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Fix Ceres inclusion and path export #422

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Merged
jprestwo merged 4 commits into from
Mar 6, 2026
Merged

Fix Ceres inclusion and path export #422

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1aa568f
Fix Ceres inclusion and path export
jprestwo Mar 6, 2026
a80afc8
Fix typo INCLUDE_DIRS -> LIBRARIES
jprestwo Mar 6, 2026
d3b965a
Harden logic for CERES_INCLUDEDIRS
jprestwo Mar 6, 2026
7087da2
Keep includes for target_include_directories
jprestwo Mar 6, 2026
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28 changes: 23 additions & 5 deletions fuse_core/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -12,13 +12,29 @@ find_package(catkin REQUIRED COMPONENTS
)
find_package(Boost REQUIRED COMPONENTS serialization)
find_package(Ceres REQUIRED)

if(TARGET Ceres::ceres)
get_target_property(CERES_INCLUDEDIRS Ceres::ceres INTERFACE_INCLUDE_DIRECTORIES)

if("${CERES_INCLUDEDIRS}" STREQUAL "CERES_INCLUDEDIRS-NOTFOUND")
message(STATUS "Ceres::ceres INTERFACE_INCLUDE_DIRS not found; CERES_INCLUDEDIRS will be empty")
set(CERES_INCLUDEDIRS, "")
else()
message(STATUS "Ceres::ceres INTERFACE_INCLUDE_DIRS: '${CERES_INCLUDEDIRS}'")
endif()
else()
message(WARNING "Ceres::ceres imported target not found; CERES_INCLUDEDIRS will be empty.")
set(CERES_INCLUDEDIRS "")
endif()

find_package(Eigen3 REQUIRED)
find_package(PkgConfig REQUIRED)
pkg_check_modules(libglog REQUIRED)

catkin_package(
INCLUDE_DIRS
include
${CERES_INCLUDEDIRS}
LIBRARIES
${PROJECT_NAME}
CATKIN_DEPENDS
Expand Down Expand Up @@ -73,15 +89,17 @@ target_include_directories(${PROJECT_NAME}
SYSTEM PUBLIC
${Boost_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
${CERES_INCLUDE_DIRS}
${CERES_INCLUDEDIRS}
${EIGEN3_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
)
target_link_libraries(${PROJECT_NAME}
${Boost_LIBRARIES}
${catkin_LIBRARIES}
${CERES_LIBRARIES}
${GLOG_LIBRARIES}
PUBLIC
Ceres::ceres
${catkin_LIBRARIES}
PRIVATE
${Boost_LIBRARIES}
${GLOG_LIBRARIES}
)
set_target_properties(${PROJECT_NAME}
PROPERTIES
Expand Down
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