Building the Sparse Bundle Adjustment (SBA) library on OS X

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I'm trying to build slam_karto from source, which in turn needs open_karto and sparse_bundle_adjustment

The sparse_bundle_adjustment catkin package has 3 dependencies of interest: liblapack-dev, libblas-dev, and suitesparse OS X comes with (some version of) the first two.

I then tried three different ways of installing SuiteSparse:

• This catkin wrapper: https://github.com/ethz-asl/suitesparse It seemed to work. But then when I tried to build SBA the linker complained that ld: library not found for -lcholmod
• Installing SuiteSparse from source http://faculty.cse.tamu.edu/davis/sui... Got lost in dependencies. clang: error: no such file or directory: '[...]/SuiteSparse/lib/libmetis.dylib'
• Realizing it's available via Homebrew, brew install suite-sparse This got me metis, the dependency above, and installed SuiteSparse. But then, when I tried to compile SBA: fatal error: 'suitesparse/cs.h' file not found I commented out that #include "suitesparse/cs.h" just to see if it can find other headers. It cannot: fatal error: 'suitesparse/cholmod.h' file not found However, these headers are indeed under: /usr/local/Cellar/suite-sparse/4.5.1/include and the seem to be symlinked from/usr/loca/include, e.g., cs.h -> ../Cellar/suite-sparse/4.5.1/include/cs.h

Has anyone been able to build SBA (and SLAM Karto in general) on OS X? Please let me know if you need more information. Thanks in advance!