1 # Ceres Solver - A fast non-linear least squares minimizer 2 # Copyright 2013 Google Inc. All rights reserved. 3 # http://code.google.com/p/ceres-solver/ 4 # 5 # Redistribution and use in source and binary forms, with or without 6 # modification, are permitted provided that the following conditions are met: 7 # 8 # * Redistributions of source code must retain the above copyright notice, 9 # this list of conditions and the following disclaimer. 10 # * Redistributions in binary form must reproduce the above copyright notice, 11 # this list of conditions and the following disclaimer in the documentation 12 # and/or other materials provided with the distribution. 13 # * Neither the name of Google Inc. nor the names of its contributors may be 14 # used to endorse or promote products derived from this software without 15 # specific prior written permission. 16 # 17 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 18 # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 19 # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 20 # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 21 # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 22 # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 23 # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 24 # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 25 # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 26 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 27 # POSSIBILITY OF SUCH DAMAGE. 28 # 29 # Author: pablo.speciale (a] gmail.com (Pablo Speciale) 30 # 31 32 # Default locations to search for on various platforms. 33 LIST(APPEND SEARCH_LIBS /usr/lib) 34 LIST(APPEND SEARCH_LIBS /usr/local/lib) 35 LIST(APPEND SEARCH_LIBS /usr/local/homebrew/lib) # Mac OS X 36 LIST(APPEND SEARCH_LIBS /opt/local/lib) 37 38 LIST(APPEND SEARCH_HEADERS /usr/include) 39 LIST(APPEND SEARCH_HEADERS /usr/local/include) 40 LIST(APPEND SEARCH_HEADERS /usr/local/homebrew/include) # Mac OS X 41 LIST(APPEND SEARCH_HEADERS /opt/local/include) 42 43 # Locations to search for Eigen 44 SET(EIGEN_SEARCH_HEADERS ${SEARCH_HEADERS}) 45 LIST(APPEND EIGEN_SEARCH_HEADERS /usr/include/eigen3) # Ubuntu 10.04's default location. 46 LIST(APPEND EIGEN_SEARCH_HEADERS /usr/local/include/eigen3) 47 LIST(APPEND EIGEN_SEARCH_HEADERS /usr/local/homebrew/include/eigen3) # Mac OS X 48 LIST(APPEND EIGEN_SEARCH_HEADERS /opt/local/var/macports/software/eigen3/opt/local/include/eigen3) # Mac OS X 49 50 # Google Flags 51 OPTION(GFLAGS 52 "Enable Google Flags." 53 ON) 54 55 IF (GFLAGS) 56 MESSAGE("-- Check for Google Flags") 57 FIND_LIBRARY(GFLAGS_LIB NAMES gflags PATHS ${SEARCH_LIBS}) 58 IF (NOT EXISTS ${GFLAGS_LIB}) 59 MESSAGE(FATAL_ERROR 60 "Can't find Google Flags. Please specify: " 61 "-DGFLAGS_LIB=...") 62 ENDIF (NOT EXISTS ${GFLAGS_LIB}) 63 MESSAGE("-- Found Google Flags library: ${GFLAGS_LIB}") 64 FIND_PATH(GFLAGS_INCLUDE NAMES gflags/gflags.h PATHS ${SEARCH_HEADERS}) 65 IF (NOT EXISTS ${GFLAGS_INCLUDE}) 66 MESSAGE(FATAL_ERROR 67 "Can't find Google Flags. Please specify: " 68 "-DGFLAGS_INCLUDE=...") 69 ENDIF (NOT EXISTS ${GFLAGS_INCLUDE}) 70 MESSAGE("-- Found Google Flags header in: ${GFLAGS_INCLUDE}") 71 ENDIF (GFLAGS) 72 73 # Google Logging 74 MESSAGE("-- Check for Google Log") 75 FIND_LIBRARY(GLOG_LIB NAMES glog PATHS ${SEARCH_LIBS}) 76 IF (NOT EXISTS ${GLOG_LIB}) 77 MESSAGE(FATAL_ERROR 78 "Can't find Google Log. Please specify: " 79 "-DGLOG_LIB=...") 80 ENDIF (NOT EXISTS ${GLOG_LIB}) 81 MESSAGE("-- Found Google Log library: ${GLOG_LIB}") 82 83 FIND_PATH(GLOG_INCLUDE NAMES glog/logging.h PATHS ${SEARCH_HEADERS}) 84 IF (NOT EXISTS ${GLOG_INCLUDE}) 85 MESSAGE(FATAL_ERROR 86 "Can't find Google Log. Please specify: " 87 "-DGLOG_INCLUDE=...") 88 ENDIF (NOT EXISTS ${GLOG_INCLUDE}) 89 MESSAGE("-- Found Google Log header in: ${GLOG_INCLUDE}") 90 91 # Eigen 92 MESSAGE("-- Check for Eigen 3.x") 93 FIND_PATH(EIGEN_INCLUDE NAMES Eigen/Core PATHS ${EIGEN_SEARCH_HEADERS}) 94 IF (NOT EXISTS ${EIGEN_INCLUDE}) 95 MESSAGE(FATAL_ERROR "Can't find Eigen. Try passing -DEIGEN_INCLUDE=...") 96 ENDIF (NOT EXISTS ${EIGEN_INCLUDE}) 97 MESSAGE("-- Found Eigen 3.x: ${EIGEN_INCLUDE}") 98 99 100 INCLUDE_DIRECTORIES( 101 ${GLOG_INCLUDE} 102 ${EIGEN_INCLUDE} 103 ) 104
