179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# Ceres Solver - A fast non-linear least squares minimizer 279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# Copyright 2013 Google Inc. All rights reserved. 379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# http://code.google.com/p/ceres-solver/ 479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# 579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# Redistribution and use in source and binary forms, with or without 679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# modification, are permitted provided that the following conditions are met: 779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# 879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# * Redistributions of source code must retain the above copyright notice, 979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# this list of conditions and the following disclaimer. 1079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# * Redistributions in binary form must reproduce the above copyright notice, 1179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# this list of conditions and the following disclaimer in the documentation 1279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# and/or other materials provided with the distribution. 1379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# * Neither the name of Google Inc. nor the names of its contributors may be 1479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# used to endorse or promote products derived from this software without 1579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# specific prior written permission. 1679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# 1779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 1879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 1979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 2079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 2179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 2279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 2379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 2479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 2579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 2679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 2779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# POSSIBILITY OF SUCH DAMAGE. 2879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# 2979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# Author: alexs.mac@gmail.com (Alex Stewart) 3079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# 3179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 3279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# FindEigen.cmake - Find Eigen library, version >= 3. 3379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# 3479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# This module defines the following variables: 3579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# 3679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# EIGEN_FOUND: TRUE iff Eigen is found. 3779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# EIGEN_INCLUDE_DIRS: Include directories for Eigen. 3879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# 3979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# EIGEN_VERSION: Extracted from Eigen/src/Core/util/Macros.h 4079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# EIGEN_WORLD_VERSION: Equal to 3 if EIGEN_VERSION = 3.2.0 4179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# EIGEN_MAJOR_VERSION: Equal to 2 if EIGEN_VERSION = 3.2.0 4279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# EIGEN_MINOR_VERSION: Equal to 0 if EIGEN_VERSION = 3.2.0 4379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# 4479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# The following variables control the behaviour of this module: 4579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# 4679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# EIGEN_INCLUDE_DIR_HINTS: List of additional directories in which to 4779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# search for eigen includes, e.g: /timbuktu/eigen3. 4879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# 4979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# The following variables are also defined by this module, but in line with 5079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# CMake recommended FindPackage() module style should NOT be referenced directly 5179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# by callers (use the plural variables detailed above instead). These variables 5279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# do however affect the behaviour of the module via FIND_[PATH/LIBRARY]() which 5379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# are NOT re-called (i.e. search for library is not repeated) if these variables 5479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# are set with valid values _in the CMake cache_. This means that if these 5579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# variables are set directly in the cache, either by the user in the CMake GUI, 5679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# or by the user passing -DVAR=VALUE directives to CMake when called (which 5779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# explicitly defines a cache variable), then they will be used verbatim, 5879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# bypassing the HINTS variables and other hard-coded search locations. 5979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# 6079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# EIGEN_INCLUDE_DIR: Include directory for CXSparse, not including the 6179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# include directory of any dependencies. 6279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 6379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# Called if we failed to find Eigen or any of it's required dependencies, 6479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# unsets all public (designed to be used externally) variables and reports 6579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument. 6679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos HernandezMACRO(EIGEN_REPORT_NOT_FOUND REASON_MSG) 6779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez UNSET(EIGEN_FOUND) 6879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez UNSET(EIGEN_INCLUDE_DIRS) 6979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez # Make results of search visible in the CMake GUI if Eigen has not 7079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez # been found so that user does not have to toggle to advanced view. 7179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez MARK_AS_ADVANCED(CLEAR EIGEN_INCLUDE_DIR) 7279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by FindPackage() 7379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez # use the camelcase library name, not uppercase. 7479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez IF (Eigen_FIND_QUIETLY) 7579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez MESSAGE(STATUS "Failed to find Eigen - " ${REASON_MSG} ${ARGN}) 7679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez ELSEIF (Eigen_FIND_REQUIRED) 7779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez MESSAGE(FATAL_ERROR "Failed to find Eigen - " ${REASON_MSG} ${ARGN}) 7879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez ELSE() 7979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez # Neither QUIETLY nor REQUIRED, use no priority which emits a message 8079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez # but continues configuration and allows generation. 8179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez MESSAGE("-- Failed to find Eigen - " ${REASON_MSG} ${ARGN}) 8279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez ENDIF () 8379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos HernandezENDMACRO(EIGEN_REPORT_NOT_FOUND) 8479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 8579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# Search user-installed locations first, so that we prefer user installs 8679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# to system installs where both exist. 8779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# 8879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# TODO: Add standard Windows search locations for Eigen. 8979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos HernandezLIST(APPEND EIGEN_CHECK_INCLUDE_DIRS 9079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez /usr/local/include/eigen3 9179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez /usr/local/homebrew/include/eigen3 # Mac OS X 9279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez /opt/local/var/macports/software/eigen3 # Mac OS X. 9379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez /opt/local/include/eigen3 9479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez /usr/include/eigen3) 9579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 9679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# Search supplied hint directories first if supplied. 9779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos HernandezFIND_PATH(EIGEN_INCLUDE_DIR 9879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez NAMES Eigen/Core 9979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez PATHS ${EIGEN_INCLUDE_DIR_HINTS} 10079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez ${EIGEN_CHECK_INCLUDE_DIRS}) 10179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos HernandezIF (NOT EIGEN_INCLUDE_DIR OR 10279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez NOT EXISTS ${EIGEN_INCLUDE_DIR}) 10379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez EIGEN_REPORT_NOT_FOUND( 10479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez "Could not find eigen3 include directory, set EIGEN_INCLUDE_DIR to " 10579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez "path to eigen3 include directory, e.g. /usr/local/include/eigen3.") 10679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos HernandezENDIF (NOT EIGEN_INCLUDE_DIR OR 10779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez NOT EXISTS ${EIGEN_INCLUDE_DIR}) 10879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 10979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# Mark internally as found, then verify. EIGEN_REPORT_NOT_FOUND() unsets 11079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# if called. 11179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos HernandezSET(EIGEN_FOUND TRUE) 11279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 11379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# Extract Eigen version from Eigen/src/Core/util/Macros.h 11479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos HernandezIF (EIGEN_INCLUDE_DIR) 11579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez SET(EIGEN_VERSION_FILE ${EIGEN_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h) 11679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez IF (NOT EXISTS ${EIGEN_VERSION_FILE}) 11779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez EIGEN_REPORT_NOT_FOUND( 11879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez "Could not find file: ${EIGEN_VERSION_FILE} " 11979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez "containing version information in Eigen install located at: " 12079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez "${EIGEN_INCLUDE_DIR}.") 12179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez ELSE (NOT EXISTS ${EIGEN_VERSION_FILE}) 12279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez FILE(READ ${EIGEN_VERSION_FILE} EIGEN_VERSION_FILE_CONTENTS) 12379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 12479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez STRING(REGEX MATCH "#define EIGEN_WORLD_VERSION [0-9]+" 12579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez EIGEN_WORLD_VERSION "${EIGEN_VERSION_FILE_CONTENTS}") 12679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez STRING(REGEX REPLACE "#define EIGEN_WORLD_VERSION ([0-9]+)" "\\1" 12779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez EIGEN_WORLD_VERSION "${EIGEN_WORLD_VERSION}") 12879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 12979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez STRING(REGEX MATCH "#define EIGEN_MAJOR_VERSION [0-9]+" 13079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez EIGEN_MAJOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}") 13179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez STRING(REGEX REPLACE "#define EIGEN_MAJOR_VERSION ([0-9]+)" "\\1" 13279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez EIGEN_MAJOR_VERSION "${EIGEN_MAJOR_VERSION}") 13379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 13479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez STRING(REGEX MATCH "#define EIGEN_MINOR_VERSION [0-9]+" 13579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez EIGEN_MINOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}") 13679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez STRING(REGEX REPLACE "#define EIGEN_MINOR_VERSION ([0-9]+)" "\\1" 13779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez EIGEN_MINOR_VERSION "${EIGEN_MINOR_VERSION}") 13879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 13979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez # This is on a single line s/t CMake does not interpret it as a list of 14079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez # elements and insert ';' separators which would result in 3.;2.;0 nonsense. 14179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez SET(EIGEN_VERSION "${EIGEN_WORLD_VERSION}.${EIGEN_MAJOR_VERSION}.${EIGEN_MINOR_VERSION}") 14279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez ENDIF (NOT EXISTS ${EIGEN_VERSION_FILE}) 14379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos HernandezENDIF (EIGEN_INCLUDE_DIR) 14479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 14579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# Set standard CMake FindPackage variables if found. 14679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos HernandezIF (EIGEN_FOUND) 14779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez SET(EIGEN_INCLUDE_DIRS ${EIGEN_INCLUDE_DIR}) 14879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos HernandezENDIF (EIGEN_FOUND) 14979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 15079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# Handle REQUIRED / QUIET optional arguments and version. 15179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos HernandezINCLUDE(FindPackageHandleStandardArgs) 15279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos HernandezFIND_PACKAGE_HANDLE_STANDARD_ARGS(Eigen 15379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez REQUIRED_VARS EIGEN_INCLUDE_DIRS 15479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez VERSION_VAR EIGEN_VERSION) 15579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 15679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# Only mark internal variables as advanced if we found Eigen, otherwise 15779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez# leave it visible in the standard GUI for the user to set manually. 15879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos HernandezIF (EIGEN_FOUND) 15979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez MARK_AS_ADVANCED(FORCE EIGEN_INCLUDE_DIR) 16079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos HernandezENDIF (EIGEN_FOUND) 161