diff --git a/cmake_modules/FindEigen3.cmake b/cmake_modules/FindEigen3.cmake
index d44ea8903d4c5a72af468d603dc1d8e5a6bbf542..9e969786089ca8ea3801be8b084c51a5782f09b5 100644
--- a/cmake_modules/FindEigen3.cmake
+++ b/cmake_modules/FindEigen3.cmake
@@ -1,263 +1,97 @@
-# Ceres Solver - A fast non-linear least squares minimizer
-# Copyright 2015 Google Inc. All rights reserved.
-# http://ceres-solver.org/
+# - Try to find Eigen3 lib
#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
+# 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.
#
-# * 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.
+# Once done this will define
#
-# 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.
+# EIGEN3_FOUND - system has eigen lib with correct version
+# EIGEN3_INCLUDE_DIR - the eigen include directory
+# EIGEN3_VERSION - eigen version
#
-# Author: alexs.mac@gmail.com (Alex Stewart)
+# This module reads hints about search locations from
+# the following enviroment variables:
#
+# EIGEN3_ROOT
+# EIGEN3_ROOT_DIR
+
+# Copyright (c) 2006, 2007 Montel Laurent, <montel@kde.org>
+# Copyright (c) 2008, 2009 Gael Guennebaud, <g.gael@free.fr>
+# Copyright (c) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+# Redistribution and use is allowed according to the terms of the 2-clause BSD license.
+
+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)
+
+ set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}")
+endif(NOT Eigen3_FIND_VERSION)
+
+macro(_eigen3_check_version)
+ file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
+
+ 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}")
+
+ 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})
+
+ if(NOT EIGEN3_VERSION_OK)
+
+ 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)
+
+if (EIGEN3_INCLUDE_DIR)
+
+ # in cache already
+ _eigen3_check_version()
+ set(EIGEN3_FOUND ${EIGEN3_VERSION_OK})
+
+else (EIGEN3_INCLUDE_DIR)
+
+ # search first if an Eigen3Config.cmake is available in the system,
+ # if successful this would set EIGEN3_INCLUDE_DIR and the rest of
+ # the script will work as usual
+ find_package(Eigen3 ${Eigen3_FIND_VERSION} NO_MODULE QUIET)
+
+ if(NOT EIGEN3_INCLUDE_DIR)
+ find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library
+ HINTS
+ ENV EIGEN3_ROOT
+ ENV EIGEN3_ROOT_DIR
+ PATHS
+ ${CMAKE_INSTALL_PREFIX}/include
+ ${KDE4_INCLUDE_DIR}
+ PATH_SUFFIXES eigen3 eigen
+ )
+ endif(NOT EIGEN3_INCLUDE_DIR)
+
+ if(EIGEN3_INCLUDE_DIR)
+ _eigen3_check_version()
+ endif(EIGEN3_INCLUDE_DIR)
+
+ include(FindPackageHandleStandardArgs)
+ find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK)
+
+ mark_as_advanced(EIGEN3_INCLUDE_DIR)
+
+endif(EIGEN3_INCLUDE_DIR)
-# FindEigen.cmake - Find Eigen library, version >= 3.
-#
-# This module defines the following variables:
-#
-# EIGEN_FOUND: TRUE iff Eigen is found.
-# EIGEN_INCLUDE_DIRS: Include directories for Eigen.
-# EIGEN_VERSION: Extracted from Eigen/src/Core/util/Macros.h
-# EIGEN_WORLD_VERSION: Equal to 3 if EIGEN_VERSION = 3.2.0
-# EIGEN_MAJOR_VERSION: Equal to 2 if EIGEN_VERSION = 3.2.0
-# EIGEN_MINOR_VERSION: Equal to 0 if EIGEN_VERSION = 3.2.0
-# FOUND_INSTALLED_EIGEN_CMAKE_CONFIGURATION: True iff the version of Eigen
-# found was built & installed /
-# exported as a CMake package.
-#
-# The following variables control the behaviour of this module:
-#
-# EIGEN_PREFER_EXPORTED_EIGEN_CMAKE_CONFIGURATION: TRUE/FALSE, iff TRUE then
-# then prefer using an exported CMake configuration
-# generated by Eigen over searching for the
-# Eigen components manually. Otherwise (FALSE)
-# ignore any exported Eigen CMake configurations and
-# always perform a manual search for the components.
-# Default: TRUE iff user does not define this variable
-# before we are called, and does NOT specify
-# EIGEN_INCLUDE_DIR_HINTS, otherwise FALSE.
-# EIGEN_INCLUDE_DIR_HINTS: List of additional directories in which to
-# search for eigen includes, e.g: /timbuktu/eigen3.
-#
-# 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.
-#
-# EIGEN_INCLUDE_DIR: Include directory for CXSparse, not including the
-# include directory of any dependencies.
-
-# Called if we failed to find Eigen 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(EIGEN_REPORT_NOT_FOUND REASON_MSG)
- unset(EIGEN_FOUND)
- unset(EIGEN_INCLUDE_DIRS)
- unset(FOUND_INSTALLED_EIGEN_CMAKE_CONFIGURATION)
- # Make results of search visible in the CMake GUI if Eigen has not
- # been found so that user does not have to toggle to advanced view.
- mark_as_advanced(CLEAR EIGEN_INCLUDE_DIR)
- # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by FindPackage()
- # use the camelcase library name, not uppercase.
- if (Eigen_FIND_QUIETLY)
- message(STATUS "Failed to find Eigen - " ${REASON_MSG} ${ARGN})
- elseif (Eigen_FIND_REQUIRED)
- message(FATAL_ERROR "Failed to find Eigen - " ${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 Eigen - " ${REASON_MSG} ${ARGN})
- endif ()
- return()
-endmacro(EIGEN_REPORT_NOT_FOUND)
-
-# Protect against any alternative find_package scripts for this library having
-# been called previously (in a client project) which set EIGEN_FOUND, but not
-# the other variables we require / set here which could cause the search logic
-# here to fail.
-unset(EIGEN_FOUND)
-
-# -----------------------------------------------------------------
-# By default, if the user has expressed no preference for using an exported
-# Eigen CMake configuration over performing a search for the installed
-# components, and has not specified any hints for the search locations, then
-# prefer an exported configuration if available.
-if (NOT DEFINED EIGEN_PREFER_EXPORTED_EIGEN_CMAKE_CONFIGURATION
- AND NOT EIGEN_INCLUDE_DIR_HINTS)
- message(STATUS "No preference for use of exported Eigen CMake configuration "
- "set, and no hints for include directory provided. "
- "Defaulting to preferring an installed/exported Eigen CMake configuration "
- "if available.")
- set(EIGEN_PREFER_EXPORTED_EIGEN_CMAKE_CONFIGURATION TRUE)
-endif()
-
-if (EIGEN_PREFER_EXPORTED_EIGEN_CMAKE_CONFIGURATION)
- # Try to find an exported CMake configuration for Eigen.
- #
- # We search twice, s/t we can invert the ordering of precedence used by
- # find_package() for exported package build directories, and installed
- # packages (found via CMAKE_SYSTEM_PREFIX_PATH), listed as items 6) and 7)
- # respectively in [1].
- #
- # By default, exported build directories are (in theory) detected first, and
- # this is usually the case on Windows. However, on OS X & Linux, the install
- # path (/usr/local) is typically present in the PATH environment variable
- # which is checked in item 4) in [1] (i.e. before both of the above, unless
- # NO_SYSTEM_ENVIRONMENT_PATH is passed). As such on those OSs installed
- # packages are usually detected in preference to exported package build
- # directories.
- #
- # To ensure a more consistent response across all OSs, and as users usually
- # want to prefer an installed version of a package over a locally built one
- # where both exist (esp. as the exported build directory might be removed
- # after installation), we first search with NO_CMAKE_PACKAGE_REGISTRY which
- # means any build directories exported by the user are ignored, and thus
- # installed directories are preferred. If this fails to find the package
- # we then research again, but without NO_CMAKE_PACKAGE_REGISTRY, so any
- # exported build directories will now be detected.
- #
- # To prevent confusion on Windows, we also pass NO_CMAKE_BUILDS_PATH (which
- # is item 5) in [1]), to not preferentially use projects that were built
- # recently with the CMake GUI to ensure that we always prefer an installed
- # version if available.
- #
- # [1] http://www.cmake.org/cmake/help/v2.8.11/cmake.html#command:find_package
- find_package(Eigen3 QUIET
- NO_MODULE
- NO_CMAKE_PACKAGE_REGISTRY
- NO_CMAKE_BUILDS_PATH)
- if (EIGEN3_FOUND)
- message(STATUS "Found installed version of Eigen: ${Eigen3_DIR}")
- else()
- # Failed to find an installed version of Eigen, repeat search allowing
- # exported build directories.
- message(STATUS "Failed to find installed Eigen CMake configuration, "
- "searching for Eigen build directories exported with CMake.")
- # Again pass NO_CMAKE_BUILDS_PATH, as we know that Eigen is exported and
- # do not want to treat projects built with the CMake GUI preferentially.
- find_package(Eigen3 QUIET
- NO_MODULE
- NO_CMAKE_BUILDS_PATH)
- if (EIGEN3_FOUND)
- message(STATUS "Found exported Eigen build directory: ${Eigen3_DIR}")
- endif()
- endif()
- if (EIGEN3_FOUND)
- set(FOUND_INSTALLED_EIGEN_CMAKE_CONFIGURATION TRUE)
- set(EIGEN_FOUND ${EIGEN3_FOUND})
- set(EIGEN_INCLUDE_DIR "${EIGEN3_INCLUDE_DIR}" CACHE STRING
- "Eigen include directory" FORCE)
- else()
- message(STATUS "Failed to find an installed/exported CMake configuration "
- "for Eigen, will perform search for installed Eigen components.")
- endif()
-endif()
-
-if (NOT EIGEN_FOUND)
- # Search user-installed locations first, so that we prefer user installs
- # to system installs where both exist.
- list(APPEND EIGEN_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)
- # Additional suffixes to try appending to each search path.
- list(APPEND EIGEN_CHECK_PATH_SUFFIXES
- eigen3 # Default root directory for Eigen.
- Eigen/include/eigen3 # Windows (for C:/Program Files prefix) < 3.3
- Eigen3/include/eigen3 ) # Windows (for C:/Program Files prefix) >= 3.3
-
- # Search supplied hint directories first if supplied.
- find_path(EIGEN_INCLUDE_DIR
- NAMES Eigen/Core
- HINTS ${EIGEN_INCLUDE_DIR_HINTS}
- PATHS ${EIGEN_CHECK_INCLUDE_DIRS}
- PATH_SUFFIXES ${EIGEN_CHECK_PATH_SUFFIXES})
-
- if (NOT EIGEN_INCLUDE_DIR OR
- NOT EXISTS ${EIGEN_INCLUDE_DIR})
- eigen_report_not_found(
- "Could not find eigen3 include directory, set EIGEN_INCLUDE_DIR to "
- "path to eigen3 include directory, e.g. /usr/local/include/eigen3.")
- endif (NOT EIGEN_INCLUDE_DIR OR
- NOT EXISTS ${EIGEN_INCLUDE_DIR})
-
- # Mark internally as found, then verify. EIGEN_REPORT_NOT_FOUND() unsets
- # if called.
- set(EIGEN_FOUND TRUE)
-endif()
-
-# Extract Eigen version from Eigen/src/Core/util/Macros.h
-if (EIGEN_INCLUDE_DIR)
- set(EIGEN_VERSION_FILE ${EIGEN_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h)
- if (NOT EXISTS ${EIGEN_VERSION_FILE})
- eigen_report_not_found(
- "Could not find file: ${EIGEN_VERSION_FILE} "
- "containing version information in Eigen install located at: "
- "${EIGEN_INCLUDE_DIR}.")
- else (NOT EXISTS ${EIGEN_VERSION_FILE})
- file(READ ${EIGEN_VERSION_FILE} EIGEN_VERSION_FILE_CONTENTS)
-
- string(REGEX MATCH "#define EIGEN_WORLD_VERSION [0-9]+"
- EIGEN_WORLD_VERSION "${EIGEN_VERSION_FILE_CONTENTS}")
- string(REGEX REPLACE "#define EIGEN_WORLD_VERSION ([0-9]+)" "\\1"
- EIGEN_WORLD_VERSION "${EIGEN_WORLD_VERSION}")
-
- string(REGEX MATCH "#define EIGEN_MAJOR_VERSION [0-9]+"
- EIGEN_MAJOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}")
- string(REGEX REPLACE "#define EIGEN_MAJOR_VERSION ([0-9]+)" "\\1"
- EIGEN_MAJOR_VERSION "${EIGEN_MAJOR_VERSION}")
-
- string(REGEX MATCH "#define EIGEN_MINOR_VERSION [0-9]+"
- EIGEN_MINOR_VERSION "${EIGEN_VERSION_FILE_CONTENTS}")
- string(REGEX REPLACE "#define EIGEN_MINOR_VERSION ([0-9]+)" "\\1"
- EIGEN_MINOR_VERSION "${EIGEN_MINOR_VERSION}")
-
- # This is on a single line s/t CMake does not interpret it as a list of
- # elements and insert ';' separators which would result in 3.;2.;0 nonsense.
- set(EIGEN_VERSION "${EIGEN_WORLD_VERSION}.${EIGEN_MAJOR_VERSION}.${EIGEN_MINOR_VERSION}")
- endif (NOT EXISTS ${EIGEN_VERSION_FILE})
-endif (EIGEN_INCLUDE_DIR)
-
-# Set standard CMake FindPackage variables if found.
-if (EIGEN_FOUND)
- set(EIGEN_INCLUDE_DIRS ${EIGEN_INCLUDE_DIR})
-endif (EIGEN_FOUND)
-
-# Handle REQUIRED / QUIET optional arguments and version.
-include(FindPackageHandleStandardArgs)
-find_package_handle_standard_args(Eigen
- REQUIRED_VARS EIGEN_INCLUDE_DIRS
- VERSION_VAR EIGEN_VERSION)
-
-# Only mark internal variables as advanced if we found Eigen, otherwise
-# leave it visible in the standard GUI for the user to set manually.
-if (EIGEN_FOUND)
- mark_as_advanced(FORCE EIGEN_INCLUDE_DIR
- Eigen3_DIR) # Autogenerated by find_package(Eigen3)
-endif (EIGEN_FOUND)
\ No newline at end of file