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0.23.2: make g2o sba type check more portable (vcpkg build issue) (#1597)

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* make g2o sba type check more portable

* try fixing latest g2o build
This commit is contained in:
matlabbe
2025-10-13 22:54:35 -07:00
committed by GitHub
parent edebf18043
commit 5cc16e371c
4 changed files with 48 additions and 37 deletions
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43
CMakeLists.txt
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@@ -20,7 +20,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
#######################
SET(RTABMAP_MAJOR_VERSION 0)
SET(RTABMAP_MINOR_VERSION 23)
SET(RTABMAP_PATCH_VERSION 1)
SET(RTABMAP_PATCH_VERSION 2)
SET(RTABMAP_VERSION
${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
@@ -498,35 +498,34 @@ ENDIF(WITH_DC1394)
IF(WITH_G2O)
FIND_PACKAGE(g2o NO_MODULE)
IF(g2o_FOUND)
MESSAGE(STATUS "Found g2o (targets)")
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
MESSAGE(STATUS "Found g2o (targets)")
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)
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()
ELSE()
MESSAGE(STATUS "Latest g2o factory version detected with shared ptr (factory file: ${G2O_FACTORY_FILE}).")
SET(G2O_CPP11 1)
ENDIF()
ENDIF()
FIND_FILE(G2O_SBA_UTILS_FILE g2o/types/sba/sba_utils.h
PATHS ${G2O_INCLUDES}
NO_DEFAULT_PATH)
IF(G2O_SBA_UTILS_FILE)
SET(G2O_WITH_SBA_UTILS 1)
ELSE()
SET(G2O_WITH_SBA_UTILS 0)
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)
@@ -963,10 +962,14 @@ ENDIF()
IF(NOT G2O_FOUND)
SET(G2O "//")
SET(G2O_CPP_CONF "//")
SET(G2O_WITH_SBA_UTILS "//")
ELSE()
IF(NOT G2O_CPP11)
SET(G2O_CPP_CONF "//")
ENDIF(NOT G2O_CPP11)
IF(NOT G2O_WITH_SBA_UTILS)
SET(G2O_WITH_SBA_UTILS_CONF "//")
ENDIF(NOT G2O_WITH_SBA_UTILS)
ENDIF()
IF(NOT GTSAM_FOUND)
SET(GTSAM "//")