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# - Try to find Eigen3 lib | ||
# | ||
# This module supports requiring a minimum version, e.g. you can do | ||
# find_package(Eigen3 3.1.2) | ||
# to require version 3.1.2 or newer of Eigen3. | ||
# | ||
# Once done this will define | ||
# | ||
# EIGEN3_FOUND - system has eigen lib with correct version | ||
# EIGEN3_INCLUDE_DIR - the eigen include directory | ||
# EIGEN3_VERSION - eigen version | ||
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||
# Copyright (c) 2006, 2007 Montel Laurent, <[email protected]> | ||
# Copyright (c) 2008, 2009 Gael Guennebaud, <[email protected]> | ||
# Copyright (c) 2009 Benoit Jacob <[email protected]> | ||
# Redistribution and use is allowed according to the terms of the 2-clause BSD license. | ||
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if(NOT Eigen3_FIND_VERSION) | ||
if(NOT Eigen3_FIND_VERSION_MAJOR) | ||
set(Eigen3_FIND_VERSION_MAJOR 2) | ||
endif(NOT Eigen3_FIND_VERSION_MAJOR) | ||
if(NOT Eigen3_FIND_VERSION_MINOR) | ||
set(Eigen3_FIND_VERSION_MINOR 91) | ||
endif(NOT Eigen3_FIND_VERSION_MINOR) | ||
if(NOT Eigen3_FIND_VERSION_PATCH) | ||
set(Eigen3_FIND_VERSION_PATCH 0) | ||
endif(NOT Eigen3_FIND_VERSION_PATCH) | ||
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set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}") | ||
endif(NOT Eigen3_FIND_VERSION) | ||
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macro(_eigen3_check_version) | ||
file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header) | ||
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string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}") | ||
set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}") | ||
string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}") | ||
set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}") | ||
string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}") | ||
set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}") | ||
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set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION}) | ||
if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) | ||
set(EIGEN3_VERSION_OK FALSE) | ||
else(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) | ||
set(EIGEN3_VERSION_OK TRUE) | ||
endif(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) | ||
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if(NOT EIGEN3_VERSION_OK) | ||
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message(STATUS "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, " | ||
"but at least version ${Eigen3_FIND_VERSION} is required") | ||
endif(NOT EIGEN3_VERSION_OK) | ||
endmacro(_eigen3_check_version) | ||
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if (EIGEN3_INCLUDE_DIR) | ||
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# in cache already | ||
_eigen3_check_version() | ||
set(EIGEN3_FOUND ${EIGEN3_VERSION_OK}) | ||
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else (EIGEN3_INCLUDE_DIR) | ||
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find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library | ||
PATHS | ||
${CMAKE_INSTALL_PREFIX}/include | ||
${KDE4_INCLUDE_DIR} | ||
PATH_SUFFIXES eigen3 eigen | ||
) | ||
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if(EIGEN3_INCLUDE_DIR) | ||
_eigen3_check_version() | ||
endif(EIGEN3_INCLUDE_DIR) | ||
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include(FindPackageHandleStandardArgs) | ||
find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK) | ||
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mark_as_advanced(EIGEN3_INCLUDE_DIR) | ||
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endif(EIGEN3_INCLUDE_DIR) | ||
|
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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: [email protected] (Alex Stewart) | ||
# | ||
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# FindGlog.cmake - Find Google glog logging library. | ||
# | ||
# This module defines the following variables: | ||
# | ||
# GLOG_FOUND: TRUE iff glog is found. | ||
# GLOG_INCLUDE_DIRS: Include directories for glog. | ||
# GLOG_LIBRARIES: Libraries required to link glog. | ||
# | ||
# The following variables control the behaviour of this module: | ||
# | ||
# GLOG_INCLUDE_DIR_HINTS: List of additional directories in which to | ||
# search for glog includes, e.g: /timbuktu/include. | ||
# GLOG_LIBRARY_DIR_HINTS: List of additional directories in which to | ||
# search for glog 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. | ||
# | ||
# GLOG_INCLUDE_DIR: Include directory for glog, not including the | ||
# include directory of any dependencies. | ||
# GLOG_LIBRARY: glog library, not including the libraries of any | ||
# dependencies. | ||
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# Reset CALLERS_CMAKE_FIND_LIBRARY_PREFIXES to its value when | ||
# FindGlog was invoked. | ||
macro(GLOG_RESET_FIND_LIBRARY_PREFIX) | ||
if (MSVC) | ||
set(CMAKE_FIND_LIBRARY_PREFIXES "${CALLERS_CMAKE_FIND_LIBRARY_PREFIXES}") | ||
endif (MSVC) | ||
endmacro(GLOG_RESET_FIND_LIBRARY_PREFIX) | ||
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# Called if we failed to find glog 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(GLOG_REPORT_NOT_FOUND REASON_MSG) | ||
unset(GLOG_FOUND) | ||
unset(GLOG_INCLUDE_DIRS) | ||
unset(GLOG_LIBRARIES) | ||
# Make results of search visible in the CMake GUI if glog has not | ||
# been found so that user does not have to toggle to advanced view. | ||
mark_as_advanced(CLEAR GLOG_INCLUDE_DIR | ||
GLOG_LIBRARY) | ||
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glog_reset_find_library_prefix() | ||
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# Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by FindPackage() | ||
# use the camelcase library name, not uppercase. | ||
if (Glog_FIND_QUIETLY) | ||
message(STATUS "Failed to find glog - " ${REASON_MSG} ${ARGN}) | ||
elseif (Glog_FIND_REQUIRED) | ||
message(FATAL_ERROR "Failed to find glog - " ${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 glog - " ${REASON_MSG} ${ARGN}) | ||
endif () | ||
endmacro(GLOG_REPORT_NOT_FOUND) | ||
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# Handle possible presence of lib prefix for libraries on MSVC, see | ||
# also GLOG_RESET_FIND_LIBRARY_PREFIX(). | ||
if (MSVC) | ||
# Preserve the caller's original values for CMAKE_FIND_LIBRARY_PREFIXES | ||
# s/t we can set it back before returning. | ||
set(CALLERS_CMAKE_FIND_LIBRARY_PREFIXES "${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) | ||
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# Search user-installed locations first, so that we prefer user installs | ||
# to system installs where both exist. | ||
list(APPEND GLOG_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) | ||
# Windows (for C:/Program Files prefix). | ||
list(APPEND GLOG_CHECK_PATH_SUFFIXES | ||
glog/include | ||
glog/Include | ||
Glog/include | ||
Glog/Include) | ||
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list(APPEND GLOG_CHECK_LIBRARY_DIRS | ||
/usr/local/lib | ||
/usr/local/homebrew/lib # Mac OS X. | ||
/opt/local/lib | ||
/usr/lib) | ||
# Windows (for C:/Program Files prefix). | ||
list(APPEND GLOG_CHECK_LIBRARY_SUFFIXES | ||
glog/lib | ||
glog/Lib | ||
Glog/lib | ||
Glog/Lib) | ||
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# Search supplied hint directories first if supplied. | ||
find_path(GLOG_INCLUDE_DIR | ||
NAMES glog/logging.h | ||
PATHS ${GLOG_INCLUDE_DIR_HINTS} | ||
${GLOG_CHECK_INCLUDE_DIRS} | ||
PATH_SUFFIXES ${GLOG_CHECK_PATH_SUFFIXES}) | ||
if (NOT GLOG_INCLUDE_DIR OR | ||
NOT EXISTS ${GLOG_INCLUDE_DIR}) | ||
glog_report_not_found( | ||
"Could not find glog include directory, set GLOG_INCLUDE_DIR " | ||
"to directory containing glog/logging.h") | ||
endif (NOT GLOG_INCLUDE_DIR OR | ||
NOT EXISTS ${GLOG_INCLUDE_DIR}) | ||
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find_library(GLOG_LIBRARY NAMES glog | ||
PATHS ${GLOG_LIBRARY_DIR_HINTS} | ||
${GLOG_CHECK_LIBRARY_DIRS} | ||
PATH_SUFFIXES ${GLOG_CHECK_LIBRARY_SUFFIXES}) | ||
if (NOT GLOG_LIBRARY OR | ||
NOT EXISTS ${GLOG_LIBRARY}) | ||
glog_report_not_found( | ||
"Could not find glog library, set GLOG_LIBRARY " | ||
"to full path to libglog.") | ||
endif (NOT GLOG_LIBRARY OR | ||
NOT EXISTS ${GLOG_LIBRARY}) | ||
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# Mark internally as found, then verify. GLOG_REPORT_NOT_FOUND() unsets | ||
# if called. | ||
set(GLOG_FOUND TRUE) | ||
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# Glog does not seem to provide any record of the version in its | ||
# source tree, thus cannot extract version. | ||
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# Catch case when caller has set GLOG_INCLUDE_DIR in the cache / GUI and | ||
# thus FIND_[PATH/LIBRARY] are not called, but specified locations are | ||
# invalid, otherwise we would report the library as found. | ||
if (GLOG_INCLUDE_DIR AND | ||
NOT EXISTS ${GLOG_INCLUDE_DIR}/glog/logging.h) | ||
glog_report_not_found( | ||
"Caller defined GLOG_INCLUDE_DIR:" | ||
" ${GLOG_INCLUDE_DIR} does not contain glog/logging.h header.") | ||
endif (GLOG_INCLUDE_DIR AND | ||
NOT EXISTS ${GLOG_INCLUDE_DIR}/glog/logging.h) | ||
# TODO: This regex for glog library is pretty primitive, we use lowercase | ||
# for comparison to handle Windows using CamelCase library names, could | ||
# this check be better? | ||
string(TOLOWER "${GLOG_LIBRARY}" LOWERCASE_GLOG_LIBRARY) | ||
if (GLOG_LIBRARY AND | ||
NOT "${LOWERCASE_GLOG_LIBRARY}" MATCHES ".*glog[^/]*") | ||
glog_report_not_found( | ||
"Caller defined GLOG_LIBRARY: " | ||
"${GLOG_LIBRARY} does not match glog.") | ||
endif (GLOG_LIBRARY AND | ||
NOT "${LOWERCASE_GLOG_LIBRARY}" MATCHES ".*glog[^/]*") | ||
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# Set standard CMake FindPackage variables if found. | ||
if (GLOG_FOUND) | ||
set(GLOG_INCLUDE_DIRS ${GLOG_INCLUDE_DIR}) | ||
set(GLOG_LIBRARIES ${GLOG_LIBRARY}) | ||
endif (GLOG_FOUND) | ||
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glog_reset_find_library_prefix() | ||
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# Handle REQUIRED / QUIET optional arguments. | ||
include(FindPackageHandleStandardArgs) | ||
find_package_handle_standard_args(Glog DEFAULT_MSG | ||
GLOG_INCLUDE_DIRS GLOG_LIBRARIES) | ||
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# Only mark internal variables as advanced if we found glog, otherwise | ||
# leave them visible in the standard GUI for the user to set manually. | ||
if (GLOG_FOUND) | ||
mark_as_advanced(FORCE GLOG_INCLUDE_DIR | ||
GLOG_LIBRARY) | ||
endif (GLOG_FOUND) |
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# Finds libzip. | ||
# | ||
# This module defines: | ||
# LIBZIP_INCLUDE_DIR_ZIP | ||
# LIBZIP_INCLUDE_DIR_ZIPCONF | ||
# LIBZIP_LIBRARY | ||
# | ||
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find_package(PkgConfig) | ||
pkg_check_modules(PC_LIBZIP QUIET libzip) | ||
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find_path(LIBZIP_INCLUDE_DIR_ZIP | ||
NAMES zip.h | ||
HINTS ${PC_LIBZIP_INCLUDE_DIRS}) | ||
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find_path(LIBZIP_INCLUDE_DIR_ZIPCONF | ||
NAMES zipconf.h | ||
HINTS ${PC_LIBZIP_INCLUDE_DIRS}) | ||
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find_library(LIBZIP_LIBRARY | ||
NAMES zip) | ||
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include(FindPackageHandleStandardArgs) | ||
FIND_PACKAGE_HANDLE_STANDARD_ARGS( | ||
LIBZIP DEFAULT_MSG | ||
LIBZIP_LIBRARY LIBZIP_INCLUDE_DIR_ZIP LIBZIP_INCLUDE_DIR_ZIPCONF) | ||
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set(LIBZIP_VERSION 0) | ||
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if (LIBZIP_INCLUDE_DIR_ZIPCONF) | ||
FILE(READ "${LIBZIP_INCLUDE_DIR_ZIPCONF}/zipconf.h" _LIBZIP_VERSION_CONTENTS) | ||
if (_LIBZIP_VERSION_CONTENTS) | ||
STRING(REGEX REPLACE ".*#define LIBZIP_VERSION \"([0-9.]+)\".*" "\\1" LIBZIP_VERSION "${_LIBZIP_VERSION_CONTENTS}") | ||
endif () | ||
endif () | ||
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set(LIBZIP_VERSION ${LIBZIP_VERSION} CACHE STRING "Version number of libzip") |
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# TUM_MONO dataset | ||
add_executable( run_dso_tum_mono run_dso_tum_mono.cc ) | ||
target_link_libraries( run_dso_tum_mono | ||
ldso ${THIRD_PARTY_LIBS} ) | ||
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# EUROC dataset | ||
add_executable( run_dso_euroc run_dso_euroc.cc ) | ||
target_link_libraries( run_dso_euroc | ||
ldso ${THIRD_PARTY_LIBS} ) | ||
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# Kitti dataset | ||
add_executable( run_dso_kitti run_dso_kitti.cc ) | ||
target_link_libraries( run_dso_kitti | ||
ldso ${THIRD_PARTY_LIBS} ) |
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