2016-08-03 18:48:29 +08:00
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# Copyright 2016 The Cartographer Authors
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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2016-12-20 18:24:08 +08:00
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cmake_minimum_required(VERSION 2.8.12) # Ships with Ubuntu 14.04 (Trusty)
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2016-08-03 18:48:29 +08:00
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project(cartographer)
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2016-12-20 18:24:08 +08:00
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2016-08-03 18:48:29 +08:00
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set(CARTOGRAPHER_MAJOR_VERSION 1)
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set(CARTOGRAPHER_MINOR_VERSION 0)
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set(CARTOGRAPHER_PATCH_VERSION 0)
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set(CARTOGRAPHER_VERSION ${CARTOGRAPHER_MAJOR_VERSION}.${CARTOGRAPHER_MINOR_VERSION}.${CARTOGRAPHER_PATCH_VERSION})
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set(CARTOGRAPHER_SOVERSION ${CARTOGRAPHER_MAJOR_VERSION}.${CARTOGRAPHER_MINOR_VERSION})
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2017-11-22 23:29:01 +08:00
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option(BUILD_GRPC "build Cartographer gRPC support" false)
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set(GRPC_PLUGIN_PATH "/usr/local/bin/grpc_cpp_plugin")
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2016-08-03 18:48:29 +08:00
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2017-02-09 22:57:54 +08:00
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include("${PROJECT_SOURCE_DIR}/cmake/functions.cmake")
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2016-10-12 19:39:03 +08:00
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google_initialize_cartographer_project()
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2016-10-12 21:38:12 +08:00
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google_enable_testing()
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2016-08-03 18:48:29 +08:00
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2016-12-20 18:24:08 +08:00
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find_package(Boost REQUIRED COMPONENTS iostreams)
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2017-01-26 18:14:58 +08:00
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find_package(Ceres REQUIRED COMPONENTS SparseLinearAlgebraLibrary)
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2016-08-03 18:48:29 +08:00
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find_package(Eigen3 REQUIRED)
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find_package(LuaGoogle REQUIRED)
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2017-11-15 15:49:33 +08:00
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find_package(Protobuf 3.0.0 REQUIRED)
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2016-12-20 18:24:08 +08:00
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include(FindPkgConfig)
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2016-10-14 21:14:46 +08:00
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PKG_SEARCH_MODULE(CAIRO REQUIRED cairo>=1.12.16)
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2016-08-03 18:48:29 +08:00
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# Only build the documentation if we can find Sphinx.
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find_package(Sphinx)
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if(SPHINX_FOUND)
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2016-08-23 23:22:04 +08:00
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add_subdirectory("docs")
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2016-08-03 18:48:29 +08:00
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endif()
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# Install catkin package.xml
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install(FILES package.xml DESTINATION share/cartographer)
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2017-02-09 22:57:54 +08:00
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set(CARTOGRAPHER_CONFIGURATION_FILES_DIRECTORY ${CMAKE_INSTALL_PREFIX}/share/cartographer/configuration_files
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CACHE PATH ".lua configuration files directory")
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2016-08-03 18:48:29 +08:00
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install(DIRECTORY configuration_files DESTINATION share/cartographer/)
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2016-10-12 19:39:03 +08:00
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install(DIRECTORY cmake DESTINATION share/cartographer/)
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2016-12-20 18:24:08 +08:00
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file(GLOB_RECURSE ALL_SRCS "*.cc" "*.h")
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file(GLOB_RECURSE ALL_TESTS "*_test.cc")
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file(GLOB_RECURSE ALL_EXECUTABLES "*_main.cc")
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list(REMOVE_ITEM ALL_SRCS ${ALL_TESTS})
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list(REMOVE_ITEM ALL_SRCS ${ALL_EXECUTABLES})
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2017-11-22 23:29:01 +08:00
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file(GLOB_RECURSE ALL_GRPC_FILES "cartographer_grpc/*")
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if (NOT ${BUILD_GRPC})
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list_remove_item(ALL_SRCS ALL_GRPC_FILES)
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list_remove_item(ALL_TESTS ALL_GRPC_FILES)
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list_remove_item(ALL_EXECUTABLES ALL_GRPC_FILES)
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endif()
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2016-12-20 18:24:08 +08:00
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file(GLOB_RECURSE ALL_PROTOS "*.proto")
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2017-11-22 23:29:01 +08:00
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file(GLOB_RECURSE ALL_GRPC_SERVICES "*_service.proto")
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list(REMOVE_ITEM ALL_PROTOS ALL_GRPC_SERVICES)
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if (NOT ${BUILD_GRPC})
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list_remove_item(ALL_PROTOS ALL_GRPC_FILES)
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endif()
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2016-12-20 18:24:08 +08:00
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set(ALL_PROTO_SRCS)
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set(ALL_PROTO_HDRS)
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foreach(ABS_FIL ${ALL_PROTOS})
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2017-02-09 22:57:54 +08:00
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file(RELATIVE_PATH REL_FIL ${PROJECT_SOURCE_DIR} ${ABS_FIL})
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2016-12-20 18:24:08 +08:00
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get_filename_component(DIR ${REL_FIL} DIRECTORY)
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get_filename_component(FIL_WE ${REL_FIL} NAME_WE)
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2017-02-09 22:57:54 +08:00
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list(APPEND ALL_PROTO_SRCS "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.cc")
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list(APPEND ALL_PROTO_HDRS "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.h")
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2016-12-20 18:24:08 +08:00
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add_custom_command(
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2017-02-09 22:57:54 +08:00
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OUTPUT "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.cc"
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"${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.h"
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2016-12-20 18:24:08 +08:00
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COMMAND ${PROTOBUF_PROTOC_EXECUTABLE}
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2017-02-09 22:57:54 +08:00
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ARGS --cpp_out ${PROJECT_BINARY_DIR} -I
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${PROJECT_SOURCE_DIR} ${ABS_FIL}
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2016-12-20 18:24:08 +08:00
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DEPENDS ${ABS_FIL}
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COMMENT "Running C++ protocol buffer compiler on ${ABS_FIL}"
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VERBATIM
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)
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endforeach()
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set_source_files_properties(${ALL_PROTO_SRCS} ${ALL_PROTO_HDRS} PROPERTIES GENERATED TRUE)
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list(APPEND ALL_SRCS ${ALL_PROTO_SRCS} ${ALL_PROTO_HDRS})
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2017-11-22 23:29:01 +08:00
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if(${BUILD_GRPC})
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set(ALL_GRPC_SERVICE_SRCS)
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set(ALL_GRPC_SERVICE_HDRS)
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foreach(ABS_FIL ${ALL_GRPC_SERVICES})
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file(RELATIVE_PATH REL_FIL ${PROJECT_SOURCE_DIR} ${ABS_FIL})
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get_filename_component(DIR ${REL_FIL} DIRECTORY)
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get_filename_component(FIL_WE ${REL_FIL} NAME_WE)
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list(APPEND ALL_GRPC_SERVICE_SRCS "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.cc")
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list(APPEND ALL_GRPC_SERVICE_HDRS "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.h")
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list(APPEND ALL_GRPC_SERVICE_SRCS "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.grpc.pb.cc")
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list(APPEND ALL_GRPC_SERVICE_HDRS "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.grpc.pb.h")
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add_custom_command(
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OUTPUT "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.cc"
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"${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.h"
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"${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.grpc.pb.cc"
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"${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.grpc.pb.h"
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COMMAND ${PROTOBUF_PROTOC_EXECUTABLE}
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ARGS --grpc_out ${PROJECT_BINARY_DIR}
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--cpp_out ${PROJECT_BINARY_DIR}
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-I ${PROJECT_SOURCE_DIR}
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--plugin=protoc-gen-grpc=${GRPC_PLUGIN_PATH}
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${ABS_FIL}
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DEPENDS ${ABS_FIL}
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COMMENT "Running C++ protocol buffer compiler with gRPC support on ${ABS_FIL}"
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VERBATIM
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)
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endforeach()
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set_source_files_properties(${ALL_GRPC_SERVICE_SRCS} ${ALL_GRPC_SERVICE_HDRS} PROPERTIES GENERATED TRUE)
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list(APPEND ALL_SRCS ${ALL_GRPC_SERVICE_SRCS} ${ALL_GRPC_SERVICE_HDRS})
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endif()
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2017-01-09 20:49:21 +08:00
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add_library(${PROJECT_NAME} ${ALL_SRCS})
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2017-05-08 21:29:13 +08:00
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configure_file(
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${PROJECT_SOURCE_DIR}/cartographer/common/config.h.cmake
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${PROJECT_BINARY_DIR}/cartographer/common/config.h)
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2017-06-16 23:38:13 +08:00
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google_binary(cartographer_autogenerate_ground_truth
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SRCS
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cartographer/ground_truth/autogenerate_ground_truth_main.cc
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)
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2017-05-08 21:29:13 +08:00
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google_binary(cartographer_compute_relations_metrics
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SRCS
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cartographer/ground_truth/compute_relations_metrics_main.cc
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)
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2016-08-03 18:48:29 +08:00
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2017-05-03 22:55:13 +08:00
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foreach(ABS_FIL ${ALL_TESTS})
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file(RELATIVE_PATH REL_FIL ${PROJECT_SOURCE_DIR} ${ABS_FIL})
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get_filename_component(DIR ${REL_FIL} DIRECTORY)
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get_filename_component(FIL_WE ${REL_FIL} NAME_WE)
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2017-05-09 00:09:39 +08:00
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# Replace slashes as required for CMP0037.
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string(REPLACE "/" "." TEST_TARGET_NAME "${DIR}/${FIL_WE}")
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google_test("${TEST_TARGET_NAME}" ${ABS_FIL})
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2017-05-03 22:55:13 +08:00
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endforeach()
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2017-01-09 20:49:21 +08:00
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target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
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2016-12-20 18:24:08 +08:00
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"${EIGEN3_INCLUDE_DIR}")
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2017-01-09 20:49:21 +08:00
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target_link_libraries(${PROJECT_NAME} PUBLIC ${EIGEN3_LIBRARIES})
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2016-12-20 18:24:08 +08:00
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2017-01-09 20:49:21 +08:00
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target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
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2016-12-20 18:24:08 +08:00
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"${CERES_INCLUDE_DIRS}")
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2017-01-09 20:49:21 +08:00
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target_link_libraries(${PROJECT_NAME} PUBLIC ${CERES_LIBRARIES})
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2016-12-20 18:24:08 +08:00
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2017-01-09 20:49:21 +08:00
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target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
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2016-12-20 18:24:08 +08:00
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"${LUA_INCLUDE_DIR}")
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2017-01-09 20:49:21 +08:00
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target_link_libraries(${PROJECT_NAME} PUBLIC ${LUA_LIBRARIES})
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2016-12-20 18:24:08 +08:00
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2017-01-09 20:49:21 +08:00
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target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
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2016-12-20 18:24:08 +08:00
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"${Boost_INCLUDE_DIRS}")
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2017-01-09 20:49:21 +08:00
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target_link_libraries(${PROJECT_NAME} PUBLIC ${Boost_LIBRARIES})
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2016-12-20 18:24:08 +08:00
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2016-12-22 22:02:28 +08:00
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# We expect find_package(Ceres) to have located these for us.
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2017-01-09 20:49:21 +08:00
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target_link_libraries(${PROJECT_NAME} PUBLIC glog)
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target_link_libraries(${PROJECT_NAME} PUBLIC gflags)
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2016-12-20 18:24:08 +08:00
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2017-01-09 20:49:21 +08:00
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target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
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2016-12-20 18:24:08 +08:00
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"${CAIRO_INCLUDE_DIRS}")
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2017-01-09 20:49:21 +08:00
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target_link_libraries(${PROJECT_NAME} PUBLIC ${CAIRO_LIBRARIES})
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2016-12-20 18:24:08 +08:00
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2017-01-09 20:49:21 +08:00
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target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
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2016-12-20 18:24:08 +08:00
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${PROTOBUF_INCLUDE_DIR})
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# TODO(hrapp): This should not explicitly list pthread and use
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# PROTOBUF_LIBRARIES, but that failed on first try.
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2017-01-09 20:49:21 +08:00
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target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY} pthread)
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2016-12-20 18:24:08 +08:00
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# Add the binary directory first, so that port.h is included after it has
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# been generated.
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2017-01-09 20:49:21 +08:00
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target_include_directories(${PROJECT_NAME} PUBLIC
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2017-02-09 22:57:54 +08:00
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$<BUILD_INTERFACE:${PROJECT_BINARY_DIR}>
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$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}>
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2016-12-20 18:24:08 +08:00
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$<INSTALL_INTERFACE:include>
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2016-08-03 18:48:29 +08:00
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)
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2016-12-20 18:24:08 +08:00
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# TODO(damonkohler): Create a testing library.
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2017-01-09 20:49:21 +08:00
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target_include_directories(${PROJECT_NAME} SYSTEM PRIVATE
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2016-12-20 18:24:08 +08:00
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"${GMOCK_INCLUDE_DIRS}")
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2017-01-09 20:49:21 +08:00
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target_link_libraries(${PROJECT_NAME} PUBLIC ${GMOCK_LIBRARY})
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2016-12-20 18:24:08 +08:00
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set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}")
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2017-01-09 20:49:21 +08:00
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set_target_properties(${PROJECT_NAME} PROPERTIES
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2016-12-20 18:24:08 +08:00
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COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
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2017-01-09 20:49:21 +08:00
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install(
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TARGETS ${PROJECT_NAME}
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EXPORT CartographerExport
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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)
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2016-12-20 18:24:08 +08:00
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# Install source headers.
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file(GLOB_RECURSE hdrs "*.h")
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foreach(HDR ${hdrs})
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2017-02-09 22:57:54 +08:00
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file(RELATIVE_PATH REL_FIL ${PROJECT_SOURCE_DIR} ${HDR})
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2016-12-20 18:24:08 +08:00
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get_filename_component(INSTALL_DIR ${REL_FIL} DIRECTORY)
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install(
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FILES
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${HDR}
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DESTINATION
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include/${INSTALL_DIR}
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)
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endforeach()
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# Install generated headers.
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file(GLOB_RECURSE hdrs "*.h.in")
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foreach(HDR ${hdrs})
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2017-02-09 22:57:54 +08:00
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file(RELATIVE_PATH REL_FIL ${PROJECT_SOURCE_DIR} ${HDR})
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2016-12-20 18:24:08 +08:00
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get_filename_component(DIR ${REL_FIL} DIRECTORY)
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2017-11-16 16:16:34 +08:00
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get_filename_component(FILE_WE ${REL_FIL} NAME_WE)
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2016-12-20 18:24:08 +08:00
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install(
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FILES
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2017-02-09 22:57:54 +08:00
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${PROJECT_BINARY_DIR}/${DIR}/${FILE_WE}
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2016-12-20 18:24:08 +08:00
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DESTINATION
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include/${DIR}
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)
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endforeach()
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# Install proto headers.
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foreach(HDR ${ALL_PROTO_HDRS})
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2017-02-09 22:57:54 +08:00
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file(RELATIVE_PATH REL_FIL ${PROJECT_BINARY_DIR} ${HDR})
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2016-12-20 18:24:08 +08:00
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get_filename_component(DIR ${REL_FIL} DIRECTORY)
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install(
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FILES
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${HDR}
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DESTINATION
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include/${DIR}
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)
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endforeach()
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2017-01-09 20:49:21 +08:00
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set(CARTOGRAPHER_CMAKE_DIR share/cartographer/cmake)
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include(CMakePackageConfigHelpers)
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configure_package_config_file(
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2016-08-03 18:48:29 +08:00
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cartographer-config.cmake.in
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2017-02-09 22:57:54 +08:00
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${PROJECT_BINARY_DIR}/cmake/cartographer/cartographer-config.cmake
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PATH_VARS CARTOGRAPHER_CMAKE_DIR
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2016-08-03 18:48:29 +08:00
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INSTALL_DESTINATION ${CMAKE_INSTALL_PREFIX}/share/cartographer
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)
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install(
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2017-01-09 20:49:21 +08:00
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EXPORT CartographerExport
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DESTINATION share/cartographer/cmake/
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FILE CartographerTargets.cmake
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)
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install(
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2017-02-09 22:57:54 +08:00
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FILES ${PROJECT_BINARY_DIR}/cmake/cartographer/cartographer-config.cmake
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2017-01-09 20:49:21 +08:00
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DESTINATION share/cartographer/
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2016-08-03 18:48:29 +08:00
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)
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