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CMake: updated to support latest g2oConfig.cmake (using targets)

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matlabbe
2021-03-02 18:17:09 +00:00
parent ea4cc7cb6c
commit 4e4207a6dd
2 changed files with 27 additions and 5 deletions
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9
CMakeLists.txt
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@@ -412,7 +412,14 @@ IF(WITH_G2O)
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}")
ENDIF(G2O_FOUND) ELSE()
FIND_PACKAGE(g2o QUIET)
IF(g2o_FOUND)
SET(G2O_FOUND ${g2o_FOUND})
SET(G2O_CPP11 1)
MESSAGE(STATUS "Found g2o (targets)")
ENDIF(g2o_FOUND)
ENDIF()
ENDIF(WITH_G2O) ENDIF(WITH_G2O)
IF(WITH_GTSAM) IF(WITH_GTSAM)

23
corelib/src/CMakeLists.txt
View File

@@ -351,14 +351,29 @@ IF(WITH_TORO)
ENDIF(WITH_TORO) ENDIF(WITH_TORO)
IF(G2O_FOUND) IF(G2O_FOUND)
SET(INCLUDE_DIRS IF(g2o_FOUND)
SET(LIBRARIES
${LIBRARIES}
g2o::core
g2o::solver_cholmod
g2o::solver_eigen
g2o::solver_pcg
g2o::solver_csparse
g2o::csparse_extension
g2o::types_slam2d
g2o::types_slam3d
g2o::types_sba
)
ELSE()
SET(INCLUDE_DIRS
${INCLUDE_DIRS} ${INCLUDE_DIRS}
${G2O_INCLUDE_DIRS} ${G2O_INCLUDE_DIRS}
) )
SET(LIBRARIES SET(LIBRARIES
${LIBRARIES} ${LIBRARIES}
${G2O_LIBRARIES} ${G2O_LIBRARIES}
) )
ENDIF()
SET(SRC_FILES SET(SRC_FILES
${SRC_FILES} ${SRC_FILES}
optimizer/g2o/edge_se3_xyzprior.cpp optimizer/g2o/edge_se3_xyzprior.cpp