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MacOSX: (g2o) Fixed cholmod library not found. New ICP parameter: "Icp/Epsilon". Fixed null ICP_inliers_ratio with odometry statistics.

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matlabbe
2016-01-12 11:37:50 -05:00
parent 42e1590abe
commit 5136b38111
15 changed files with 82 additions and 34 deletions
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cmake_modules/FindG2O.cmake
+3 -2
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@@ -66,6 +66,7 @@ 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")
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
@@ -77,8 +78,8 @@ IF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FO
${G2O_TYPES_SLAM2D}
${G2O_TYPES_SLAM3D}
${CSPARSE_LIBRARY}
cholmod)
${CHOLMOD_LIB})
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.")
ENDIF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR)
ENDIF()