Squashed 'third_party/ceres/' content from commit e51e9b4
Change-Id: I763587619d57e594d3fa158dc3a7fe0b89a1743b
git-subtree-dir: third_party/ceres
git-subtree-split: e51e9b46f6ca88ab8b2266d0e362771db6d98067
diff --git a/cmake/CeresConfig.cmake.in b/cmake/CeresConfig.cmake.in
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+# 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.
+#
+# Authors: pablo.speciale@gmail.com (Pablo Speciale)
+# alexs.mac@gmail.com (Alex Stewart)
+#
+
+# Config file for Ceres Solver - Find Ceres & dependencies.
+#
+# This file is used by CMake when find_package(Ceres) is invoked and either
+# the directory containing this file either is present in CMAKE_MODULE_PATH
+# (if Ceres was installed), or exists in the local CMake package registry if
+# the Ceres build directory was exported.
+#
+# This module defines the following variables:
+#
+# Ceres_FOUND / CERES_FOUND: True if Ceres has been successfully
+# found. Both variables are set as although
+# FindPackage() only references Ceres_FOUND
+# in Config mode, given the conventions for
+# <package>_FOUND when FindPackage() is
+# called in Module mode, users could
+# reasonably expect to use CERES_FOUND
+# instead.
+#
+# CERES_VERSION: Version of Ceres found.
+#
+# CERES_LIBRARIES: Libraries for Ceres and all
+# dependencies against which Ceres was
+# compiled. This will not include any optional
+# dependencies that were disabled when Ceres was
+# compiled.
+#
+# NOTE: There is no equivalent of CERES_INCLUDE_DIRS as the exported
+# CMake target already includes the definition of its public
+# include directories.
+
+# Called if we failed to find Ceres or any of its required dependencies,
+# unsets all public (designed to be used externally) variables and reports
+# error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument.
+macro(CERES_REPORT_NOT_FOUND REASON_MSG)
+ # FindPackage() only references Ceres_FOUND, and requires it to be
+ # explicitly set FALSE to denote not found (not merely undefined).
+ set(Ceres_FOUND FALSE)
+ set(CERES_FOUND FALSE)
+ unset(CERES_INCLUDE_DIR)
+ unset(CERES_INCLUDE_DIRS)
+ unset(CERES_LIBRARIES)
+
+ # Reset the CMake module path to its state when this script was called.
+ set(CMAKE_MODULE_PATH ${CALLERS_CMAKE_MODULE_PATH})
+
+ # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by
+ # FindPackage() use the camelcase library name, not uppercase.
+ if (Ceres_FIND_QUIETLY)
+ message(STATUS "Failed to find Ceres - " ${REASON_MSG} ${ARGN})
+ elseif (Ceres_FIND_REQUIRED)
+ message(FATAL_ERROR "Failed to find Ceres - " ${REASON_MSG} ${ARGN})
+ else()
+ # Neither QUIETLY nor REQUIRED, use SEND_ERROR which emits an error
+ # that prevents generation, but continues configuration.
+ message(SEND_ERROR "Failed to find Ceres - " ${REASON_MSG} ${ARGN})
+ endif ()
+ return()
+endmacro(CERES_REPORT_NOT_FOUND)
+
+# ceres_pretty_print_cmake_list( OUTPUT_VAR [item1 [item2 ... ]] )
+#
+# Sets ${OUTPUT_VAR} in the caller's scope to a human-readable string
+# representation of the list passed as the remaining arguments formed
+# as: "[item1, item2, ..., itemN]".
+function(ceres_pretty_print_cmake_list OUTPUT_VAR)
+ string(REPLACE ";" ", " PRETTY_LIST_STRING "[${ARGN}]")
+ set(${OUTPUT_VAR} "${PRETTY_LIST_STRING}" PARENT_SCOPE)
+endfunction()
+
+# The list of (optional) components this version of Ceres was compiled with.
+set(CERES_COMPILED_COMPONENTS "@CERES_COMPILED_COMPONENTS@")
+
+# If Ceres was not installed, then by definition it was exported
+# from a build directory.
+set(CERES_WAS_INSTALLED @SETUP_CERES_CONFIG_FOR_INSTALLATION@)
+
+# Record the state of the CMake module path when this script was
+# called so that we can ensure that we leave it in the same state on
+# exit as it was on entry, but modify it locally.
+set(CALLERS_CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH})
+
+# Get the (current, i.e. installed) directory containing this file.
+get_filename_component(CERES_CURRENT_CONFIG_DIR
+ "${CMAKE_CURRENT_LIST_FILE}" PATH)
+
+if (CERES_WAS_INSTALLED)
+ # Reset CMake module path to the installation directory of this
+ # script, thus we will use the FindPackage() scripts shipped with
+ # Ceres to find Ceres' dependencies, even if the user has equivalently
+ # named FindPackage() scripts in their project.
+ set(CMAKE_MODULE_PATH ${CERES_CURRENT_CONFIG_DIR})
+
+ # Build the absolute root install directory as a relative path
+ # (determined when Ceres was configured & built) from the current
+ # install directory for this this file. This allows for the install
+ # tree to be relocated, after Ceres was built, outside of CMake.
+ get_filename_component(CURRENT_ROOT_INSTALL_DIR
+ ${CERES_CURRENT_CONFIG_DIR}/@INSTALL_ROOT_REL_CONFIG_INSTALL_DIR@
+ ABSOLUTE)
+ if (NOT EXISTS ${CURRENT_ROOT_INSTALL_DIR})
+ ceres_report_not_found(
+ "Ceres install root: ${CURRENT_ROOT_INSTALL_DIR}, "
+ "determined from relative path from CeresConfig.cmake install location: "
+ "${CERES_CURRENT_CONFIG_DIR}, does not exist. Either the install "
+ "directory was deleted, or the install tree was only partially relocated "
+ "outside of CMake after Ceres was built.")
+ endif (NOT EXISTS ${CURRENT_ROOT_INSTALL_DIR})
+
+else(CERES_WAS_INSTALLED)
+ # Ceres was exported from the build tree.
+ set(CERES_EXPORTED_BUILD_DIR ${CERES_CURRENT_CONFIG_DIR})
+ get_filename_component(CERES_EXPORTED_SOURCE_DIR
+ ${CERES_EXPORTED_BUILD_DIR}/@INSTALL_ROOT_REL_CONFIG_INSTALL_DIR@
+ ABSOLUTE)
+ if (NOT EXISTS ${CERES_EXPORTED_SOURCE_DIR})
+ ceres_report_not_found(
+ "Ceres exported source directory: ${CERES_EXPORTED_SOURCE_DIR}, "
+ "determined from relative path from CeresConfig.cmake exported build "
+ "directory: ${CERES_EXPORTED_BUILD_DIR} does not exist.")
+ endif()
+
+ # Reset CMake module path to the cmake directory in the Ceres source
+ # tree which was exported, thus we will use the FindPackage() scripts shipped
+ # with Ceres to find Ceres' dependencies, even if the user has equivalently
+ # named FindPackage() scripts in their project.
+ set(CMAKE_MODULE_PATH ${CERES_EXPORTED_SOURCE_DIR}/cmake)
+endif(CERES_WAS_INSTALLED)
+
+# Set the version.
+set(CERES_VERSION @CERES_VERSION@ )
+
+include(CMakeFindDependencyMacro)
+find_dependency(Threads)
+
+# Eigen.
+# Flag set during configuration and build of Ceres.
+set(CERES_EIGEN_VERSION @EIGEN_VERSION@)
+set(EIGEN_WAS_BUILT_WITH_CMAKE @FOUND_INSTALLED_EIGEN_CMAKE_CONFIGURATION@)
+# Append the locations of Eigen when Ceres was built to the search path hints.
+if (EIGEN_WAS_BUILT_WITH_CMAKE)
+ set(Eigen3_DIR @Eigen3_DIR@)
+ set(EIGEN_PREFER_EXPORTED_EIGEN_CMAKE_CONFIGURATION TRUE)
+else()
+ list(APPEND EIGEN_INCLUDE_DIR_HINTS @EIGEN_INCLUDE_DIR@)
+endif()
+# Search quietly to control the timing of the error message if not found. The
+# search should be for an exact match, but for usability reasons do a soft
+# match and reject with an explanation below.
+find_package(Eigen ${CERES_EIGEN_VERSION} QUIET)
+if (EIGEN_FOUND)
+ if (NOT EIGEN_VERSION VERSION_EQUAL CERES_EIGEN_VERSION)
+ # CMake's VERSION check in FIND_PACKAGE() will accept any version >= the
+ # specified version. However, only version = is supported. Improve
+ # usability by explaining why we don't accept non-exact version matching.
+ ceres_report_not_found("Found Eigen dependency, but the version of Eigen "
+ "found (${EIGEN_VERSION}) does not exactly match the version of Eigen "
+ "Ceres was compiled with (${CERES_EIGEN_VERSION}). This can cause subtle "
+ "bugs by triggering violations of the One Definition Rule. See the "
+ "Wikipedia article http://en.wikipedia.org/wiki/One_Definition_Rule "
+ "for more details")
+ endif ()
+ message(STATUS "Found required Ceres dependency: "
+ "Eigen version ${CERES_EIGEN_VERSION} in ${EIGEN_INCLUDE_DIRS}")
+else (EIGEN_FOUND)
+ ceres_report_not_found("Missing required Ceres "
+ "dependency: Eigen version ${CERES_EIGEN_VERSION}, please set "
+ "EIGEN_INCLUDE_DIR.")
+endif (EIGEN_FOUND)
+
+# Glog.
+# Flag set during configuration and build of Ceres.
+set(CERES_USES_MINIGLOG @MINIGLOG@)
+set(CERES_USES_GFLAGS @GFLAGS@)
+if (CERES_USES_MINIGLOG)
+ # Output message at standard log level (not the lower STATUS) so that
+ # the message is output in GUI during configuration to warn user.
+ message("-- Found Ceres compiled with miniglog substitute "
+ "for glog, beware this will likely cause problems if glog is later linked.")
+else(CERES_USES_MINIGLOG)
+ # As imported CMake targets are not re-exported when a dependent target is
+ # exported, we must invoke find_package(XXX) here to reload the definition
+ # of their targets. Without this, the dependency target names (e.g.
+ # 'gflags-shared') which will be present in the ceres target would not be
+ # defined, and so CMake will assume that they refer to a library name and
+ # fail to link correctly.
+
+ # Append the locations of glog when Ceres was built to the search path hints.
+ set(GLOG_WAS_BUILT_WITH_CMAKE @FOUND_INSTALLED_GLOG_CMAKE_CONFIGURATION@)
+ if (GLOG_WAS_BUILT_WITH_CMAKE)
+ set(glog_DIR @glog_DIR@)
+ set(GLOG_PREFER_EXPORTED_GLOG_CMAKE_CONFIGURATION TRUE)
+ else()
+ list(APPEND GLOG_INCLUDE_DIR_HINTS @GLOG_INCLUDE_DIR@)
+ get_filename_component(CERES_BUILD_GLOG_LIBRARY_DIR @GLOG_LIBRARY@ PATH)
+ list(APPEND GLOG_LIBRARY_DIR_HINTS ${CERES_BUILD_GLOG_LIBRARY_DIR})
+ endif()
+ # Search quietly s/t we control the timing of the error message if not found.
+ find_package(Glog QUIET)
+ if (GLOG_FOUND)
+ message(STATUS "Found required Ceres dependency: glog")
+ else()
+ ceres_report_not_found("Missing required Ceres "
+ "dependency: glog. Searched using GLOG_INCLUDE_DIR_HINTS: "
+ "${GLOG_INCLUDE_DIR_HINTS} and glog_DIR: ${glog_DIR}.")
+ endif()
+
+ # gflags is only a public dependency of Ceres via glog, thus is not required
+ # if Ceres was built with MINIGLOG.
+ if (CERES_USES_GFLAGS)
+ set(GFLAGS_WAS_BUILT_WITH_CMAKE @FOUND_INSTALLED_GFLAGS_CMAKE_CONFIGURATION@)
+ if (GFLAGS_WAS_BUILT_WITH_CMAKE)
+ set(gflags_DIR @gflags_DIR@)
+ set(GFLAGS_PREFER_EXPORTED_GFLAGS_CMAKE_CONFIGURATION TRUE)
+ else()
+ list(APPEND GFLAGS_INCLUDE_DIR_HINTS @GFLAGS_INCLUDE_DIR@)
+ get_filename_component(CERES_BUILD_GFLAGS_LIBRARY_DIR @GFLAGS_LIBRARY@ PATH)
+ list(APPEND GFLAGS_LIBRARY_DIR_HINTS ${CERES_BUILD_GFLAGS_LIBRARY_DIR})
+ endif()
+ # Search quietly s/t we control the timing of the error message if not found.
+ find_package(Gflags QUIET)
+ if (GFLAGS_FOUND)
+ message(STATUS "Found required Ceres dependency: gflags")
+ else()
+ ceres_report_not_found("Missing required Ceres "
+ "dependency: gflags. Searched using GFLAGS_INCLUDE_DIR_HINTS: "
+ "${GFLAGS_INCLUDE_DIR_HINTS} and gflags_DIR: ${gflags_DIR}.")
+ endif()
+ endif()
+endif(CERES_USES_MINIGLOG)
+
+# Import exported Ceres targets, if they have not already been imported.
+if (NOT TARGET ceres AND NOT Ceres_BINARY_DIR)
+ include(${CERES_CURRENT_CONFIG_DIR}/CeresTargets.cmake)
+endif (NOT TARGET ceres AND NOT Ceres_BINARY_DIR)
+# Set the expected XX_LIBRARIES variable for FindPackage().
+set(CERES_LIBRARIES ceres)
+
+# Reset CMake module path to its state when this script was called.
+set(CMAKE_MODULE_PATH ${CALLERS_CMAKE_MODULE_PATH})
+
+# Build the detected Ceres version string to correctly capture whether it
+# was installed, or exported.
+ceres_pretty_print_cmake_list(CERES_COMPILED_COMPONENTS_STRING
+ ${CERES_COMPILED_COMPONENTS})
+if (CERES_WAS_INSTALLED)
+ set(CERES_DETECTED_VERSION_STRING "Ceres version: ${CERES_VERSION} "
+ "installed in: ${CURRENT_ROOT_INSTALL_DIR} with components: "
+ "${CERES_COMPILED_COMPONENTS_STRING}")
+else (CERES_WAS_INSTALLED)
+ set(CERES_DETECTED_VERSION_STRING "Ceres version: ${CERES_VERSION} "
+ "exported from build directory: ${CERES_EXPORTED_BUILD_DIR} with "
+ "components: ${CERES_COMPILED_COMPONENTS_STRING}")
+endif()
+
+# If the user called this script through find_package() whilst specifying
+# particular Ceres components that should be found via:
+# find_package(Ceres COMPONENTS XXX YYY), check the requested components against
+# those with which Ceres was compiled. In this case, we should only report
+# Ceres as found if all the requested components have been found.
+if (Ceres_FIND_COMPONENTS)
+ foreach (REQUESTED_COMPONENT ${Ceres_FIND_COMPONENTS})
+ list(FIND CERES_COMPILED_COMPONENTS ${REQUESTED_COMPONENT} HAVE_REQUESTED_COMPONENT)
+ # list(FIND ..) returns -1 if the element was not in the list, but CMake
+ # interprets if (VAR) to be true if VAR is any non-zero number, even
+ # negative ones, hence we have to explicitly check for >= 0.
+ if (HAVE_REQUESTED_COMPONENT EQUAL -1)
+ # Check for the presence of all requested components before reporting
+ # not found, such that we report all of the missing components rather
+ # than just the first.
+ list(APPEND MISSING_CERES_COMPONENTS ${REQUESTED_COMPONENT})
+ endif()
+ endforeach()
+ if (MISSING_CERES_COMPONENTS)
+ ceres_pretty_print_cmake_list(REQUESTED_CERES_COMPONENTS_STRING
+ ${Ceres_FIND_COMPONENTS})
+ ceres_pretty_print_cmake_list(MISSING_CERES_COMPONENTS_STRING
+ ${MISSING_CERES_COMPONENTS})
+ ceres_report_not_found("Missing requested Ceres components: "
+ "${MISSING_CERES_COMPONENTS_STRING} (components requested: "
+ "${REQUESTED_CERES_COMPONENTS_STRING}). Detected "
+ "${CERES_DETECTED_VERSION_STRING}.")
+ endif()
+endif()
+
+# As we use CERES_REPORT_NOT_FOUND() to abort, if we reach this point we have
+# found Ceres and all required dependencies.
+message(STATUS "Found " ${CERES_DETECTED_VERSION_STRING})
+
+# Set CERES_FOUND to be equivalent to Ceres_FOUND, which is set to
+# TRUE by FindPackage() if this file is found and run, and after which
+# Ceres_FOUND is not (explicitly, i.e. undefined does not count) set
+# to FALSE.
+set(CERES_FOUND TRUE)