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‎CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.5)
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project(SLIM LANGUAGES C CXX)
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set(CMAKE_BUILD_TYPE "Release")
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set(CMAKE_CXX_FLAGS "-std=c++14 -O3 -fPIC")
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list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
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set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
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find_package(CUDAToolkit REQUIRED)
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include(GNUInstallDirs)
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# Global CXX flags/options
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set(CMAKE_CXX_STANDARD 14)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_CXX_EXTENSIONS OFF)
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# Global CUDA CXX flags/options
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set(CUDA_HOST_COMPILER ${CMAKE_CXX_COMPILER})
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set(CMAKE_CUDA_STANDARD 14)
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set(CMAKE_CUDA_STANDARD_REQUIRED ON)
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set(CMAKE_CUDA_EXTENSIONS OFF)
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# Debug options
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set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS} -O0 -g")
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set(CMAKE_CUDA_FLAGS_DEBUG "${CMAKE_CUDA_FLAGS} -O0 -g -lineinfo")
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find_package(Eigen REQUIRED)
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find_package(Ceres REQUIRED)
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find_package(OpenCV REQUIRED)
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find_package(PCL REQUIRED)
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find_package(OpenMP REQUIRED)
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find_package(Pangolin REQUIRED)
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find_package(Boost REQUIRED COMPONENTS regex thread system filesystem)
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find_package(Boost REQUIRED COMPONENTS graph filesystem)
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add_definitions(-DBOOST_NO_CXX11_SCOPED_ENUMS)
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add_subdirectory(thirdparty/pmc)
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add_subdirectory(modules/spmm)
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add_subdirectory(backward-cpp)
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include_directories(
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${EIGEN3_INCLUDE_DIR}
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${CERES_INCLUDE_DIRS}
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${PCL_INCLUDE_DIRS}
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${OpenCV_INCLUDE_DIRS}
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${Pangolin_INCLUDE_DIR}
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${Boost_INCLUDE_DIRS}
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${Boost_INCLUDE_DIRS}
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${CMAKE_CURRENT_LIST_DIR}/include
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modules
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modules/factor
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modules/dbscan
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thirdparty
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thirdparty/pmc
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)
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add_library(SLIM
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modules/vector_map.cpp
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modules/viewer.cpp
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modules/frame.cpp
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modules/landmark.cpp
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modules/voxel.cpp
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modules/pcm_solver.cpp
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modules/extractor.cpp
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modules/scene_graph.cpp
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modules/multi_map_merger.cpp
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modules/clipper.cpp
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modules/locator.cpp
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modules/nfr_solver.cpp
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modules/json.cpp
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modules/observation.cpp
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modules/utility.cpp
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modules/factor/marginalization_factor.cpp
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modules/factor/laser_edge_factor.cpp
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modules/factor/laser_surf_factor.cpp
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modules/factor/relative_pose_factor.cpp
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modules/factor/prior_pose_factor.cpp
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modules/factor/local_param.cpp
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)
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target_link_libraries(SLIM
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${CERES_LIBRARIES}
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${PCL_LIBRARIES}
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${OpenCV_LIBRARIES}
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${Pangolin_LIBRARY}
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${Boost_LIBRARIES}
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${Boost_LIBRARY_DIRS}
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spmm
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OpenMP::OpenMP_CXX
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pmc_slim
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)
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add_executable(offline_mapping test/offline_mapping.cpp ${BACKWARD_ENABLE})
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target_link_libraries(offline_mapping SLIM )
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add_backward(offline_mapping)
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add_executable(cloud_visualizer test/cloud_visualizer.cpp)
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target_link_libraries(cloud_visualizer SLIM )
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add_executable(map_merge test/map_merge.cpp ${BACKWARD_ENABLE})
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target_link_libraries(map_merge SLIM )
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add_backward(map_merge)
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add_executable(map_visualizer test/map_visualizer.cpp ${BACKWARD_ENABLE})
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target_link_libraries(map_visualizer SLIM )
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add_backward(map_visualizer)
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add_executable(relocalization test/relocalization.cpp ${BACKWARD_ENABLE})
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target_link_libraries(relocalization SLIM )
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add_backward(relocalization)

‎backward-cpp/BackwardConfig.cmake‎

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#
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# BackwardMacros.cmake
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# Copyright 2013 Google Inc. All Rights Reserved.
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#
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# Permission is hereby granted, free of charge, to any person obtaining a copy
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# of this software and associated documentation files (the "Software"), to deal
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# in the Software without restriction, including without limitation the rights
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# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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# copies of the Software, and to permit persons to whom the Software is
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# furnished to do so, subject to the following conditions:
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#
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# The above copyright notice and this permission notice shall be included in
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# all copies or substantial portions of the Software.
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#
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# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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# SOFTWARE.
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###############################################################################
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# OPTIONS
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###############################################################################
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set(STACK_WALKING_UNWIND TRUE CACHE BOOL
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"Use compiler's unwind API")
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set(STACK_WALKING_BACKTRACE FALSE CACHE BOOL
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"Use backtrace from (e)glibc for stack walking")
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set(STACK_WALKING_LIBUNWIND FALSE CACHE BOOL
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"Use libunwind for stack walking")
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set(STACK_DETAILS_AUTO_DETECT TRUE CACHE BOOL
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"Auto detect backward's stack details dependencies")
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set(STACK_DETAILS_BACKTRACE_SYMBOL FALSE CACHE BOOL
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"Use backtrace from (e)glibc for symbols resolution")
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set(STACK_DETAILS_DW FALSE CACHE BOOL
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"Use libdw to read debug info")
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set(STACK_DETAILS_BFD FALSE CACHE BOOL
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"Use libbfd to read debug info")
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set(STACK_DETAILS_DWARF FALSE CACHE BOOL
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"Use libdwarf/libelf to read debug info")
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if(CMAKE_SOURCE_DIR STREQUAL CMAKE_CURRENT_SOURCE_DIR AND NOT DEFINED BACKWARD_TESTS)
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# If this is a top level CMake project, we most lixely want the tests
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set(BACKWARD_TESTS ON CACHE BOOL "Enable tests")
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else()
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set(BACKWARD_TESTS OFF CACHE BOOL "Enable tests")
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endif()
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###############################################################################
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# CONFIGS
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###############################################################################
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include(FindPackageHandleStandardArgs)
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if (STACK_WALKING_LIBUNWIND)
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# libunwind works on the macOS without having to add special include
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# paths or libraries
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if (NOT APPLE)
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find_path(LIBUNWIND_INCLUDE_DIR NAMES "libunwind.h")
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find_library(LIBUNWIND_LIBRARY unwind)
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if (LIBUNWIND_LIBRARY)
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include(CheckSymbolExists)
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check_symbol_exists(UNW_INIT_SIGNAL_FRAME libunwind.h HAVE_UNW_INIT_SIGNAL_FRAME)
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if (NOT HAVE_UNW_INIT_SIGNAL_FRAME)
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message(STATUS "libunwind does not support unwinding from signal handler frames")
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endif()
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endif()
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set(LIBUNWIND_INCLUDE_DIRS ${LIBUNWIND_INCLUDE_DIR})
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set(LIBDWARF_LIBRARIES ${LIBUNWIND_LIBRARY})
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find_package_handle_standard_args(libunwind DEFAULT_MSG
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LIBUNWIND_LIBRARY LIBUNWIND_INCLUDE_DIR)
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mark_as_advanced(LIBUNWIND_INCLUDE_DIR LIBUNWIND_LIBRARY)
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list(APPEND _BACKWARD_LIBRARIES ${LIBUNWIND_LIBRARY})
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endif()
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# Disable other unwinders if libunwind is found
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set(STACK_WALKING_UNWIND FALSE)
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set(STACK_WALKING_BACKTRACE FALSE)
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endif()
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if (${STACK_DETAILS_AUTO_DETECT})
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if(NOT CMAKE_VERSION VERSION_LESS 3.17)
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set(_name_mismatched_arg NAME_MISMATCHED)
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endif()
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# find libdw
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find_path(LIBDW_INCLUDE_DIR NAMES "elfutils/libdw.h" "elfutils/libdwfl.h")
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find_library(LIBDW_LIBRARY dw)
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set(LIBDW_INCLUDE_DIRS ${LIBDW_INCLUDE_DIR} )
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set(LIBDW_LIBRARIES ${LIBDW_LIBRARY} )
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find_package_handle_standard_args(libdw REQUIRED_VARS
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LIBDW_LIBRARY LIBDW_INCLUDE_DIR ${_name_mismatched_arg})
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mark_as_advanced(LIBDW_INCLUDE_DIR LIBDW_LIBRARY)
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# find libbfd
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find_path(LIBBFD_INCLUDE_DIR NAMES "bfd.h")
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find_path(LIBDL_INCLUDE_DIR NAMES "dlfcn.h")
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find_library(LIBBFD_LIBRARY bfd)
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find_library(LIBDL_LIBRARY dl)
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set(LIBBFD_INCLUDE_DIRS ${LIBBFD_INCLUDE_DIR} ${LIBDL_INCLUDE_DIR})
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set(LIBBFD_LIBRARIES ${LIBBFD_LIBRARY} ${LIBDL_LIBRARY})
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find_package_handle_standard_args(libbfd REQUIRED_VARS
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LIBBFD_LIBRARY LIBBFD_INCLUDE_DIR
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LIBDL_LIBRARY LIBDL_INCLUDE_DIR ${_name_mismatched_arg})
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mark_as_advanced(LIBBFD_INCLUDE_DIR LIBBFD_LIBRARY
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LIBDL_INCLUDE_DIR LIBDL_LIBRARY)
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# find libdwarf
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find_path(LIBDWARF_INCLUDE_DIR NAMES "libdwarf.h" PATH_SUFFIXES libdwarf)
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find_path(LIBELF_INCLUDE_DIR NAMES "libelf.h")
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find_path(LIBDL_INCLUDE_DIR NAMES "dlfcn.h")
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find_library(LIBDWARF_LIBRARY dwarf)
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find_library(LIBELF_LIBRARY elf)
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find_library(LIBDL_LIBRARY dl)
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set(LIBDWARF_INCLUDE_DIRS ${LIBDWARF_INCLUDE_DIR} ${LIBELF_INCLUDE_DIR} ${LIBDL_INCLUDE_DIR})
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set(LIBDWARF_LIBRARIES ${LIBDWARF_LIBRARY} ${LIBELF_LIBRARY} ${LIBDL_LIBRARY})
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find_package_handle_standard_args(libdwarf REQUIRED_VARS
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LIBDWARF_LIBRARY LIBDWARF_INCLUDE_DIR
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LIBELF_LIBRARY LIBELF_INCLUDE_DIR
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LIBDL_LIBRARY LIBDL_INCLUDE_DIR ${_name_mismatched_arg})
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mark_as_advanced(LIBDWARF_INCLUDE_DIR LIBDWARF_LIBRARY
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LIBELF_INCLUDE_DIR LIBELF_LIBRARY
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LIBDL_INCLUDE_DIR LIBDL_LIBRARY)
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if (LIBDW_FOUND)
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LIST(APPEND _BACKWARD_INCLUDE_DIRS ${LIBDW_INCLUDE_DIRS})
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LIST(APPEND _BACKWARD_LIBRARIES ${LIBDW_LIBRARIES})
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set(STACK_DETAILS_DW TRUE)
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set(STACK_DETAILS_BFD FALSE)
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set(STACK_DETAILS_DWARF FALSE)
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set(STACK_DETAILS_BACKTRACE_SYMBOL FALSE)
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elseif(LIBBFD_FOUND)
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LIST(APPEND _BACKWARD_INCLUDE_DIRS ${LIBBFD_INCLUDE_DIRS})
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LIST(APPEND _BACKWARD_LIBRARIES ${LIBBFD_LIBRARIES})
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# If we attempt to link against static bfd, make sure to link its dependencies, too
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get_filename_component(bfd_lib_ext "${LIBBFD_LIBRARY}" EXT)
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if (bfd_lib_ext STREQUAL "${CMAKE_STATIC_LIBRARY_SUFFIX}")
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list(APPEND _BACKWARD_LIBRARIES iberty z)
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endif()
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set(STACK_DETAILS_DW FALSE)
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set(STACK_DETAILS_BFD TRUE)
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set(STACK_DETAILS_DWARF FALSE)
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set(STACK_DETAILS_BACKTRACE_SYMBOL FALSE)
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elseif(LIBDWARF_FOUND)
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LIST(APPEND _BACKWARD_INCLUDE_DIRS ${LIBDWARF_INCLUDE_DIRS})
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LIST(APPEND _BACKWARD_LIBRARIES ${LIBDWARF_LIBRARIES})
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set(STACK_DETAILS_DW FALSE)
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set(STACK_DETAILS_BFD FALSE)
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set(STACK_DETAILS_DWARF TRUE)
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set(STACK_DETAILS_BACKTRACE_SYMBOL FALSE)
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else()
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set(STACK_DETAILS_DW FALSE)
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set(STACK_DETAILS_BFD FALSE)
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set(STACK_DETAILS_DWARF FALSE)
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set(STACK_DETAILS_BACKTRACE_SYMBOL TRUE)
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endif()
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else()
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if (STACK_DETAILS_DW)
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LIST(APPEND _BACKWARD_LIBRARIES dw)
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endif()
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if (STACK_DETAILS_BFD)
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LIST(APPEND _BACKWARD_LIBRARIES bfd dl)
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endif()
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if (STACK_DETAILS_DWARF)
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LIST(APPEND _BACKWARD_LIBRARIES dwarf elf)
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endif()
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endif()
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macro(map_definitions var_prefix define_prefix)
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foreach(def ${ARGN})
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if (${${var_prefix}${def}})
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LIST(APPEND _BACKWARD_DEFINITIONS "${define_prefix}${def}=1")
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else()
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LIST(APPEND _BACKWARD_DEFINITIONS "${define_prefix}${def}=0")
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endif()
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endforeach()
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endmacro()
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if (NOT _BACKWARD_DEFINITIONS)
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map_definitions("STACK_WALKING_" "BACKWARD_HAS_" UNWIND LIBUNWIND BACKTRACE)
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map_definitions("STACK_DETAILS_" "BACKWARD_HAS_" BACKTRACE_SYMBOL DW BFD DWARF)
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endif()
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set(BACKWARD_INCLUDE_DIR "${CMAKE_CURRENT_LIST_DIR}")
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set(BACKWARD_HAS_EXTERNAL_LIBRARIES FALSE)
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set(FIND_PACKAGE_REQUIRED_VARS BACKWARD_INCLUDE_DIR)
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if(DEFINED _BACKWARD_LIBRARIES)
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set(BACKWARD_HAS_EXTERNAL_LIBRARIES TRUE)
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list(APPEND FIND_PACKAGE_REQUIRED_VARS _BACKWARD_LIBRARIES)
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endif()
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include(FindPackageHandleStandardArgs)
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find_package_handle_standard_args(Backward
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REQUIRED_VARS ${FIND_PACKAGE_REQUIRED_VARS}
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)
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list(APPEND _BACKWARD_INCLUDE_DIRS ${BACKWARD_INCLUDE_DIR})
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macro(add_backward target)
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target_include_directories(${target} PRIVATE ${BACKWARD_INCLUDE_DIRS})
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set_property(TARGET ${target} APPEND PROPERTY COMPILE_DEFINITIONS ${BACKWARD_DEFINITIONS})
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set_property(TARGET ${target} APPEND PROPERTY LINK_LIBRARIES ${BACKWARD_LIBRARIES})
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endmacro()
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set(BACKWARD_INCLUDE_DIRS ${_BACKWARD_INCLUDE_DIRS} CACHE INTERNAL "_BACKWARD_INCLUDE_DIRS")
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set(BACKWARD_DEFINITIONS ${_BACKWARD_DEFINITIONS} CACHE INTERNAL "BACKWARD_DEFINITIONS")
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set(BACKWARD_LIBRARIES ${_BACKWARD_LIBRARIES} CACHE INTERNAL "BACKWARD_LIBRARIES")
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mark_as_advanced(BACKWARD_INCLUDE_DIRS BACKWARD_DEFINITIONS BACKWARD_LIBRARIES)
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# Expand each definition in BACKWARD_DEFINITIONS to its own cmake var and export
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# to outer scope
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foreach(var ${BACKWARD_DEFINITIONS})
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string(REPLACE "=" ";" var_as_list ${var})
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list(GET var_as_list 0 var_name)
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list(GET var_as_list 1 var_value)
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set(${var_name} ${var_value})
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mark_as_advanced(${var_name})
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endforeach()
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if (NOT TARGET Backward::Backward)
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add_library(Backward::Backward INTERFACE IMPORTED)
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set_target_properties(Backward::Backward PROPERTIES
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INTERFACE_INCLUDE_DIRECTORIES "${BACKWARD_INCLUDE_DIRS}"
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INTERFACE_COMPILE_DEFINITIONS "${BACKWARD_DEFINITIONS}"
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)
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if(BACKWARD_HAS_EXTERNAL_LIBRARIES)
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set_target_properties(Backward::Backward PROPERTIES
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INTERFACE_LINK_LIBRARIES "${BACKWARD_LIBRARIES}"
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)
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endif()
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endif()

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