219 lines
7.6 KiB
CMake
219 lines
7.6 KiB
CMake
project(gtsam LANGUAGES CXX)
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# We split the library in to separate subfolders, each containing
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# tests, timing, and an optional convenience library.
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# The following variable is the master list of subdirs to add
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set (gtsam_subdirs
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base
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basis
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geometry
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inference
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symbolic
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discrete
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hybrid
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linear
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nonlinear
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sam
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sfm
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slam
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navigation
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)
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set(gtsam_srcs)
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# Build 3rdparty separately
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message(STATUS "Building 3rdparty")
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add_subdirectory(3rdparty)
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set (3rdparty_srcs
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${eigen_headers} # Set by 3rdparty/CMakeLists.txt
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${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/CCOLAMD/Source/ccolamd.c
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${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/SuiteSparse_config/SuiteSparse_config.c)
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gtsam_assign_source_folders("${3rdparty_srcs}") # Create MSVC structure
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# To exclude a source from the library build (in any subfolder)
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# Add the full name to this list, as in the following example
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# Sources to remove from builds
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set (excluded_sources #"")
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"${CMAKE_CURRENT_SOURCE_DIR}/slam/serialization.cpp"
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)
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set (excluded_headers #"")
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"${CMAKE_CURRENT_SOURCE_DIR}/slam/serialization.h"
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)
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if(GTSAM_USE_QUATERNIONS)
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set(excluded_sources ${excluded_sources} "${CMAKE_CURRENT_SOURCE_DIR}/geometry/Rot3M.cpp")
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else()
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set(excluded_sources ${excluded_sources} "${CMAKE_CURRENT_SOURCE_DIR}/geometry/Rot3Q.cpp")
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endif()
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# if GTSAM_ENABLE_BOOST_SERIALIZATION is not set, then we need to exclude the following:
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if(NOT GTSAM_ENABLE_BOOST_SERIALIZATION)
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list (APPEND excluded_headers
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"${CMAKE_CURRENT_SOURCE_DIR}/gtsam/base/serializationTestHelpers.h"
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"${CMAKE_CURRENT_SOURCE_DIR}/gtsam/base/serialization.h"
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)
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endif()
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# if GTSAM_USE_BOOST_FEATURES is not set, then we need to exclude the following:
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if(NOT GTSAM_USE_BOOST_FEATURES)
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list (APPEND excluded_sources
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"${CMAKE_CURRENT_SOURCE_DIR}/inference/graph.h"
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"${CMAKE_CURRENT_SOURCE_DIR}/inference/graph-inl.h"
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)
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endif()
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# Common headers
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file(GLOB gtsam_core_headers "*.h")
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install(FILES ${gtsam_core_headers} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam)
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# assemble core libaries
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foreach(subdir ${gtsam_subdirs})
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# Build convenience libraries
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file(GLOB_RECURSE subdir_srcs "${subdir}/*.cpp" "${subdir}/*.h") # Include header files so they show up in Visual Studio
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list(REMOVE_ITEM subdir_srcs ${excluded_sources})
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file(GLOB subdir_test_files "${subdir}/tests/*")
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list(REMOVE_ITEM subdir_srcs ${subdir_test_files}) # Remove test files from sources compiled into library
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gtsam_assign_source_folders("${subdir_srcs}") # Create MSVC structure
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set(${subdir}_srcs ${subdir_srcs})
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# Build local library and tests
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message(STATUS "Building ${subdir}")
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add_subdirectory(${subdir})
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endforeach(subdir)
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# To add additional sources to gtsam when building the full library (static or shared)
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# append the subfolder with _srcs appended to the end to this list
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set(gtsam_srcs ${3rdparty_srcs})
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foreach(subdir ${gtsam_subdirs})
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list(APPEND gtsam_srcs ${${subdir}_srcs})
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endforeach(subdir)
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list(APPEND gtsam_srcs ${gtsam_core_headers})
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IF(MSVC)
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# Add precompiled header to sources
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include(gtsamAddPch)
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gtsamAddPch("precompiled_header.h" "precompiled_header.cpp" "${gtsam_srcs}")
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list(INSERT gtsam_srcs 0 "precompiled_header.cpp")
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ENDIF(MSVC)
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# Generate and install config and dllexport files
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configure_file(config.h.in config.h)
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set(library_name GTSAM) # For substitution in dllexport.h.in
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configure_file("${GTSAM_SOURCE_DIR}/cmake/dllexport.h.in" "dllexport.h")
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list(APPEND gtsam_srcs "${PROJECT_BINARY_DIR}/config.h" "${PROJECT_BINARY_DIR}/dllexport.h")
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install(FILES "${PROJECT_BINARY_DIR}/config.h" "${PROJECT_BINARY_DIR}/dllexport.h" DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/gtsam)
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if(GTSAM_SUPPORT_NESTED_DISSECTION)
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# target metis-gtsam-if is defined in both cases: embedded metis or system version:
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list(APPEND GTSAM_ADDITIONAL_LIBRARIES metis-gtsam-if)
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endif()
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# Link to cephes library
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list(APPEND GTSAM_ADDITIONAL_LIBRARIES cephes-gtsam-if)
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# Versions
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set(gtsam_version ${GTSAM_VERSION_STRING})
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set(gtsam_soversion ${GTSAM_VERSION_MAJOR})
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message(STATUS "GTSAM Version: ${gtsam_version}")
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message(STATUS "Install prefix: ${CMAKE_INSTALL_PREFIX}")
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# build shared and static versions of the library
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message(STATUS "Building GTSAM - as a ${GTSAM_LIBRARY_TYPE} library")
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# BUILD_SHARED_LIBS automatically defines static/shared libs
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# Here we ensure we control which type of library gtsam is specifically
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add_library(gtsam ${GTSAM_LIBRARY_TYPE} ${gtsam_srcs})
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target_link_libraries(gtsam PUBLIC ${GTSAM_BOOST_LIBRARIES})
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target_link_libraries(gtsam PUBLIC ${GTSAM_ADDITIONAL_LIBRARIES})
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# Apply build flags:
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gtsam_apply_build_flags(gtsam)
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set_target_properties(gtsam PROPERTIES
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OUTPUT_NAME gtsam
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CLEAN_DIRECT_OUTPUT 1
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VERSION ${gtsam_version}
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SOVERSION ${gtsam_soversion}
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LINKER_LANGUAGE CXX)
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# Append Eigen include path to either
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# system-eigen, or GTSAM eigen path
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target_link_libraries(gtsam PUBLIC Eigen3::Eigen)
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# MKL include dir:
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if (GTSAM_USE_EIGEN_MKL)
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target_include_directories(gtsam PUBLIC ${MKL_INCLUDE_DIR})
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endif()
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if (GOOGLE_PERFTOOLS_FOUND)
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target_link_libraries(gtsam PRIVATE ${GPERFTOOLS_TCMALLOC} ${GPERFTOOLS_PROFILER})
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endif()
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# Add includes for source directories 'BEFORE' boost and any system include
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# paths so that the compiler uses GTSAM headers in our source directory instead
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# of any previously installed GTSAM headers.
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target_include_directories(gtsam BEFORE PUBLIC
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# main gtsam includes:
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$<BUILD_INTERFACE:${GTSAM_SOURCE_DIR}>
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$<INSTALL_INTERFACE:include/>
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# config.h
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$<BUILD_INTERFACE:${GTSAM_BINARY_DIR}>
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# unit tests:
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$<BUILD_INTERFACE:${GTSAM_SOURCE_DIR}/CppUnitLite>
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)
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# 3rdparty libraries: use the "system" flag so they are included via "-isystem"
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# and warnings (and warnings-considered-errors) in those headers are not
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# reported as warnings/errors in our targets:
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target_include_directories(gtsam SYSTEM BEFORE PUBLIC
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# SuiteSparse_config
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/SuiteSparse_config>
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$<INSTALL_INTERFACE:include/gtsam/3rdparty/SuiteSparse_config>
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# Spectra
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/Spectra>
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# CCOLAMD
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/CCOLAMD/Include>
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$<INSTALL_INTERFACE:include/gtsam/3rdparty/CCOLAMD>
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)
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if(WIN32) # Add 'lib' prefix to static library to avoid filename collision with shared library
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if (NOT GTSAM_SHARED_LIB)
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set_target_properties(gtsam PROPERTIES
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PREFIX "lib")
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target_compile_definitions(gtsam PRIVATE GTSAM_IMPORT_STATIC)
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else()
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set_target_properties(gtsam PROPERTIES
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PREFIX ""
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DEFINE_SYMBOL GTSAM_EXPORTS
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RUNTIME_OUTPUT_DIRECTORY "${GTSAM_BINARY_DIR}/bin")
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endif()
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endif()
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if(WIN32) # library to help with demangling variable names on Windows
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target_link_libraries(gtsam PRIVATE Dbghelp)
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endif()
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install(
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TARGETS gtsam
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EXPORT GTSAM-exports
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LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
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ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
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RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
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list(APPEND GTSAM_EXPORTED_TARGETS gtsam)
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set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE)
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# Make sure that ccolamd compiles even in face of warnings
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# and suppress all warnings from 3rd party code if Release build
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if(WIN32)
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set_source_files_properties(${3rdparty_srcs} PROPERTIES COMPILE_FLAGS "/w")
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else()
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if("${CMAKE_BUILD_TYPE}" STREQUAL "Release")
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# Suppress all warnings from 3rd party sources.
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set_source_files_properties(${3rdparty_srcs} PROPERTIES COMPILE_FLAGS "-w -Wno-everything")
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else()
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set_source_files_properties(${3rdparty_srcs} PROPERTIES COMPILE_FLAGS "-Wno-error")
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endif()
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endif()
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