Fix build with ceres 2.0 with CMake < 3.8 (#106)

* Note that while the Ceres 2.0 build completes, there may still be some lingering issues.
locusrobotics · Oct 24, 2019 · 9933456 · 9933456
1 parent 184cfb7
commit 9933456
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diff --git a/fuse_constraints/CMakeLists.txt b/fuse_constraints/CMakeLists.txt
@@ -15,6 +15,7 @@ find_package(catkin REQUIRED COMPONENTS
 )
 
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_LIST_DIR}/cmake)
+set(CMAKE_CXX_EXTENSIONS OFF)
 find_package(Ceres REQUIRED)
 find_package(Eigen3 REQUIRED)
 find_package(SuiteSparse REQUIRED COMPONENTS CCOLAMD)
@@ -58,6 +59,7 @@ add_library(${PROJECT_NAME}
   src/uuid_ordering.cpp
   src/variable_constraints.cpp
 )
+target_compile_features(${PROJECT_NAME} PRIVATE cxx_generic_lambdas)
 add_dependencies(${PROJECT_NAME}
   ${catkin_EXPORTED_TARGETS}
 )
@@ -215,6 +217,7 @@ if(CATKIN_ENABLE_TESTING)
   add_dependencies(test_marginal_constraint
     ${catkin_EXPORTED_TARGETS}
   )
+  target_compile_features(test_marginal_constraint PRIVATE cxx_generic_lambdas)
   target_include_directories(test_marginal_constraint
     PRIVATE
       include
@@ -232,6 +235,7 @@ if(CATKIN_ENABLE_TESTING)
   add_dependencies(test_marginalize_variables
     ${catkin_EXPORTED_TARGETS}
   )
+  target_compile_features(test_marginalize_variables PRIVATE cxx_generic_lambdas)
   target_include_directories(test_marginalize_variables
     PRIVATE
       include

diff --git a/fuse_core/CMakeLists.txt b/fuse_core/CMakeLists.txt
@@ -10,6 +10,7 @@ set(build_depends
 find_package(catkin REQUIRED COMPONENTS
   ${build_depends}
 )
+set(CMAKE_CXX_EXTENSIONS OFF)
 find_package(Boost REQUIRED COMPONENTS serialization)
 find_package(Ceres REQUIRED)
 find_package(Eigen3 REQUIRED)
@@ -49,6 +50,7 @@ add_library(${PROJECT_NAME}
   src/uuid.cpp
   src/variable.cpp
 )
+target_compile_features(${PROJECT_NAME} PRIVATE cxx_generic_lambdas)
 add_dependencies(${PROJECT_NAME}
   ${catkin_EXPORTED_TARGETS}
 )