377 lines
13 KiB
CMake
377 lines
13 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 3.2)
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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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option(BUILD_GRPC "build Cartographer gRPC support" false)
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set(CARTOGRAPHER_HAS_GRPC ${BUILD_GRPC})
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option(BUILD_PROMETHEUS "build Prometheus monitoring support" false)
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include("${PROJECT_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(Abseil REQUIRED)
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set(BOOST_COMPONENTS iostreams)
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if(WIN32)
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list(APPEND BOOST_COMPONENTS zlib)
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set(Boost_USE_STATIC_LIBS FALSE)
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endif()
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find_package(Boost REQUIRED COMPONENTS ${BOOST_COMPONENTS})
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find_package(Ceres REQUIRED COMPONENTS SuiteSparse)
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find_package(Eigen3 REQUIRED)
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find_package(LuaGoogle REQUIRED)
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if(WIN32)
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# On Windows, Protobuf is incorrectly found by the bundled CMake module, so prefer native CMake config.
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set(protobuf_MODULE_COMPATIBLE TRUE CACHE INTERNAL "")
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find_package(Protobuf 3.0.0 CONFIG)
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else()
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find_package(Protobuf 3.0.0 REQUIRED)
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endif()
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if (${BUILD_GRPC})
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find_package(async_grpc REQUIRED)
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endif()
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if(${BUILD_PROMETHEUS})
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find_package( ZLIB REQUIRED )
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endif()
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include(FindPkgConfig)
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if (NOT WIN32)
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PKG_SEARCH_MODULE(CAIRO REQUIRED cairo>=1.12.16)
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else()
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find_library(CAIRO_LIBRARIES cairo)
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endif()
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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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CACHE PATH ".lua configuration files directory")
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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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file(GLOB_RECURSE ALL_LIBRARY_HDRS "cartographer/*.h")
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file(GLOB_RECURSE ALL_LIBRARY_SRCS "cartographer/*.cc")
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file(GLOB_RECURSE TEST_LIBRARY_HDRS "cartographer/fake_*.h" "cartographer/*test_helpers*.h" "cartographer/mock_*.h")
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file(GLOB_RECURSE TEST_LIBRARY_SRCS "cartographer/fake_*.cc" "cartographer/*test_helpers*.cc" "cartographer/mock_*.cc")
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file(GLOB_RECURSE ALL_TESTS "cartographer/*_test.cc")
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file(GLOB_RECURSE ALL_EXECUTABLES "cartographer/*_main.cc")
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# Remove dotfiles/-folders that could potentially pollute the build.
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file(GLOB_RECURSE ALL_DOTFILES ".*/*")
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if (ALL_DOTFILES)
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list(REMOVE_ITEM ALL_LIBRARY_HDRS ${ALL_DOTFILES})
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list(REMOVE_ITEM ALL_LIBRARY_SRCS ${ALL_DOTFILES})
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list(REMOVE_ITEM TEST_LIBRARY_HDRS ${ALL_DOTFILES})
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list(REMOVE_ITEM TEST_LIBRARY_SRCS ${ALL_DOTFILES})
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list(REMOVE_ITEM ALL_TESTS ${ALL_DOTFILES})
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list(REMOVE_ITEM ALL_EXECUTABLES ${ALL_DOTFILES})
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endif()
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list(REMOVE_ITEM ALL_LIBRARY_SRCS ${ALL_EXECUTABLES})
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list(REMOVE_ITEM ALL_LIBRARY_SRCS ${ALL_TESTS})
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list(REMOVE_ITEM ALL_LIBRARY_HDRS ${TEST_LIBRARY_HDRS})
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list(REMOVE_ITEM ALL_LIBRARY_SRCS ${TEST_LIBRARY_SRCS})
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file(GLOB_RECURSE ALL_GRPC_FILES "cartographer/cloud/*")
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file(GLOB_RECURSE ALL_PROMETHEUS_FILES "cartographer/cloud/metrics/prometheus/*")
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list(REMOVE_ITEM ALL_GRPC_FILES ${ALL_PROMETHEUS_FILES})
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if (NOT ${BUILD_GRPC})
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list(REMOVE_ITEM ALL_LIBRARY_HDRS ${ALL_GRPC_FILES})
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list(REMOVE_ITEM ALL_LIBRARY_SRCS ${ALL_GRPC_FILES})
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list(REMOVE_ITEM TEST_LIBRARY_HDRS ${ALL_GRPC_FILES})
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list(REMOVE_ITEM TEST_LIBRARY_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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if (NOT ${BUILD_PROMETHEUS})
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list(REMOVE_ITEM ALL_LIBRARY_HDRS ${ALL_PROMETHEUS_FILES})
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list(REMOVE_ITEM ALL_LIBRARY_SRCS ${ALL_PROMETHEUS_FILES})
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list(REMOVE_ITEM TEST_LIBRARY_HDRS ${ALL_PROMETHEUS_FILES})
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list(REMOVE_ITEM TEST_LIBRARY_SRCS ${ALL_PROMETHEUS_FILES})
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list(REMOVE_ITEM ALL_TESTS ${ALL_PROMETHEUS_FILES})
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list(REMOVE_ITEM ALL_EXECUTABLES ${ALL_PROMETHEUS_FILES})
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endif()
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set(INSTALL_SOURCE_HDRS ${ALL_LIBRARY_HDRS} ${TEST_LIBRARY_HDRS})
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file(GLOB_RECURSE INTERNAL_HDRS "cartographer/*/internal/*.h")
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list(REMOVE_ITEM INSTALL_SOURCE_HDRS ${INTERNAL_HDRS})
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file(GLOB_RECURSE ALL_PROTOS "cartographer/*.proto")
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file(GLOB_RECURSE ALL_GRPC_SERVICES "cartographer/*_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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# TODO(cschuet): Move proto compilation to separate function.
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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 ${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 ${REL_FIL} NAME_WE)
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list(APPEND ALL_PROTO_SRCS "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.cc")
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list(APPEND ALL_PROTO_HDRS "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.h")
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add_custom_command(
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OUTPUT "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.cc"
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"${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.h"
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COMMAND ${PROTOBUF_PROTOC_EXECUTABLE}
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ARGS --cpp_out ${PROJECT_BINARY_DIR} -I
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${PROJECT_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_LIBRARY_HDRS ${ALL_PROTO_HDRS})
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list(APPEND ALL_LIBRARY_SRCS ${ALL_PROTO_SRCS})
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if(${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}/${FIL_WE}.pb.h")
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add_custom_command(
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OUTPUT "${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.cc"
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"${PROJECT_BINARY_DIR}/${DIR}/${FIL_WE}.pb.h"
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COMMAND ${PROTOBUF_PROTOC_EXECUTABLE}
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ARGS --cpp_out ${PROJECT_BINARY_DIR}
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-I ${PROJECT_SOURCE_DIR}
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${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_GRPC_SERVICE_SRCS} ${ALL_GRPC_SERVICE_HDRS} PROPERTIES GENERATED TRUE)
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list(APPEND ALL_LIBRARY_HDRS ${ALL_GRPC_SERVICE_HDRS})
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list(APPEND ALL_LIBRARY_SRCS ${ALL_GRPC_SERVICE_SRCS})
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endif()
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set(INSTALL_GENERATED_HDRS ${ALL_PROTO_HDRS} ${ALL_GRPC_SERVICE_HDRS})
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add_library(${PROJECT_NAME} STATIC ${ALL_LIBRARY_HDRS} ${ALL_LIBRARY_SRCS})
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configure_file(
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${PROJECT_SOURCE_DIR}/cartographer/common/config.h.cmake
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${PROJECT_BINARY_DIR}/cartographer/common/config.h)
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google_binary(cartographer_autogenerate_ground_truth
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SRCS
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cartographer/ground_truth/autogenerate_ground_truth_main.cc
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)
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google_binary(cartographer_compute_relations_metrics
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SRCS
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cartographer/ground_truth/compute_relations_metrics_main.cc
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)
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google_binary(cartographer_pbstream
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SRCS
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cartographer/io/pbstream_main.cc
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)
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google_binary(cartographer_print_configuration
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SRCS
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cartographer/common/print_configuration_main.cc
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)
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if(${BUILD_GRPC})
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google_binary(cartographer_grpc_server
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SRCS
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cartographer/cloud/map_builder_server_main.cc
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)
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target_link_libraries(cartographer_grpc_server PUBLIC grpc++)
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target_link_libraries(cartographer_grpc_server PUBLIC async_grpc)
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if(${BUILD_PROMETHEUS})
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target_link_libraries(cartographer_grpc_server PUBLIC ${ZLIB_LIBRARIES})
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target_link_libraries(cartographer_grpc_server PUBLIC prometheus-cpp-core)
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target_link_libraries(cartographer_grpc_server PUBLIC prometheus-cpp-pull)
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endif()
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endif()
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target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
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"${EIGEN3_INCLUDE_DIR}")
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target_link_libraries(${PROJECT_NAME} PUBLIC ${EIGEN3_LIBRARIES})
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target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
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"${CERES_INCLUDE_DIRS}")
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target_link_libraries(${PROJECT_NAME} PUBLIC ${CERES_LIBRARIES})
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target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
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"${LUA_INCLUDE_DIR}")
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target_link_libraries(${PROJECT_NAME} PUBLIC ${LUA_LIBRARIES})
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target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
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"${Boost_INCLUDE_DIRS}")
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target_link_libraries(${PROJECT_NAME} PUBLIC ${Boost_LIBRARIES})
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if (WIN32)
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find_package(glog REQUIRED)
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set(GLOG_LIBRARY glog::glog)
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else()
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set(GLOG_LIBRARY glog)
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endif()
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target_link_libraries(${PROJECT_NAME} PUBLIC ${GLOG_LIBRARY})
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target_link_libraries(${PROJECT_NAME} PUBLIC gflags)
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if(WIN32)
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# Needed to fix conflict with MSVC's error macro.
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target_compile_definitions(${PROJECT_NAME} PUBLIC -DGLOG_NO_ABBREVIATED_SEVERITIES)
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endif()
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if(MSVC)
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# Needed for VS 2017 5.8
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target_compile_definitions(${PROJECT_NAME} PUBLIC -D_ENABLE_EXTENDED_ALIGNED_STORAGE -D_USE_MATH_DEFINES)
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endif()
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if("${CAIRO_INCLUDE_DIRS}")
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target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
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"${CAIRO_INCLUDE_DIRS}")
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endif()
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target_link_libraries(${PROJECT_NAME} PUBLIC ${CAIRO_LIBRARIES})
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target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
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${PROTOBUF_INCLUDE_DIR})
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# TODO(hrapp): This should not explicitly list pthread and use
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# PROTOBUF_LIBRARIES, but that failed on first try.
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target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY} standalone_absl)
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if (NOT WIN32)
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target_link_libraries(${PROJECT_NAME} PUBLIC pthread)
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endif()
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if(${BUILD_GRPC})
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target_link_libraries(${PROJECT_NAME} PUBLIC grpc++)
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target_link_libraries(${PROJECT_NAME} PUBLIC async_grpc)
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endif()
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if(${BUILD_PROMETHEUS})
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target_link_libraries(${PROJECT_NAME} PUBLIC ${ZLIB_LIBRARIES})
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target_link_libraries(${PROJECT_NAME} PUBLIC prometheus-cpp-core)
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target_link_libraries(${PROJECT_NAME} PUBLIC prometheus-cpp-pull)
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target_compile_definitions(${PROJECT_NAME} PUBLIC USE_PROMETHEUS=1)
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endif()
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set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}")
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set_target_properties(${PROJECT_NAME} PROPERTIES
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COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
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set(TEST_LIB
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cartographer_test_library
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)
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add_library(${TEST_LIB} ${TEST_LIBRARY_HDRS} ${TEST_LIBRARY_SRCS})
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target_include_directories(${TEST_LIB} SYSTEM PRIVATE
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"${GMOCK_INCLUDE_DIRS}")
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# Needed for dynamically linked GTest on Windows.
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if (WIN32)
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target_compile_definitions(${TEST_LIB} PUBLIC -DGTEST_LINKED_AS_SHARED_LIBRARY)
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endif()
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target_link_libraries(${TEST_LIB} PUBLIC ${GMOCK_LIBRARY})
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target_link_libraries(${TEST_LIB} PUBLIC ${PROJECT_NAME})
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set_target_properties(${TEST_LIB} PROPERTIES
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COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
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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 ${REL_FIL} NAME_WE)
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# Replace slashes as required for CMP0037.
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string(REPLACE "/" "." TEST_TARGET_NAME "${DIR}/${FIL_WE}")
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google_test("${TEST_TARGET_NAME}" ${ABS_FIL})
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if(${BUILD_GRPC})
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target_link_libraries("${TEST_TARGET_NAME}" PUBLIC grpc++)
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target_link_libraries("${TEST_TARGET_NAME}" PUBLIC async_grpc)
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endif()
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if(${BUILD_PROMETHEUS})
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target_link_libraries("${TEST_TARGET_NAME}" PUBLIC ${ZLIB_LIBRARIES})
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target_link_libraries("${TEST_TARGET_NAME}" PUBLIC prometheus-cpp-core)
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target_link_libraries("${TEST_TARGET_NAME}" PUBLIC prometheus-cpp-pull)
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endif()
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target_link_libraries("${TEST_TARGET_NAME}" PUBLIC ${TEST_LIB})
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endforeach()
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# Add the binary directory first, so that port.h is included after it has
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# been generated.
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target_include_directories(${PROJECT_NAME} PUBLIC
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$<BUILD_INTERFACE:${PROJECT_BINARY_DIR}>
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$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}>
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$<INSTALL_INTERFACE:include>
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)
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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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foreach(HDR ${INSTALL_SOURCE_HDRS})
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file(RELATIVE_PATH REL_FIL ${PROJECT_SOURCE_DIR} ${HDR})
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get_filename_component(DIR ${REL_FIL} DIRECTORY)
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install(
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FILES ${HDR}
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DESTINATION include/${DIR}
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)
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endforeach()
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foreach(HDR ${INSTALL_GENERATED_HDRS})
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file(RELATIVE_PATH REL_FIL ${PROJECT_BINARY_DIR} ${HDR})
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get_filename_component(DIR ${REL_FIL} DIRECTORY)
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install(
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FILES ${HDR}
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DESTINATION include/${DIR}
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)
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endforeach()
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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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cartographer-config.cmake.in
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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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INSTALL_DESTINATION ${CMAKE_INSTALL_PREFIX}/share/cartographer
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)
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install(
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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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FILES ${PROJECT_BINARY_DIR}/cmake/cartographer/cartographer-config.cmake
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DESTINATION share/cartographer/
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)
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