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# Copyright 2013-2023 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)
from spack.package import *
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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