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  • g2o库配置文件

    以下脚本来源于Endres RGB-D SLAM, g2o需要make install

    Find the header files

    FIND_PATH(G2O_INCLUDE_DIRS g2o/core/base_vertex.h
    ${G2O_ROOT}/include
    $ENV{G2O_ROOT}/include
    $ENV{G2O_ROOT}
    /usr/local/include
    /usr/include
    /opt/local/include
    /sw/local/include
    /sw/include
    NO_DEFAULT_PATH
    )

    Macro to unify finding both the debug and release versions of the

    libraries; this is adapted from the OpenSceneGraph FIND_LIBRARY

    macro.

    MACRO(FIND_G2O_LIBRARY MYLIBRARY MYLIBRARYNAME)

    FIND_LIBRARY("${MYLIBRARY}DEBUG"
    NAMES "g2o
    ${MYLIBRARYNAME}_d"
    PATHS
    ${G2O_ROOT}/lib/Debug
    ${G2O_ROOT}/lib
    $ENV{G2O_ROOT}/lib/Debug
    $ENV{G2O_ROOT}/lib
    NO_DEFAULT_PATH
    )

    FIND_LIBRARY("${MYLIBRARY}DEBUG"
    NAMES "g2o
    ${MYLIBRARYNAME}_d"
    PATHS
    ~/Library/Frameworks
    /Library/Frameworks
    /usr/local/lib
    /usr/local/lib64
    /usr/lib
    /usr/lib64
    /opt/local/lib
    /sw/local/lib
    /sw/lib
    )

    FIND_LIBRARY(${MYLIBRARY}
    NAMES "g2o_${MYLIBRARYNAME}"
    PATHS
    ${G2O_ROOT}/lib/Release
    ${G2O_ROOT}/lib
    $ENV{G2O_ROOT}/lib/Release
    $ENV{G2O_ROOT}/lib
    NO_DEFAULT_PATH
    )

    FIND_LIBRARY(${MYLIBRARY}
    NAMES "g2o_${MYLIBRARYNAME}"
    PATHS
    ~/Library/Frameworks
    /Library/Frameworks
    /usr/local/lib
    /usr/local/lib64
    /usr/lib
    /usr/lib64
    /opt/local/lib
    /sw/local/lib
    /sw/lib
    )

    IF(NOT ${MYLIBRARY}_DEBUG)
    IF(MYLIBRARY)
    SET(${MYLIBRARY}_DEBUG ${MYLIBRARY})
    ENDIF(MYLIBRARY)
    ENDIF( NOT ${MYLIBRARY}_DEBUG)

    ENDMACRO(FIND_G2O_LIBRARY LIBRARY LIBRARYNAME)

    Find the core elements

    FIND_G2O_LIBRARY(G2O_STUFF_LIBRARY stuff)
    FIND_G2O_LIBRARY(G2O_CORE_LIBRARY core)

    Find the CLI library

    FIND_G2O_LIBRARY(G2O_CLI_LIBRARY cli)

    Find the pluggable solvers

    FIND_G2O_LIBRARY(G2O_SOLVER_CHOLMOD solver_cholmod)
    FIND_G2O_LIBRARY(G2O_SOLVER_CSPARSE solver_csparse)
    FIND_G2O_LIBRARY(G2O_SOLVER_CSPARSE_EXTENSION csparse_extension)
    FIND_G2O_LIBRARY(G2O_SOLVER_DENSE solver_dense)
    FIND_G2O_LIBRARY(G2O_SOLVER_PCG solver_pcg)
    FIND_G2O_LIBRARY(G2O_SOLVER_SLAM2D_LINEAR solver_slam2d_linear)
    FIND_G2O_LIBRARY(G2O_SOLVER_STRUCTURE_ONLY solver_structure_only)
    FIND_G2O_LIBRARY(G2O_SOLVER_EIGEN solver_eigen)

    Find the predefined types

    FIND_G2O_LIBRARY(G2O_TYPES_DATA types_data)
    FIND_G2O_LIBRARY(G2O_TYPES_ICP types_icp)
    FIND_G2O_LIBRARY(G2O_TYPES_SBA types_sba)
    FIND_G2O_LIBRARY(G2O_TYPES_SCLAM2D types_sclam2d)
    FIND_G2O_LIBRARY(G2O_TYPES_SIM3 types_sim3)
    FIND_G2O_LIBRARY(G2O_TYPES_SLAM2D types_slam2d)
    FIND_G2O_LIBRARY(G2O_TYPES_SLAM3D types_slam3d)

    G2O solvers declared found if we found at least one solver

    SET(G2O_SOLVERS_FOUND "NO")
    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)
    SET(G2O_SOLVERS_FOUND "YES")
    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)

    G2O itself declared found if we found the core libraries and at least one solver

    SET(G2O_FOUND "NO")
    IF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FOUND)
    SET(G2O_FOUND "YES")
    ENDIF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FOUND)

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  • 原文地址:https://www.cnblogs.com/severnvergil/p/7672695.html
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