Fixed ceres linker issue with floam dependency (if WITH_CERES is OFF)

CMakeLists.txt

@@ -844,9 +844,9 @@ IF(NOT GTSAM_FOUND)
 ELSE()
    SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${GTSAM_LIBRARIES})
 ENDIF()
-IF(NOT WITH_CERES OR NOT CERES_FOUND)
+IF(NOT CERES_FOUND)
    SET(CERES "//")
-ENDIF(NOT WITH_CERES OR NOT CERES_FOUND)
+ENDIF(NOT CERES_FOUND)
 IF(NOT WITH_TORO)
    SET(TORO "//")
 ENDIF(NOT WITH_TORO)
@@ -1340,8 +1340,12 @@ ELSE()
 MESSAGE(STATUS " *With GTSAM                = NO (GTSAM not found)")
 ENDIF()
 
-IF(WITH_CERES AND CERES_FOUND)
+IF(CERES_FOUND)
+IF(WITH_CERES)
 MESSAGE(STATUS " *With Ceres ${Ceres_VERSION}          = YES (License: BSD)")
+ELSE()
+MESSAGE(STATUS " *With Ceres ${Ceres_VERSION}          = YES (License: BSD, WITH_CERES=OFF but it is enabled by okvis or floam dependencies)")
+ENDIF()
 ELSEIF(NOT WITH_CERES)
 MESSAGE(STATUS " *With Ceres                = NO (WITH_CERES=OFF)")
 ELSE()

corelib/src/CMakeLists.txt

@@ -422,16 +422,16 @@ IF(cvsba_FOUND)
 	)
 ENDIF(cvsba_FOUND)
 
-IF(WITH_CERES AND CERES_FOUND)
-	SET(INCLUDE_DIRS 
-		${INCLUDE_DIRS} 
-		${CERES_INCLUDE_DIRS}
+IF(CERES_FOUND)
+	SET(INCLUDE_DIRS
+	  ${INCLUDE_DIRS}
+	  ${CERES_INCLUDE_DIRS}
 	)
 	SET(LIBRARIES
-		${LIBRARIES}
-		${CERES_LIBRARIES}
+	  ${LIBRARIES}
+	  ${CERES_LIBRARIES}
 	)
-ENDIF(WITH_CERES AND CERES_FOUND)
+ENDIF(CERES_FOUND)
 
 IF(libpointmatcher_FOUND)
 	SET(INCLUDE_DIRS