cartographer/CMakeLists.txt

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# Copyright 2016 The Cartographer Authors
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
cmake_minimum_required (VERSION 2.8.7)
project(cartographer)
set(CARTOGRAPHER_MAJOR_VERSION 1)
set(CARTOGRAPHER_MINOR_VERSION 0)
set(CARTOGRAPHER_PATCH_VERSION 0)
set(CARTOGRAPHER_VERSION ${CARTOGRAPHER_MAJOR_VERSION}.${CARTOGRAPHER_MINOR_VERSION}.${CARTOGRAPHER_PATCH_VERSION})
set(CARTOGRAPHER_SOVERSION ${CARTOGRAPHER_MAJOR_VERSION}.${CARTOGRAPHER_MINOR_VERSION})
include("${CMAKE_SOURCE_DIR}/cmake/functions.cmake")
google_initialize_cartographer_project()
google_enable_testing()
find_package(Boost REQUIRED COMPONENTS system iostreams)
find_package(Ceres REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(LuaGoogle REQUIRED)
find_package(Protobuf REQUIRED)
# Only build the documentation if we can find Sphinx.
find_package(Sphinx)
if(SPHINX_FOUND)
add_subdirectory("docs")
endif()
SET(ALL_LIBRARIES "" CACHE INTERNAL "ALL_LIBRARIES")
# Install catkin package.xml
install(FILES package.xml DESTINATION share/cartographer)
set(CARTOGRAPHER_CONFIGURATION_FILES_DIRECTORY "${CMAKE_INSTALL_PREFIX}/share/cartographer/configuration_files")
install(DIRECTORY configuration_files DESTINATION share/cartographer/)
install(DIRECTORY cmake DESTINATION share/cartographer/)
add_subdirectory("cartographer")
include(CMakePackageConfigHelpers)
# Create a cartographer-config.cmake file for the use from the install tree
# and install it
set(CARTOGRAPHER_LIBRARY_DIRS "${CMAKE_INSTALL_PREFIX}/lib")
list(APPEND CARTOGRAPHER_LIBRARY_DIRS "${LUA_LIBRARY_DIR}")
set(CARTOGRAPHER_INCLUDE_DIRS "${CMAKE_INSTALL_PREFIX}/include")
list(APPEND CARTOGRAPHER_INCLUDE_DIRS "${LUA_INCLUDE_DIR}")
list(APPEND CARTOGRAPHER_INCLUDE_DIRS "${CERES_INCLUDE_DIRS}")
list(APPEND CARTOGRAPHER_INCLUDE_DIRS "${PROTOBUF_INCLUDE_DIR}")
set(CARTOGRAPHER_CMAKE_DIR "${CMAKE_INSTALL_PREFIX}/share/cartographer/cmake")
google_combined_library(cartographer
SRCS "${ALL_LIBRARIES}"
)
get_property(CARTOGRAPHER_LIBRARY_FILE TARGET cartographer PROPERTY LOCATION)
get_filename_component(CARTOGRAPHER_LIBRARY_FILE_BASENAME
${CARTOGRAPHER_LIBRARY_FILE} NAME)
install(
FILES
${CARTOGRAPHER_LIBRARY_FILE}
DESTINATION
lib
)
set(CARTOGRAPHER_LIBRARIES "")
list(APPEND CARTOGRAPHER_LIBRARIES "${CMAKE_INSTALL_PREFIX}/lib/${CARTOGRAPHER_LIBRARY_FILE_BASENAME}")
list(APPEND CARTOGRAPHER_LIBRARIES "${CERES_LIBRARIES}")
list(APPEND CARTOGRAPHER_LIBRARIES "${Boost_LIBRARIES}")
list(APPEND CARTOGRAPHER_LIBRARIES "${LUA_LIBRARIES}")
list(APPEND CARTOGRAPHER_LIBRARIES "${PROTOBUF_LIBRARIES}")
list(APPEND CARTOGRAPHER_LIBRARIES "webp")
CONFIGURE_PACKAGE_CONFIG_FILE(
cartographer-config.cmake.in
"${CMAKE_BINARY_DIR}/cmake/cartographer/cartographer-config.cmake"
PATH_VARS CARTOGRAPHER_INCLUDE_DIRS CARTOGRAPHER_LIBRARY_DIRS CARTOGRAPHER_CMAKE_DIR
INSTALL_DESTINATION ${CMAKE_INSTALL_PREFIX}/share/cartographer
)
install(
FILES
"${CMAKE_BINARY_DIR}/cmake/cartographer/cartographer-config.cmake"
DESTINATION
share/cartographer/
)