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fixed trusty build (#682)

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* fixed trusty build (g2o backward compatibility)
This commit is contained in:
matlabbe
2021-01-20 22:54:48 -05:00
committed by GitHub
parent 28e624e6b2
commit aa31a900fb
3 changed files with 69 additions and 39 deletions
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76
CMakeLists.txt
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@@ -620,43 +620,45 @@ IF(WITH_ORB_SLAM2 AND NOT G2O_FOUND)
ENDIF(ORB_SLAM2_FOUND)
ENDIF(WITH_ORB_SLAM2 AND NOT G2O_FOUND)
IF(loam_velodyne_FOUND OR PCL_VERSION VERSION_GREATER "1.9.1" OR TORCH_FOUND OR G2O_FOUND)
#LOAM, PCL>=1.10 and latest g2o require c++14
IF(NOT MSVC)
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14)
IF(COMPILER_SUPPORTS_CXX14)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
set(CMAKE_CXX_STANDARD 14)
ELSE()
message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++14 support. Please use a different C++ compiler if you want to use LOAM (set \"-DWITH_LOAM=OFF\" to build without LOAM).")
ENDIF()
ENDIF()
ELSEIF(GTSAM_FOUND OR
CERES_FOUND OR
ZED_FOUND OR
ANDROID OR
RealSense_FOUND OR
realsense2_FOUND OR
ORB_SLAM2_FOUND OR
okvis_FOUND OR
open_chisel_FOUND OR
msckf_vio_FOUND OR
vins_FOUND OR
libpointmatcher_FOUND)
#Newest versions require std11
IF(NOT MSVC)
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
IF(COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
ELSEIF(COMPILER_SUPPORTS_CXX0X)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
ELSE()
message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
ENDIF()
ENDIF()
IF(NOT MSVC)
IF(loam_velodyne_FOUND OR PCL_VERSION VERSION_GREATER "1.9.1" OR TORCH_FOUND OR G2O_FOUND)
#LOAM, PCL>=1.10 and latest g2o require c++14
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14)
IF(COMPILER_SUPPORTS_CXX14)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
set(CMAKE_CXX_STANDARD 14)
ELSE()
message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++14 support. Please use a different C++ compiler if you want to use LOAM, latest PCL or g2o.")
ENDIF()
ENDIF(loam_velodyne_FOUND OR PCL_VERSION VERSION_GREATER "1.9.1" OR TORCH_FOUND OR G2O_FOUND)
IF( (NOT (${CMAKE_CXX_STANDARD} STREQUAL "14")) AND (
G2O_FOUND OR
GTSAM_FOUND OR
CERES_FOUND OR
ZED_FOUND OR
ANDROID OR
RealSense_FOUND OR
realsense2_FOUND OR
ORB_SLAM2_FOUND OR
okvis_FOUND OR
open_chisel_FOUND OR
msckf_vio_FOUND OR
vins_FOUND OR
libpointmatcher_FOUND))
#Newest versions require std11
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
IF(COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
ELSEIF(COMPILER_SUPPORTS_CXX0X)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
ELSE()
message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
ENDIF()
ENDIF()
ENDIF()
####### OSX BUNDLE CMAKE_INSTALL_PREFIX #######