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cmake_modules/FindG2O.cmake

+# Find the header files
+
+FIND_PATH(G2O_INCLUDE_DIR 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)