114 lines
3.2 KiB
CMake
114 lines
3.2 KiB
CMake
# 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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