216 lines
7.1 KiB
CMake
216 lines
7.1 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) # Ships with Ubuntu 14.04 (Trusty)
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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("${CMAKE_SOURCE_DIR}/cmake/functions.cmake")
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google_initialize_cartographer_project()
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google_enable_testing()
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find_package(Boost REQUIRED COMPONENTS iostreams)
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find_package(Ceres REQUIRED)
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find_package(Eigen3 REQUIRED)
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find_package(LuaGoogle REQUIRED)
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find_package(Protobuf REQUIRED)
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include(FindPkgConfig)
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PKG_SEARCH_MODULE(CAIRO REQUIRED cairo>=1.12.16)
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# Only build the documentation if we can find Sphinx.
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find_package(Sphinx)
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if(SPHINX_FOUND)
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add_subdirectory("docs")
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endif()
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# Install catkin package.xml
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install(FILES package.xml DESTINATION share/cartographer)
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set(CARTOGRAPHER_CONFIGURATION_FILES_DIRECTORY "${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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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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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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file(GLOB_RECURSE ALL_PROTOS "*.proto")
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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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file(RELATIVE_PATH REL_FIL ${CMAKE_SOURCE_DIR} ${ABS_FIL})
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get_filename_component(DIR ${REL_FIL} DIRECTORY)
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get_filename_component(FIL_WE ${REL_FIL} NAME_WE)
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list(APPEND ALL_PROTO_SRCS "${CMAKE_BINARY_DIR}/${DIR}/${FIL_WE}.pb.cc")
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list(APPEND ALL_PROTO_HDRS "${CMAKE_BINARY_DIR}/${DIR}/${FIL_WE}.pb.h")
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add_custom_command(
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OUTPUT "${CMAKE_BINARY_DIR}/${DIR}/${FIL_WE}.pb.cc"
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"${CMAKE_BINARY_DIR}/${DIR}/${FIL_WE}.pb.h"
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COMMAND ${PROTOBUF_PROTOC_EXECUTABLE}
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ARGS --cpp_out ${CMAKE_BINARY_DIR} -I
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${CMAKE_SOURCE_DIR} ${ABS_FIL}
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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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add_library(cartographer ${ALL_SRCS})
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add_subdirectory("cartographer")
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target_include_directories(cartographer SYSTEM PUBLIC
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"${EIGEN3_INCLUDE_DIR}")
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target_link_libraries(cartographer PUBLIC ${EIGEN3_LIBRARIES})
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target_include_directories(cartographer SYSTEM PUBLIC
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"${CERES_INCLUDE_DIRS}")
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target_link_libraries(cartographer PUBLIC ${CERES_LIBRARIES})
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target_include_directories(cartographer SYSTEM PUBLIC
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"${LUA_INCLUDE_DIR}")
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target_link_libraries(cartographer PUBLIC ${LUA_LIBRARIES})
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target_include_directories(cartographer SYSTEM PUBLIC
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"${Boost_INCLUDE_DIRS}")
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target_link_libraries(cartographer PUBLIC ${Boost_LIBRARIES})
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target_link_libraries(cartographer PUBLIC webp)
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target_link_libraries(cartographer PUBLIC glog)
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target_link_libraries(cartographer PUBLIC gflags)
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target_include_directories(cartographer SYSTEM PUBLIC
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"${CAIRO_INCLUDE_DIRS}")
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target_link_libraries(cartographer PUBLIC ${CAIRO_LIBRARIES})
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target_include_directories(cartographer SYSTEM PUBLIC
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${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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target_link_libraries(cartographer PUBLIC ${PROTOBUF_LIBRARY} pthread)
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# Add the binary directory first, so that port.h is included after it has
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# been generated.
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target_include_directories(cartographer PUBLIC
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$<BUILD_INTERFACE:${CMAKE_BINARY_DIR}>
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$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}>
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$<INSTALL_INTERFACE:include>
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)
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# TODO(damonkohler): Create a testing library.
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target_include_directories(cartographer SYSTEM PRIVATE
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"${GMOCK_INCLUDE_DIRS}")
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target_link_libraries(cartographer PUBLIC ${GMOCK_LIBRARIES})
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set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}")
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set_target_properties(cartographer PROPERTIES
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COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
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install(TARGETS cartographer
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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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# Install source headers.
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file(GLOB_RECURSE hdrs "*.h")
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foreach(HDR ${hdrs})
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file(RELATIVE_PATH REL_FIL ${CMAKE_SOURCE_DIR} ${HDR})
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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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file(RELATIVE_PATH REL_FIL ${CMAKE_SOURCE_DIR} ${HDR})
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get_filename_component(DIR ${REL_FIL} DIRECTORY)
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get_filename_component(FIL_WE ${REL_FIL} NAME_WE)
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install(
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FILES
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${CMAKE_BINARY_DIR}/${DIR}/${FILE_WE}
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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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file(RELATIVE_PATH REL_FIL ${CMAKE_BINARY_DIR} ${HDR})
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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/${DIR}
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)
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endforeach()
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set(CARTOGRAPHER_LIBRARIES "")
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list(APPEND CARTOGRAPHER_LIBRARIES "${CMAKE_INSTALL_PREFIX}/lib/libcartographer.a")
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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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