1 # Ceres Solver - A fast non-linear least squares minimizer
2 # Copyright 2015 Google Inc. All rights reserved.
3 # http://ceres-solver.org/
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6 # modification, are permitted provided that the following conditions are met:
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9 # this list of conditions and the following disclaimer.
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11 # this list of conditions and the following disclaimer in the documentation
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15 # specific prior written permission.
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
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26 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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29 # Author: alexs.mac@gmail.com (Alex Stewart)
32 # FindEigen.cmake - Find Eigen library, version >= 3.
34 # This module defines the following variables:
36 # EIGEN_FOUND: TRUE iff Eigen is found.
37 # EIGEN_INCLUDE_DIRS: Include directories for Eigen.
38 # EIGEN_VERSION: Extracted from Eigen/src/Core/util/Macros.h
39 # EIGEN_WORLD_VERSION: Equal to 3 if EIGEN_VERSION = 3.2.0
40 # EIGEN_MAJOR_VERSION: Equal to 2 if EIGEN_VERSION = 3.2.0
41 # EIGEN_MINOR_VERSION: Equal to 0 if EIGEN_VERSION = 3.2.0
42 # FOUND_INSTALLED_EIGEN_CMAKE_CONFIGURATION: True iff the version of Eigen
43 # found was built & installed /
44 # exported as a CMake package.
46 # The following variables control the behaviour of this module:
48 # EIGEN_PREFER_EXPORTED_EIGEN_CMAKE_CONFIGURATION: TRUE/FALSE, iff TRUE then
49 # then prefer using an exported CMake configuration
50 # generated by Eigen over searching for the
51 # Eigen components manually. Otherwise (FALSE)
52 # ignore any exported Eigen CMake configurations and
53 # always perform a manual search for the components.
54 # Default: TRUE iff user does not define this variable
55 # before we are called, and does NOT specify
56 # EIGEN_INCLUDE_DIR_HINTS, otherwise FALSE.
57 # EIGEN_INCLUDE_DIR_HINTS: List of additional directories in which to
58 # search for eigen includes, e.g: /timbuktu/eigen3.
60 # The following variables are also defined by this module, but in line with
61 # CMake recommended FindPackage() module style should NOT be referenced directly
62 # by callers (use the plural variables detailed above instead). These variables
63 # do however affect the behaviour of the module via FIND_[PATH/LIBRARY]() which
64 # are NOT re-called (i.e. search for library is not repeated) if these variables
65 # are set with valid values _in the CMake cache_. This means that if these
66 # variables are set directly in the cache, either by the user in the CMake GUI,
67 # or by the user passing -DVAR=VALUE directives to CMake when called (which
68 # explicitly defines a cache variable), then they will be used verbatim,
69 # bypassing the HINTS variables and other hard-coded search locations.
71 # EIGEN_INCLUDE_DIR: Include directory for CXSparse, not including the
72 # include directory of any dependencies.
74 # Called if we failed to find Eigen or any of it's required dependencies,
75 # unsets all public (designed to be used externally) variables and reports
76 # error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument.
77 macro(EIGEN_REPORT_NOT_FOUND REASON_MSG)
79 unset(EIGEN_INCLUDE_DIRS)
80 unset(FOUND_INSTALLED_EIGEN_CMAKE_CONFIGURATION)
81 # Make results of search visible in the CMake GUI if Eigen has not
82 # been found so that user does not have to toggle to advanced view.
83 mark_as_advanced(CLEAR EIGEN_INCLUDE_DIR)
84 # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by FindPackage()
85 # use the camelcase library name, not uppercase.
86 if (Eigen_FIND_QUIETLY)
87 message(STATUS "Failed to find Eigen - " ${REASON_MSG} ${ARGN})
88 elseif (Eigen_FIND_REQUIRED)
89 message(FATAL_ERROR "Failed to find Eigen - " ${REASON_MSG} ${ARGN})
91 # Neither QUIETLY nor REQUIRED, use no priority which emits a message
92 # but continues configuration and allows generation.
93 message("-- Failed to find Eigen - " ${REASON_MSG} ${ARGN})
96 endmacro(EIGEN_REPORT_NOT_FOUND)
98 # Protect against any alternative find_package scripts for this library having
99 # been called previously (in a client project) which set EIGEN_FOUND, but not
100 # the other variables we require / set here which could cause the search logic
104 # -----------------------------------------------------------------
105 # By default, if the user has expressed no preference for using an exported
106 # Eigen CMake configuration over performing a search for the installed
107 # components, and has not specified any hints for the search locations, then
108 # prefer an exported configuration if available.
109 if (NOT DEFINED EIGEN_PREFER_EXPORTED_EIGEN_CMAKE_CONFIGURATION
110 AND NOT EIGEN_INCLUDE_DIR_HINTS)
111 message(STATUS "No preference for use of exported Eigen CMake configuration "
112 "set, and no hints for include directory provided. "
113 "Defaulting to preferring an installed/exported Eigen CMake configuration "
115 set(EIGEN_PREFER_EXPORTED_EIGEN_CMAKE_CONFIGURATION TRUE)
118 if (EIGEN_PREFER_EXPORTED_EIGEN_CMAKE_CONFIGURATION)
119 # Try to find an exported CMake configuration for Eigen.
121 # We search twice, s/t we can invert the ordering of precedence used by
122 # find_package() for exported package build directories, and installed
123 # packages (found via CMAKE_SYSTEM_PREFIX_PATH), listed as items 6) and 7)
124 # respectively in [1].
126 # By default, exported build directories are (in theory) detected first, and
127 # this is usually the case on Windows. However, on OS X & Linux, the install
128 # path (/usr/local) is typically present in the PATH environment variable
129 # which is checked in item 4) in [1] (i.e. before both of the above, unless
130 # NO_SYSTEM_ENVIRONMENT_PATH is passed). As such on those OSs installed
131 # packages are usually detected in preference to exported package build
134 # To ensure a more consistent response across all OSs, and as users usually
135 # want to prefer an installed version of a package over a locally built one
136 # where both exist (esp. as the exported build directory might be removed
137 # after installation), we first search with NO_CMAKE_PACKAGE_REGISTRY which
138 # means any build directories exported by the user are ignored, and thus
139 # installed directories are preferred. If this fails to find the package
140 # we then research again, but without NO_CMAKE_PACKAGE_REGISTRY, so any
141 # exported build directories will now be detected.
143 # To prevent confusion on Windows, we also pass NO_CMAKE_BUILDS_PATH (which
144 # is item 5) in [1]), to not preferentially use projects that were built
145 # recently with the CMake GUI to ensure that we always prefer an installed
146 # version if available.
148 # [1] http://www.cmake.org/cmake/help/v2.8.11/cmake.html#command:find_package
149 find_package(Eigen3 QUIET
151 NO_CMAKE_PACKAGE_REGISTRY
152 NO_CMAKE_BUILDS_PATH)
154 message(STATUS "Found installed version of Eigen: ${Eigen3_DIR}")
156 # Failed to find an installed version of Eigen, repeat search allowing
157 # exported build directories.
158 message(STATUS "Failed to find installed Eigen CMake configuration, "
159 "searching for Eigen build directories exported with CMake.")
160 # Again pass NO_CMAKE_BUILDS_PATH, as we know that Eigen is exported and
161 # do not want to treat projects built with the CMake GUI preferentially.
162 find_package(Eigen3 QUIET
164 NO_CMAKE_BUILDS_PATH)
166 message(STATUS "Found exported Eigen build directory: ${Eigen3_DIR}")
170 set(FOUND_INSTALLED_EIGEN_CMAKE_CONFIGURATION TRUE)
171 set(EIGEN_FOUND ${EIGEN3_FOUND})
172 set(EIGEN_INCLUDE_DIR "${EIGEN3_INCLUDE_DIR}" CACHE STRING
173 "Eigen include directory" FORCE)
175 message(STATUS "Failed to find an installed/exported CMake configuration "
176 "for Eigen, will perform search for installed Eigen components.")
181 # Search user-installed locations first, so that we prefer user installs
182 # to system installs where both exist.
183 list(APPEND EIGEN_CHECK_INCLUDE_DIRS
185 /usr/local/homebrew/include # Mac OS X
186 /opt/local/var/macports/software # Mac OS X.
189 # Additional suffixes to try appending to each search path.
190 list(APPEND EIGEN_CHECK_PATH_SUFFIXES
191 eigen3 # Default root directory for Eigen.
192 Eigen/include/eigen3 # Windows (for C:/Program Files prefix) < 3.3
193 Eigen3/include/eigen3 ) # Windows (for C:/Program Files prefix) >= 3.3
195 # Search supplied hint directories first if supplied.
196 find_path(EIGEN_INCLUDE_DIR
198 HINTS ${EIGEN_INCLUDE_DIR_HINTS}
199 PATHS ${EIGEN_CHECK_INCLUDE_DIRS}
200 PATH_SUFFIXES ${EIGEN_CHECK_PATH_SUFFIXES})
202 if (NOT EIGEN_INCLUDE_DIR OR
203 NOT EXISTS ${EIGEN_INCLUDE_DIR})
204 eigen_report_not_found(
205 "Could not find eigen3 include directory, set EIGEN_INCLUDE_DIR to "
206 "path to eigen3 include directory, e.g. /usr/local/include/eigen3.")
207 endif (NOT EIGEN_INCLUDE_DIR OR
208 NOT EXISTS ${EIGEN_INCLUDE_DIR})
210 # Mark internally as found, then verify. EIGEN_REPORT_NOT_FOUND() unsets
212 set(EIGEN_FOUND TRUE)
215 # Extract Eigen version from Eigen/src/Core/util/Macros.h
216 if (EIGEN_INCLUDE_DIR)
217 set(EIGEN_VERSION_FILE ${EIGEN_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h)
218 if (NOT EXISTS ${EIGEN_VERSION_FILE})
219 eigen_report_not_found(
220 "Could not find file: ${EIGEN_VERSION_FILE} "
221 "containing version information in Eigen install located at: "
222 "${EIGEN_INCLUDE_DIR}.")
223 else (NOT EXISTS ${EIGEN_VERSION_FILE})
224 file(READ ${EIGEN_VERSION_FILE} EIGEN_VERSION_FILE_CONTENTS)
226 string(REGEX MATCH "#define EIGEN_WORLD_VERSION [0-9]+"
227 EIGEN_WORLD_VERSION "${EIGEN_VERSION_FILE_CONTENTS}")
228 string(REGEX REPLACE "#define EIGEN_WORLD_VERSION ([0-9]+)" "\\1"
229 EIGEN_WORLD_VERSION "${EIGEN_WORLD_VERSION}")
231 string(REGEX MATCH "#define EIGEN_MAJOR_VERSION [0-9]+"
232 EIGEN_MAJOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}")
233 string(REGEX REPLACE "#define EIGEN_MAJOR_VERSION ([0-9]+)" "\\1"
234 EIGEN_MAJOR_VERSION "${EIGEN_MAJOR_VERSION}")
236 string(REGEX MATCH "#define EIGEN_MINOR_VERSION [0-9]+"
237 EIGEN_MINOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}")
238 string(REGEX REPLACE "#define EIGEN_MINOR_VERSION ([0-9]+)" "\\1"
239 EIGEN_MINOR_VERSION "${EIGEN_MINOR_VERSION}")
241 # This is on a single line s/t CMake does not interpret it as a list of
242 # elements and insert ';' separators which would result in 3.;2.;0 nonsense.
243 set(EIGEN_VERSION "${EIGEN_WORLD_VERSION}.${EIGEN_MAJOR_VERSION}.${EIGEN_MINOR_VERSION}")
244 endif (NOT EXISTS ${EIGEN_VERSION_FILE})
245 endif (EIGEN_INCLUDE_DIR)
247 # Set standard CMake FindPackage variables if found.
249 set(EIGEN_INCLUDE_DIRS ${EIGEN_INCLUDE_DIR})
252 # Handle REQUIRED / QUIET optional arguments and version.
253 include(FindPackageHandleStandardArgs)
254 find_package_handle_standard_args(Eigen
255 REQUIRED_VARS EIGEN_INCLUDE_DIRS
256 VERSION_VAR EIGEN_VERSION)
258 # Only mark internal variables as advanced if we found Eigen, otherwise
259 # leave it visible in the standard GUI for the user to set manually.
261 mark_as_advanced(FORCE EIGEN_INCLUDE_DIR
262 Eigen3_DIR) # Autogenerated by find_package(Eigen3)