diff --git a/cmake_modules/FindEigen.cmake b/cmake_modules/FindEigen.cmake
deleted file mode 100644
index 5d8ecdac63aa87c1b43e37f64d10702884e876b6..0000000000000000000000000000000000000000
--- a/cmake_modules/FindEigen.cmake
+++ /dev/null
@@ -1,167 +0,0 @@
-# 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)
-#
-
-# 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
-#
-# The following variables control the behaviour of this module:
-#
-# 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)
- # 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)
-
-# Search user-installed locations first, so that we prefer user installs
-# to system installs where both exist.
-#
-# TODO: Add standard Windows search locations for Eigen.
-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).
-
-# Search supplied hint directories first if supplied.
-find_path(EIGEN_INCLUDE_DIR
- NAMES Eigen/Core
- PATHS ${EIGEN_INCLUDE_DIR_HINTS}
- ${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)
-
-# 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)
-endif (EIGEN_FOUND)
diff --git a/cmake_modules/FindEigen3.cmake b/cmake_modules/FindEigen3.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..d44ea8903d4c5a72af468d603dc1d8e5a6bbf542
--- /dev/null
+++ b/cmake_modules/FindEigen3.cmake
@@ -0,0 +1,263 @@
+# 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)
+#
+
+# 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
diff --git a/cmake_modules/wolfConfig.cmake b/cmake_modules/wolfConfig.cmake
index 877b55b41d3b648c87d563945c8fad81668ba1d1..4e15cc1d44b19135e96a1c67dd0f8e187982734f 100644
--- a/cmake_modules/wolfConfig.cmake
+++ b/cmake_modules/wolfConfig.cmake
@@ -143,6 +143,7 @@ list(APPEND wolf_INCLUDE_DIRS ${wolf_INCLUDE_DIR})
set(wolf_VERSION 0.0.1)
# Eigen.
+
# Flag set during configuration and build of wolf.
set(wolf_EIGEN_VERSION @EIGEN_VERSION@)
# Append the locations of Eigen when wolf was built to the search path hints.
@@ -150,8 +151,12 @@ list(APPEND EIGEN_INCLUDE_DIR_HINTS /usr/include/eigen3)
# Search quietly to control the timing of the error message if not found. The
# search should be for an exact match, but for usability reasons do a soft
# match and reject with an explanation below.
-find_package(Eigen ${wolf_EIGEN_VERSION} QUIET)
-if (EIGEN_FOUND)
+
+find_package(Eigen3 ${wolf_EIGEN_VERSION} QUIET)
+
+# Flag set with currently found Eigen version.
+set(EIGEN_VERSION @EIGEN_VERSION@)
+if (EIGEN3_FOUND)
if (NOT EIGEN_VERSION VERSION_EQUAL wolf_EIGEN_VERSION)
# CMake's VERSION check in FIND_PACKAGE() will accept any version >= the
# specified version. However, only version = is supported. Improve
@@ -164,13 +169,13 @@ if (EIGEN_FOUND)
"for more details")
endif ()
message(STATUS "Found required wolf dependency: "
- "Eigen version ${wolf_EIGEN_VERSION} in ${EIGEN_INCLUDE_DIRS}")
-else (EIGEN_FOUND)
+ "Eigen version ${wolf_EIGEN_VERSION} in ${EIGEN3_INCLUDE_DIR}")
+else (EIGEN3_FOUND)
wolf_report_not_found("Missing required wolf "
"dependency: Eigen version ${wolf_EIGEN_VERSION}, please set "
- "EIGEN_INCLUDE_DIR.")
-endif (EIGEN_FOUND)
-list(APPEND wolf_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
+ "EIGEN3_INCLUDE_DIR.")
+endif (EIGEN3_FOUND)
+list(APPEND wolf_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
# Import exported wolf targets, if they have not already been imported.
if (NOT TARGET wolf AND NOT wolf_BINARY_DIR)
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 152595422b16a653d70bfa7600d6fe0a62b305b0..19929c49c1de4ca08e32feaee6dc89f49ffaa8ce 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -29,7 +29,7 @@ ENDIF(BUILD_EXAMPLES OR BUILD_TESTS)
#find dependencies.
-FIND_PACKAGE(Eigen 3.2.92 REQUIRED)
+FIND_PACKAGE(Eigen3 3.2.92 REQUIRED)
FIND_PACKAGE(Threads REQUIRED)
@@ -144,7 +144,7 @@ ELSE (SPDLOG_INCLUDE_DIR)
MESSAGE(FATAL_ERROR "Could not find spdlog")
ENDIF (SPDLOG_INCLUDE_DIR)
-INCLUDE_DIRECTORIES(${EIGEN_INCLUDE_DIRS})
+INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIRS})
IF(Ceres_FOUND)
INCLUDE_DIRECTORIES(${CERES_INCLUDE_DIRS})