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Updated FindG2O.cmake to add chmold include directory

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matlabbe
2016-03-15 12:22:28 -04:00
parent 79b1d601e8
commit 280cb28030
2 changed files with 14 additions and 13 deletions
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cmake_modules/FindG2O.cmake
+14 -9
View File
@@ -7,6 +7,10 @@ FIND_LIBRARY(CSPARSE_LIBRARY NAMES cxsparse g2o_ext_csparse
include(FindPackageHandleStandardArgs) include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(CSPARSE DEFAULT_MSG CSPARSE_INCLUDE_DIR CSPARSE_LIBRARY) 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 # 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 # G2O itself declared found if we found the core libraries and at least one solver
SET(G2O_FOUND "NO") 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) 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_INCLUDE_DIRS ${G2O_INCLUDE_DIR})
SET(G2O_LIBRARIES 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_TYPES_SLAM3D}
${G2O_STUFF_LIBRARY}) ${G2O_STUFF_LIBRARY})
IF(G2O_SOLVER_CHOLMOD)
SET(G2O_LIBRARIES
${G2O_LIBRARIES}
${G2O_SOLVER_CHOLMOD}
${CHOLMOD_LIB})
ENDIF(G2O_SOLVER_CHOLMOD)
IF(CSPARSE_FOUND) IF(CSPARSE_FOUND)
SET(G2O_INCLUDE_DIRS SET(G2O_INCLUDE_DIRS
${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}) ${CSPARSE_LIBRARY})
ENDIF(CSPARSE_FOUND) 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") SET(G2O_FOUND "YES")
ENDIF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FOUND) ENDIF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FOUND)
corelib/src/CMakeLists.txt
-4
View File
@@ -154,10 +154,6 @@ IF(FlyCapture2_FOUND)
ENDIF(FlyCapture2_FOUND) ENDIF(FlyCapture2_FOUND)
IF(WITH_TORO) IF(WITH_TORO)
SET(LIBRARIES
${LIBRARIES}
${G2O_LIBRARIES}
)
SET(SRC_FILES SET(SRC_FILES
${SRC_FILES} ${SRC_FILES}
toro3d/posegraph3.cpp toro3d/posegraph3.cpp