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 # FindEigen.cmake - Find Eigen library, version >= 3. 33 # 34 # This module defines the following variables: 35 # 36 # EIGEN_FOUND: TRUE iff Eigen is found. 37 # EIGEN_INCLUDE_DIRS: Include directories for Eigen. 38 # 39 # EIGEN_VERSION: Extracted from Eigen/src/Core/util/Macros.h 40 # EIGEN_WORLD_VERSION: Equal to 3 if EIGEN_VERSION = 3.2.0 41 # EIGEN_MAJOR_VERSION: Equal to 2 if EIGEN_VERSION = 3.2.0 42 # EIGEN_MINOR_VERSION: Equal to 0 if EIGEN_VERSION = 3.2.0 43 # 44 # The following variables control the behaviour of this module: 45 # 46 # EIGEN_INCLUDE_DIR_HINTS: List of additional directories in which to 47 # search for eigen includes, e.g: /timbuktu/eigen3. 48 # 49 # The following variables are also defined by this module, but in line with 50 # CMake recommended FindPackage() module style should NOT be referenced directly 51 # by callers (use the plural variables detailed above instead). These variables 52 # do however affect the behaviour of the module via FIND_[PATH/LIBRARY]() which 53 # are NOT re-called (i.e. search for library is not repeated) if these variables 54 # are set with valid values _in the CMake cache_. This means that if these 55 # variables are set directly in the cache, either by the user in the CMake GUI, 56 # or by the user passing -DVAR=VALUE directives to CMake when called (which 57 # explicitly defines a cache variable), then they will be used verbatim, 58 # bypassing the HINTS variables and other hard-coded search locations. 59 # 60 # EIGEN_INCLUDE_DIR: Include directory for CXSparse, not including the 61 # include directory of any dependencies. 62 63 # Called if we failed to find Eigen or any of it's required dependencies, 64 # unsets all public (designed to be used externally) variables and reports 65 # error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument. 66 MACRO(EIGEN_REPORT_NOT_FOUND REASON_MSG) 67 UNSET(EIGEN_FOUND) 68 UNSET(EIGEN_INCLUDE_DIRS) 69 # Make results of search visible in the CMake GUI if Eigen has not 70 # been found so that user does not have to toggle to advanced view. 71 MARK_AS_ADVANCED(CLEAR EIGEN_INCLUDE_DIR) 72 # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by FindPackage() 73 # use the camelcase library name, not uppercase. 74 IF (Eigen_FIND_QUIETLY) 75 MESSAGE(STATUS "Failed to find Eigen - " ${REASON_MSG} ${ARGN}) 76 ELSEIF (Eigen_FIND_REQUIRED) 77 MESSAGE(FATAL_ERROR "Failed to find Eigen - " ${REASON_MSG} ${ARGN}) 78 ELSE() 79 # Neither QUIETLY nor REQUIRED, use no priority which emits a message 80 # but continues configuration and allows generation. 81 MESSAGE("-- Failed to find Eigen - " ${REASON_MSG} ${ARGN}) 82 ENDIF () 83 ENDMACRO(EIGEN_REPORT_NOT_FOUND) 84 85 # Search user-installed locations first, so that we prefer user installs 86 # to system installs where both exist. 87 # 88 # TODO: Add standard Windows search locations for Eigen. 89 LIST(APPEND EIGEN_CHECK_INCLUDE_DIRS 90 /usr/local/include/eigen3 91 /usr/local/homebrew/include/eigen3 # Mac OS X 92 /opt/local/var/macports/software/eigen3 # Mac OS X. 93 /opt/local/include/eigen3 94 /usr/include/eigen3) 95 96 # Search supplied hint directories first if supplied. 97 FIND_PATH(EIGEN_INCLUDE_DIR 98 NAMES Eigen/Core 99 PATHS ${EIGEN_INCLUDE_DIR_HINTS} 100 ${EIGEN_CHECK_INCLUDE_DIRS}) 101 IF (NOT EIGEN_INCLUDE_DIR OR 102 NOT EXISTS ${EIGEN_INCLUDE_DIR}) 103 EIGEN_REPORT_NOT_FOUND( 104 "Could not find eigen3 include directory, set EIGEN_INCLUDE_DIR to " 105 "path to eigen3 include directory, e.g. /usr/local/include/eigen3.") 106 ENDIF (NOT EIGEN_INCLUDE_DIR OR 107 NOT EXISTS ${EIGEN_INCLUDE_DIR}) 108 109 # Mark internally as found, then verify. EIGEN_REPORT_NOT_FOUND() unsets 110 # if called. 111 SET(EIGEN_FOUND TRUE) 112 113 # Extract Eigen version from Eigen/src/Core/util/Macros.h 114 IF (EIGEN_INCLUDE_DIR) 115 SET(EIGEN_VERSION_FILE ${EIGEN_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h) 116 IF (NOT EXISTS ${EIGEN_VERSION_FILE}) 117 EIGEN_REPORT_NOT_FOUND( 118 "Could not find file: ${EIGEN_VERSION_FILE} " 119 "containing version information in Eigen install located at: " 120 "${EIGEN_INCLUDE_DIR}.") 121 ELSE (NOT EXISTS ${EIGEN_VERSION_FILE}) 122 FILE(READ ${EIGEN_VERSION_FILE} EIGEN_VERSION_FILE_CONTENTS) 123 124 STRING(REGEX MATCH "#define EIGEN_WORLD_VERSION [0-9]+" 125 EIGEN_WORLD_VERSION "${EIGEN_VERSION_FILE_CONTENTS}") 126 STRING(REGEX REPLACE "#define EIGEN_WORLD_VERSION ([0-9]+)" "\\1" 127 EIGEN_WORLD_VERSION "${EIGEN_WORLD_VERSION}") 128 129 STRING(REGEX MATCH "#define EIGEN_MAJOR_VERSION [0-9]+" 130 EIGEN_MAJOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}") 131 STRING(REGEX REPLACE "#define EIGEN_MAJOR_VERSION ([0-9]+)" "\\1" 132 EIGEN_MAJOR_VERSION "${EIGEN_MAJOR_VERSION}") 133 134 STRING(REGEX MATCH "#define EIGEN_MINOR_VERSION [0-9]+" 135 EIGEN_MINOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}") 136 STRING(REGEX REPLACE "#define EIGEN_MINOR_VERSION ([0-9]+)" "\\1" 137 EIGEN_MINOR_VERSION "${EIGEN_MINOR_VERSION}") 138 139 # This is on a single line s/t CMake does not interpret it as a list of 140 # elements and insert ';' separators which would result in 3.;2.;0 nonsense. 141 SET(EIGEN_VERSION "${EIGEN_WORLD_VERSION}.${EIGEN_MAJOR_VERSION}.${EIGEN_MINOR_VERSION}") 142 ENDIF (NOT EXISTS ${EIGEN_VERSION_FILE}) 143 ENDIF (EIGEN_INCLUDE_DIR) 144 145 # Set standard CMake FindPackage variables if found. 146 IF (EIGEN_FOUND) 147 SET(EIGEN_INCLUDE_DIRS ${EIGEN_INCLUDE_DIR}) 148 ENDIF (EIGEN_FOUND) 149 150 # Handle REQUIRED / QUIET optional arguments and version. 151 INCLUDE(FindPackageHandleStandardArgs) 152 FIND_PACKAGE_HANDLE_STANDARD_ARGS(Eigen 153 REQUIRED_VARS EIGEN_INCLUDE_DIRS 154 VERSION_VAR EIGEN_VERSION) 155 156 # Only mark internal variables as advanced if we found Eigen, otherwise 157 # leave it visible in the standard GUI for the user to set manually. 158 IF (EIGEN_FOUND) 159 MARK_AS_ADVANCED(FORCE EIGEN_INCLUDE_DIR) 160 ENDIF (EIGEN_FOUND) 161
