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https://github.com/introlab/rtabmap_ros.git
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Included UtiLite library directly in Rtabmap source (to simplify the installation)
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@855 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
@@ -0,0 +1,98 @@
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# - Find the Pthreads library
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# This module searches for the Pthreads library (including the
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# pthreads-win32 port).
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#
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# This module defines these variables:
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#
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# PTHREADS_FOUND
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# True if the Pthreads library was found
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# PTHREADS_LIBRARY
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# The location of the Pthreads library
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# PTHREADS_INCLUDE_DIR
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# The include path of the Pthreads library
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# PTHREADS_DEFINITIONS
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# Preprocessor definitions to define
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#
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# This module responds to the PTHREADS_EXCEPTION_SCHEME
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# variable on Win32 to allow the user to control the
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# library linked against. The Pthreads-win32 port
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# provides the ability to link against a version of the
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# library with exception handling. IT IS NOT RECOMMENDED
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# THAT YOU USE THIS because most POSIX thread implementations
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# do not support stack unwinding.
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#
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# PTHREADS_EXCEPTION_SCHEME
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# C = no exceptions (default)
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# (NOTE: This is the default scheme on most POSIX thread
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# implementations and what you should probably be using)
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# CE = C++ Exception Handling
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# SE = Structure Exception Handling (MSVC only)
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#
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#
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# Define a default exception scheme to link against
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# and validate user choice.
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#
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IF(NOT DEFINED PTHREADS_EXCEPTION_SCHEME)
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# Assign default if needed
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SET(PTHREADS_EXCEPTION_SCHEME "C")
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ELSE(NOT DEFINED PTHREADS_EXCEPTION_SCHEME)
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# Validate
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IF(NOT PTHREADS_EXCEPTION_SCHEME STREQUAL "C" AND
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NOT PTHREADS_EXCEPTION_SCHEME STREQUAL "CE" AND
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NOT PTHREADS_EXCEPTION_SCHEME STREQUAL "SE")
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MESSAGE(FATAL_ERROR "See documentation for FindPthreads.cmake, only C, CE, and SE modes are allowed")
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ENDIF(NOT PTHREADS_EXCEPTION_SCHEME STREQUAL "C" AND
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NOT PTHREADS_EXCEPTION_SCHEME STREQUAL "CE" AND
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NOT PTHREADS_EXCEPTION_SCHEME STREQUAL "SE")
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IF(NOT MSVC AND PTHREADS_EXCEPTION_SCHEME STREQUAL "SE")
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MESSAGE(FATAL_ERROR "Structured Exception Handling is only allowed for MSVC")
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ENDIF(NOT MSVC AND PTHREADS_EXCEPTION_SCHEME STREQUAL "SE")
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ENDIF(NOT DEFINED PTHREADS_EXCEPTION_SCHEME)
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#
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# Find the header file
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#
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FIND_PATH(PTHREADS_INCLUDE_DIR pthread.h)
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#
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# Find the library
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#
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SET(names)
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IF(MSVC)
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SET(names
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pthreadV${PTHREADS_EXCEPTION_SCHEME}2
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pthread
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)
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ELSEIF(MINGW)
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SET(names
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pthreadG${PTHREADS_EXCEPTION_SCHEME}2
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pthread
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)
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ELSE(MSVC) # Unix / Cygwin / Apple
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SET(names pthread)
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ENDIF(MSVC)
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FIND_LIBRARY(PTHREADS_LIBRARY ${names}
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DOC "The Portable Threads Library")
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IF(PTHREADS_INCLUDE_DIR AND PTHREADS_LIBRARY)
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SET(PTHREADS_FOUND true)
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SET(PTHREADS_DEFINITIONS -DHAVE_PTHREAD_H)
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SET(PTHREADS_INCLUDE_DIRS ${PTHREADS_INCLUDE_DIR})
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SET(PTHREADS_LIBRARIES ${PTHREADS_LIBRARY})
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ENDIF(PTHREADS_INCLUDE_DIR AND PTHREADS_LIBRARY)
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IF(PTHREADS_FOUND)
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IF(NOT PTHREADS_FIND_QUIETLY)
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MESSAGE(STATUS "Found Pthreads")
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ENDIF(NOT PTHREADS_FIND_QUIETLY)
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ELSE(PTHREADS_FOUND)
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IF(PTHREADS_FIND_REQUIRED)
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MESSAGE(FATAL_ERROR "Could not find the Pthreads library")
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ENDIF(PTHREADS_FIND_REQUIRED)
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ENDIF(PTHREADS_FOUND)
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@@ -1,130 +0,0 @@
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# - Find UtiLite
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# This module finds an installed UtiLite package.
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#
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# It sets the following variables:
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# UtiLite_FOUND - Set to false, or undefined, if UtiLite isn't found.
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# UtiLite_INCLUDE_DIRS - The UtiLite include directory.
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# UtiLite_LIBRARIES - The UtiLite library to link against.
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# URESOURCEGENERATOR_EXEC - The resource generator tool executable
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#
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# Backward compatibility:
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# UTILITE_FOUND - Set to false, or undefined, if UtiLite isn't found.
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# UTILITE_INCLUDE_DIRS - The UtiLite include directory.
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# UTILITE_LIBRARIES - The UtiLite library to link against.
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# UTILITE_INCLUDE_DIR - The UtiLite include directory.
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# UTILITE_LIBRARY - The UtiLite library to link against.
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#
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#
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SET(UtiLite_VERSION_REQUIRED 0.3.0)
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SET(UtiLite_ROOT)
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# Add ROS UtiLite directory if ROS is installed
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FIND_PROGRAM(ROSPACK_EXEC NAME rospack PATHS)
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IF(ROSPACK_EXEC)
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EXECUTE_PROCESS(COMMAND ${ROSPACK_EXEC} find utilite
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OUTPUT_VARIABLE UtiLite_ROS_PATH
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OUTPUT_STRIP_TRAILING_WHITESPACE
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WORKING_DIRECTORY "./"
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)
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IF(UtiLite_ROS_PATH)
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MESSAGE(STATUS "Found UtiLite ROS pkg : ${UtiLite_ROS_PATH}")
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SET(UtiLite_ROOT
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${UtiLite_ROS_PATH}/utilite
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${UtiLite_ROOT}
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)
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ENDIF(UtiLite_ROS_PATH)
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ENDIF(ROSPACK_EXEC)
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FIND_PROGRAM(URESOURCEGENERATOR_EXEC NAME uresourcegenerator PATHS ${UtiLite_ROOT}/bin)
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IF(URESOURCEGENERATOR_EXEC)
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EXECUTE_PROCESS(COMMAND ${URESOURCEGENERATOR_EXEC} -v
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OUTPUT_VARIABLE UtiLite_VERSION
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OUTPUT_STRIP_TRAILING_WHITESPACE
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WORKING_DIRECTORY "./"
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)
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IF(UtiLite_VERSION VERSION_LESS UtiLite_VERSION_REQUIRED)
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IF(UtiLite_FIND_REQUIRED)
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MESSAGE(FATAL_ERROR "Your version of UtiLite is too old (${UtiLite_VERSION}), UtiLite ${UtiLite_VERSION_REQUIRED} is required.")
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ENDIF(UtiLite_FIND_REQUIRED)
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ENDIF(UtiLite_VERSION VERSION_LESS UtiLite_VERSION_REQUIRED)
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IF(WIN32)
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FIND_PATH(UtiLite_INCLUDE_DIRS
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utilite/UEventsManager.h
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PATH_SUFFIXES "../include")
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FIND_LIBRARY(UtiLite_LIBRARIES
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NAMES utilite
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PATH_SUFFIXES "../lib")
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FIND_LIBRARY(UtiLite_Qt
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NAMES utilite_qt
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PATH_SUFFIXES "../lib")
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FIND_LIBRARY(UtiLite_Audio
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NAMES utilite_audio
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PATH_SUFFIXES "../lib")
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FIND_LIBRARY(UtiLite_Cv
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NAMES utilite_cv
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PATH_SUFFIXES "../lib")
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FIND_LIBRARY(UtiLite_Cvqt
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NAMES utilite_cvqt
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PATH_SUFFIXES "../lib")
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ELSE()
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FIND_PATH(UtiLite_INCLUDE_DIRS
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utilite/UEventsManager.h
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PATHS ${UtiLite_ROOT}/include)
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FIND_LIBRARY(UtiLite_LIBRARIES
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NAMES utilite
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PATHS ${UtiLite_ROOT}/lib)
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FIND_LIBRARY(UtiLite_Qt
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NAMES utilite_qt
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PATHS ${UtiLite_ROOT}/lib)
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FIND_LIBRARY(UtiLite_Audio
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NAMES utilite_audio
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PATHS ${UtiLite_ROOT}/lib)
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FIND_LIBRARY(UtiLite_Cv
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NAMES utilite_cv
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PATHS ${UtiLite_ROOT}/lib)
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FIND_LIBRARY(UtiLite_Cvqt
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NAMES utilite_cvqt
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PATHS ${UtiLite_ROOT}/lib)
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ENDIF()
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IF(UtiLite_LIBRARIES AND UtiLite_Qt)
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SET(UtiLite_LIBRARIES ${UtiLite_LIBRARIES} ${UtiLite_Qt})
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ENDIF(UtiLite_LIBRARIES AND UtiLite_Qt)
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IF(UtiLite_LIBRARIES AND UtiLite_Audio)
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SET(UtiLite_LIBRARIES ${UtiLite_LIBRARIES} ${UtiLite_Audio})
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ENDIF(UtiLite_LIBRARIES AND UtiLite_Audio)
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IF(UtiLite_LIBRARIES AND UtiLite_Cv)
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SET(UtiLite_LIBRARIES ${UtiLite_LIBRARIES} ${UtiLite_Cv})
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ENDIF(UtiLite_LIBRARIES AND UtiLite_Cv)
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IF(UtiLite_LIBRARIES AND UtiLite_Cvqt)
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SET(UtiLite_LIBRARIES ${UtiLite_LIBRARIES} ${UtiLite_Cvqt})
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ENDIF(UtiLite_LIBRARIES AND UtiLite_Cvqt)
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IF (UtiLite_INCLUDE_DIRS AND UtiLite_LIBRARIES)
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SET(UtiLite_FOUND TRUE)
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ENDIF (UtiLite_INCLUDE_DIRS AND UtiLite_LIBRARIES)
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ENDIF(URESOURCEGENERATOR_EXEC)
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IF (UtiLite_FOUND)
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# show which UtiLite was found only if not quiet
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IF (NOT UtiLite_FIND_QUIETLY)
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MESSAGE(STATUS "Found UtiLite ${UtiLite_VERSION}")
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ENDIF (NOT UtiLite_FIND_QUIETLY)
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# backward compatibility...
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SET(UTILITE_FOUND ${UtiLite_FOUND})
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SET(UTILITE_INCLUDE_DIRS ${UtiLite_INCLUDE_DIRS})
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SET(UTILITE_LIBRARIES ${UtiLite_LIBRARIES})
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SET(UTILITE_INCLUDE_DIR ${UtiLite_INCLUDE_DIRS})
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SET(UTILITE_LIBRARY ${UtiLite_LIBRARIES})
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ELSE ()
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# fatal error if UtiLite is required but not found
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IF (UtiLite_FIND_REQUIRED)
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MESSAGE(FATAL_ERROR "Could not find UtiLite. Verify your PATH if it is already installed or download it at http://utilite.googlecode.com")
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ENDIF (UtiLite_FIND_REQUIRED)
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ENDIF ()
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