Merge pull request RainerKuemmerle#253 from geoffviola/master

cpack support
mtau87 · Feb 14, 2018 · 93dbd77 · 93dbd77
2 parents 82697b6 + c681c25
commit 93dbd77
Show file tree

Hide file tree

Showing 34 changed files with 137 additions and 135 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -3,6 +3,8 @@ SET(CMAKE_LEGACY_CYGWIN_WIN32 0)
 
 PROJECT(g2o)
 
+include(CPack)
+
 # The library prefix
 SET(LIB_PREFIX g2o_)
 
@@ -350,7 +352,7 @@ SET(G2O_LGPL_SHARED_LIBS ${BUILD_LGPL_SHARED_LIBS})
 SET(G2O_CXX_COMPILER "${CMAKE_CXX_COMPILER_ID} ${CMAKE_CXX_COMPILER}")
 configure_file(config.h.in ${PROJECT_BINARY_DIR}/g2o/config.h)
 include_directories(BEFORE ${PROJECT_BINARY_DIR})
-INSTALL(FILES ${PROJECT_BINARY_DIR}/g2o/config.h DESTINATION ${CMAKE_INSTALL_PREFIX}/include/g2o)
+INSTALL(FILES ${PROJECT_BINARY_DIR}/g2o/config.h DESTINATION include/g2o)
 
 # Include the subdirectories
 ADD_SUBDIRECTORY(EXTERNAL)

diff --git a/EXTERNAL/csparse/CMakeLists.txt b/EXTERNAL/csparse/CMakeLists.txt
@@ -65,13 +65,13 @@ IF (UNIX)
 ENDIF()
 
 INSTALL(TARGETS csparse
-  RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
-  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+  RUNTIME DESTINATION bin
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
 )
 
 FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
-INSTALL(FILES ${headers} DESTINATION ${CMAKE_INSTALL_PREFIX}/include/EXTERNAL/csparse)
+INSTALL(FILES ${headers} DESTINATION include/EXTERNAL/csparse)
 
 # Set up the variables
 SET(CSPARSE_LIBRARY "$<TARGET_FILE:csparse>")

diff --git a/EXTERNAL/freeglut/CMakeLists.txt b/EXTERNAL/freeglut/CMakeLists.txt
@@ -9,10 +9,10 @@ TARGET_LINK_LIBRARIES(freeglut_minimal ${OPENGL_gl_LIBRARY})
 SET_TARGET_PROPERTIES(freeglut_minimal PROPERTIES OUTPUT_NAME ${LIB_PREFIX}ext_freeglut_minimal)
 
 INSTALL(TARGETS freeglut_minimal
-  RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
-  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+  RUNTIME DESTINATION bin
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
 )
 
 FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
-INSTALL(FILES ${headers} DESTINATION ${CMAKE_INSTALL_PREFIX}/include/g2o/freeglut)
+INSTALL(FILES ${headers} DESTINATION include/g2o/freeglut)
diff --git a/cmake_modules/FindEigen3.cmake b/cmake_modules/FindEigen3.cmake
@@ -68,7 +68,7 @@ else (EIGEN3_INCLUDE_DIR)
 
   find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library
       PATHS
-      ${CMAKE_INSTALL_PREFIX}/include
+      include
       ${EIGEN_ADDITIONAL_SEARCH_PATHS}
       ${KDE4_INCLUDE_DIR}
       PATH_SUFFIXES eigen3 eigen

diff --git a/g2o/apps/g2o_cli/CMakeLists.txt b/g2o/apps/g2o_cli/CMakeLists.txt
@@ -30,10 +30,10 @@ SET_TARGET_PROPERTIES(g2o_cli_application PROPERTIES OUTPUT_NAME g2o${EXE_POSTFI
 
 
 INSTALL(TARGETS g2o_cli_library g2o_cli_application
-  RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
-  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+  RUNTIME DESTINATION bin
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
 )
 
 FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
-INSTALL(FILES ${headers} DESTINATION ${CMAKE_INSTALL_PREFIX}/include/g2o/apps/g2o_cli)
+INSTALL(FILES ${headers} DESTINATION include/g2o/apps/g2o_cli)
diff --git a/g2o/apps/g2o_hierarchical/CMakeLists.txt b/g2o/apps/g2o_hierarchical/CMakeLists.txt
@@ -28,12 +28,12 @@ TARGET_LINK_LIBRARIES(g2o_hierarchical_application g2o_hierarchical_library g2o_
 SET_TARGET_PROPERTIES(g2o_hierarchical_application PROPERTIES OUTPUT_NAME g2o_hierarchical${EXE_POSTFIX})
 
 # INSTALL(TARGETS g2o_hierarchical_library g2o_cli_application
-#   RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
-#   LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-#   ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+#   RUNTIME DESTINATION bin
+#   LIBRARY DESTINATION lib
+#   ARCHIVE DESTINATION lib
 # )
 
 FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
 INSTALL(FILES
   ${headers}
-  DESTINATION ${CMAKE_INSTALL_PREFIX}/include/g2o/apps/g2o_hierarchical)
+  DESTINATION include/g2o/apps/g2o_hierarchical)
diff --git a/g2o/apps/g2o_simulator/CMakeLists.txt b/g2o/apps/g2o_simulator/CMakeLists.txt
@@ -54,10 +54,10 @@ TARGET_LINK_LIBRARIES(g2o_anonymize_observations_application types_slam3d types_
 SET_TARGET_PROPERTIES(g2o_anonymize_observations_application PROPERTIES OUTPUT_NAME g2o_anonymize_observations${EXE_POSTFIX})
 
 INSTALL(TARGETS g2o_simulator_library g2o_simulator2d_application g2o_simulator3d_application g2o_anonymize_observations_application
-  RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
-  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+  RUNTIME DESTINATION bin
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
 )
 
 FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
-INSTALL(FILES ${headers} DESTINATION ${CMAKE_INSTALL_PREFIX}/include/g2o/apps/g2o_simulator)
+INSTALL(FILES ${headers} DESTINATION include/g2o/apps/g2o_simulator)
diff --git a/g2o/apps/g2o_viewer/CMakeLists.txt b/g2o/apps/g2o_viewer/CMakeLists.txt
@@ -33,11 +33,11 @@ TARGET_LINK_LIBRARIES(viewer_library core opengl_helper)
 TARGET_LINK_LIBRARIES(g2o_viewer viewer_library)
 
 INSTALL(TARGETS g2o_viewer viewer_library
-  RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
-  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+  RUNTIME DESTINATION bin
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
 )
 
 FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
-INSTALL(FILES ${headers} DESTINATION ${CMAKE_INSTALL_PREFIX}/include/g2o/apps/g2o_viewer)
-INSTALL(FILES ${UI_HEADERS} DESTINATION ${CMAKE_INSTALL_PREFIX}/include/g2o/apps/g2o_viewer)
+INSTALL(FILES ${headers} DESTINATION include/g2o/apps/g2o_viewer)
+INSTALL(FILES ${UI_HEADERS} DESTINATION include/g2o/apps/g2o_viewer)
diff --git a/g2o/apps/linked_binaries/CMakeLists.txt b/g2o/apps/linked_binaries/CMakeLists.txt
@@ -16,9 +16,9 @@ ENDIF()
 TARGET_LINK_LIBRARIES(g2o_cli_application_linked types_slam2d types_slam3d types_sba types_sclam2d)
 
 INSTALL(TARGETS g2o_cli_application_linked
-  RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
-  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+  RUNTIME DESTINATION bin
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
 )
 
 
@@ -42,11 +42,11 @@ IF(QT4_FOUND AND QGLVIEWER_FOUND)
   TARGET_LINK_LIBRARIES(g2o_viewer_linked types_slam2d types_slam3d types_sba types_sclam2d)
 
   INSTALL(TARGETS g2o_viewer_linked
-    RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
-    LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-    ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+    RUNTIME DESTINATION bin
+    LIBRARY DESTINATION lib
+    ARCHIVE DESTINATION lib
   )
 ENDIF()
 
 FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
-INSTALL(FILES ${headers} DESTINATION ${CMAKE_INSTALL_PREFIX}/include/g2o/apps/linked_binaries)
+INSTALL(FILES ${headers} DESTINATION include/g2o/apps/linked_binaries)
diff --git a/g2o/core/CMakeLists.txt b/g2o/core/CMakeLists.txt
@@ -44,11 +44,11 @@ SET_TARGET_PROPERTIES(core PROPERTIES OUTPUT_NAME ${LIB_PREFIX}core)
 TARGET_LINK_LIBRARIES(core stuff)
 
 INSTALL(TARGETS core
-  RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
-  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+  RUNTIME DESTINATION bin
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
 )
 
 FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
 
-INSTALL(FILES ${headers} DESTINATION ${CMAKE_INSTALL_PREFIX}/include/g2o/core)
+INSTALL(FILES ${headers} DESTINATION include/g2o/core)
diff --git a/g2o/examples/interactive_slam/g2o_incremental/CMakeLists.txt b/g2o/examples/interactive_slam/g2o_incremental/CMakeLists.txt
@@ -13,10 +13,10 @@ TARGET_LINK_LIBRARIES(g2o_incremental_application g2o_incremental_library)
 SET_TARGET_PROPERTIES(g2o_incremental_application PROPERTIES OUTPUT_NAME g2o_incremental${EXE_POSTFIX})
 
 INSTALL(TARGETS g2o_incremental_library g2o_incremental_application
-  RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
-  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+  RUNTIME DESTINATION bin
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
 )
 
 FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
-INSTALL(FILES ${headers} DESTINATION ${CMAKE_INSTALL_PREFIX}/include/g2o/examples/interactive_slam/g2o_incremental)
+INSTALL(FILES ${headers} DESTINATION include/g2o/examples/interactive_slam/g2o_incremental)
diff --git a/g2o/examples/interactive_slam/g2o_interactive/CMakeLists.txt b/g2o/examples/interactive_slam/g2o_interactive/CMakeLists.txt
@@ -19,10 +19,10 @@ SET_TARGET_PROPERTIES(g2o_online_application PROPERTIES OUTPUT_NAME g2o_online${
 #SET_TARGET_PROPERTIES(generate_commands_application PROPERTIES OUTPUT_NAME generate_commands)
 
 INSTALL(TARGETS g2o_interactive_library g2o_online_application
-  RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
-  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+  RUNTIME DESTINATION bin
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
 )
 
 FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
-INSTALL(FILES ${headers} DESTINATION ${CMAKE_INSTALL_PREFIX}/include/g2o/examples/interactive_slam/g2o_interactive)
+INSTALL(FILES ${headers} DESTINATION include/g2o/examples/interactive_slam/g2o_interactive)
diff --git a/g2o/examples/interactive_slam/slam_parser/example/CMakeLists.txt b/g2o/examples/interactive_slam/slam_parser/example/CMakeLists.txt
@@ -12,10 +12,10 @@ TARGET_LINK_LIBRARIES(test_slam_interface example_library)
 SET_TARGET_PROPERTIES(test_slam_interface PROPERTIES OUTPUT_NAME test_slam_interface${EXE_POSTFIX})
 
 #INSTALL(TARGETS example_library
-  #RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
-  #LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-  #ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+  #RUNTIME DESTINATION bin
+  #LIBRARY DESTINATION lib
+  #ARCHIVE DESTINATION lib
 #)
 
 #FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h")
-#INSTALL(FILES ${headers} DESTINATION ${CMAKE_INSTALL_PREFIX}/include/slam_parser/example)
+#INSTALL(FILES ${headers} DESTINATION include/slam_parser/example)
diff --git a/g2o/examples/interactive_slam/slam_parser/interface/CMakeLists.txt b/g2o/examples/interactive_slam/slam_parser/interface/CMakeLists.txt
@@ -22,10 +22,10 @@ SET_TARGET_PROPERTIES(interface_library PROPERTIES OUTPUT_NAME ${LIB_PREFIX}inte
 TARGET_LINK_LIBRARIES(interface_library parser_library)
 
 INSTALL(TARGETS interface_library
-  RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
-  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+  RUNTIME DESTINATION bin
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
 )
 
 FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h")
-INSTALL(FILES ${headers} DESTINATION ${CMAKE_INSTALL_PREFIX}/include/slam_parser/interface)
+INSTALL(FILES ${headers} DESTINATION include/slam_parser/interface)
diff --git a/g2o/examples/interactive_slam/slam_parser/parser/CMakeLists.txt b/g2o/examples/interactive_slam/slam_parser/parser/CMakeLists.txt
@@ -28,10 +28,10 @@ SET_TARGET_PROPERTIES(parser_library PROPERTIES OUTPUT_NAME ${LIB_PREFIX}parser)
 #SET_TARGET_PROPERTIES(test_slam_parser PROPERTIES OUTPUT_NAME test_slam_parser${EXE_POSTFIX})
 
 INSTALL(TARGETS parser_library
-  RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
-  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+  RUNTIME DESTINATION bin
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
 )
 
 FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hh")
-INSTALL(FILES ${headers} DESTINATION ${CMAKE_INSTALL_PREFIX}/include/slam_parser/parser)
+INSTALL(FILES ${headers} DESTINATION include/slam_parser/parser)
diff --git a/g2o/solvers/cholmod/CMakeLists.txt b/g2o/solvers/cholmod/CMakeLists.txt
@@ -15,11 +15,11 @@ ADD_DEFINITIONS(${BLAS_DEFINITIONS} ${LAPACK_DEFINITIONS})
 TARGET_LINK_LIBRARIES(solver_cholmod ${CHOLMOD_LIBRARIES} ${BLAS_LIBRARIES} ${LAPACK_LIBRARIES} core)
 
 INSTALL(TARGETS solver_cholmod
-  RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
-  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+  RUNTIME DESTINATION bin
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
 )
 
 FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
 
-INSTALL(FILES ${headers} DESTINATION ${CMAKE_INSTALL_PREFIX}/include/g2o/solvers/cholmod)
+INSTALL(FILES ${headers} DESTINATION include/g2o/solvers/cholmod)
diff --git a/g2o/solvers/csparse/CMakeLists.txt b/g2o/solvers/csparse/CMakeLists.txt
@@ -28,9 +28,9 @@ TARGET_LINK_LIBRARIES(solver_csparse csparse_extension core)
 
 
 INSTALL(TARGETS solver_csparse csparse_extension
-  RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
-  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+  RUNTIME DESTINATION bin
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
 )
 FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
-INSTALL(FILES ${headers} DESTINATION ${CMAKE_INSTALL_PREFIX}/include/g2o/solvers/csparse)
+INSTALL(FILES ${headers} DESTINATION include/g2o/solvers/csparse)
diff --git a/g2o/solvers/dense/CMakeLists.txt b/g2o/solvers/dense/CMakeLists.txt
@@ -7,11 +7,11 @@ SET_TARGET_PROPERTIES(solver_dense PROPERTIES OUTPUT_NAME ${LIB_PREFIX}solver_de
 TARGET_LINK_LIBRARIES(solver_dense core)
 
 INSTALL(TARGETS solver_dense
-  RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
-  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+  RUNTIME DESTINATION bin
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
 )
 
 FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
 
-INSTALL(FILES ${headers} DESTINATION ${CMAKE_INSTALL_PREFIX}/include/g2o/solvers/dense)
+INSTALL(FILES ${headers} DESTINATION include/g2o/solvers/dense)
diff --git a/g2o/solvers/eigen/CMakeLists.txt b/g2o/solvers/eigen/CMakeLists.txt
@@ -6,9 +6,9 @@ SET_TARGET_PROPERTIES(solver_eigen PROPERTIES OUTPUT_NAME ${LIB_PREFIX}solver_ei
 TARGET_LINK_LIBRARIES(solver_eigen core)
 
 INSTALL(TARGETS solver_eigen
-  RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
-  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+  RUNTIME DESTINATION bin
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
 )
 FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
-INSTALL(FILES ${headers} DESTINATION ${CMAKE_INSTALL_PREFIX}/include/g2o/solvers/eigen)
+INSTALL(FILES ${headers} DESTINATION include/g2o/solvers/eigen)
diff --git a/g2o/solvers/pcg/CMakeLists.txt b/g2o/solvers/pcg/CMakeLists.txt
@@ -9,11 +9,11 @@ SET_TARGET_PROPERTIES(solver_pcg PROPERTIES OUTPUT_NAME ${LIB_PREFIX}solver_pcg)
 TARGET_LINK_LIBRARIES(solver_pcg core)
 
 INSTALL(TARGETS solver_pcg
-  RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
-  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+  RUNTIME DESTINATION bin
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
 )
 
 FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
 
-INSTALL(FILES ${headers} DESTINATION ${CMAKE_INSTALL_PREFIX}/include/g2o/solvers/pcg)
+INSTALL(FILES ${headers} DESTINATION include/g2o/solvers/pcg)
diff --git a/g2o/solvers/slam2d_linear/CMakeLists.txt b/g2o/solvers/slam2d_linear/CMakeLists.txt
@@ -14,10 +14,10 @@ SET_TARGET_PROPERTIES(solver_slam2d_linear PROPERTIES OUTPUT_NAME ${LIB_PREFIX}s
 TARGET_LINK_LIBRARIES(solver_slam2d_linear solver_csparse types_slam2d)
 
 INSTALL(TARGETS solver_slam2d_linear
-  RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
-  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+  RUNTIME DESTINATION bin
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
 )
 
 FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
-INSTALL(FILES ${headers} DESTINATION ${CMAKE_INSTALL_PREFIX}/include/g2o/solvers/slam2d_linear)
+INSTALL(FILES ${headers} DESTINATION include/g2o/solvers/slam2d_linear)
diff --git a/g2o/solvers/structure_only/CMakeLists.txt b/g2o/solvers/structure_only/CMakeLists.txt
@@ -7,10 +7,10 @@ SET_TARGET_PROPERTIES(solver_structure_only PROPERTIES OUTPUT_NAME ${LIB_PREFIX}
 TARGET_LINK_LIBRARIES(solver_structure_only core)
 
 INSTALL(TARGETS solver_structure_only
-  RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
-  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+  RUNTIME DESTINATION bin
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
 )
 
 FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
-INSTALL(FILES ${headers} DESTINATION ${CMAKE_INSTALL_PREFIX}/include/g2o/solvers/structure_only)
+INSTALL(FILES ${headers} DESTINATION include/g2o/solvers/structure_only)
diff --git a/g2o/stuff/CMakeLists.txt b/g2o/stuff/CMakeLists.txt
@@ -13,9 +13,9 @@ ADD_LIBRARY(stuff ${G2O_LIB_TYPE}
 SET_TARGET_PROPERTIES(stuff PROPERTIES OUTPUT_NAME ${LIB_PREFIX}stuff)
 
 INSTALL(TARGETS stuff
-  RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
-  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+  RUNTIME DESTINATION bin
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
 )
 
 # build our OpenGL helper library
@@ -24,9 +24,9 @@ IF(OPENGL_FOUND AND G2O_HAVE_OPENGL)
     opengl_primitives.cpp opengl_primitives.h
   )
   INSTALL(TARGETS opengl_helper
-    RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
-    LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-    ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+    RUNTIME DESTINATION bin
+    LIBRARY DESTINATION lib
+    ARCHIVE DESTINATION lib
   )
   TARGET_LINK_LIBRARIES(opengl_helper ${OPENGL_LIBRARIES})
   SET_TARGET_PROPERTIES(opengl_helper PROPERTIES OUTPUT_NAME ${LIB_PREFIX}opengl_helper)
@@ -38,4 +38,4 @@ ENDIF()
 
 FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
 
-INSTALL(FILES ${headers} DESTINATION ${CMAKE_INSTALL_PREFIX}/include/g2o/stuff)
+INSTALL(FILES ${headers} DESTINATION include/g2o/stuff)
diff --git a/g2o/types/data/CMakeLists.txt b/g2o/types/data/CMakeLists.txt
@@ -18,10 +18,10 @@ IF(G2O_HAVE_OPENGL)
 ENDIF()
 
 INSTALL(TARGETS types_data
-  RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
-  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
+  RUNTIME DESTINATION bin
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
 )
 
 FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
-INSTALL(FILES ${headers} DESTINATION ${CMAKE_INSTALL_PREFIX}/include/g2o/types/data)
+INSTALL(FILES ${headers} DESTINATION include/g2o/types/data)