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Fixing build with gtsam 4.3 binaries

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matlabbe
2025-12-20 14:48:09 -08:00
parent 86d5c99f5d
commit 72bd453078
2 changed files with 11 additions and 1 deletions
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10
CMakeLists.txt
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@@ -525,6 +525,16 @@ ENDIF(WITH_G2O)
IF(WITH_GTSAM)
# Force config mode to ignore PCL's findGTSAM.cmake file
FIND_PACKAGE(GTSAM CONFIG QUIET)
IF(GTSAM_FOUND)
# For issue https://github.com/introlab/rtabmap/pull/1626
FIND_FILE(GTSAM_NOISE_MODEL_FACTOR_N_FILE gtsam/nonlinear/NoiseModelFactorN.h
PATHS ${GTSAM_INCLUDE_DIR}
NO_DEFAULT_PATH)
IF(GTSAM_NOISE_MODEL_FACTOR_N_FILE)
MESSAGE(STATUS "GTSAM with NoiseModelFactorN.h")
ADD_DEFINITIONS("-DGTSAM_WITH_NOISE_MODEL_FACTOR_N")
ENDIF(GTSAM_NOISE_MODEL_FACTOR_N_FILE)
ENDIF(GTSAM_FOUND)
ENDIF(WITH_GTSAM)
IF(WITH_MRPT)