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saurabh1002saurabh1002
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Add GitHub actions (#43)
* add this branch to check * change eigen url to fix ci, run ci on all branches push * apply patch to fix blas, from KISS-ICp * push patch * provide cmake version range * change macro name, conflicts with default cmake macro * add python api workflow * revert push branch check from all to main only
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‎.github/workflows/cpp.yml‎

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name: C++ API
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on:
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push:
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branches: ["main"]
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pull_request:
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branches: ["main"]
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env:
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BUILD_TYPE: Release
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jobs:
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cpp_api:
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runs-on: ${{ matrix.os }}
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strategy:
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matrix:
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os: [ubuntu-20.04, ubuntu-22.04, ubuntu-24.04]
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steps:
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- uses: actions/checkout@v3
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- name: Setup cmake
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uses: jwlawson/actions-setup-cmake@v1.13
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with:
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cmake-version: "3.25.x"
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- name: Configure CMake
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run: cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} ${{github.workspace}}/cpp
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- name: Build
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run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
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# As the previous job will always install the dependencies from cmake, and this is guaranteed to
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# work, we also want to support dev sandboxes where the main dependencies are already
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# pre-installed in the system. For now, we only support dev machines under a GNU/Linux
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# environmnets. If you are reading this and need the same functionallity in Windows/macOS please
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# open a ticket.
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cpp_api_dev:
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runs-on: ${{ matrix.os }}
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strategy:
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matrix:
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os: [ubuntu-20.04, ubuntu-22.04, ubuntu-24.04]
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steps:
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- uses: actions/checkout@v3
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- name: Cache dependencies
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uses: actions/cache@v2
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with:
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path: ~/.apt/cache
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key: ${{ runner.os }}-apt-${{ hashFiles('**/ubuntu_dependencies.yml') }}
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restore-keys: |
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${{ runner.os }}-apt-
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- name: Install dependencies
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run: |
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sudo apt-get update
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sudo apt-get install -y build-essential cmake git libeigen3-dev libtbb-dev libopencv-dev
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- name: Configure CMake
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run: cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} ${{github.workspace}}/cpp
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- name: Build
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run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}

‎.github/workflows/pre-commit.yml‎

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name: Style Check
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on:
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push:
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branches: ["main"]
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pull_request:
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branches: ["main"]
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jobs:
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pre-commit:
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name: Pre-commit checks
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v3
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- uses: actions/setup-python@v4
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with:
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python-version: "3.10"
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- uses: pre-commit/action@v3.0.0

‎.github/workflows/python.yml‎

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name: Python API
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on:
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push:
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branches: ["main"]
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pull_request:
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branches: ["main"]
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jobs:
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python_package:
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runs-on: ${{ matrix.os }}
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strategy:
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matrix:
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os: [ubuntu-24.04, ubuntu-22.04, ubuntu-20.04]
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steps:
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- uses: actions/checkout@v3
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- name: Set up Python3
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uses: actions/setup-python@v3
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- name: Install dependencies
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run: |
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python -m pip install --upgrade pip
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- name: Build pip package
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run: |
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python -m pip install --verbose ./python/
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- name: Test installation
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run: |
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map_closure_pipeline --version

‎cpp/3rdparty/eigen/eigen.cmake‎

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@@ -27,7 +27,9 @@ set(EIGEN_BUILD_BLAS OFF CACHE BOOL "Don't build blas module")
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set(EIGEN_BUILD_LAPACK OFF CACHE BOOL "Don't build lapack module")
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include(FetchContent)
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FetchContent_Declare(eigen URL https://github.com/nachovizzo/eigen/archive/refs/tags/3.4.90.tar.gz)
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FetchContent_Declare(
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eigen URL https://gitlab.com/libeigen/eigen/-/archive/3.4.0/eigen-3.4.0.tar.gz
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PATCH_COMMAND patch -p1 < ${CMAKE_CURRENT_LIST_DIR}/eigen.patch UPDATE_DISCONNECTED 1)
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FetchContent_GetProperties(eigen)
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if(NOT eigen_POPULATED)
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FetchContent_Populate(eigen)

‎cpp/3rdparty/eigen/eigen.patch‎

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commit cf82186416d04ea5df2a397d8fe09dc78d40ca65
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Author: Antonio Sánchez <cantonios@google.com>
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Date: Sat Mar 5 05:49:45 2022 +0000
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Adds new CMake Options for controlling build components.
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diff --git a/CMakeLists.txt b/CMakeLists.txt
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index de1c23e91..0af36a53a 100644
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--- a/CMakeLists.txt
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+++ b/CMakeLists.txt
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@@ -477,6 +477,9 @@ if(EIGEN_BUILD_TESTING)
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add_subdirectory(failtest)
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endif()
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+include(CMakeDetermineFortranCompiler)
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+option(EIGEN_BUILD_BLAS "Toggles the building of the Eigen Blas library" ${CMAKE_Fortran_COMPILER})
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+option(EIGEN_BUILD_LAPACK "Toggles the building of the included Eigen LAPACK library" ${CMAKE_Fortran_COMPILER})
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if(EIGEN_LEAVE_TEST_IN_ALL_TARGET)
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add_subdirectory(blas)
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add_subdirectory(lapack)
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@@ -611,6 +614,8 @@ set_target_properties (eigen PROPERTIES EXPORT_NAME Eigen)
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install (TARGETS eigen EXPORT Eigen3Targets)
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+option(EIGEN_BUILD_CMAKE_PACKAGE "Enables the creation of EigenConfig.cmake and related files" ON)
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+if(EIGEN_BUILD_CMAKE_PACKAGE)
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configure_package_config_file (
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${CMAKE_CURRENT_SOURCE_DIR}/cmake/Eigen3Config.cmake.in
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${CMAKE_CURRENT_BINARY_DIR}/Eigen3Config.cmake
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@@ -655,6 +660,7 @@ install (FILES ${CMAKE_CURRENT_BINARY_DIR}/Eigen3Config.cmake
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# Add uninstall target
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add_custom_target ( uninstall
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COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_SOURCE_DIR}/cmake/EigenUninstall.cmake)
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+endif()
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if (EIGEN_SPLIT_TESTSUITE)
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ei_split_testsuite("${EIGEN_SPLIT_TESTSUITE}")
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diff --git a/blas/CMakeLists.txt b/blas/CMakeLists.txt
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index 8d3cb86dc..c530957fb 100644
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--- a/blas/CMakeLists.txt
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+++ b/blas/CMakeLists.txt
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@@ -1,6 +1,7 @@
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project(EigenBlas CXX)
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+if(EIGEN_BUILD_BLAS)
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include(CheckLanguage)
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check_language(Fortran)
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if(CMAKE_Fortran_COMPILER)
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@@ -59,4 +60,4 @@ if(EIGEN_BUILD_TESTING)
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endif()
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endif()
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-
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+endif()
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diff --git a/lapack/CMakeLists.txt b/lapack/CMakeLists.txt
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index c8ca64001..8d6d75401 100644
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--- a/lapack/CMakeLists.txt
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+++ b/lapack/CMakeLists.txt
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@@ -1,5 +1,7 @@
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project(EigenLapack CXX)
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+if(EIGEN_BUILD_LAPACK AND EIGEN_BUILD_BLAS)
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+
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include(CheckLanguage)
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check_language(Fortran)
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if(CMAKE_Fortran_COMPILER)
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@@ -457,3 +459,6 @@ if(EXISTS ${eigen_full_path_to_testing_lapack})
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endif()
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+elseif(EIGEN_BUILD_LAPACK AND NOT EIGEN_BUILD_BLAS)
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+ message(FATAL_ERROR "EIGEN_BUILD_LAPACK requires EIGEN_BUILD_BLAS")
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+endif() #EIGEN_BUILD_LAPACK

‎cpp/3rdparty/find_dependencies.cmake‎

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# will transfer the control from the calling scope to the function and the back to the calling scope once the function
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# as done whatever it has to do. This transfer will cause how black magic forwarded include dirs for the OpenCV targets to dont work anymore, as this will be confined to the local scope of the cmake function.
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# The easier solution for us was to just change function to macro, as the later will just copy paste the content adjusting the parameters (exactly like a C macro). This is horrible of course, but it is caused by the build system of OpenCV.
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macro(find_dependency PACKAGE_NAME TARGET_NAME INCLUDED_CMAKE_PATH)
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macro(find_external_dependency PACKAGE_NAME TARGET_NAME INCLUDED_CMAKE_PATH)
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string(TOUPPER ${PACKAGE_NAME} PACKAGE_NAME_UP)
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set(USE_FROM_SYSTEM_OPTION "USE_SYSTEM_${PACKAGE_NAME_UP}")
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if(${${USE_FROM_SYSTEM_OPTION}})
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endif()
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endmacro()
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find_dependency("Eigen3" "Eigen3::Eigen" "${CMAKE_CURRENT_LIST_DIR}/eigen/eigen.cmake")
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find_dependency("TBB" "TBB::tbb" "${CMAKE_CURRENT_LIST_DIR}/tbb/tbb.cmake")
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find_dependency("OpenCV" "opencv_features2d" "${CMAKE_CURRENT_LIST_DIR}/opencv/opencv.cmake")
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find_dependency("tsl-robin-map" "tsl::robin_map"
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"${CMAKE_CURRENT_LIST_DIR}/tsl_robin/tsl_robin.cmake")
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find_external_dependency("Eigen3" "Eigen3::Eigen" "${CMAKE_CURRENT_LIST_DIR}/eigen/eigen.cmake")
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find_external_dependency("TBB" "TBB::tbb" "${CMAKE_CURRENT_LIST_DIR}/tbb/tbb.cmake")
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find_external_dependency("OpenCV" "opencv_features2d"
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"${CMAKE_CURRENT_LIST_DIR}/opencv/opencv.cmake")
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find_external_dependency("tsl-robin-map" "tsl::robin_map"
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"${CMAKE_CURRENT_LIST_DIR}/tsl_robin/tsl_robin.cmake")
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include(${CMAKE_CURRENT_LIST_DIR}/hbst/hbst.cmake)

‎cpp/CMakeLists.txt‎

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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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cmake_minimum_required(VERSION 3.22)
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cmake_minimum_required(VERSION 3.16...3.26)
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project(map_closures_cpp VERSION 1.0.0 LANGUAGES CXX)
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option(USE_SYSTEM_EIGEN3 "Use system pre-installed Eigen" ON)

‎python/CMakeLists.txt‎

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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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cmake_minimum_required(VERSION 3.22)
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cmake_minimum_required(VERSION 3.16...3.26)
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project(map_closure_pybind VERSION 1.0.0 LANGUAGES CXX)
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# Set build type

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