| 123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126127128129130131132133134135136137138139140141142143144145146147148149150151152153154155156157158159160161162163164165166167168169170171172173174175176177178179180181182183184185186187188189190191192193194195196197198199200201202203204205206207208209210211212213214215216217218219220221222223224225226227228229230231232233234235236237238239240241242243244245246247248249250251252253254255256257258259260261262263 | # Ceres Solver - A fast non-linear least squares minimizer# Copyright 2015 Google Inc. All rights reserved.# http://ceres-solver.org/## Redistribution and use in source and binary forms, with or without# modification, are permitted provided that the following conditions are met:## * Redistributions of source code must retain the above copyright notice,#   this list of conditions and the following disclaimer.# * Redistributions in binary form must reproduce the above copyright notice,#   this list of conditions and the following disclaimer in the documentation#   and/or other materials provided with the distribution.# * Neither the name of Google Inc. nor the names of its contributors may be#   used to endorse or promote products derived from this software without#   specific prior written permission.## THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE# POSSIBILITY OF SUCH DAMAGE.## Author: alexs.mac@gmail.com (Alex Stewart)## FindEigen.cmake - Find Eigen library, version >= 3.## This module defines the following variables:## EIGEN_FOUND: TRUE iff Eigen is found.# EIGEN_INCLUDE_DIRS: Include directories for Eigen.# EIGEN_VERSION: Extracted from Eigen/src/Core/util/Macros.h# EIGEN_WORLD_VERSION: Equal to 3 if EIGEN_VERSION = 3.2.0# EIGEN_MAJOR_VERSION: Equal to 2 if EIGEN_VERSION = 3.2.0# EIGEN_MINOR_VERSION: Equal to 0 if EIGEN_VERSION = 3.2.0# FOUND_INSTALLED_EIGEN_CMAKE_CONFIGURATION: True iff the version of Eigen#                                            found was built & installed /#                                            exported as a CMake package.## The following variables control the behaviour of this module:## EIGEN_PREFER_EXPORTED_EIGEN_CMAKE_CONFIGURATION: TRUE/FALSE, iff TRUE then#                           then prefer using an exported CMake configuration#                           generated by Eigen over searching for the#                           Eigen components manually.  Otherwise (FALSE)#                           ignore any exported Eigen CMake configurations and#                           always perform a manual search for the components.#                           Default: TRUE iff user does not define this variable#                           before we are called, and does NOT specify#                           EIGEN_INCLUDE_DIR_HINTS, otherwise FALSE.# EIGEN_INCLUDE_DIR_HINTS: List of additional directories in which to#                          search for eigen includes, e.g: /timbuktu/eigen3.## The following variables are also defined by this module, but in line with# CMake recommended FindPackage() module style should NOT be referenced directly# by callers (use the plural variables detailed above instead).  These variables# do however affect the behaviour of the module via FIND_[PATH/LIBRARY]() which# are NOT re-called (i.e. search for library is not repeated) if these variables# are set with valid values _in the CMake cache_. This means that if these# variables are set directly in the cache, either by the user in the CMake GUI,# or by the user passing -DVAR=VALUE directives to CMake when called (which# explicitly defines a cache variable), then they will be used verbatim,# bypassing the HINTS variables and other hard-coded search locations.## EIGEN_INCLUDE_DIR: Include directory for CXSparse, not including the#                    include directory of any dependencies.# Called if we failed to find Eigen or any of it's required dependencies,# unsets all public (designed to be used externally) variables and reports# error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument.macro(EIGEN_REPORT_NOT_FOUND REASON_MSG)  unset(EIGEN_FOUND)  unset(EIGEN_INCLUDE_DIRS)  unset(FOUND_INSTALLED_EIGEN_CMAKE_CONFIGURATION)  # Make results of search visible in the CMake GUI if Eigen has not  # been found so that user does not have to toggle to advanced view.  mark_as_advanced(CLEAR EIGEN_INCLUDE_DIR)  # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by FindPackage()  # use the camelcase library name, not uppercase.  if (Eigen_FIND_QUIETLY)    message(STATUS "Failed to find Eigen - " ${REASON_MSG} ${ARGN})  elseif (Eigen_FIND_REQUIRED)    message(FATAL_ERROR "Failed to find Eigen - " ${REASON_MSG} ${ARGN})  else()    # Neither QUIETLY nor REQUIRED, use no priority which emits a message    # but continues configuration and allows generation.    message("-- Failed to find Eigen - " ${REASON_MSG} ${ARGN})  endif ()  return()endmacro(EIGEN_REPORT_NOT_FOUND)# Protect against any alternative find_package scripts for this library having# been called previously (in a client project) which set EIGEN_FOUND, but not# the other variables we require / set here which could cause the search logic# here to fail.unset(EIGEN_FOUND)# -----------------------------------------------------------------# By default, if the user has expressed no preference for using an exported# Eigen CMake configuration over performing a search for the installed# components, and has not specified any hints for the search locations, then# prefer an exported configuration if available.if (NOT DEFINED EIGEN_PREFER_EXPORTED_EIGEN_CMAKE_CONFIGURATION    AND NOT EIGEN_INCLUDE_DIR_HINTS)  message(STATUS "No preference for use of exported Eigen CMake configuration "    "set, and no hints for include directory provided. "    "Defaulting to preferring an installed/exported Eigen CMake configuration "    "if available.")  set(EIGEN_PREFER_EXPORTED_EIGEN_CMAKE_CONFIGURATION TRUE)endif()if (EIGEN_PREFER_EXPORTED_EIGEN_CMAKE_CONFIGURATION)  # Try to find an exported CMake configuration for Eigen.  #  # We search twice, s/t we can invert the ordering of precedence used by  # find_package() for exported package build directories, and installed  # packages (found via CMAKE_SYSTEM_PREFIX_PATH), listed as items 6) and 7)  # respectively in [1].  #  # By default, exported build directories are (in theory) detected first, and  # this is usually the case on Windows.  However, on OS X & Linux, the install  # path (/usr/local) is typically present in the PATH environment variable  # which is checked in item 4) in [1] (i.e. before both of the above, unless  # NO_SYSTEM_ENVIRONMENT_PATH is passed).  As such on those OSs installed  # packages are usually detected in preference to exported package build  # directories.  #  # To ensure a more consistent response across all OSs, and as users usually  # want to prefer an installed version of a package over a locally built one  # where both exist (esp. as the exported build directory might be removed  # after installation), we first search with NO_CMAKE_PACKAGE_REGISTRY which  # means any build directories exported by the user are ignored, and thus  # installed directories are preferred.  If this fails to find the package  # we then research again, but without NO_CMAKE_PACKAGE_REGISTRY, so any  # exported build directories will now be detected.  #  # To prevent confusion on Windows, we also pass NO_CMAKE_BUILDS_PATH (which  # is item 5) in [1]), to not preferentially use projects that were built  # recently with the CMake GUI to ensure that we always prefer an installed  # version if available.  #  # [1] http://www.cmake.org/cmake/help/v2.8.11/cmake.html#command:find_package  find_package(Eigen3 QUIET                      NO_MODULE                      NO_CMAKE_PACKAGE_REGISTRY                      NO_CMAKE_BUILDS_PATH)  if (EIGEN3_FOUND)    message(STATUS "Found installed version of Eigen: ${Eigen3_DIR}")  else()    # Failed to find an installed version of Eigen, repeat search allowing    # exported build directories.    message(STATUS "Failed to find installed Eigen CMake configuration, "      "searching for Eigen build directories exported with CMake.")    # Again pass NO_CMAKE_BUILDS_PATH, as we know that Eigen is exported and    # do not want to treat projects built with the CMake GUI preferentially.    find_package(Eigen3 QUIET                        NO_MODULE                        NO_CMAKE_BUILDS_PATH)    if (EIGEN3_FOUND)      message(STATUS "Found exported Eigen build directory: ${Eigen3_DIR}")    endif()  endif()  if (EIGEN3_FOUND)    set(FOUND_INSTALLED_EIGEN_CMAKE_CONFIGURATION TRUE)    set(EIGEN_FOUND ${EIGEN3_FOUND})    set(EIGEN_INCLUDE_DIR "${EIGEN3_INCLUDE_DIR}" CACHE STRING      "Eigen include directory" FORCE)  else()    message(STATUS "Failed to find an installed/exported CMake configuration "      "for Eigen, will perform search for installed Eigen components.")  endif()endif()if (NOT EIGEN_FOUND)  # Search user-installed locations first, so that we prefer user installs  # to system installs where both exist.  list(APPEND EIGEN_CHECK_INCLUDE_DIRS    /usr/local/include    /usr/local/homebrew/include # Mac OS X    /opt/local/var/macports/software # Mac OS X.    /opt/local/include    /usr/include)  # Additional suffixes to try appending to each search path.  list(APPEND EIGEN_CHECK_PATH_SUFFIXES    eigen3 # Default root directory for Eigen.    Eigen/include/eigen3 # Windows (for C:/Program Files prefix) < 3.3    Eigen3/include/eigen3 ) # Windows (for C:/Program Files prefix) >= 3.3  # Search supplied hint directories first if supplied.  find_path(EIGEN_INCLUDE_DIR    NAMES Eigen/Core    HINTS ${EIGEN_INCLUDE_DIR_HINTS}    PATHS ${EIGEN_CHECK_INCLUDE_DIRS}    PATH_SUFFIXES ${EIGEN_CHECK_PATH_SUFFIXES})  if (NOT EIGEN_INCLUDE_DIR OR      NOT EXISTS ${EIGEN_INCLUDE_DIR})    eigen_report_not_found(      "Could not find eigen3 include directory, set EIGEN_INCLUDE_DIR to "      "path to eigen3 include directory, e.g. /usr/local/include/eigen3.")  endif (NOT EIGEN_INCLUDE_DIR OR    NOT EXISTS ${EIGEN_INCLUDE_DIR})  # Mark internally as found, then verify. EIGEN_REPORT_NOT_FOUND() unsets  # if called.  set(EIGEN_FOUND TRUE)endif()# Extract Eigen version from Eigen/src/Core/util/Macros.hif (EIGEN_INCLUDE_DIR)  set(EIGEN_VERSION_FILE ${EIGEN_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h)  if (NOT EXISTS ${EIGEN_VERSION_FILE})    eigen_report_not_found(      "Could not find file: ${EIGEN_VERSION_FILE} "      "containing version information in Eigen install located at: "      "${EIGEN_INCLUDE_DIR}.")  else (NOT EXISTS ${EIGEN_VERSION_FILE})    file(READ ${EIGEN_VERSION_FILE} EIGEN_VERSION_FILE_CONTENTS)    string(REGEX MATCH "#define EIGEN_WORLD_VERSION [0-9]+"      EIGEN_WORLD_VERSION "${EIGEN_VERSION_FILE_CONTENTS}")    string(REGEX REPLACE "#define EIGEN_WORLD_VERSION ([0-9]+)" "\\1"      EIGEN_WORLD_VERSION "${EIGEN_WORLD_VERSION}")    string(REGEX MATCH "#define EIGEN_MAJOR_VERSION [0-9]+"      EIGEN_MAJOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}")    string(REGEX REPLACE "#define EIGEN_MAJOR_VERSION ([0-9]+)" "\\1"      EIGEN_MAJOR_VERSION "${EIGEN_MAJOR_VERSION}")    string(REGEX MATCH "#define EIGEN_MINOR_VERSION [0-9]+"      EIGEN_MINOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}")    string(REGEX REPLACE "#define EIGEN_MINOR_VERSION ([0-9]+)" "\\1"      EIGEN_MINOR_VERSION "${EIGEN_MINOR_VERSION}")    # This is on a single line s/t CMake does not interpret it as a list of    # elements and insert ';' separators which would result in 3.;2.;0 nonsense.    set(EIGEN_VERSION "${EIGEN_WORLD_VERSION}.${EIGEN_MAJOR_VERSION}.${EIGEN_MINOR_VERSION}")  endif (NOT EXISTS ${EIGEN_VERSION_FILE})endif (EIGEN_INCLUDE_DIR)# Set standard CMake FindPackage variables if found.if (EIGEN_FOUND)  set(EIGEN_INCLUDE_DIRS ${EIGEN_INCLUDE_DIR})endif (EIGEN_FOUND)# Handle REQUIRED / QUIET optional arguments and version.include(FindPackageHandleStandardArgs)find_package_handle_standard_args(Eigen  REQUIRED_VARS EIGEN_INCLUDE_DIRS  VERSION_VAR EIGEN_VERSION)# Only mark internal variables as advanced if we found Eigen, otherwise# leave it visible in the standard GUI for the user to set manually.if (EIGEN_FOUND)  mark_as_advanced(FORCE EIGEN_INCLUDE_DIR    Eigen3_DIR) # Autogenerated by find_package(Eigen3)endif (EIGEN_FOUND)
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