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Fixed build with g2o on Windows

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This commit is contained in:
matlabbe
2016-01-14 17:07:01 -05:00
parent 444879ffc6
commit 2d6965aa4b
6 changed files with 44 additions and 24 deletions
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25
cmake_modules/FindG2O.cmake
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@@ -1,6 +1,8 @@
#Pre-requisites: Look for csparse
FIND_PATH(CSPARSE_INCLUDE_DIR NAMES cs.h PATH_SUFFIXES suitesparse )
FIND_LIBRARY(CSPARSE_LIBRARY NAMES cxsparse)
FIND_PATH(CSPARSE_INCLUDE_DIR NAMES cs.h PATH_SUFFIXES suitesparse csparse
PATHS "C:\\Program Files\\g2o\\include\\EXTERNAL")
FIND_LIBRARY(CSPARSE_LIBRARY NAMES cxsparse g2o_ext_csparse
PATHS "C:\\Program Files\\g2o\\lib")
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(CSPARSE DEFAULT_MSG CSPARSE_INCLUDE_DIR CSPARSE_LIBRARY)
@@ -8,7 +10,8 @@ find_package_handle_standard_args(CSPARSE DEFAULT_MSG CSPARSE_INCLUDE_DIR CSPARS
# G2O: Find the header files
FIND_PATH(G2O_INCLUDE_DIR g2o/core/base_vertex.h)
FIND_PATH(G2O_INCLUDE_DIR g2o/core/base_vertex.h
PATHS "C:\\Program Files\\g2o\\include")
# Macro to unify finding both the debug and release versions of the
# libraries; this is adapted from the OpenSceneGraph FIND_LIBRARY
@@ -18,11 +21,11 @@ MACRO(FIND_G2O_LIBRARY MYLIBRARY MYLIBRARYNAME)
FIND_LIBRARY("${MYLIBRARY}_DEBUG"
NAMES "g2o_${MYLIBRARYNAME}_d"
)
PATHS "C:\\Program Files\\g2o\\lib")
FIND_LIBRARY(${MYLIBRARY}
NAMES "g2o_${MYLIBRARYNAME}"
)
PATHS "C:\\Program Files\\g2o\\lib")
IF(NOT ${MYLIBRARY}_DEBUG)
IF(MYLIBRARY)
@@ -66,19 +69,25 @@ ENDIF(G2O_SOLVER_CHOLMOD OR G2O_SOLVER_CSPARSE OR G2O_SOLVER_DENSE OR G2O_SOLVER
# G2O itself declared found if we found the core libraries and at least one solver
SET(G2O_FOUND "NO")
SET(G2O_CHOMOLD_FOUND "NO")
FIND_LIBRARY(CHOLMOD_LIB cholmod)
IF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FOUND AND CSPARSE_FOUND)
SET(G2O_INCLUDE_DIRS ${G2O_INCLUDE_DIR} ${CSPARSE_INCLUDE_DIR})
SET(G2O_LIBRARIES
${G2O_STUFF_LIBRARY}
${G2O_CORE_LIBRARY}
${G2O_SOLVER_CHOLMOD}
${G2O_SOLVER_CSPARSE}
${G2O_SOLVER_CSPARSE_EXTENSION}
${G2O_TYPES_SLAM2D}
${G2O_TYPES_SLAM3D}
${CSPARSE_LIBRARY}
${CHOLMOD_LIB})
${CSPARSE_LIBRARY})
IF(G2O_SOLVER_CHOLMOD)
SET(G2O_LIBRARIES
${G2O_LIBRARIES}
${G2O_SOLVER_CHOLMOD}
${CHOLMOD_LIB})
SET(G2O_CHOMOLD_FOUND "YES")
ENDIF(G2O_SOLVER_CHOLMOD)
SET(G2O_FOUND "YES")
ELSEIF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR)
MESSAGE(STATUS "g2o core libraries found but some solvers are missing. Make sure to install \"libsuitesparse-dev\" before building/installing g2o.")