From 280cb2803030889f5ded8d3ccde1c106f63d7678 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Tue, 15 Mar 2016 12:22:28 -0400
Subject: [PATCH] Updated FindG2O.cmake to add chmold include directory

---
 cmake_modules/FindG2O.cmake | 23 ++++++++++++++---------
 corelib/src/CMakeLists.txt  |  4 ----
 2 files changed, 14 insertions(+), 13 deletions(-)

diff --git a/cmake_modules/FindG2O.cmake b/cmake_modules/FindG2O.cmake
index c440b6f9..ae6ca576 100644
--- a/cmake_modules/FindG2O.cmake
+++ b/cmake_modules/FindG2O.cmake
@@ -7,6 +7,10 @@ FIND_LIBRARY(CSPARSE_LIBRARY NAMES cxsparse g2o_ext_csparse
 include(FindPackageHandleStandardArgs)
 find_package_handle_standard_args(CSPARSE DEFAULT_MSG CSPARSE_INCLUDE_DIR CSPARSE_LIBRARY)
 
+# chmold dependency
+FIND_PATH(CHOLMOD_INCLUDE_DIR NAMES cholmod.h PATH_SUFFIXES suitesparse ufsparse
+  PATHS $ENV{CHOLMODDIR} ${INCLUDE_INSTALL_DIR} )
+FIND_LIBRARY(CHOLMOD_LIB cholmod)
 
 # G2O: Find the header files
 
@@ -69,8 +73,6 @@ 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)
   SET(G2O_INCLUDE_DIRS ${G2O_INCLUDE_DIR})
   SET(G2O_LIBRARIES 
@@ -79,13 +81,6 @@ IF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FO
 	${G2O_TYPES_SLAM3D}
         ${G2O_STUFF_LIBRARY})
   
-  IF(G2O_SOLVER_CHOLMOD)
-    SET(G2O_LIBRARIES 
-	  ${G2O_LIBRARIES}
-	  ${G2O_SOLVER_CHOLMOD}
-	  ${CHOLMOD_LIB})
-  ENDIF(G2O_SOLVER_CHOLMOD)
-
   IF(CSPARSE_FOUND)
      SET(G2O_INCLUDE_DIRS 
         ${G2O_INCLUDE_DIRS} 
@@ -97,5 +92,15 @@ IF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FO
 	${CSPARSE_LIBRARY})
   ENDIF(CSPARSE_FOUND)
 
+  IF(G2O_SOLVER_CHOLMOD)
+    SET(G2O_INCLUDE_DIRS 
+        ${G2O_INCLUDE_DIRS} 
+        ${CHOLMOD_INCLUDE_DIR})
+    SET(G2O_LIBRARIES 
+	  ${G2O_LIBRARIES}
+	  ${G2O_SOLVER_CHOLMOD}
+	  ${CHOLMOD_LIB})
+  ENDIF(G2O_SOLVER_CHOLMOD)
+
   SET(G2O_FOUND "YES")
 ENDIF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FOUND)
diff --git a/corelib/src/CMakeLists.txt b/corelib/src/CMakeLists.txt
index f04ef086..a1d5e186 100644
--- a/corelib/src/CMakeLists.txt
+++ b/corelib/src/CMakeLists.txt
@@ -154,10 +154,6 @@ IF(FlyCapture2_FOUND)
 ENDIF(FlyCapture2_FOUND)
 
 IF(WITH_TORO)
-	SET(LIBRARIES
-		${LIBRARIES}
-		${G2O_LIBRARIES}
-	)
 	SET(SRC_FILES
     	${SRC_FILES}
 		toro3d/posegraph3.cpp