# 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)

add new package (#20165)