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/FindCXSparse.cmake b/cmake/FindCXSparse.cmake
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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.
+#
+# Author: alexs.mac@gmail.com (Alex Stewart)
+#
+
+# FindCXSparse.cmake - Find CXSparse libraries & dependencies.
+#
+# This module defines the following variables which should be referenced
+# by the caller to use the library.
+#
+# CXSPARSE_FOUND: TRUE iff CXSparse and all dependencies have been found.
+# CXSPARSE_INCLUDE_DIRS: Include directories for CXSparse.
+# CXSPARSE_LIBRARIES: Libraries for CXSparse and all dependencies.
+#
+# CXSPARSE_VERSION: Extracted from cs.h.
+# CXSPARSE_MAIN_VERSION: Equal to 3 if CXSPARSE_VERSION = 3.1.2
+# CXSPARSE_SUB_VERSION: Equal to 1 if CXSPARSE_VERSION = 3.1.2
+# CXSPARSE_SUBSUB_VERSION: Equal to 2 if CXSPARSE_VERSION = 3.1.2
+#
+# The following variables control the behaviour of this module:
+#
+# CXSPARSE_INCLUDE_DIR_HINTS: List of additional directories in which to
+# search for CXSparse includes,
+# e.g: /timbuktu/include.
+# CXSPARSE_LIBRARY_DIR_HINTS: List of additional directories in which to
+# search for CXSparse libraries, e.g: /timbuktu/lib.
+#
+# 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.
+#
+# CXSPARSE_INCLUDE_DIR: Include directory for CXSparse, not including the
+# include directory of any dependencies.
+# CXSPARSE_LIBRARY: CXSparse library, not including the libraries of any
+# dependencies.
+
+# Reset CALLERS_CMAKE_FIND_LIBRARY_PREFIXES to its value when
+# FindCXSparse was invoked.
+macro(CXSPARSE_RESET_FIND_LIBRARY_PREFIX)
+ if (MSVC)
+ set(CMAKE_FIND_LIBRARY_PREFIXES "${CALLERS_CMAKE_FIND_LIBRARY_PREFIXES}")
+ endif (MSVC)
+endmacro(CXSPARSE_RESET_FIND_LIBRARY_PREFIX)
+
+# Called if we failed to find CXSparse 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(CXSPARSE_REPORT_NOT_FOUND REASON_MSG)
+ unset(CXSPARSE_FOUND)
+ unset(CXSPARSE_INCLUDE_DIRS)
+ unset(CXSPARSE_LIBRARIES)
+ # Make results of search visible in the CMake GUI if CXSparse has not
+ # been found so that user does not have to toggle to advanced view.
+ mark_as_advanced(CLEAR CXSPARSE_INCLUDE_DIR
+ CXSPARSE_LIBRARY)
+
+ cxsparse_reset_find_library_prefix()
+
+ # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by FindPackage()
+ # use the camelcase library name, not uppercase.
+ if (CXSparse_FIND_QUIETLY)
+ message(STATUS "Failed to find CXSparse - " ${REASON_MSG} ${ARGN})
+ elseif (CXSparse_FIND_REQUIRED)
+ message(FATAL_ERROR "Failed to find CXSparse - " ${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 CXSparse - " ${REASON_MSG} ${ARGN})
+ endif ()
+ return()
+endmacro(CXSPARSE_REPORT_NOT_FOUND)
+
+# Protect against any alternative find_package scripts for this library having
+# been called previously (in a client project) which set CXSPARSE_FOUND, but not
+# the other variables we require / set here which could cause the search logic
+# here to fail.
+unset(CXSPARSE_FOUND)
+
+# Handle possible presence of lib prefix for libraries on MSVC, see
+# also CXSPARSE_RESET_FIND_LIBRARY_PREFIX().
+if (MSVC)
+ # Preserve the caller's original values for CMAKE_FIND_LIBRARY_PREFIXES
+ # s/t we can set it back before returning.
+ set(CALLERS_CMAKE_FIND_LIBRARY_PREFIXES "${CMAKE_FIND_LIBRARY_PREFIXES}")
+ # The empty string in this list is important, it represents the case when
+ # the libraries have no prefix (shared libraries / DLLs).
+ set(CMAKE_FIND_LIBRARY_PREFIXES "lib" "" "${CMAKE_FIND_LIBRARY_PREFIXES}")
+endif (MSVC)
+
+# Search user-installed locations first, so that we prefer user installs
+# to system installs where both exist.
+#
+# TODO: Add standard Windows search locations for CXSparse.
+list(APPEND CXSPARSE_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)
+list(APPEND CXSPARSE_CHECK_LIBRARY_DIRS
+ /usr/local/lib
+ /usr/local/homebrew/lib # Mac OS X.
+ /opt/local/lib
+ /usr/lib)
+# Additional suffixes to try appending to each search path.
+list(APPEND CXSPARSE_CHECK_PATH_SUFFIXES
+ suitesparse) # Linux/Windows
+
+# Search supplied hint directories first if supplied.
+find_path(CXSPARSE_INCLUDE_DIR
+ NAMES cs.h
+ HINTS ${CXSPARSE_INCLUDE_DIR_HINTS}
+ PATHS ${CXSPARSE_CHECK_INCLUDE_DIRS}
+ PATH_SUFFIXES ${CXSPARSE_CHECK_PATH_SUFFIXES})
+if (NOT CXSPARSE_INCLUDE_DIR OR
+ NOT EXISTS ${CXSPARSE_INCLUDE_DIR})
+ cxsparse_report_not_found(
+ "Could not find CXSparse include directory, set CXSPARSE_INCLUDE_DIR "
+ "to directory containing cs.h")
+endif (NOT CXSPARSE_INCLUDE_DIR OR
+ NOT EXISTS ${CXSPARSE_INCLUDE_DIR})
+
+find_library(CXSPARSE_LIBRARY NAMES cxsparse
+ HINTS ${CXSPARSE_LIBRARY_DIR_HINTS}
+ PATHS ${CXSPARSE_CHECK_LIBRARY_DIRS}
+ PATH_SUFFIXES ${CXSPARSE_CHECK_PATH_SUFFIXES})
+if (NOT CXSPARSE_LIBRARY OR
+ NOT EXISTS ${CXSPARSE_LIBRARY})
+ cxsparse_report_not_found(
+ "Could not find CXSparse library, set CXSPARSE_LIBRARY "
+ "to full path to libcxsparse.")
+endif (NOT CXSPARSE_LIBRARY OR
+ NOT EXISTS ${CXSPARSE_LIBRARY})
+
+# Mark internally as found, then verify. CXSPARSE_REPORT_NOT_FOUND() unsets
+# if called.
+set(CXSPARSE_FOUND TRUE)
+
+# Extract CXSparse version from cs.h
+if (CXSPARSE_INCLUDE_DIR)
+ set(CXSPARSE_VERSION_FILE ${CXSPARSE_INCLUDE_DIR}/cs.h)
+ if (NOT EXISTS ${CXSPARSE_VERSION_FILE})
+ cxsparse_report_not_found(
+ "Could not find file: ${CXSPARSE_VERSION_FILE} "
+ "containing version information in CXSparse install located at: "
+ "${CXSPARSE_INCLUDE_DIR}.")
+ else (NOT EXISTS ${CXSPARSE_VERSION_FILE})
+ file(READ ${CXSPARSE_INCLUDE_DIR}/cs.h CXSPARSE_VERSION_FILE_CONTENTS)
+
+ string(REGEX MATCH "#define CS_VER [0-9]+"
+ CXSPARSE_MAIN_VERSION "${CXSPARSE_VERSION_FILE_CONTENTS}")
+ string(REGEX REPLACE "#define CS_VER ([0-9]+)" "\\1"
+ CXSPARSE_MAIN_VERSION "${CXSPARSE_MAIN_VERSION}")
+
+ string(REGEX MATCH "#define CS_SUBVER [0-9]+"
+ CXSPARSE_SUB_VERSION "${CXSPARSE_VERSION_FILE_CONTENTS}")
+ string(REGEX REPLACE "#define CS_SUBVER ([0-9]+)" "\\1"
+ CXSPARSE_SUB_VERSION "${CXSPARSE_SUB_VERSION}")
+
+ string(REGEX MATCH "#define CS_SUBSUB [0-9]+"
+ CXSPARSE_SUBSUB_VERSION "${CXSPARSE_VERSION_FILE_CONTENTS}")
+ string(REGEX REPLACE "#define CS_SUBSUB ([0-9]+)" "\\1"
+ CXSPARSE_SUBSUB_VERSION "${CXSPARSE_SUBSUB_VERSION}")
+
+ # This is on a single line s/t CMake does not interpret it as a list of
+ # elements and insert ';' separators which would result in 3.;1.;2 nonsense.
+ set(CXSPARSE_VERSION "${CXSPARSE_MAIN_VERSION}.${CXSPARSE_SUB_VERSION}.${CXSPARSE_SUBSUB_VERSION}")
+ endif (NOT EXISTS ${CXSPARSE_VERSION_FILE})
+endif (CXSPARSE_INCLUDE_DIR)
+
+# Catch the case when the caller has set CXSPARSE_LIBRARY in the cache / GUI and
+# thus FIND_LIBRARY was not called, but specified library is invalid, otherwise
+# we would report CXSparse as found.
+# TODO: This regex for CXSparse library is pretty primitive, we use lowercase
+# for comparison to handle Windows using CamelCase library names, could
+# this check be better?
+string(TOLOWER "${CXSPARSE_LIBRARY}" LOWERCASE_CXSPARSE_LIBRARY)
+if (CXSPARSE_LIBRARY AND
+ EXISTS ${CXSPARSE_LIBRARY} AND
+ NOT "${LOWERCASE_CXSPARSE_LIBRARY}" MATCHES ".*cxsparse[^/]*")
+ cxsparse_report_not_found(
+ "Caller defined CXSPARSE_LIBRARY: "
+ "${CXSPARSE_LIBRARY} does not match CXSparse.")
+endif (CXSPARSE_LIBRARY AND
+ EXISTS ${CXSPARSE_LIBRARY} AND
+ NOT "${LOWERCASE_CXSPARSE_LIBRARY}" MATCHES ".*cxsparse[^/]*")
+
+# Set standard CMake FindPackage variables if found.
+if (CXSPARSE_FOUND)
+ set(CXSPARSE_INCLUDE_DIRS ${CXSPARSE_INCLUDE_DIR})
+ set(CXSPARSE_LIBRARIES ${CXSPARSE_LIBRARY})
+endif (CXSPARSE_FOUND)
+
+cxsparse_reset_find_library_prefix()
+
+# Handle REQUIRED / QUIET optional arguments and version.
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(CXSparse
+ REQUIRED_VARS CXSPARSE_INCLUDE_DIRS CXSPARSE_LIBRARIES
+ VERSION_VAR CXSPARSE_VERSION)
+
+# Only mark internal variables as advanced if we found CXSparse, otherwise
+# leave them visible in the standard GUI for the user to set manually.
+if (CXSPARSE_FOUND)
+ mark_as_advanced(FORCE CXSPARSE_INCLUDE_DIR
+ CXSPARSE_LIBRARY)
+endif (CXSPARSE_FOUND)