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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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cmake_modules/FindG2O.cmake
+22 -11
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@@ -26,6 +26,10 @@ FIND_FILE(G2O_FACTORY_FILE g2o/core/factory.h
PATHS ${G2O_INCLUDE_DIR}
NO_DEFAULT_PATH)
FIND_FILE(G2O_SBA_UTILS_FILE g2o/types/sba/sba_utils.h
PATHS ${G2O_INCLUDE_DIR}
NO_DEFAULT_PATH)
#ifdef G2O_NUMBER_FORMAT_STR
#define G2O_CPP11 // we assume that if G2O_NUMBER_FORMAT_STR is defined, this is the new g2o code with c++11 interface
#endif
@@ -118,22 +122,29 @@ IF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_CONFIG_FIL
${CHOLMOD_LIB})
ENDIF(G2O_SOLVER_CHOLMOD)
FILE(READ ${G2O_CONFIG_FILE} TMPTXT)
STRING(FIND "${TMPTXT}" "G2O_NUMBER_FORMAT_STR" matchres)
FILE(READ ${G2O_FACTORY_FILE} TMPTXT)
STRING(FIND "${TMPTXT}" "shared_ptr" matchres)
IF(${matchres} EQUAL -1)
MESSAGE(STATUS "Old g2o version detected with c++03 interface (config file: ${G2O_CONFIG_FILE}).")
SET(G2O_CPP11 0)
ELSE()
MESSAGE(WARNING "Latest g2o version detected with c++11 interface (config file: ${G2O_CONFIG_FILE}). Make sure g2o is built with \"-DBUILD_WITH_MARCH_NATIVE=OFF\" to avoid segmentation faults caused by Eigen.")
FILE(READ ${G2O_FACTORY_FILE} TMPTXT)
STRING(FIND "${TMPTXT}" "shared_ptr" matchres)
FILE(READ ${G2O_CONFIG_FILE} TMPTXT)
STRING(FIND "${TMPTXT}" "G2O_NUMBER_FORMAT_STR" matchres)
IF(${matchres} EQUAL -1)
MESSAGE(STATUS "Old g2o version detected with c++03 interface (config file: ${G2O_CONFIG_FILE}).")
SET(G2O_CPP11 0)
ELSE()
MESSAGE(WARNING "Latest g2o version detected with c++11 interface (config file: ${G2O_CONFIG_FILE}). Make sure g2o is built with \"-DBUILD_WITH_MARCH_NATIVE=OFF\" to avoid segmentation faults caused by Eigen.")
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()
MESSAGE(WARNING "Latest g2o version detected with c++11 interface (config file: ${G2O_CONFIG_FILE}). Make sure g2o is built with \"-DBUILD_WITH_MARCH_NATIVE=OFF\" to avoid segmentation faults caused by Eigen.")
MESSAGE(STATUS "Latest g2o factory version detected with shared ptr (factory file: ${G2O_FACTORY_FILE}).")
SET(G2O_CPP11 1)
ENDIF()
IF(G2O_SBA_UTILS_FILE)
SET(G2O_WITH_SBA_UTILS 1)
ELSE()
SET(G2O_WITH_SBA_UTILS 0)
ENDIF()
SET(G2O_FOUND "YES")