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# Ceres Solver - A fast non-linear least squares minimizer
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# Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
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# http://code.google.com/p/ceres-solver/
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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# * Redistributions of source code must retain the above copyright notice,
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# this list of conditions and the following disclaimer.
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# * Redistributions in binary form must reproduce the above copyright notice,
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# this list of conditions and the following disclaimer in the documentation
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# and/or other materials provided with the distribution.
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# * Neither the name of Google Inc. nor the names of its contributors may be
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# used to endorse or promote products derived from this software without
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# specific prior written permission.
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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# Author: keir@google.com (Keir Mierle)
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CMAKE_MINIMUM_REQUIRED(VERSION 2.4)
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IF (COMMAND cmake_policy)
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CMAKE_POLICY(SET CMP0003 NEW)
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ENDIF (COMMAND cmake_policy)
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# To get a more static build, try the following line on Mac and Linux:
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# SET(CMAKE_FIND_LIBRARY_SUFFIXES .a ${CMAKE_FIND_LIBRARY_SUFFIXES})
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# Default locations to search for on various platforms.
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LIST(APPEND SEARCH_LIBS /usr/lib)
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LIST(APPEND SEARCH_LIBS /usr/local/lib)
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LIST(APPEND SEARCH_LIBS /usr/local/homebrew/lib) # Mac OS X
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LIST(APPEND SEARCH_LIBS /opt/local/lib)
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LIST(APPEND SEARCH_HEADERS /usr/include)
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LIST(APPEND SEARCH_HEADERS /usr/local/include)
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LIST(APPEND SEARCH_HEADERS /usr/local/homebrew/include) # Mac OS X
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LIST(APPEND SEARCH_HEADERS /opt/local/include)
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# Locations to search for Eigen
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SET(EIGEN_SEARCH_HEADERS ${SEARCH_HEADERS})
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LIST(APPEND EIGEN_SEARCH_HEADERS /usr/include/eigen3) # Ubuntu 10.04's default location.
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LIST(APPEND EIGEN_SEARCH_HEADERS /usr/local/include/eigen3)
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LIST(APPEND EIGEN_SEARCH_HEADERS /usr/local/homebrew/include/eigen3) # Mac OS X
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LIST(APPEND EIGEN_SEARCH_HEADERS /opt/local/var/macports/software/eigen3/opt/local/include/eigen3) # Mac OS X
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# Locations to search for SuiteSparse
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SET(SUITESPARSE_SEARCH_LIBS ${SEARCH_LIBS})
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LIST(APPEND SUITESPARSE_SEARCH_LIBS /usr/lib/suitesparse) # Ubuntu
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LIST(APPEND SUITESPARSE_SEARCH_LIBS /usr/local/lib/suitesparse)
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LIST(APPEND SUITESPARSE_SEARCH_LIBS /opt/local/lib/ufsparse) # Mac OS X
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SET(SUITESPARSE_SEARCH_HEADERS ${SEARCH_HEADERS})
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LIST(APPEND SUITESPARSE_SEARCH_HEADERS /usr/include/suitesparse) # Ubuntu
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LIST(APPEND SUITESPARSE_SEARCH_HEADERS /usr/local/include/suitesparse)
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LIST(APPEND SUITESPARSE_SEARCH_HEADERS /opt/local/include/ufsparse) # Mac OS X
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# Check for SuiteSparse dependencies
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MESSAGE("-- Check for AMD")
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FIND_LIBRARY(AMD_LIB NAMES amd PATHS ${SUITESPARSE_SEARCH_LIBS})
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IF (EXISTS ${AMD_LIB})
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MESSAGE("-- Found AMD library: ${AMD_LIB}")
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ELSE (EXISTS ${AMD_LIB})
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MESSAGE("-- Did not find AMD library")
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ENDIF (EXISTS ${AMD_LIB})
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FIND_PATH(AMD_INCLUDE NAMES amd.h PATHS ${SUITESPARSE_SEARCH_HEADERS})
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IF (EXISTS ${AMD_INCLUDE})
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MESSAGE("-- Found AMD header in: ${AMD_INCLUDE}")
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ELSE (EXISTS ${AMD_INCLUDE})
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MESSAGE("-- Did not find AMD header")
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ENDIF (EXISTS ${AMD_INCLUDE})
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MESSAGE("-- Check for CAMD")
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FIND_LIBRARY(CAMD_LIB NAMES camd PATHS ${SUITESPARSE_SEARCH_LIBS})
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IF (EXISTS ${CAMD_LIB})
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MESSAGE("-- Found CAMD library: ${CAMD_LIB}")
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ELSE (EXISTS ${CAMD_LIB})
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MESSAGE("-- Did not find CAMD library")
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SET(CAMD_FOUND FALSE)
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ENDIF (EXISTS ${CAMD_LIB})
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FIND_PATH(CAMD_INCLUDE NAMES camd.h PATHS ${SUITESPARSE_SEARCH_HEADERS})
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IF (EXISTS ${CAMD_INCLUDE})
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MESSAGE("-- Found CAMD header in: ${CAMD_INCLUDE}")
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ELSE (EXISTS ${CAMD_INCLUDE})
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MESSAGE("-- Did not find CAMD header")
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SET(CAMD_FOUND FALSE)
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ENDIF (EXISTS ${CAMD_INCLUDE})
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MESSAGE("-- Check for COLAMD")
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SET(COLAMD_FOUND TRUE)
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FIND_LIBRARY(COLAMD_LIB NAMES colamd PATHS ${SUITESPARSE_SEARCH_LIBS})
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IF (EXISTS ${COLAMD_LIB})
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MESSAGE("-- Found COLAMD library: ${COLAMD_LIB}")
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ELSE (EXISTS ${COLAMD_LIB})
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MESSAGE("-- Did not find COLAMD library")
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SET(COLAMD_FOUND FALSE)
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ENDIF (EXISTS ${COLAMD_LIB})
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FIND_PATH(COLAMD_INCLUDE NAMES colamd.h PATHS ${SUITESPARSE_SEARCH_HEADERS})
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IF (EXISTS ${COLAMD_INCLUDE})
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MESSAGE("-- Found COLAMD header in: ${COLAMD_INCLUDE}")
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ELSE (EXISTS ${COLAMD_INCLUDE})
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MESSAGE("-- Did not find COLAMD header")
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SET(COLAMD_FOUND FALSE)
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ENDIF (EXISTS ${COLAMD_INCLUDE})
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MESSAGE("-- Check for CCOLAMD")
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SET(CCOLAMD_FOUND TRUE)
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FIND_LIBRARY(CCOLAMD_LIB NAMES ccolamd PATHS ${SUITESPARSE_SEARCH_LIBS})
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IF (EXISTS ${CCOLAMD_LIB})
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MESSAGE("-- Found CCOLAMD library: ${CCOLAMD_LIB}")
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ELSE (EXISTS ${CCOLAMD_LIB})
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MESSAGE("-- Did not find CCOLAMD library")
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SET(CCOLAMD_FOUND FALSE)
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ENDIF (EXISTS ${CCOLAMD_LIB})
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FIND_PATH(CCOLAMD_INCLUDE NAMES ccolamd.h PATHS ${SUITESPARSE_SEARCH_HEADERS})
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IF (EXISTS ${CCOLAMD_INCLUDE})
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MESSAGE("-- Found CCOLAMD header in: ${CCOLAMD_INCLUDE}")
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ELSE (EXISTS ${CCOLAMD_INCLUDE})
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MESSAGE("-- Did not find CCOLAMD header")
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SET(CCOLAMD_FOUND FALSE)
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ENDIF (EXISTS ${CCOLAMD_INCLUDE})
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MESSAGE("-- Check for CHOLMOD")
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SET(CHOLMOD_FOUND TRUE)
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FIND_LIBRARY(CHOLMOD_LIB NAMES cholmod PATHS ${SUITESPARSE_SEARCH_LIBS})
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IF (EXISTS ${CHOLMOD_LIB})
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MESSAGE("-- Found CHOLMOD library: ${CHOLMOD_LIB}")
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ELSE (EXISTS ${CHOLMOD_LIB})
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MESSAGE("-- Did not find CHOLMOD library")
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SET(CHOLMOD_FOUND FALSE)
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ENDIF (EXISTS ${CHOLMOD_LIB})
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FIND_PATH(CHOLMOD_INCLUDE NAMES cholmod.h PATHS ${SUITESPARSE_SEARCH_HEADERS})
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IF (EXISTS ${CHOLMOD_INCLUDE})
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MESSAGE("-- Found CHOLMOD header in: ${CHOLMOD_INCLUDE}")
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ELSE (EXISTS ${CHOLMOD_INCLUDE})
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MESSAGE("-- Did not find CHOLMOD header")
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SET(CHOLMOD_FOUND FALSE)
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ENDIF (EXISTS ${CHOLMOD_INCLUDE})
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MESSAGE("-- Check for METIS (optional)")
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FIND_LIBRARY(METIS_LIB NAMES metis PATHS ${SUITESPARSE_SEARCH_LIBS})
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IF (EXISTS ${METIS_LIB})
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MESSAGE("-- Found METIS library: ${METIS_LIB}")
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ELSE (EXISTS ${METIS_LIB})
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MESSAGE("-- Did not find METIS library")
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ENDIF (EXISTS ${METIS_LIB})
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SET(BLAS_AND_LAPACK_FOUND TRUE)
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# Mac OS X has LAPACK/BLAS bundled in a framework called
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# "vecLib". Search for that instead of for the normal "lapack"
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FIND_LIBRARY(LAPACK_LIB NAMES vecLib)
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FIND_LIBRARY(BLAS_LIB NAMES blas)
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IF (EXISTS ${BLAS_LIB})
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MESSAGE("-- Found BLAS library: ${BLAS_LIB}")
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ELSE (EXISTS ${BLAS_LIB})
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MESSAGE("-- Did not find BLAS library")
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SET(BLAS_AND_LAPACK_FOUND FALSE)
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ENDIF (EXISTS ${BLAS_LIB})
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FIND_LIBRARY(LAPACK_LIB NAMES lapack)
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IF (EXISTS ${LAPACK_LIB})
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MESSAGE("-- Found LAPACK library: ${LAPACK_LIB}")
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ELSE (EXISTS ${LAPACK_LIB})
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SET(BLAS_AND_LAPACK_FOUND FALSE)
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MESSAGE("-- Did not find LAPACK library")
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ENDIF (EXISTS ${LAPACK_LIB})
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SET(SUITESPARSE_FOUND
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BLAS_AND_LAPACK_FOUND)
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# By default, if all of SuiteSparse's dependencies are found, Ceres is
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# built with SuiteSparse support. -DSUITESPARSE=ON/OFF can be used to
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# enable/disable SuiteSparse explicitly.
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IF (DEFINED SUITESPARSE)
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IF (SUITESPARSE AND NOT SUITESPARSE_FOUND)
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MESSAGE(FATAL_ERROR "One or more of SuiteSparse's dependencies was not found")
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ENDIF (SUITESPARSE AND NOT SUITESPARSE_FOUND)
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ELSE (DEFINED SUITESPARSE)
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IF (SUITESPARSE_FOUND)
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MESSAGE("-- Found all SuiteSparse dependencies. Building with SuiteSparse")
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ELSE (SUITESPARSE_FOUND)
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MESSAGE("-- Did not find all SuiteSparse dependencies. Building without SuiteSparse")
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ADD_DEFINITIONS(-DCERES_NO_SUITESPARSE)
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ENDIF (SUITESPARSE_FOUND)
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ENDIF (DEFINED SUITESPARSE)
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"Enable Google Flags."
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MESSAGE("-- Check for Google Flags")
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FIND_LIBRARY(GFLAGS_LIB NAMES gflags PATHS ${SEARCH_LIBS})
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IF (NOT EXISTS ${GFLAGS_LIB})
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"Can't find Google Flags. Please specify: "
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ENDIF (NOT EXISTS ${GFLAGS_LIB})
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MESSAGE("-- Found Google Flags library: ${GFLAGS_LIB}")
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FIND_PATH(GFLAGS_INCLUDE NAMES gflags/gflags.h PATHS ${SEARCH_HEADERS})
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IF (NOT EXISTS ${GFLAGS_INCLUDE})
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"Can't find Google Flags. Please specify: "
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"-DGFLAGS_INCLUDE=...")
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ENDIF (NOT EXISTS ${GFLAGS_INCLUDE})
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MESSAGE("-- Found Google Flags header in: ${GFLAGS_INCLUDE}")
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MESSAGE("-- Google Flags disabled; no tests or tools will be built!")
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ADD_DEFINITIONS(-DCERES_NO_GFLAGS)
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MESSAGE("-- Check for Google Log")
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FIND_LIBRARY(GLOG_LIB NAMES glog PATHS ${SEARCH_LIBS})
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IF (NOT EXISTS ${GLOG_LIB})
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"Can't find Google Log. Please specify: "
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ENDIF (NOT EXISTS ${GLOG_LIB})
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MESSAGE("-- Found Google Log library: ${GLOG_LIB}")
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FIND_PATH(GLOG_INCLUDE NAMES glog/logging.h PATHS ${SEARCH_HEADERS})
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IF (NOT EXISTS ${GLOG_INCLUDE})
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"Can't find Google Log. Please specify: "
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"-DGLOG_INCLUDE=...")
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ENDIF (NOT EXISTS ${GLOG_INCLUDE})
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MESSAGE("-- Found Google Log header in: ${GLOG_INCLUDE}")
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MESSAGE("-- Check for Eigen 3.0")
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FIND_PATH(EIGEN_INCLUDE NAMES Eigen/Core PATHS ${EIGEN_SEARCH_HEADERS})
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IF (NOT EXISTS ${EIGEN_INCLUDE})
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MESSAGE(FATAL_ERROR "Can't find Eigen. Try passing -DEIGEN_INCLUDE=...")
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ENDIF (NOT EXISTS ${EIGEN_INCLUDE})
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MESSAGE("-- Found Eigen 3.0: ${EIGEN_INCLUDE}")
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# Template specializations for the Schur complement based solvers. If
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# compile time, binary size or compiler performance is an issue, you
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# may consider disabling this.
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OPTION(SCHUR_SPECIALIZATIONS
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"Enable fixed-size schur specializations."
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IF (NOT SCHUR_SPECIALIZATIONS)
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ADD_DEFINITIONS(-DCERES_RESTRICT_SCHUR_SPECIALIZATION)
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MESSAGE("-- Disabling Schur specializations (faster compiles)")
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ENDIF (NOT SCHUR_SPECIALIZATIONS)
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# Multithreading using OpenMP
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"Enable threaded solving in Ceres (requires OpenMP)"
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MESSAGE("-- Found OpenMP.")
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SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
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ADD_DEFINITIONS(-DCERES_USE_OPENMP)
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MESSAGE("-- Can't find OpenMP. Continuing without it.")
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"Enable protocol buffers support."
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FIND_PACKAGE(Protobuf)
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INCLUDE_DIRECTORIES(${PROTOBUF_INCLUDE_DIRS})
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INCLUDE_DIRECTORIES(${CMAKE_CURRENT_BINARY_DIR}/internal)
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ELSE (PROTOBUF_FOUND)
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ADD_DEFINITIONS(-DCERES_DONT_HAVE_PROTOCOL_BUFFERS)
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ENDIF (PROTOBUF_FOUND)
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ADD_DEFINITIONS(-DCERES_DONT_HAVE_PROTOCOL_BUFFERS)
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# Atleast on linux, we need pthreads to be enabled for mutex to
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# compile. This may not work on windows or android.
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FIND_PACKAGE(Threads REQUIRED)
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SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${CMAKE_THREAD_LIBS_INIT}")
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ADD_DEFINITIONS(-DCERES_HAVE_PTHREAD)
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ADD_DEFINITIONS(-DCERES_HAVE_RWLOCK)
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# Use the std namespace for the hash<> and related templates. This may vary by
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ADD_DEFINITIONS("\"-DCERES_HASH_NAMESPACE_START=namespace std { namespace tr1 {\"")
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ADD_DEFINITIONS("\"-DCERES_HASH_NAMESPACE_END=}}\"")
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INCLUDE_DIRECTORIES(${CHOLMOD_INCLUDE})
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INCLUDE_DIRECTORIES(${GFLAGS_INCLUDE})
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# Change the default build type from Debug to Release, while still
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# supporting overriding the build type.
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IF (NOT CMAKE_BUILD_TYPE)
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SET(CMAKE_BUILD_TYPE Release)
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ENDIF (NOT CMAKE_BUILD_TYPE)
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ADD_SUBDIRECTORY(internal/ceres)
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ADD_SUBDIRECTORY(examples)
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# TODO(sameeragarwal): The following flags break the old gcc that
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# ships on Mac OS X. Make this conditional on operating system and
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#SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mtune=native -march=native")
added
removed
CMakeLists.txt
