ceres was built.")
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ENDIF (NOT EXISTS ${CERES_INCLUDE_DIR}/ceres/ceres.h)
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# Append the include directories for all (potentially optional)
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# dependencies with which Ceres was compiled, the libraries themselves
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# come in via CeresTargets-<release/debug>.cmake as link libraries for
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# Ceres target.
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SET(CERES_INCLUDE_DIRS ${CERES_INCLUDE_DIR})
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# Eigen.
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# Flag set during configuration and build of Ceres.
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SET(CERES_EIGEN_VERSION @EIGEN_VERSION@)
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# Append the locations of Eigen when Ceres was built to the search path hints.
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LIST(APPEND EIGEN_INCLUDE_DIR_HINTS @EIGEN_INCLUDE_DIR@)
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# Search quietly s/t we control the timing of the error message if not found.
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FIND_PACKAGE(Eigen ${CERES_EIGEN_VERSION} EXACT QUIET)
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IF (EIGEN_FOUND)
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MESSAGE(STATUS "Found required Ceres dependency: "
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"Eigen version ${CERES_EIGEN_VERSION} in ${EIGEN_INCLUDE_DIRS}")
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ELSE (EIGEN_FOUND)
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CERES_REPORT_NOT_FOUND("Missing required Ceres "
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"dependency: Eigen version ${CERES_EIGEN_VERSION}, please set "
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"EIGEN_INCLUDE_DIR.")
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ENDIF (EIGEN_FOUND)
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LIST(APPEND CERES_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
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# Glog.
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# Flag set during configuration and build of Ceres.
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SET(CERES_USES_MINIGLOG @MINIGLOG@)
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IF (CERES_USES_MINIGLOG)
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SET(MINIGLOG_INCLUDE_DIR ${CERES_INCLUDE_DIR}/ceres/internal/miniglog)
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IF (NOT EXISTS ${MINIGLOG_INCLUDE_DIR})
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CERES_REPORT_NOT_FOUND(
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"Ceres install include directory: "
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"${CERES_INCLUDE_DIR} does not include miniglog, but Ceres was "
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"compiled with MINIGLOG enabled (in place of Glog).")
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ENDIF (NOT EXISTS ${MINIGLOG_INCLUDE_DIR})
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LIST(APPEND CERES_INCLUDE_DIRS ${MINIGLOG_INCLUDE_DIR})
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# Output message at standard log level (not the lower STATUS) so that
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# the message is output in GUI during configuration to warn user.
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MESSAGE("-- Found Ceres installation compiled with miniglog substitute "
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"for glog, beware this will likely cause problems if glog is later linked.")
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ELSE (CERES_USES_MINIGLOG)
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# Append the locations of glog when Ceres was built to the search path hints.
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LIST(APPEND GLOG_INCLUDE_DIR_HINTS @GLOG_INCLUDE_DIR@)
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GET_FILENAME_COMPONENT(CERES_BUILD_GLOG_LIBRARY_DIR @GLOG_LIBRARY@ PATH)
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LIST(APPEND GLOG_LIBRARY_DIR_HINTS ${CERES_BUILD_GLOG_LIBRARY_DIR})
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# Search quietly s/t we control the timing of the error message if not found.
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FIND_PACKAGE(Glog QUIET)
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IF (GLOG_FOUND)
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MESSAGE(STATUS "Found required Ceres dependency: "
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"Glog in ${GLOG_INCLUDE_DIRS}")
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ELSE (GLOG_FOUND)
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CERES_REPORT_NOT_FOUND("Missing required Ceres "
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"dependency: Glog, please set GLOG_INCLUDE_DIR.")
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ENDIF (GLOG_FOUND)
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LIST(APPEND CERES_INCLUDE_DIRS ${GLOG_INCLUDE_DIRS})
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ENDIF (CERES_USES_MINIGLOG)
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# Import exported Ceres targets.
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IF (NOT TARGET ceres AND NOT Ceres_BINARY_DIR)
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INCLUDE(${CERES_CURRENT_CONFIG_INSTALL_DIR}/CeresTargets.cmake)
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ENDIF (NOT TARGET ceres AND NOT Ceres_BINARY_DIR)
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# Set the expected XX_LIBRARIES variable for FindPackage().
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SET(CERES_LIBRARIES ceres)
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# Set legacy include directories variable for backwards compatibility.
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SET(CERES_INCLUDES ${CERES_INCLUDE_DIRS})
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# Reset CMake module path to its state when this script was called.
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SET(CMAKE_MODULE_PATH ${CALLERS_CMAKE_MODULE_PATH})
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# As we use CERES_REPORT_NOT_FOUND() to abort, if we reach this point we have
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# found Ceres and all required dependencies.
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MESSAGE(STATUS "Found Ceres version: ${CERES_VERSION} "
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"installed in: ${CURRENT_ROOT_INSTALL_DIR}")
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# Set CERES_FOUND to be equivalent to Ceres_FOUND, which is set to
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# TRUE by FindPackage() if this file is found and run, and after which
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# Ceres_FOUND is not (explicitly, i.e. undefined does not count) set
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# to FALSE.
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SET(CERES_FOUND TRUE)
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