add some cmake modules

cmake_modules/FindCSparse.cmake

@@ -0,0 +1,26 @@
+# Look for csparse; note the difference in the directory specifications!
+FIND_PATH(CSPARSE_INCLUDE_DIR NAMES cs.h
+  PATHS
+  /usr/include/suitesparse
+  /usr/include
+  /opt/local/include
+  /usr/local/include
+  /sw/include
+  /usr/include/ufsparse
+  /opt/local/include/ufsparse
+  /usr/local/include/ufsparse
+  /sw/include/ufsparse
+  /usr/local/include/EXTERNAL/csparse
+  )
+
+FIND_LIBRARY(CSPARSE_LIBRARY NAMES cxsparse
+  PATHS
+  /usr/lib
+  /usr/local/lib
+  /opt/local/lib
+  /sw/lib
+  )
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(CSPARSE DEFAULT_MSG
+  CSPARSE_INCLUDE_DIR CSPARSE_LIBRARY)

cmake_modules/FindCholmod.cmake

@@ -0,0 +1,89 @@
+# Cholmod lib usually requires linking to a blas and lapack library.
+# It is up to the user of this module to find a BLAS and link to it.
+
+if (CHOLMOD_INCLUDE_DIR AND CHOLMOD_LIBRARIES)
+  set(CHOLMOD_FIND_QUIETLY TRUE)
+endif (CHOLMOD_INCLUDE_DIR AND CHOLMOD_LIBRARIES)
+
+find_path(CHOLMOD_INCLUDE_DIR
+  NAMES
+  cholmod.h
+  PATHS
+  $ENV{CHOLMODDIR}
+  ${INCLUDE_INSTALL_DIR}
+  PATH_SUFFIXES
+  suitesparse
+  ufsparse
+)
+
+find_library(CHOLMOD_LIBRARY cholmod PATHS $ENV{CHOLMODDIR} ${LIB_INSTALL_DIR})
+set(CHOLMOD_LIBRARIES ${CHOLMOD_LIBRARY})
+
+if(CHOLMOD_LIBRARIES)
+
+  get_filename_component(CHOLMOD_LIBDIR ${CHOLMOD_LIBRARIES} PATH)
+
+  find_library(AMD_LIBRARY amd PATHS ${CHOLMOD_LIBDIR} $ENV{CHOLMODDIR} ${LIB_INSTALL_DIR})
+  if (AMD_LIBRARY)
+    set(CHOLMOD_LIBRARIES ${CHOLMOD_LIBRARIES} ${AMD_LIBRARY})
+  else ()
+    set(CHOLMOD_LIBRARIES FALSE)
+  endif ()
+
+endif(CHOLMOD_LIBRARIES)
+
+if(CHOLMOD_LIBRARIES)
+
+  find_library(COLAMD_LIBRARY colamd PATHS ${CHOLMOD_LIBDIR} $ENV{CHOLMODDIR} ${LIB_INSTALL_DIR})
+  if (COLAMD_LIBRARY)
+    set(CHOLMOD_LIBRARIES ${CHOLMOD_LIBRARIES} ${COLAMD_LIBRARY})
+  else ()
+    set(CHOLMOD_LIBRARIES FALSE)
+  endif ()
+
+endif(CHOLMOD_LIBRARIES)
+
+if(CHOLMOD_LIBRARIES)
+
+  find_library(CAMD_LIBRARY camd PATHS ${CHOLMOD_LIBDIR} $ENV{CHOLMODDIR} ${LIB_INSTALL_DIR})
+  if (CAMD_LIBRARY)
+    set(CHOLMOD_LIBRARIES ${CHOLMOD_LIBRARIES} ${CAMD_LIBRARY})
+  else ()
+    set(CHOLMOD_LIBRARIES FALSE)
+  endif ()
+
+endif(CHOLMOD_LIBRARIES)
+
+if(CHOLMOD_LIBRARIES)
+
+  find_library(CCOLAMD_LIBRARY ccolamd PATHS ${CHOLMOD_LIBDIR} $ENV{CHOLMODDIR} ${LIB_INSTALL_DIR})
+  if (CCOLAMD_LIBRARY)
+    set(CHOLMOD_LIBRARIES ${CHOLMOD_LIBRARIES} ${CCOLAMD_LIBRARY})
+  else ()
+    set(CHOLMOD_LIBRARIES FALSE)
+  endif ()
+
+endif(CHOLMOD_LIBRARIES)
+
+if(CHOLMOD_LIBRARIES)
+
+  find_library(CHOLMOD_METIS_LIBRARY metis PATHS ${CHOLMOD_LIBDIR} $ENV{CHOLMODDIR} ${LIB_INSTALL_DIR})
+  if (CHOLMOD_METIS_LIBRARY)
+    set(CHOLMOD_LIBRARIES ${CHOLMOD_LIBRARIES} ${CHOLMOD_METIS_LIBRARY})
+  endif ()
+
+endif(CHOLMOD_LIBRARIES)
+
+if(CHOLMOD_LIBRARIES)
+  find_library(SUITESPARSECONFIG_LIBRARY NAMES suitesparseconfig
+    PATHS ${CHOLMOD_LIBDIR} $ENV{CHOLMODDIR} ${LIB_INSTALL_DIR})
+  if (SUITESPARSECONFIG_LIBRARY)
+    set(CHOLMOD_LIBRARIES ${CHOLMOD_LIBRARIES} ${SUITESPARSECONFIG_LIBRARY})
+  endif ()
+endif(CHOLMOD_LIBRARIES)
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(CHOLMOD DEFAULT_MSG
+                                  CHOLMOD_INCLUDE_DIR CHOLMOD_LIBRARIES)
+
+mark_as_advanced(CHOLMOD_LIBRARIES)

cmake_modules/FindG2O.cmake

@@ -0,0 +1,113 @@
+# 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)