111 lines
4.0 KiB
CMake
111 lines
4.0 KiB
CMake
# 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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cmake_minimum_required (VERSION 2.8.12)
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project(cartographer)
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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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include("${CMAKE_SOURCE_DIR}/cmake/functions.cmake")
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google_initialize_cartographer_project()
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google_enable_testing()
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include(FindPkgConfig)
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find_package(Boost REQUIRED COMPONENTS system iostreams)
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find_package(Ceres REQUIRED)
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find_package(Eigen3 REQUIRED)
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find_package(LuaGoogle REQUIRED)
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find_package(Protobuf REQUIRED)
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PKG_SEARCH_MODULE(CAIRO REQUIRED cairo>=1.12.16)
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# Only build the documentation if we can find Sphinx.
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find_package(Sphinx)
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if(SPHINX_FOUND)
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add_subdirectory("docs")
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endif()
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SET(ALL_LIBRARIES "" CACHE INTERNAL "ALL_LIBRARIES")
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# Install catkin package.xml
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install(FILES package.xml DESTINATION share/cartographer)
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set(CARTOGRAPHER_CONFIGURATION_FILES_DIRECTORY "${CMAKE_INSTALL_PREFIX}/share/cartographer/configuration_files")
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install(DIRECTORY configuration_files DESTINATION share/cartographer/)
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install(DIRECTORY cmake DESTINATION share/cartographer/)
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add_subdirectory("cartographer")
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include(CMakePackageConfigHelpers)
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# Create a cartographer-config.cmake file for the use from the install tree
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# and install it
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set(CARTOGRAPHER_LIBRARY_DIRS "${CMAKE_INSTALL_PREFIX}/lib")
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list(APPEND CARTOGRAPHER_LIBRARY_DIRS "${LUA_LIBRARY_DIR}")
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set(CARTOGRAPHER_INCLUDE_DIRS "${CMAKE_INSTALL_PREFIX}/include")
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list(APPEND CARTOGRAPHER_INCLUDE_DIRS "${LUA_INCLUDE_DIR}")
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list(APPEND CARTOGRAPHER_INCLUDE_DIRS "${CERES_INCLUDE_DIRS}")
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list(APPEND CARTOGRAPHER_INCLUDE_DIRS "${PROTOBUF_INCLUDE_DIR}")
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set(CARTOGRAPHER_CMAKE_DIR "${CMAKE_INSTALL_PREFIX}/share/cartographer/cmake")
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google_combined_library(cartographer
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SRCS "${ALL_LIBRARIES}"
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)
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# TODO(hrapp): Replacing this get_property with a generator expression is not
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# very easy: it needs to be expanded into a variable which is then used for
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# CONFIGURE_PACKAGE_CONFIG_FILE - I did not find an easy way to do it. A
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# complicated way is to file(READ the cartographer-config.cmake.in and
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# string(CONFIGURE it, then file(GENERATE the output file. I do not have the
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# stomach to attempt this right now.
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get_property(CARTOGRAPHER_LIBRARY_FILE TARGET cartographer PROPERTY LOCATION)
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get_filename_component(CARTOGRAPHER_LIBRARY_FILE_BASENAME
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${CARTOGRAPHER_LIBRARY_FILE} NAME)
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install(
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FILES
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${CARTOGRAPHER_LIBRARY_FILE}
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DESTINATION
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lib
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)
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set(CARTOGRAPHER_LIBRARIES "")
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list(APPEND CARTOGRAPHER_LIBRARIES "${CMAKE_INSTALL_PREFIX}/lib/${CARTOGRAPHER_LIBRARY_FILE_BASENAME}")
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list(APPEND CARTOGRAPHER_LIBRARIES "${CERES_LIBRARIES}")
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list(APPEND CARTOGRAPHER_LIBRARIES "${Boost_LIBRARIES}")
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list(APPEND CARTOGRAPHER_LIBRARIES "${LUA_LIBRARIES}")
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list(APPEND CARTOGRAPHER_LIBRARIES "${PROTOBUF_LIBRARIES}")
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list(APPEND CARTOGRAPHER_LIBRARIES "${CAIRO_LIBRARIES}")
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list(APPEND CARTOGRAPHER_LIBRARIES "webp")
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CONFIGURE_PACKAGE_CONFIG_FILE(
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cartographer-config.cmake.in
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"${CMAKE_BINARY_DIR}/cmake/cartographer/cartographer-config.cmake"
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PATH_VARS CARTOGRAPHER_INCLUDE_DIRS CARTOGRAPHER_LIBRARY_DIRS CARTOGRAPHER_CMAKE_DIR
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INSTALL_DESTINATION ${CMAKE_INSTALL_PREFIX}/share/cartographer
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)
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install(
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FILES
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"${CMAKE_BINARY_DIR}/cmake/cartographer/cartographer-config.cmake"
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DESTINATION
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share/cartographer/
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)
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