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Levi-ArmstrongLevi-Armstrong
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Add color, image and material classes
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15 files changed

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‎tesseract_common/CMakeLists.txt‎

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@@ -16,6 +16,7 @@ find_package(Boost REQUIRED COMPONENTS system filesystem serialization)
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find_package(Eigen3 REQUIRED)
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find_package(TinyXML2 REQUIRED)
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find_package(yaml-cpp REQUIRED)
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find_package(FreeImage REQUIRED)
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find_package(console_bridge REQUIRED)
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if(NOT TARGET console_bridge::console_bridge)
@@ -47,12 +48,18 @@ add_library(
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src/allowed_collision_matrix.cpp
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src/any_poly.cpp
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src/collision_margin_data.cpp
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src/color.cpp
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src/joint_state.cpp
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src/manipulator_info.cpp
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src/material.cpp
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src/kinematic_limits.cpp
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src/eigen_serialization.cpp
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src/image.cpp
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src/utils.cpp
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src/resource_locator.cpp
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src/shader_param.cpp
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src/shader_params.cpp
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src/shader_type.cpp
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src/types.cpp)
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target_link_libraries(
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${PROJECT_NAME}
@@ -64,6 +71,7 @@ target_link_libraries(
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Boost::filesystem
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Boost::serialization
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console_bridge::console_bridge
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${FreeImage_LIBRARIES}
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yaml-cpp)
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target_compile_options(${PROJECT_NAME} PUBLIC ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
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target_compile_definitions(${PROJECT_NAME} PUBLIC ${TESSERACT_COMPILE_DEFINITIONS})
@@ -77,6 +85,8 @@ target_code_coverage(
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ENABLE ${TESSERACT_ENABLE_CODE_COVERAGE})
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target_include_directories(${PROJECT_NAME} PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
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"$<INSTALL_INTERFACE:include>")
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target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
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${FreeImage_INCLUDE_DIRS})
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configure_package(NAMESPACE tesseract TARGETS ${PROJECT_NAME})
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@@ -91,6 +101,8 @@ install(
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install(
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FILES "${CMAKE_CURRENT_LIST_DIR}/cmake/tesseract_macros.cmake"
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"${CMAKE_CURRENT_LIST_DIR}/cmake/FindFreeImage.cmake"
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"${CMAKE_CURRENT_LIST_DIR}/cmake/FindPkgMacros.cmake"
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"${CMAKE_CURRENT_LIST_DIR}/cmake/FindTinyXML2.cmake"
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"${CMAKE_CURRENT_LIST_DIR}/cmake/Findtcmalloc.cmake"
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"${CMAKE_CURRENT_LIST_DIR}/cmake/Findtcmalloc_minimal.cmake"

‎tesseract_common/cmake/FindFreeImage.cmake‎

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@@ -0,0 +1,48 @@
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#-------------------------------------------------------------------
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# This file is part of the CMake build system for OGRE
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# (Object-oriented Graphics Rendering Engine)
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# For the latest info, see http://www.ogre3d.org/
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#
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# The contents of this file are placed in the public domain. Feel
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# free to make use of it in any way you like.
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#-------------------------------------------------------------------
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# - Try to find FreeImage
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# Once done, this will define
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#
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# FreeImage_FOUND - system has FreeImage
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# FreeImage_INCLUDE_DIRS - the FreeImage include directories
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# FreeImage_LIBRARIES - link these to use FreeImage
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include(FindPkgMacros)
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findpkg_begin(FreeImage)
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# Get path, convert backslashes as ${ENV_${var}}
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getenv_path(FREEIMAGE_HOME)
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# construct search paths
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set(FreeImage_PREFIX_PATH ${FREEIMAGE_HOME} ${ENV_FREEIMAGE_HOME})
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create_search_paths(FreeImage "")
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# redo search if prefix path changed
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clear_if_changed(FreeImage_PREFIX_PATH
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FreeImage_LIBRARY_FWK
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FreeImage_LIBRARY_REL
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FreeImage_LIBRARY_DBG
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FreeImage_INCLUDE_DIR
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)
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set(FreeImage_LIBRARY_NAMES freeimage freeimageLib FreeImage FreeImageLib)
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get_debug_names(FreeImage_LIBRARY_NAMES)
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use_pkgconfig(FreeImage_PKGC freeimage)
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findpkg_framework(FreeImage)
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find_path(FreeImage_INCLUDE_DIR NAMES FreeImage.h HINTS ${FreeImage_INC_SEARCH_PATH} ${FreeImage_PKGC_INCLUDE_DIRS})
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find_library(FreeImage_LIBRARY_REL NAMES ${FreeImage_LIBRARY_NAMES} HINTS ${FreeImage_LIB_SEARCH_PATH} ${FreeImage_PKGC_LIBRARY_DIRS} PATH_SUFFIXES "" Release RelWithDebInfo MinSizeRel)
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find_library(FreeImage_LIBRARY_DBG NAMES ${FreeImage_LIBRARY_NAMES_DBG} HINTS ${FreeImage_LIB_SEARCH_PATH} ${FreeImage_PKGC_LIBRARY_DIRS} PATH_SUFFIXES "" Debug)
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make_library_set(FreeImage_LIBRARY)
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findpkg_finish(FreeImage)

‎tesseract_common/cmake/FindPkgMacros.cmake‎

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#-------------------------------------------------------------------
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# This file is part of the CMake build system for OGRE
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# (Object-oriented Graphics Rendering Engine)
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# For the latest info, see http://www.ogre3d.org/
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#
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# The contents of this file are placed in the public domain. Feel
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# free to make use of it in any way you like.
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#-------------------------------------------------------------------
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##################################################################
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# Provides some common functionality for the FindPackage modules
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##################################################################
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# Begin processing of package
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macro(findpkg_begin PREFIX)
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if (NOT ${PREFIX}_FIND_QUIETLY)
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message(STATUS "Looking for ${PREFIX}...")
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endif ()
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endmacro(findpkg_begin)
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# Display a status message unless FIND_QUIETLY is set
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macro(pkg_message PREFIX)
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if (NOT ${PREFIX}_FIND_QUIETLY)
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message(STATUS ${ARGN})
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endif ()
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endmacro(pkg_message)
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# Get environment variable, define it as ENV_$var and make sure backslashes are converted to forward slashes
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macro(getenv_path VAR)
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set(ENV_${VAR} $ENV{${VAR}})
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# replace won't work if var is blank
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if (ENV_${VAR})
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string( REGEX REPLACE "\\\\" "/" ENV_${VAR} ${ENV_${VAR}} )
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endif ()
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endmacro(getenv_path)
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# Construct search paths for includes and libraries from a PREFIX_PATH
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macro(create_search_paths PREFIX PATH_SUFFIX)
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foreach(dir ${${PREFIX}_PREFIX_PATH})
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set(${PREFIX}_INC_SEARCH_PATH ${${PREFIX}_INC_SEARCH_PATH}
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${dir}/include ${dir}/Include ${dir}/include/${PREFIX}${PATH_SUFFIX} ${dir}/Headers)
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set(${PREFIX}_LIB_SEARCH_PATH ${${PREFIX}_LIB_SEARCH_PATH}
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${dir}/lib ${dir}/Lib ${dir}/lib/${PREFIX}${PATH_SUFFIX} ${dir}/Libs)
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set(${PREFIX}_BIN_SEARCH_PATH ${${PREFIX}_BIN_SEARCH_PATH}
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${dir}/bin)
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endforeach(dir)
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if(ANDROID)
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set(${PREFIX}_LIB_SEARCH_PATH ${${PREFIX}_LIB_SEARCH_PATH} ${OGRE_DEPENDENCIES_DIR}/lib/${ANDROID_ABI})
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endif()
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set(${PREFIX}_FRAMEWORK_SEARCH_PATH ${${PREFIX}_PREFIX_PATH})
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endmacro(create_search_paths)
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# clear cache variables if a certain variable changed
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macro(clear_if_changed TESTVAR)
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# test against internal check variable
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# HACK: Apparently, adding a variable to the cache cleans up the list
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# a bit. We need to also remove any empty strings from the list, but
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# at the same time ensure that we are actually dealing with a list.
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list(APPEND ${TESTVAR} "")
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list(REMOVE_ITEM ${TESTVAR} "")
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if (NOT "${${TESTVAR}}" STREQUAL "${${TESTVAR}_INT_CHECK}")
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message(STATUS "${TESTVAR} changed.")
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foreach(var ${ARGN})
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set(${var} "NOTFOUND" CACHE STRING "x" FORCE)
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endforeach(var)
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endif ()
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set(${TESTVAR}_INT_CHECK ${${TESTVAR}} CACHE INTERNAL "x" FORCE)
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endmacro(clear_if_changed)
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# Try to get some hints from pkg-config, if available
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macro(use_pkgconfig PREFIX PKGNAME)
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if(NOT ANDROID)
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find_package(PkgConfig)
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if (PKG_CONFIG_FOUND)
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pkg_check_modules(${PREFIX} ${PKGNAME})
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endif ()
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endif()
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endmacro (use_pkgconfig)
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# Couple a set of release AND debug libraries (or frameworks)
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macro(make_library_set PREFIX)
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if (${PREFIX}_FWK)
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set(${PREFIX} ${${PREFIX}_FWK})
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elseif (${PREFIX}_REL AND ${PREFIX}_DBG)
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set(${PREFIX} optimized ${${PREFIX}_REL} debug ${${PREFIX}_DBG})
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elseif (${PREFIX}_REL)
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set(${PREFIX} ${${PREFIX}_REL})
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elseif (${PREFIX}_DBG)
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set(${PREFIX} ${${PREFIX}_DBG})
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endif ()
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endmacro(make_library_set)
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# Generate debug names from given release names
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macro(get_debug_names PREFIX)
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foreach(i ${${PREFIX}})
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set(${PREFIX}_DBG ${${PREFIX}_DBG} ${i}d ${i}D ${i}_d ${i}_D ${i}_debug ${i})
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endforeach(i)
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endmacro(get_debug_names)
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# Add the parent dir from DIR to VAR
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macro(add_parent_dir VAR DIR)
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get_filename_component(${DIR}_TEMP "${${DIR}}/.." ABSOLUTE)
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set(${VAR} ${${VAR}} ${${DIR}_TEMP})
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endmacro(add_parent_dir)
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# Do the final processing for the package find.
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macro(findpkg_finish PREFIX)
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# skip if already processed during this run
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if (NOT ${PREFIX}_FOUND)
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if (${PREFIX}_INCLUDE_DIR AND ${PREFIX}_LIBRARY)
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set(${PREFIX}_FOUND TRUE)
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set(${PREFIX}_INCLUDE_DIRS ${${PREFIX}_INCLUDE_DIR})
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set(${PREFIX}_LIBRARIES ${${PREFIX}_LIBRARY})
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if (NOT ${PREFIX}_FIND_QUIETLY)
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message(STATUS "Found ${PREFIX}: ${${PREFIX}_LIBRARIES}")
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endif ()
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else ()
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if (NOT ${PREFIX}_FIND_QUIETLY)
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message(STATUS "Could not locate ${PREFIX}")
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endif ()
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if (${PREFIX}_FIND_REQUIRED)
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message(FATAL_ERROR "Required library ${PREFIX} not found! Install the library (including dev packages) and try again. If the library is already installed, set the missing variables manually in cmake.")
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endif ()
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endif ()
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mark_as_advanced(${PREFIX}_INCLUDE_DIR ${PREFIX}_LIBRARY ${PREFIX}_LIBRARY_REL ${PREFIX}_LIBRARY_DBG ${PREFIX}_LIBRARY_FWK)
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endif ()
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endmacro(findpkg_finish)
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# Slightly customised framework finder
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macro(findpkg_framework fwk)
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if(APPLE)
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set(${fwk}_FRAMEWORK_PATH
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${${fwk}_FRAMEWORK_SEARCH_PATH}
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${CMAKE_FRAMEWORK_PATH}
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~/Library/Frameworks
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/Library/Frameworks
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/System/Library/Frameworks
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/Network/Library/Frameworks
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${CMAKE_CURRENT_SOURCE_DIR}/lib/macosx/Release
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${CMAKE_CURRENT_SOURCE_DIR}/lib/macosx/Debug
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)
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# These could be arrays of paths, add each individually to the search paths
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foreach(i ${OGRE_PREFIX_PATH})
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set(${fwk}_FRAMEWORK_PATH ${${fwk}_FRAMEWORK_PATH} ${i}/lib/macosx/Release ${i}/lib/macosx/Debug)
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endforeach(i)
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foreach(i ${OGRE_PREFIX_BUILD})
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set(${fwk}_FRAMEWORK_PATH ${${fwk}_FRAMEWORK_PATH} ${i}/lib/macosx/Release ${i}/lib/macosx/Debug)
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endforeach(i)
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foreach(dir ${${fwk}_FRAMEWORK_PATH})
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set(fwkpath ${dir}/${fwk}.framework)
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if(EXISTS ${fwkpath})
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set(${fwk}_FRAMEWORK_INCLUDES ${${fwk}_FRAMEWORK_INCLUDES}
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${fwkpath}/Headers ${fwkpath}/PrivateHeaders)
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set(${fwk}_FRAMEWORK_PATH ${dir})
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if (NOT ${fwk}_LIBRARY_FWK)
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set(${fwk}_LIBRARY_FWK "-framework ${fwk}")
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endif ()
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endif(EXISTS ${fwkpath})
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endforeach(dir)
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endif(APPLE)
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endmacro(findpkg_framework)

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