diff options
Diffstat (limited to 'cmake/CeresConfig.cmake.in')
| -rw-r--r-- | cmake/CeresConfig.cmake.in | 191 |
1 files changed, 179 insertions, 12 deletions
diff --git a/cmake/CeresConfig.cmake.in b/cmake/CeresConfig.cmake.in index d000046..a846850 100644 --- a/cmake/CeresConfig.cmake.in +++ b/cmake/CeresConfig.cmake.in @@ -26,24 +26,191 @@ # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE # POSSIBILITY OF SUCH DAMAGE. # -# Author: pablo.speciale@gmail.com (Pablo Speciale) +# Authors: pablo.speciale@gmail.com (Pablo Speciale) +# alexs.mac@gmail.com (Alex Stewart) # -# Get the directory -GET_FILENAME_COMPONENT(currentDir ${CMAKE_CURRENT_LIST_FILE} PATH) +# Config file for Ceres Solver - Find Ceres & dependencies. +# +# This file is used by CMake when FIND_PACKAGE( Ceres ) is invoked (and +# the directory containing this file is present in CMAKE_MODULE_PATH). +# +# This module defines the following variables: +# +# Ceres_FOUND / CERES_FOUND: True iff 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_INCLUDE_DIRS: Include directories for Ceres and the +# dependencies which appear in the Ceres public +# API and are thus required to use Ceres. +# 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. +# +# The following variables are also defined for legacy compatibility +# only. Any new code should not use them as they do not conform to +# the standard CMake FindPackage naming conventions. +# +# CERES_INCLUDES = ${CERES_INCLUDE_DIRS}. + +# Called if we failed to find Ceres 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(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_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}) + ELSE (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) -# Get the chosen install prefix -GET_FILENAME_COMPONENT(rootDir ${currentDir}/@relInstallDir@ ABSOLUTE) +# Get the (current, i.e. installed) directory containing this file. +GET_FILENAME_COMPONENT(CURRENT_CONFIG_INSTALL_DIR + "${CMAKE_CURRENT_LIST_FILE}" PATH) -# Set the version +# 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}) +# 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 ${CURRENT_CONFIG_INSTALL_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 + ${CURRENT_CONFIG_INSTALL_DIR}/@INSTALL_ROOT_REL_CONFIG_INSTALL_DIR@ ABSOLUTE) +IF (NOT EXISTS ${CURRENT_ROOT_INSTALL_DIR}) + CERES_REPORT_NOT_FOUND( + "Ceres install root: ${CURRENT_ROOT_INSTALL_DIR}, " + "determined from relative path from CeresConfg.cmake install location: " + "${CURRENT_CONFIG_INSTALL_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 ${CURRENT_ROOT_INSTALL_DIR}) + +# Set the version. SET(CERES_VERSION @CERES_VERSION@ ) -# What is my include directory -SET(CERES_INCLUDES "${rootDir}/@INCLUDE_INSTALL_DIR@") +# Set the include directories for Ceres (itself). +SET(CERES_INCLUDE_DIR "${CURRENT_ROOT_INSTALL_DIR}/include") +IF (NOT EXISTS ${CERES_INCLUDE_DIR}/ceres/ceres.h) + CERES_REPORT_NOT_FOUND( + "Ceres install root: ${CURRENT_ROOT_INSTALL_DIR}, " + "determined from relative path from CeresConfg.cmake install location: " + "${CURRENT_CONFIG_INSTALL_DIR}, does not contain Ceres headers. " + "Either the install directory was deleted, or the install tree was only " + "partially relocated outside of CMake after Ceres was built.") +ENDIF (NOT EXISTS ${CERES_INCLUDE_DIR}/ceres/ceres.h) + +# Append the include directories for all (potentially optional) +# dependencies with which Ceres was compiled, the libraries themselves +# come in via CeresTargets-<release/debug>.cmake as link libraries for +# Ceres target. +SET(CERES_INCLUDE_DIRS ${CERES_INCLUDE_DIR}) + +# Eigen. +# Flag set during configuration and build of Ceres. +SET(CERES_EIGEN_VERSION @EIGEN_VERSION@) +# Append the locations of Eigen when Ceres was built to the search path hints. +LIST(APPEND EIGEN_INCLUDE_DIR_HINTS @EIGEN_INCLUDE_DIR@) +# Search quietly s/t we control the timing of the error message if not found. +FIND_PACKAGE(Eigen ${CERES_EIGEN_VERSION} EXACT QUIET) +IF (EIGEN_FOUND) + 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) +LIST(APPEND CERES_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS}) + +# Glog. +# Flag set during configuration and build of Ceres. +SET(CERES_USES_MINIGLOG @MINIGLOG@) +IF (CERES_USES_MINIGLOG) + SET(MINIGLOG_INCLUDE_DIR ${CERES_INCLUDE_DIR}/ceres/internal/miniglog) + IF (NOT EXISTS ${MINIGLOG_INCLUDE_DIR}) + CERES_REPORT_NOT_FOUND( + "Ceres install include directory: " + "${CERES_INCLUDE_DIR} does not include miniglog, but Ceres was " + "compiled with MINIGLOG enabled (in place of Glog).") + ENDIF (NOT EXISTS ${MINIGLOG_INCLUDE_DIR}) + LIST(APPEND CERES_INCLUDE_DIRS ${MINIGLOG_INCLUDE_DIR}) + # 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 installation compiled with miniglog substitute " + "for glog, beware this will likely cause problems if glog is later linked.") +ELSE (CERES_USES_MINIGLOG) + # Append the locations of glog when Ceres was built to the search path hints. + 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 ${CERES_BUILD_GLOG_LIBRARY_DIR}) -# Import the exported targets -INCLUDE(${currentDir}/CeresTargets.cmake) -INCLUDE(${currentDir}/depend.cmake) + # 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 in ${GLOG_INCLUDE_DIRS}") + ELSE (GLOG_FOUND) + CERES_REPORT_NOT_FOUND("Missing required Ceres " + "dependency: Glog, please set GLOG_INCLUDE_DIR.") + ENDIF (GLOG_FOUND) + LIST(APPEND CERES_INCLUDE_DIRS ${GLOG_INCLUDE_DIRS}) +ENDIF (CERES_USES_MINIGLOG) -# Set the expected library variable +# Import exported Ceres targets. +IF (NOT TARGET ceres AND NOT Ceres_BINARY_DIR) + INCLUDE(${CURRENT_CONFIG_INSTALL_DIR}/CeresTargets.cmake) +ENDIF (NOT TARGET ceres AND NOT Ceres_BINARY_DIR) +# Set the expected XX_LIBRARIES variable for FindPackage(). SET(CERES_LIBRARIES ceres) + +# Set legacy include directories variable for backwards compatibility. +SET(CERES_INCLUDES ${CERES_INCLUDE_DIRS}) + +# Reset CMake module path to its state when this script was called. +SET(CMAKE_MODULE_PATH ${CALLERS_CMAKE_MODULE_PATH}) + +# 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 version: ${CERES_VERSION} " + "installed in: ${CURRENT_ROOT_INSTALL_DIR}") + +# 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) |