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# Copyright 2013-2020 Lawrence Livermore National Security, LLC and other
# Spack Project Developers. See the top-level COPYRIGHT file for details.
#
# SPDX-License-Identifier: (Apache-2.0 OR MIT)
class G2o(CMakePackage):
"""g2o is an open-source C++ framework for optimizing graph-based nonlinear
error functions.
g2o has been designed to be easily extensible to a wide range of problems
and a new problem typically can be specified in a few lines of code. The
current implementation provides solutions to several variants of SLAM and
BA."""
homepage = "https://openslam-org.github.io/g2o.html"
url = "https://github.com/RainerKuemmerle/g2o/archive/20200410_git.tar.gz"
git = "https://github.com/RainerKuemmerle/g2o.git"
version('master', branch='master')
version('20200410_git', sha256='b79eb1407ae7f2a9e6a002bb4b41d65402c185855db41a9ef4a6e3b42abaec4c')
depends_on('cmake@3.1:', type='build')
depends_on('eigen@2.91.0:', type='link')
depends_on('ceres-solver')
depends_on('freeglut')
depends_on('suite-sparse')
depends_on('qt@5:+gui+opengl')
depends_on('libqglviewer')
def cmake_args(self):
return [
'-DBUILD_CSPARSE=OFF',
'-DCSPARSE_INCLUDE_DIR=' + self.spec[
'suite-sparse:cxsparse'].headers.directories[0],
'-DCSPARSE_LIBRARY=' + self.spec['suite-sparse:cxsparse'].libs[0],
'-DQGLVIEWER_INCLUDE_DIR=' + self.spec[
'libqglviewer'].prefix.include.QGLViewer
]
@run_after('install')
def darwin_fix(self):
if self.spec.satisfies('platform=darwin'):
fix_darwin_install_name(self.prefix.lib)
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