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Fixed noetic build (g2o error)

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matlabbe
2022-01-03 16:05:11 -05:00
parent 5194f40794
commit 145430cafd
2 changed files with 30 additions and 25 deletions
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CMakeLists.txt
+20 -7
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@@ -433,16 +433,29 @@ IF(WITH_DC1394)
ENDIF(WITH_DC1394)
IF(WITH_G2O)
FIND_PACKAGE(g2o QUIET NO_MODULE)
FIND_PACKAGE(g2o QUIET NO_MODULE)
IF(g2o_FOUND)
MESSAGE(STATUS "Found g2o (targets)")
SET(G2O_FOUND ${g2o_FOUND})
SET(G2O_CPP11 1)
SET(G2O_FOUND ${g2o_FOUND})
get_target_property(G2O_INCLUDES g2o::core INTERFACE_INCLUDE_DIRECTORIES)
MESSAGE(STATUS "g2o include dir: ${G2O_INCLUDES}")
FIND_FILE(G2O_FACTORY_FILE g2o/core/factory.h
PATHS ${G2O_INCLUDES}
NO_DEFAULT_PATH)
FILE(READ ${G2O_FACTORY_FILE} TMPTXT)
STRING(FIND "${TMPTXT}" "shared_ptr" matchres)
IF(${matchres} EQUAL -1)
MESSAGE(STATUS "Old g2o factory version detected without shared ptr (factory file: ${G2O_FACTORY_FILE}).")
SET(G2O_CPP11 2)
ELSE()
MESSAGE(WARNING "Latest g2o factory version detected with shared ptr (factory file: ${G2O_FACTORY_FILE}).")
SET(G2O_CPP11 1)
ENDIF()
ELSE()
FIND_PACKAGE(G2O QUIET)
IF(G2O_FOUND)
MESSAGE(STATUS "Found g2o: ${G2O_INCLUDE_DIRS}")
ENDIF(G2O_FOUND)
FIND_PACKAGE(G2O QUIET)
IF(G2O_FOUND)
MESSAGE(STATUS "Found g2o: ${G2O_INCLUDE_DIRS}")
ENDIF(G2O_FOUND)
ENDIF()
ENDIF(WITH_G2O)