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Merge branch 'master' of github.com:introlab/rtabmap into gtest

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matlabbe
2025-07-05 09:37:08 -07:00
parent 442a868929 0579d4f39c
commit 45f342cb41
10 changed files with 103 additions and 53 deletions
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CMakeLists.txt
+20 -11
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@@ -518,21 +518,30 @@ IF(WITH_G2O)
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(STATUS "Latest g2o factory version detected with shared ptr (factory file: ${G2O_FACTORY_FILE}).")
SET(G2O_CPP11 1)
ENDIF()
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(STATUS "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}")
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()
ENDIF(WITH_G2O)