Fixed build with g2o on Windows

cmake_modules/FindG2O.cmake

@@ -1,6 +1,8 @@
 #Pre-requisites: Look for csparse
-FIND_PATH(CSPARSE_INCLUDE_DIR NAMES cs.h PATH_SUFFIXES suitesparse )
+FIND_PATH(CSPARSE_INCLUDE_DIR NAMES cs.h PATH_SUFFIXES suitesparse csparse 
-FIND_LIBRARY(CSPARSE_LIBRARY NAMES cxsparse)
+  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}
+	${CSPARSE_LIBRARY})
-	${CHOLMOD_LIB})
+  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.")

corelib/src/CMakeLists.txt

@@ -157,6 +157,9 @@ IF(FlyCapture2_FOUND)
 ENDIF(FlyCapture2_FOUND)
 
 IF(G2O_FOUND)
+	IF(G2O_CHOMOLD_FOUND)
+		ADD_DEFINITIONS("-DWITH_G2O_CHOMOLD")
+	ENDIF(G2O_CHOMOLD_FOUND)
 	ADD_DEFINITIONS("-DWITH_G2O")
 	SET(INCLUDE_DIRS 
 		${INCLUDE_DIRS} 
@@ -169,7 +172,6 @@ IF(G2O_FOUND)
 	
 	SET(SRC_FILES
     	${SRC_FILES}
-		vertigo/g2o/edge_se2MaxMixture.cpp
 		vertigo/g2o/edge_se2Switchable.cpp
 		vertigo/g2o/edge_se3Switchable.cpp
 		vertigo/g2o/edge_switchPrior.cpp

corelib/src/OptimizerG2O.cpp

@@ -42,8 +42,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "g2o/core/optimization_algorithm_gauss_newton.h"
 #include "g2o/core/optimization_algorithm_levenberg.h"
 #include "g2o/solvers/csparse/linear_solver_csparse.h"
-#include "g2o/solvers/cholmod/linear_solver_cholmod.h"
 #include "g2o/solvers/pcg/linear_solver_pcg.h"
+#ifdef WITH_G2O_CHOMOLD
+#include "g2o/solvers/cholmod/linear_solver_cholmod.h"
+#endif
 #include "g2o/types/slam3d/vertex_se3.h"
 #include "g2o/types/slam3d/edge_se3.h"
 #include "g2o/types/slam2d/vertex_se2.h"
@@ -51,8 +53,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 typedef g2o::BlockSolver< g2o::BlockSolverTraits<-1, -1> > SlamBlockSolver;
 typedef g2o::LinearSolverCSparse<SlamBlockSolver::PoseMatrixType> SlamLinearCSparseSolver;
-typedef g2o::LinearSolverCholmod<SlamBlockSolver::PoseMatrixType> SlamLinearCholmodSolver;
 typedef g2o::LinearSolverPCG<SlamBlockSolver::PoseMatrixType> SlamLinearPCGSolver;
+#ifdef WITH_G2O_CHOMOLD
+typedef g2o::LinearSolverCholmod<SlamBlockSolver::PoseMatrixType> SlamLinearCholmodSolver;
+#endif
 
 #include "vertigo/g2o/edge_switchPrior.h"
 #include "vertigo/g2o/edge_se2Switchable.h"
@@ -94,26 +98,31 @@ std::map<int, Transform> OptimizerG2O::optimize(
 		int optimizationApproach = 1;
 
 		SlamBlockSolver * blockSolver;
-		if(solverApproach == 1)
+#ifdef WITH_G2O_CHOMOLD
+		if(solverApproach == 0)
+		{
+			//chmold
+			SlamLinearCholmodSolver * linearSolver = new SlamLinearCholmodSolver();
+			linearSolver->setBlockOrdering(false);
+			blockSolver = new SlamBlockSolver(linearSolver);
+		}
+		else if
+#else
+		if
+#endif
+			(solverApproach == 1)
 		{
 			//pcg
 			SlamLinearPCGSolver * linearSolver = new SlamLinearPCGSolver();
 			blockSolver = new SlamBlockSolver(linearSolver);
 		}
-		else if(solverApproach == 2)
+		else
 		{
 			//csparse
 			SlamLinearCSparseSolver* linearSolver = new SlamLinearCSparseSolver();
 			linearSolver->setBlockOrdering(false);
 			blockSolver = new SlamBlockSolver(linearSolver);
 		}
-		else
-		{
-			//chmold
-			SlamLinearCholmodSolver * linearSolver = new SlamLinearCholmodSolver();
-			linearSolver->setBlockOrdering(false);
-			blockSolver = new SlamBlockSolver(linearSolver);
-		}
 
 		if(optimizationApproach == 1)
 		{

corelib/src/vertigo/g2o/edge_se2MaxMixture.cpp

@@ -8,12 +8,11 @@
 
 #include "edge_se2MaxMixture.h"
 
-#include <GL/gl.h>
 using namespace std;
 using namespace Eigen;
 
 // ================================================
-EdgeSE2MaxMixture::EdgeSE2MaxMixture() : g2o::EdgeSE2::EdgeSE2()
+EdgeSE2MaxMixture::EdgeSE2MaxMixture()
 {
   nullHypothesisMoreLikely = false;
 }
@@ -89,6 +88,7 @@ void EdgeSE2MaxMixture::computeError()
 }
 
 /*
+#include <GL/gl.h>
 // ================================================
 #ifdef G2O_HAVE_OPENGL
   EdgeSE2MaxMixtureDrawAction::EdgeSE2MaxMixtureDrawAction(): DrawAction(typeid(EdgeSE2MaxMixture).name()){}

corelib/src/vertigo/g2o/edge_se2Switchable.cpp

@@ -10,7 +10,6 @@
 
 #include "vertigo/g2o/edge_se2Switchable.h"
 #include "vertigo/g2o/vertex_switchLinear.h"
-#include <GL/gl.h>
 
 using namespace std;
 using namespace Eigen;
@@ -103,6 +102,7 @@ void EdgeSE2Switchable::computeError()
 }
 
 /*
+#include <GL/gl.h>
 #ifdef G2O_HAVE_OPENGL
   EdgeSE2SwitchableDrawAction::EdgeSE2SwitchableDrawAction(): DrawAction(typeid(EdgeSE2Switchable).name()){}
 

corelib/src/vertigo/g2o/edge_se3Switchable.cpp

@@ -10,7 +10,6 @@
 
 #include "vertigo/g2o/edge_se3Switchable.h"
 #include "vertigo/g2o/vertex_switchLinear.h"
-#include <GL/gl.h>
 #include "g2o/types/slam3d/vertex_se3.h"
 #include "g2o/types/slam3d/isometry3d_gradients.h"
 
@@ -93,6 +92,7 @@ void EdgeSE3Switchable::computeError()
 }
 
 /*
+#include <GL/gl.h>
 #ifdef G2O_HAVE_OPENGL
   EdgeSE3SwitchableDrawAction::EdgeSE3SwitchableDrawAction(): DrawAction(typeid(EdgeSE3Switchable).name()){}