mirror of
https://github.com/introlab/rtabmap.git
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Adding OpenGV as submodule (optional) and use Github actions for windows CI (#1656)
* Adding OpenGV as submodule (optional) * Remove submodule to migrate to FetchContent * using FetchContent * remove empty .gitmodules * Fixing OpenGV not able to find eigen on windows * patching opengv to adjust -march=native based on PCL * fixing patching on windows * eigen fix * PR cancel on-going CI builds if new commit is added to PR * try another approach * updating patch with some logs * more debug mesage * fixing EIGEN_INCLUDE_DIR * enable rolling_builds on appveyor * removed rolling_builds appveyor * fixing eigen cache * test * more debug logs * another try * cleanup * updated appveyor to work with fetchcontent * removed mkdir build (appveyor) * appveyor: trying ninja to increase CI speed * removed mkdr * appveyor: spitting opengv and rtabmap builds to be under 60 min per job * appveyor: caching dependencies * using global configuration * using baked image * fixing wget in ps * fixing not support for * pip error * reverted pip install * fixed realsense cache * fixing multi step build * removing baked image * typo * Windows: Converted appveyor to github actions * updated boost version * fixing boost * udpated boost config * boost... * platform_version * install boost directly * silent boost install * very silent boost * fixing ls * added boost install dir * showing boost install dir * moved windows dependencies in external action file * explicitly save boost cache to same time on iterations * pip install gdown * update * caching more deps * caching all depts * removed explicit boost cache save * mscv 14.0 * forcing building visual studio 14 2015 * installing v12 in 2022 instead * setup cmd prompt * init right toolset * fixing system version for opengv compilation error * fixing package and artifact * CMAKE_VS_WINDOWS_TARGET_PLATFORM_VERSION * removing cmd * find manually psapi.lib * resolve * refactor psapi env * forcing 10.0.19041.0 * using windows=2022 runner instead * added vcpkg * commenting windows-latest for now * trying vcpkg instead * search path * updated path * moved json * removed deleted file for git * adding a real version * using version-string * cleanup vcpkg * building artifacts with vcpkg * removed old windows build approach, added custom dependencies (gtsam, libpointmatcher) to vcpkg build * udpated vcpkg version for issue https://github.com/microsoft/vcpkg/pull/49103 * try with minimal dep first * disable opengv for now * try vcpkg single compilation * space * updated link * fixed qupote * fixing cache name * adding debug folder * adjust path * adjust path * providing vcpkg binaries instead * ident * added triplet * added BOOST_ROOT * boost root * boost root * fixed path * adding eigen headers * try path * cmake prefix path * boost timer def * libnabo fixes * pointmatcher prefix * disabling pointmathcer tests * updated cmake parameters * changed how file is downloaded * trying curl instead * puttoing backe InvokeWeb because it is a dropbox issue * skipping optional deps for now * ficing env variable * triplet * installing triplets * not overriding default vcpkg env variables * missing path * manifet install off * that was working locally * missing protobuf path * fixing tiff not found * fixing vtk not found * more vtk fixes * another thy * changing download url * updated url * try * shoudl work now * protobuf exe * readding tiff * explicit vcpkg installed folder * missing commands * try without tiff * ficing vtk comple path * -DPSAPI_LIBRARIES=Psapi.lib * quoting * fixing psapi required * Set up MSVC Developer Command Prompt * disabling pckaging for now * openni.ini * renabling packing * Added stripped deps * fix name * updated binaries * format * updated opengv eigen path * added tbb dep * updatd archive name with vs version * updated archive in action * fixing patch error * corrupted * updated gtsam version / vcpkg * removed appveyor. Set internal opengv build disabled by defaut (because build can be very long on some machines), will enable it inside the ros release branches instead. * updated opengv patch * gtsam mkl dep * updated vcpkg binaries * updated patches * removed mkl dep * missing eigen in gtsam dep * disabling gtsam till we find a compatible version locally * all working locally! * removed ninja * working python calls * fixed hard symlink for python3.dll * fixed qt missing png, fixed opengv not finding eigen with config, fixed python3.dll missing * fixed flaoting dockwidget on start, removed cmd line window when launching bundled app * use sub-packages cudnn * Added cuda dev workflow * fixed archive name * Updated deps with pytorch cuda * updating ci PATH * fixing ci build without torch * rename cuda artifacts * cache cuda, add job to test internal opengv build * Updated output artifacts zip name * windows package: only zip on pull request * Change USE_INTERNAL_OPENGV to BUILD_OPENGV * use use-github-cache * updated artifacts path
This commit is contained in:
matlabbe
@@ -95,9 +95,11 @@ IF(BUILD_AS_BUNDLE AND (APPLE OR WIN32))
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DESTINATION ${thirdparty_dest_dir}
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COMPONENT runtime
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REGEX ".*pdb" EXCLUDE)
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INSTALL(FILES "${OpenNI2_BIN_DIR}/OpenNI.ini"
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IF(NOT WIN32)
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INSTALL(FILES "${OpenNI2_BIN_DIR}/OpenNI.ini"
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DESTINATION ${thirdparty_dest_dir}
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COMPONENT runtime)
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ENDIF()
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ENDIF(OpenNI2_FOUND)
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IF(k4a_FOUND)
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@@ -138,23 +140,107 @@ IF(BUILD_AS_BUNDLE AND (APPLE OR WIN32))
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ENDIF(OrbbecSDK_FOUND)
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IF(Torch_FOUND)
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# Install needed cudnn_ops_infer64_8.dll and cudnn_cnn_infer64_8.dll
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# TODO: should be a more general way to include them if version is different
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# Install needed cudnn dlls
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IF(WIN32 AND CUDA_FOUND)
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find_file(CUDNN_OPS_DLL NAMES cudnn_ops_infer64_8.dll)
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find_file(CUDNN_CNN_DLL NAMES cudnn_cnn_infer64_8.dll)
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IF(CUDNN_OPS_DLL AND CUDNN_CNN_DLL)
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MESSAGE(STATUS "Found ${CUDNN_OPS_DLL}")
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MESSAGE(STATUS "Found ${CUDNN_CNN_DLL}")
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INSTALL(FILES ${CUDNN_OPS_DLL} ${CUDNN_CNN_DLL}
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DESTINATION ${thirdparty_dest_dir}
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COMPONENT runtime)
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ELSE()
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MESSAGE(AUTHOR_WARNING "Using Torch with CUDA, but cudnn_ops_infer64_8.dll and cudnn_cnn_infer64_8.dll are not found on the PATH, so it won't be added to package.")
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find_path(cuDNN_BIN_DIR NAMES cudnn.dll cudnn64.dll cudnn64_9.dll)
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IF(NOT cuDNN_BIN_DIR)
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MESSAGE(FATAL_ERROR "cudnn dlls not found! Make sure the dlls are in a directory on your PATH.")
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ENDIF(NOT cuDNN_BIN_DIR)
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MESSAGE(STATUS "cuDNN_BIN_DIR = ${cuDNN_BIN_DIR}")
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file(GLOB CUDNN_DLLS "${cuDNN_BIN_DIR}/cudnn*.dll")
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IF(CUDNN_DLLS)
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MESSAGE(STATUS "Found cuDNN DLLs: ${CUDNN_DLLS}")
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INSTALL(FILES ${CUDNN_DLLS}
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DESTINATION ${thirdparty_dest_dir}
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COMPONENT runtime)
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ENDIF()
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ENDIF(WIN32 AND CUDA_FOUND)
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ENDIF(Torch_FOUND)
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set(python_pyd_dir "")
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IF(Python3_FOUND)
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# bundle python3
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IF(WIN32)
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set(python_pyd_dir "bin/Lib/site-packages")
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set(PYTHON_ZIP_NAME "python${Python3_VERSION_MAJOR}${Python3_VERSION_MINOR}.zip")
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get_filename_component(PYTHON_ROOT "${Python3_EXECUTABLE}" DIRECTORY)
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file(TO_CMAKE_PATH "${Python3_STDLIB}" SANITIZED_STDLIB)
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MESSAGE(STATUS "Python3_EXECUTABLE=${Python3_EXECUTABLE}")
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MESSAGE(STATUS "Python3_STDLIB=${SANITIZED_STDLIB}")
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install(FILES "${Python3_EXECUTABLE}" DESTINATION bin COMPONENT runtime)
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# when using python-opencv, it expects python3.dll, not python312.dll
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get_filename_component(VCPKG_TRIPLET_ROOT "${PYTHON_TOOLS_DIR}/../../" ABSOLUTE)
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set(VCPKG_BIN_DIR "${VCPKG_TRIPLET_ROOT}/bin")
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find_file(PYTHON3_STABLE_DLL
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NAMES python3.dll
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PATHS "${VCPKG_BIN_DIR}"
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NO_DEFAULT_PATH
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)
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if(PYTHON3_STABLE_DLL)
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message(STATUS "Found python3.dll at: ${PYTHON3_STABLE_DLL}")
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install(FILES "${PYTHON3_STABLE_DLL}" DESTINATION bin COMPONENT runtime)
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endif()
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# install python Lib in python312.zip (without site-packages, which is installed separatly afterwards)
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file(TO_CMAKE_PATH "${Python3_STDLIB}" SANITIZED_STDLIB)
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file(GLOB LIB_CONTENTS RELATIVE "${SANITIZED_STDLIB}" "${SANITIZED_STDLIB}/*")
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list(REMOVE_ITEM LIB_CONTENTS "site-packages")
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install(CODE "
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execute_process(
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COMMAND \"${CMAKE_COMMAND}\" -E tar cf \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/bin/${PYTHON_ZIP_NAME}\" --format=zip -- ${LIB_CONTENTS}
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WORKING_DIRECTORY \"${SANITIZED_STDLIB}\"
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)
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" COMPONENT runtime)
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set(PYTHON_SITE_PACKAGES "${SANITIZED_STDLIB}/site-packages")
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install(DIRECTORY "${PYTHON_SITE_PACKAGES}/"
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DESTINATION "${thirdparty_dest_dir}/Lib/site-packages"
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COMPONENT runtime
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PATTERN "*.exe" EXCLUDE
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PATTERN "*.lib" EXCLUDE
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PATTERN "*.hpp" EXCLUDE
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PATTERN "*.h" EXCLUDE
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PATTERN "*/torch/*" EXCLUDE
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)
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if(EXISTS "${PYTHON_SITE_PACKAGES}/torch")
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install(DIRECTORY "${PYTHON_SITE_PACKAGES}/torch"
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DESTINATION "${thirdparty_dest_dir}/Lib/site-packages/"
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COMPONENT runtime
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PATTERN "*.exe" EXCLUDE
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PATTERN "*.lib" EXCLUDE
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PATTERN "*.hpp" EXCLUDE
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PATTERN "*.h" EXCLUDE
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PATTERN "*.dll" EXCLUDE
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)
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file(GLOB_RECURSE PY_DLL_FILES "${PYTHON_SITE_PACKAGES}/torch/*.dll")
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if(PY_DLL_FILES)
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install(FILES ${PY_DLL_FILES} DESTINATION bin COMPONENT runtime)
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endif()
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endif()
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# install python DDLs
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file(GLOB_RECURSE PY_DLL_FILES \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/${python_pyd_dir}/*.dll\")
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install(DIRECTORY "${PYTHON_ROOT}/DLLs"
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DESTINATION "${thirdparty_dest_dir}/"
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COMPONENT runtime
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FILES_MATCHING
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PATTERN "*.dll"
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PATTERN "*.pyd"
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)
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# install our python scripts in share for convenience
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install(DIRECTORY "${PROJECT_SOURCE_DIR}/corelib/src/python/"
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DESTINATION share
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COMPONENT runtime
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FILES_MATCHING
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PATTERN "*.py"
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)
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ENDIF(WIN32)
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ENDIF(Python3_FOUND)
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IF(Qt6_FOUND)
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# Reference: https://doc-snapshots.qt.io/qt6-6.4/qt-deploy-runtime-dependencies.html
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# The following script must only be executed at install time
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@@ -248,8 +334,8 @@ IF(BUILD_AS_BUNDLE AND (APPLE OR WIN32))
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SET(DIRS "${QT_LIBRARY_DIRS}" "\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/lib")
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IF(APPLE)
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SET(DIRS ${DIRS} /usr/local /usr/local/lib /opt/homebrew /opt/homebrew/lib /opt/homebrew/lib/gcc/current)
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ENDIF(APPLE)
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ENDIF(APPLE)
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# Now the work of copying dependencies into the bundle/package
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# The quotes are escaped and variables to use at install time have their $ escaped
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# An alternative is the do a configure_file() on a script and use install(SCRIPT ...).
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@@ -257,11 +343,26 @@ IF(BUILD_AS_BUNDLE AND (APPLE OR WIN32))
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# over.
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# To find dependencies, cmake use "otool" on Apple and "dumpbin" on Windows (make sure you have one of them).
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install(CODE "
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file(GLOB_RECURSE QTPLUGINS \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/${plugin_dest_dir}/*${CMAKE_SHARED_LIBRARY_SUFFIX}\")
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# Glob Qt Plugins
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file(GLOB_RECURSE ALL_LIBS \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/${plugin_dest_dir}/*${CMAKE_SHARED_LIBRARY_SUFFIX}\")
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if(NOT \"${python_pyd_dir}\" STREQUAL \"\")
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file(GLOB_RECURSE PYD_FILES \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/${python_pyd_dir}/*.pyd\")
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if(PYD_FILES)
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list(APPEND ALL_LIBS \${PYD_FILES})
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endif()
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if(WIN32)
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file(GLOB_RECURSE DLL_FILES \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/${python_pyd_dir}/torch/*.dll\")
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if(DLL_FILES)
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list(APPEND ALL_LIBS \${DLL_FILES})
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endif()
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endif()
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endif()
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set(BU_CHMOD_BUNDLE_ITEMS ON)
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include(\"BundleUtilities\")
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fixup_bundle(\"${APPS}\" \"\${QTPLUGINS}\" \"${DIRS}\")
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" COMPONENT runtime)
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fixup_bundle(\"${APPS}\" \"\${ALL_LIBS}\" \"${DIRS}\")
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" COMPONENT runtime)
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ENDIF(BUILD_AS_BUNDLE AND (APPLE OR WIN32))
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