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Added libceres-dev dep in CI (#1547)

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* Added libceres-dev dep in CI

* trying to fix 22.04 apt install

* added g2o and gtam deps

* removed libgtsam-dev because missing libCppUnitLite.a

* fixing support of libg2o-dev on ubuntu 24.04

* update cmake
This commit is contained in:
matlabbe
2025-06-30 21:32:27 -07:00
committed by GitHub
parent 2fdd2337c7
commit 2e71831324
2 changed files with 29 additions and 13 deletions
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.github/workflows/cmake.yml
+9 -2
View File
@@ -19,19 +19,26 @@ jobs:
fail-fast: false fail-fast: false
matrix: matrix:
os: [ubuntu-24.04, ubuntu-22.04] os: [ubuntu-24.04, ubuntu-22.04]
include:
- os: ubuntu-22.04
extra_deps: "libunwind-dev libceres-dev"
extra_cmake_def: ""
- os: ubuntu-24.04
extra_deps: "libg2o-dev libceres-dev"
extra_cmake_def: "-DWITH_CERES=ON"
steps: steps:
- name: Install dependencies - name: Install dependencies
run: | run: |
DEBIAN_FRONTEND=noninteractive DEBIAN_FRONTEND=noninteractive
sudo apt-get update sudo apt-get update
sudo apt-get -y install libopencv-dev libpcl-dev git cmake software-properties-common libyaml-cpp-dev sudo apt-get -y install libopencv-dev libpcl-dev git cmake software-properties-common libyaml-cpp-dev ${{ matrix.extra_deps }}
- uses: actions/checkout@v4 - uses: actions/checkout@v4
- name: Configure CMake - name: Configure CMake
run: | run: |
cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} ${{ matrix.extra_cmake_def }}
- name: Build - name: Build
run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}} run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
CMakeLists.txt
+20 -11
View File
@@ -501,21 +501,30 @@ IF(WITH_G2O)
get_target_property(G2O_INCLUDES g2o::core INTERFACE_INCLUDE_DIRECTORIES) get_target_property(G2O_INCLUDES g2o::core INTERFACE_INCLUDE_DIRECTORIES)
MESSAGE(STATUS "g2o include dir: ${G2O_INCLUDES}") MESSAGE(STATUS "g2o include dir: ${G2O_INCLUDES}")
FIND_FILE(G2O_FACTORY_FILE g2o/core/factory.h FIND_FILE(G2O_FACTORY_FILE g2o/core/factory.h
PATHS ${G2O_INCLUDES} PATHS ${G2O_INCLUDES}
NO_DEFAULT_PATH) NO_DEFAULT_PATH)
FILE(READ ${G2O_FACTORY_FILE} TMPTXT) FILE(READ ${G2O_FACTORY_FILE} TMPTXT)
STRING(FIND "${TMPTXT}" "shared_ptr" matchres) STRING(FIND "${TMPTXT}" "shared_ptr" matchres)
IF(${matchres} EQUAL -1) IF(${matchres} EQUAL -1)
MESSAGE(STATUS "Old g2o factory version detected without shared ptr (factory file: ${G2O_FACTORY_FILE}).") MESSAGE(STATUS "Old g2o factory version detected without shared ptr (factory file: ${G2O_FACTORY_FILE}).")
SET(G2O_CPP11 2) SET(G2O_CPP11 2)
ELSE() ELSE()
MESSAGE(STATUS "Latest g2o factory version detected with shared ptr (factory file: ${G2O_FACTORY_FILE}).") MESSAGE(STATUS "Latest g2o factory version detected with shared ptr (factory file: ${G2O_FACTORY_FILE}).")
SET(G2O_CPP11 1) SET(G2O_CPP11 1)
ENDIF() ENDIF()
ELSE() ELSE()
FIND_PACKAGE(G2O QUIET) FIND_PACKAGE(G2O QUIET)
IF(G2O_FOUND) IF(G2O_FOUND)
MESSAGE(STATUS "Found g2o: ${G2O_INCLUDE_DIRS}") MESSAGE(STATUS "Found g2o: ${G2O_INCLUDE_DIRS}")
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(NOT ${matchres} EQUAL -1)
MESSAGE(STATUS "Latest g2o factory version detected with shared ptr (factory file: ${G2O_FACTORY_FILE}).")
SET(G2O_CPP11 1)
ENDIF()
ENDIF(G2O_FOUND) ENDIF(G2O_FOUND)
ENDIF() ENDIF()
ENDIF(WITH_G2O) ENDIF(WITH_G2O)