add GPU svo under development
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gfuse
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###############################################################################
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#
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# CMake script for finding the Eigen library.
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#
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# http://eigen.tuxfamily.org/index.php?title=Main_Page
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#
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# Copyright (c) 2006, 2007 Montel Laurent, <[email protected]>
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# Copyright (c) 2008, 2009 Gael Guennebaud, <[email protected]>
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# Copyright (c) 2009 Benoit Jacob <[email protected]>
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# Redistribution and use is allowed according to the terms of the 2-clause BSD
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# license.
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#
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#
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# Input variables:
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#
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# - Eigen_ROOT_DIR (optional): When specified, header files and libraries
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# will be searched for in `${Eigen_ROOT_DIR}/include` and
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# `${Eigen_ROOT_DIR}/libs` respectively, and the default CMake search order
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# will be ignored. When unspecified, the default CMake search order is used.
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# This variable can be specified either as a CMake or environment variable.
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# If both are set, preference is given to the CMake variable.
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# Use this variable for finding packages installed in a nonstandard location,
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# or for enforcing that one of multiple package installations is picked up.
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#
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# Cache variables (not intended to be used in CMakeLists.txt files)
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#
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# - Eigen_INCLUDE_DIR: Absolute path to package headers.
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#
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#
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# Output variables:
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#
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# - Eigen_FOUND: Boolean that indicates if the package was found
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# - Eigen_INCLUDE_DIRS: Paths to the necessary header files
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# - Eigen_VERSION: Version of Eigen library found
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# - Eigen_DEFINITIONS: Definitions to be passed on behalf of eigen
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#
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#
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# Example usage:
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#
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# # Passing the version means Eigen_FOUND will only be TRUE if a
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# # version >= the provided version is found.
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# find_package(Eigen 3.1.2)
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# if(NOT Eigen_FOUND)
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# # Error handling
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# endif()
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# ...
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# add_definitions(${Eigen_DEFINITIONS})
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# ...
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# include_directories(${Eigen_INCLUDE_DIRS} ...)
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#
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###############################################################################
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find_package(PkgConfig)
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pkg_check_modules(PC_EIGEN eigen3)
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set(EIGEN_DEFINITIONS ${PC_EIGEN_CFLAGS_OTHER})
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find_path(EIGEN_INCLUDE_DIR Eigen/Core
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HINTS ${PC_EIGEN_INCLUDEDIR} ${PC_EIGEN_INCLUDE_DIRS}
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"${Eigen_ROOT_DIR}" "$ENV{EIGEN_ROOT_DIR}"
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"${EIGEN_ROOT}" "$ENV{EIGEN_ROOT}" # Backwards Compatibility
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PATHS "$ENV{PROGRAMFILES}/Eigen" "$ENV{PROGRAMW6432}/Eigen"
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"$ENV{PROGRAMFILES}/Eigen 3.0.0" "$ENV{PROGRAMW6432}/Eigen 3.0.0"
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PATH_SUFFIXES eigen3 include/eigen3 include)
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set(EIGEN_INCLUDE_DIRS ${EIGEN_INCLUDE_DIR})
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include(FindPackageHandleStandardArgs)
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find_package_handle_standard_args(Eigen DEFAULT_MSG EIGEN_INCLUDE_DIR)
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mark_as_advanced(EIGEN_INCLUDE_DIR)
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if(EIGEN_FOUND)
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message(STATUS "Eigen found (include: ${EIGEN_INCLUDE_DIRS})")
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endif(EIGEN_FOUND)
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set(Eigen_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
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set(Eigen_FOUND ${EIGEN_FOUND})
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set(Eigen_VERSION ${EIGEN_VERSION})
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set(Eigen_DEFINITIONS ${EIGEN_DEFINITIONS})
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@@ -0,0 +1,113 @@
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# Find the header files
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FIND_PATH(G2O_INCLUDE_DIR g2o/core/base_vertex.h
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${G2O_ROOT}/include
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$ENV{G2O_ROOT}/include
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$ENV{G2O_ROOT}
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/usr/local/include
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/usr/include
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/opt/local/include
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/sw/local/include
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/sw/include
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NO_DEFAULT_PATH
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)
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# Macro to unify finding both the debug and release versions of the
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# libraries; this is adapted from the OpenSceneGraph FIND_LIBRARY
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# macro.
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MACRO(FIND_G2O_LIBRARY MYLIBRARY MYLIBRARYNAME)
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FIND_LIBRARY("${MYLIBRARY}_DEBUG"
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NAMES "g2o_${MYLIBRARYNAME}_d"
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PATHS
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${G2O_ROOT}/lib/Debug
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${G2O_ROOT}/lib
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$ENV{G2O_ROOT}/lib/Debug
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$ENV{G2O_ROOT}/lib
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NO_DEFAULT_PATH
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)
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FIND_LIBRARY("${MYLIBRARY}_DEBUG"
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NAMES "g2o_${MYLIBRARYNAME}_d"
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PATHS
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~/Library/Frameworks
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/Library/Frameworks
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/usr/local/lib
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/usr/local/lib64
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/usr/lib
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/usr/lib64
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/opt/local/lib
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/sw/local/lib
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/sw/lib
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)
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FIND_LIBRARY(${MYLIBRARY}
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NAMES "g2o_${MYLIBRARYNAME}"
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PATHS
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${G2O_ROOT}/lib/Release
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${G2O_ROOT}/lib
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$ENV{G2O_ROOT}/lib/Release
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$ENV{G2O_ROOT}/lib
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NO_DEFAULT_PATH
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)
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FIND_LIBRARY(${MYLIBRARY}
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NAMES "g2o_${MYLIBRARYNAME}"
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PATHS
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~/Library/Frameworks
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/Library/Frameworks
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/usr/local/lib
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/usr/local/lib64
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/usr/lib
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/usr/lib64
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/opt/local/lib
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/sw/local/lib
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/sw/lib
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)
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IF(NOT ${MYLIBRARY}_DEBUG)
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IF(MYLIBRARY)
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SET(${MYLIBRARY}_DEBUG ${MYLIBRARY})
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ENDIF(MYLIBRARY)
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ENDIF( NOT ${MYLIBRARY}_DEBUG)
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ENDMACRO(FIND_G2O_LIBRARY LIBRARY LIBRARYNAME)
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# Find the core elements
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FIND_G2O_LIBRARY(G2O_STUFF_LIBRARY stuff)
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FIND_G2O_LIBRARY(G2O_CORE_LIBRARY core)
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# Find the CLI library
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FIND_G2O_LIBRARY(G2O_CLI_LIBRARY cli)
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# Find the pluggable solvers
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FIND_G2O_LIBRARY(G2O_SOLVER_CHOLMOD solver_cholmod)
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FIND_G2O_LIBRARY(G2O_SOLVER_CSPARSE solver_csparse)
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FIND_G2O_LIBRARY(G2O_SOLVER_CSPARSE_EXTENSION csparse_extension)
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FIND_G2O_LIBRARY(G2O_SOLVER_DENSE solver_dense)
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FIND_G2O_LIBRARY(G2O_SOLVER_PCG solver_pcg)
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FIND_G2O_LIBRARY(G2O_SOLVER_SLAM2D_LINEAR solver_slam2d_linear)
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FIND_G2O_LIBRARY(G2O_SOLVER_STRUCTURE_ONLY solver_structure_only)
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FIND_G2O_LIBRARY(G2O_SOLVER_EIGEN solver_eigen)
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# Find the predefined types
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FIND_G2O_LIBRARY(G2O_TYPES_DATA types_data)
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FIND_G2O_LIBRARY(G2O_TYPES_ICP types_icp)
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FIND_G2O_LIBRARY(G2O_TYPES_SBA types_sba)
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FIND_G2O_LIBRARY(G2O_TYPES_SCLAM2D types_sclam2d)
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FIND_G2O_LIBRARY(G2O_TYPES_SIM3 types_sim3)
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FIND_G2O_LIBRARY(G2O_TYPES_SLAM2D types_slam2d)
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FIND_G2O_LIBRARY(G2O_TYPES_SLAM3D types_slam3d)
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# G2O solvers declared found if we found at least one solver
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SET(G2O_SOLVERS_FOUND "NO")
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IF(G2O_SOLVER_CHOLMOD OR G2O_SOLVER_CSPARSE OR G2O_SOLVER_DENSE OR G2O_SOLVER_PCG OR G2O_SOLVER_SLAM2D_LINEAR OR G2O_SOLVER_STRUCTURE_ONLY OR G2O_SOLVER_EIGEN)
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SET(G2O_SOLVERS_FOUND "YES")
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ENDIF(G2O_SOLVER_CHOLMOD OR G2O_SOLVER_CSPARSE OR G2O_SOLVER_DENSE OR G2O_SOLVER_PCG OR G2O_SOLVER_SLAM2D_LINEAR OR G2O_SOLVER_STRUCTURE_ONLY OR G2O_SOLVER_EIGEN)
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# G2O itself declared found if we found the core libraries and at least one solver
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SET(G2O_FOUND "NO")
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IF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FOUND)
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SET(G2O_FOUND "YES")
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ENDIF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FOUND)
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