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: alexs.mac (a] gmail.com (Alex Stewart) 30 # 31 32 # FindCXSparse.cmake - Find CXSparse libraries & dependencies. 33 # 34 # This module defines the following variables which should be referenced 35 # by the caller to use the library. 36 # 37 # CXSPARSE_FOUND: TRUE iff CXSparse and all dependencies have been found. 38 # CXSPARSE_INCLUDE_DIRS: Include directories for CXSparse. 39 # CXSPARSE_LIBRARIES: Libraries for CXSparse and all dependencies. 40 # 41 # CXSPARSE_VERSION: Extracted from cs.h. 42 # CXSPARSE_MAIN_VERSION: Equal to 3 if CXSPARSE_VERSION = 3.1.2 43 # CXSPARSE_SUB_VERSION: Equal to 1 if CXSPARSE_VERSION = 3.1.2 44 # CXSPARSE_SUBSUB_VERSION: Equal to 2 if CXSPARSE_VERSION = 3.1.2 45 # 46 # The following variables control the behaviour of this module: 47 # 48 # CXSPARSE_INCLUDE_DIR_HINTS: List of additional directories in which to 49 # search for CXSparse includes, 50 # e.g: /timbuktu/include. 51 # CXSPARSE_LIBRARY_DIR_HINTS: List of additional directories in which to 52 # search for CXSparse libraries, e.g: /timbuktu/lib. 53 # 54 # The following variables are also defined by this module, but in line with 55 # CMake recommended FindPackage() module style should NOT be referenced directly 56 # by callers (use the plural variables detailed above instead). These variables 57 # do however affect the behaviour of the module via FIND_[PATH/LIBRARY]() which 58 # are NOT re-called (i.e. search for library is not repeated) if these variables 59 # are set with valid values _in the CMake cache_. This means that if these 60 # variables are set directly in the cache, either by the user in the CMake GUI, 61 # or by the user passing -DVAR=VALUE directives to CMake when called (which 62 # explicitly defines a cache variable), then they will be used verbatim, 63 # bypassing the HINTS variables and other hard-coded search locations. 64 # 65 # CXSPARSE_INCLUDE_DIR: Include directory for CXSparse, not including the 66 # include directory of any dependencies. 67 # CXSPARSE_LIBRARY: CXSparse library, not including the libraries of any 68 # dependencies. 69 70 # Called if we failed to find CXSparse or any of it's required dependencies, 71 # unsets all public (designed to be used externally) variables and reports 72 # error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument. 73 MACRO(CXSPARSE_REPORT_NOT_FOUND REASON_MSG) 74 UNSET(CXSPARSE_FOUND) 75 UNSET(CXSPARSE_INCLUDE_DIRS) 76 UNSET(CXSPARSE_LIBRARIES) 77 # Make results of search visible in the CMake GUI if CXSparse has not 78 # been found so that user does not have to toggle to advanced view. 79 MARK_AS_ADVANCED(CLEAR CXSPARSE_INCLUDE_DIR 80 CXSPARSE_LIBRARY) 81 # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by FindPackage() 82 # use the camelcase library name, not uppercase. 83 IF (CXSparse_FIND_QUIETLY) 84 MESSAGE(STATUS "Failed to find CXSparse - " ${REASON_MSG} ${ARGN}) 85 ELSEIF (CXSparse_FIND_REQUIRED) 86 MESSAGE(FATAL_ERROR "Failed to find CXSparse - " ${REASON_MSG} ${ARGN}) 87 ELSE() 88 # Neither QUIETLY nor REQUIRED, use no priority which emits a message 89 # but continues configuration and allows generation. 90 MESSAGE("-- Failed to find CXSparse - " ${REASON_MSG} ${ARGN}) 91 ENDIF () 92 ENDMACRO(CXSPARSE_REPORT_NOT_FOUND) 93 94 # Search user-installed locations first, so that we prefer user installs 95 # to system installs where both exist. 96 # 97 # TODO: Add standard Windows search locations for CXSparse. 98 LIST(APPEND CXSPARSE_CHECK_INCLUDE_DIRS 99 /usr/local/include 100 /usr/local/homebrew/include # Mac OS X 101 /opt/local/var/macports/software # Mac OS X. 102 /opt/local/include 103 /usr/include) 104 LIST(APPEND CXSPARSE_CHECK_LIBRARY_DIRS 105 /usr/local/lib 106 /usr/local/homebrew/lib # Mac OS X. 107 /opt/local/lib 108 /usr/lib) 109 110 # Search supplied hint directories first if supplied. 111 FIND_PATH(CXSPARSE_INCLUDE_DIR 112 NAMES cs.h 113 PATHS ${CXSPARSE_INCLUDE_DIR_HINTS} 114 ${CXSPARSE_CHECK_INCLUDE_DIRS}) 115 IF (NOT CXSPARSE_INCLUDE_DIR OR 116 NOT EXISTS ${CXSPARSE_INCLUDE_DIR}) 117 CXSPARSE_REPORT_NOT_FOUND( 118 "Could not find CXSparse include directory, set CXSPARSE_INCLUDE_DIR " 119 "to directory containing cs.h") 120 ENDIF (NOT CXSPARSE_INCLUDE_DIR OR 121 NOT EXISTS ${CXSPARSE_INCLUDE_DIR}) 122 123 FIND_LIBRARY(CXSPARSE_LIBRARY NAMES cxsparse 124 PATHS ${CXSPARSE_LIBRARY_DIR_HINTS} 125 ${CXSPARSE_CHECK_LIBRARY_DIRS}) 126 IF (NOT CXSPARSE_LIBRARY OR 127 NOT EXISTS ${CXSPARSE_LIBRARY}) 128 CXSPARSE_REPORT_NOT_FOUND( 129 "Could not find CXSparse library, set CXSPARSE_LIBRARY " 130 "to full path to libcxsparse.") 131 ENDIF (NOT CXSPARSE_LIBRARY OR 132 NOT EXISTS ${CXSPARSE_LIBRARY}) 133 134 # Mark internally as found, then verify. CXSPARSE_REPORT_NOT_FOUND() unsets 135 # if called. 136 SET(CXSPARSE_FOUND TRUE) 137 138 # Extract CXSparse version from cs.h 139 IF (CXSPARSE_INCLUDE_DIR) 140 SET(CXSPARSE_VERSION_FILE ${CXSPARSE_INCLUDE_DIR}/cs.h) 141 IF (NOT EXISTS ${CXSPARSE_VERSION_FILE}) 142 CXSPARSE_REPORT_NOT_FOUND( 143 "Could not find file: ${CXSPARSE_VERSION_FILE} " 144 "containing version information in CXSparse install located at: " 145 "${CXSPARSE_INCLUDE_DIR}.") 146 ELSE (NOT EXISTS ${CXSPARSE_VERSION_FILE}) 147 FILE(READ ${CXSPARSE_INCLUDE_DIR}/cs.h CXSPARSE_VERSION_FILE_CONTENTS) 148 149 STRING(REGEX MATCH "#define CS_VER [0-9]+" 150 CXSPARSE_MAIN_VERSION "${CXSPARSE_VERSION_FILE_CONTENTS}") 151 STRING(REGEX REPLACE "#define CS_VER ([0-9]+)" "\\1" 152 CXSPARSE_MAIN_VERSION "${CXSPARSE_MAIN_VERSION}") 153 154 STRING(REGEX MATCH "#define CS_SUBVER [0-9]+" 155 CXSPARSE_SUB_VERSION "${CXSPARSE_VERSION_FILE_CONTENTS}") 156 STRING(REGEX REPLACE "#define CS_SUBVER ([0-9]+)" "\\1" 157 CXSPARSE_SUB_VERSION "${CXSPARSE_SUB_VERSION}") 158 159 STRING(REGEX MATCH "#define CS_SUBSUB [0-9]+" 160 CXSPARSE_SUBSUB_VERSION "${CXSPARSE_VERSION_FILE_CONTENTS}") 161 STRING(REGEX REPLACE "#define CS_SUBSUB ([0-9]+)" "\\1" 162 CXSPARSE_SUBSUB_VERSION "${CXSPARSE_SUBSUB_VERSION}") 163 164 # This is on a single line s/t CMake does not interpret it as a list of 165 # elements and insert ';' separators which would result in 3.;1.;2 nonsense. 166 SET(CXSPARSE_VERSION "${CXSPARSE_MAIN_VERSION}.${CXSPARSE_SUB_VERSION}.${CXSPARSE_SUBSUB_VERSION}") 167 ENDIF (NOT EXISTS ${CXSPARSE_VERSION_FILE}) 168 ENDIF (CXSPARSE_INCLUDE_DIR) 169 170 # Catch the case when the caller has set CXSPARSE_LIBRARY in the cache / GUI and 171 # thus FIND_LIBRARY was not called, but specified library is invalid, otherwise 172 # we would report CXSparse as found. 173 # TODO: This regex for CXSparse library is pretty primitive, we use lowercase 174 # for comparison to handle Windows using CamelCase library names, could 175 # this check be better? 176 STRING(TOLOWER "${CXSPARSE_LIBRARY}" LOWERCASE_CXSPARSE_LIBRARY) 177 IF (CXSPARSE_LIBRARY AND 178 EXISTS ${CXSPARSE_LIBRARY} AND 179 NOT "${LOWERCASE_CXSPARSE_LIBRARY}" MATCHES ".*cxsparse[^/]*") 180 CXSPARSE_REPORT_NOT_FOUND( 181 "Caller defined CXSPARSE_LIBRARY: " 182 "${CXSPARSE_LIBRARY} does not match CXSparse.") 183 ENDIF (CXSPARSE_LIBRARY AND 184 EXISTS ${CXSPARSE_LIBRARY} AND 185 NOT "${LOWERCASE_CXSPARSE_LIBRARY}" MATCHES ".*cxsparse[^/]*") 186 187 # Set standard CMake FindPackage variables if found. 188 IF (CXSPARSE_FOUND) 189 SET(CXSPARSE_INCLUDE_DIRS ${CXSPARSE_INCLUDE_DIR}) 190 SET(CXSPARSE_LIBRARIES ${CXSPARSE_LIBRARY}) 191 ENDIF (CXSPARSE_FOUND) 192 193 # Handle REQUIRED / QUIET optional arguments and version. 194 INCLUDE(FindPackageHandleStandardArgs) 195 FIND_PACKAGE_HANDLE_STANDARD_ARGS(CXSparse 196 REQUIRED_VARS CXSPARSE_INCLUDE_DIRS CXSPARSE_LIBRARIES 197 VERSION_VAR CXSPARSE_VERSION) 198 199 # Only mark internal variables as advanced if we found CXSparse, otherwise 200 # leave them visible in the standard GUI for the user to set manually. 201 IF (CXSPARSE_FOUND) 202 MARK_AS_ADVANCED(FORCE CXSPARSE_INCLUDE_DIR 203 CXSPARSE_LIBRARY) 204 ENDIF (CXSPARSE_FOUND) 205
