mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Alex Stewart
78cc2c4719
- Adding FindPackage scripts for all of Ceres dependencies. - Moving depend.cmake contents to CeresConfig.cmake and cleaning up search for Ceres & required dependencies, no longer push Ceres options into client. - Fixing uninstall to remove ceres include root directory. - Fixing main CMakeLists to install miniglog header if enabled. - Making miniglog library shared/static with Ceres library. Change-Id: If926bebd11720230c5136597ccba672394ed9777
187 lines
8.6 KiB
CMake
187 lines
8.6 KiB
CMake
# 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.
|
|
#
|
|
# 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
|
|
# the directory containing this file is present in CMAKE_MODULE_PATH).
|
|
#
|
|
# This module defines the following variables:
|
|
#
|
|
# CERES_VERSION
|
|
# 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 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(CERES_REPORT_NOT_FOUND REASON_MSG)
|
|
UNSET(CERES_FOUND)
|
|
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)
|
|
|
|
# Get the (current, i.e. installed) directory containing this file.
|
|
SET(CURRENT_CONFIG_INSTALL_DIR ${CMAKE_CURRENT_LIST_DIR})
|
|
|
|
# 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})
|
|
# 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 ${CURRENT_CONFIG_INSTALL_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
|
|
${CURRENT_CONFIG_INSTALL_DIR}/@INSTALL_ROOT_REL_CONFIG_INSTALL_DIR@ ABSOLUTE)
|
|
IF (NOT EXISTS ${CURRENT_ROOT_INSTALL_DIR})
|
|
CERES_REPORT_NOT_FOUND(
|
|
"Ceres install root: ${CURRENT_ROOT_INSTALL_DIR}, "
|
|
"determined from relative path from CeresConfg.cmake install location: "
|
|
"${CURRENT_CONFIG_INSTALL_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 ${CURRENT_ROOT_INSTALL_DIR})
|
|
|
|
# Set the version.
|
|
SET(CERES_VERSION @CERES_VERSION@ )
|
|
|
|
# Set the include directories for Ceres (itself).
|
|
SET(CERES_INCLUDE_DIR "${CURRENT_ROOT_INSTALL_DIR}/@INCLUDE_INSTALL_DIR@")
|
|
IF (NOT EXISTS ${CERES_INCLUDE_DIR}/ceres/ceres.h)
|
|
CERES_REPORT_NOT_FOUND(
|
|
"Ceres install root: ${CURRENT_ROOT_INSTALL_DIR}, "
|
|
"determined from relative path from CeresConfg.cmake install location: "
|
|
"${CURRENT_CONFIG_INSTALL_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)
|
|
|
|
# Append the include directories for all (potentially optional) dependencies
|
|
# with which Ceres was compiled, the libraries themselves come in via
|
|
# CeresTargets-<release/debug>.cmake as link libraries for Ceres target.
|
|
SET(CERES_INCLUDE_DIRS ${CERES_INCLUDE_DIR})
|
|
|
|
# Eigen.
|
|
# Flag set during configuration and build of Ceres.
|
|
SET(CERES_EIGEN_VERSION @EIGEN_VERSION@)
|
|
# Search quietly s/t we control the timing of the error message if not found.
|
|
FIND_PACKAGE(Eigen ${CERES_EIGEN_VERSION} EXACT QUIET)
|
|
IF (EIGEN_FOUND)
|
|
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@)
|
|
IF (CERES_USES_MINIGLOG)
|
|
SET(MINIGLOG_INCLUDE_DIR ${CERES_INCLUDE_DIR}/ceres/internal/miniglog)
|
|
IF (NOT EXISTS ${MINIGLOG_INCLUDE_DIR})
|
|
CERES_REPORT_NOT_FOUND(
|
|
"Ceres install include directory: "
|
|
"${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 installation compiled with miniglog substitute "
|
|
"for glog, beware this will likely cause problems if glog is later linked.")
|
|
ELSE (CERES_USES_MINIGLOG)
|
|
# 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 in ${GLOG_INCLUDE_DIRS}")
|
|
ELSE (GLOG_FOUND)
|
|
CERES_REPORT_NOT_FOUND("Missing required Ceres "
|
|
"dependency: Glog, please set GLOG_INCLUDE_DIR.")
|
|
ENDIF (GLOG_FOUND)
|
|
LIST(APPEND CERES_INCLUDE_DIRS ${GLOG_INCLUDE_DIRS})
|
|
ENDIF (CERES_USES_MINIGLOG)
|
|
|
|
# Import exported Ceres targets.
|
|
IF (NOT TARGET ceres AND NOT Ceres_BINARY_DIR)
|
|
INCLUDE(${CURRENT_CONFIG_INSTALL_DIR}/CeresTargets.cmake)
|
|
ENDIF (NOT TARGET ceres AND NOT Ceres_BINARY_DIR)
|
|
# Set the expected XX_LIBRARIES variable for FindPackage().
|
|
SET(CERES_LIBRARIES ceres)
|
|
|
|
# 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})
|
|
|
|
# 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 version: ${CERES_VERSION} "
|
|
"installed in: ${CURRENT_ROOT_INSTALL_DIR}")
|