G2O: add new package (#20165)

var/spack/repos/builtin/packages/g2o/package.py

@@ -0,0 +1,44 @@
+# 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)