mirror of
https://github.com/introlab/rtabmap_ros.git
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matlabbe
2d73090f3a
git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@52 f169173b-cf89-36c8-b27e-44dbe73f0c83
324 lines
12 KiB
CMake
324 lines
12 KiB
CMake
###########################################################
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# Find OpenCV Library
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# See http://sourceforge.net/projects/opencvlibrary/
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#----------------------------------------------------------
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#
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## 1: Setup:
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# The following variables are optionally searched for defaults
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# OpenCV_DIR: Base directory of OpenCv tree to use.
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#
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## 2: Variable
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# The following are set after configuration is done:
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#
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# OpenCV_FOUND
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# OpenCV_LIBS
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# OpenCV_INCLUDE_DIR
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# OpenCV_VERSION (OpenCV_VERSION_MAJOR, OpenCV_VERSION_MINOR, OpenCV_VERSION_PATCH)
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#
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#
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# Deprecated variable are used to maintain backward compatibility with
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# the script of Jan Woetzel (2006/09): www.mip.informatik.uni-kiel.de/~jw
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# OpenCV_INCLUDE_DIRS
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# OpenCV_LIBRARIES
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# OpenCV_LINK_DIRECTORIES
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#
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## 3: Version
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#
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# 2010/04/07 Benoit Rat, Correct a bug when OpenCVConfig.cmake is not found.
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# 2010/03/24 Benoit Rat, Add compatibility for when OpenCVConfig.cmake is not found.
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# 2010/03/22 Benoit Rat, Creation of the script.
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#
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#
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# tested with:
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# - OpenCV 2.1: MinGW, MSVC2008
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# - OpenCV 2.0: MinGW, MSVC2008, GCC4
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#
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#
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## 4: Licence:
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#
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# LGPL 2.1 : GNU Lesser General Public License Usage
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# Alternatively, this file may be used under the terms of the GNU Lesser
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# General Public License version 2.1 as published by the Free Software
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# Foundation and appearing in the file LICENSE.LGPL included in the
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# packaging of this file. Please review the following information to
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# ensure the GNU Lesser General Public License version 2.1 requirements
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# will be met: http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html.
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#
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#----------------------------------------------------------
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# typical root dirs of installations, exactly one of them is used
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SET (OpenCV_POSSIBLE_ROOT_DIRS
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"$ENV{OpenCV_DIR}"
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/usr/local
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/usr/opt
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/usr
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)
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# Add ROS OpenCV 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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MESSAGE(STATUS "Found rospack executable : ${ROSPACK_EXEC}")
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EXECUTE_PROCESS(COMMAND ${ROSPACK_EXEC} find opencv2
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OUTPUT_VARIABLE OPENCV_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(OPENCV_ROS_PATH)
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MESSAGE(STATUS "Found OpenCV ROS pkg : ${OPENCV_ROS_PATH}")
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SET(OpenCV_POSSIBLE_ROOT_DIRS
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${OPENCV_ROS_PATH}/opencv
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${OpenCV_POSSIBLE_ROOT_DIRS}
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)
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ENDIF(OPENCV_ROS_PATH)
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ENDIF(ROSPACK_EXEC)
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find_path(OpenCV_DIR "OpenCVConfig.cmake" HINTS ${OpenCV_POSSIBLE_ROOT_DIRS} DOC "Root directory of OpenCV")
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if(NOT EXISTS "${OpenCV_DIR}")
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if(NOT WIN32)
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find_path(OpenCV_DIR "share/opencv/OpenCVConfig.cmake" HINTS ${OpenCV_POSSIBLE_ROOT_DIRS} DOC "Root directory of OpenCV")
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if(NOT OpenCV_DIR)
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include(FindPkgConfig)
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if(PKG_CONFIG_FOUND)
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pkg_check_modules(OPENCV_PKGCONF opencv)
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set(OpenCV_DIR ${OPENCV_PKGCONF_PREFIX})
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endif(PKG_CONFIG_FOUND)
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endif(NOT OpenCV_DIR)
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else()
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set(OpenCV_DIR "$ENV{OpenCV_DIR}")
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endif ()
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endif(NOT EXISTS "${OpenCV_DIR}")
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##====================================================
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## Find OpenCV libraries
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##----------------------------------------------------
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if(EXISTS "${OpenCV_DIR}")
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set(OpenCV_configScript "${OpenCV_DIR}/OpenCVConfig.cmake")
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if(NOT EXISTS "${OpenCV_configScript}")
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set(OpenCV_configScript "${OpenCV_DIR}/share/opencv/OpenCVConfig.cmake")
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endif(NOT EXISTS "${OpenCV_configScript}")
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#When its possible to use the Config script use it.
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if(EXISTS "${OpenCV_configScript}")
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MESSAGE(STATUS "OpenCV: using configuration file ${OpenCV_configScript}")
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## Include the standard CMake script
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include("${OpenCV_configScript}")
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## Search for a specific version
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if(WIN32 OR NOT PKG_CONFIG_FOUND)
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set(CVLIB_SUFFIX "${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}")
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endif(WIN32 OR NOT PKG_CONFIG_FOUND)
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##Boris:TODO: check for correct OpenCV version in pkg-config case !!!
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#Otherwise it try to guess it.
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else(EXISTS "${OpenCV_configScript}")
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find_path(OpenCV_INCLUDE_DIR "cv.h" PATHS "${OpenCV_DIR}" PATH_SUFFIXES "include" "include/opencv" DOC "")
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if(EXISTS ${OpenCV_INCLUDE_DIR})
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include_directories(${OpenCV_INCLUDE_DIR})
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endif(EXISTS ${OpenCV_INCLUDE_DIR})
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if(NOT EXISTS ${VERSION_FILE_DIR}) #may alreay be in cache
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#Find OpenCV version by looking at cvver.h or core/version.hpp
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find_path(VERSION_FILE_DIR "version.hpp" PATHS "${OpenCV_DIR}" PATH_SUFFIXES "include" "include/opencv" "include/opencv2" "include/opencv2/core" DOC "")
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if(NOT EXISTS ${VERSION_FILE_DIR})
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find_path(VERSION_FILE_DIR "cvver.h" PATHS "${OpenCV_DIR}" PATH_SUFFIXES "include" "include/opencv" DOC "")
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if(NOT EXISTS ${VERSION_FILE_DIR})
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message(FATAL_ERROR "OpenCV version file not found")
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else(NOT EXISTS ${VERSION_FILE_DIR})
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set(VERSION_FILE ${VERSION_FILE_DIR}/cvver.h)
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endif(NOT EXISTS ${VERSION_FILE_DIR})
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else(NOT EXISTS ${VERSION_FILE_DIR})
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set(VERSION_FILE ${VERSION_FILE_DIR}/version.hpp)
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endif(NOT EXISTS ${VERSION_FILE_DIR})
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#file(STRINGS ${OpenCV_INCLUDE_DIR}/cvver.h OpenCV_VERSIONS_TMP REGEX "^#define CV_[A-Z]+_VERSION[ \t]+[0-9]+$")
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file(STRINGS ${VERSION_FILE} OpenCV_VERSIONS_TMP REGEX "^#define CV_[A-Z]+_VERSION[ \t]+[0-9]+$")
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string(REGEX REPLACE ".*#define CV_MAJOR_VERSION[ \t]+([0-9]+).*" "\\1" OpenCV_VERSION_MAJOR ${OpenCV_VERSIONS_TMP})
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string(REGEX REPLACE ".*#define CV_MINOR_VERSION[ \t]+([0-9]+).*" "\\1" OpenCV_VERSION_MINOR ${OpenCV_VERSIONS_TMP})
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string(REGEX REPLACE ".*#define CV_SUBMINOR_VERSION[ \t]+([0-9]+).*" "\\1" OpenCV_VERSION_PATCH ${OpenCV_VERSIONS_TMP})
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set(OpenCV_VERSION ${OpenCV_VERSION_MAJOR}.${OpenCV_VERSION_MINOR}.${OpenCV_VERSION_PATCH} CACHE STRING "" FORCE)
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if(WIN32 OR NOT PKG_CONFIG_FOUND)
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set(CVLIB_SUFFIX "${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}")
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endif(WIN32 OR NOT PKG_CONFIG_FOUND)
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##Boris:TODO: check for correct OpenCV version in pklg-config case !!!
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endif(NOT EXISTS ${VERSION_FILE_DIR})
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if(${OpenCV_VERSION} VERSION_GREATER 2.1.0)
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set(OPENCV_LIB_COMPONENTS calib3d contrib core features2d ffmpeg flann gpu highgui imgproc legacy ml objdetect ts video)
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#Add parent directory of ${OpenCV_INCLUDE_DIR} to ${OpenCV_INCLUDE_DIR} itself
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#to be able to do both
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#include <cv.h> and #include <opencv2/core/core.hpp>
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get_filename_component(PARENT_DIR ${OpenCV_INCLUDE_DIR} PATH)
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set(OpenCV_INCLUDE_DIR "${OpenCV_INCLUDE_DIR};${PARENT_DIR}")
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else(${OpenCV_VERSION} VERSION_GREATER 2.1.0)
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set(OPENCV_LIB_COMPONENTS cxcore cv ml highgui cvaux)
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endif(${OpenCV_VERSION} VERSION_GREATER 2.1.0)
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endif(EXISTS "${OpenCV_configScript}")
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if(${OpenCV_VERSION} VERSION_GREATER 2.1.0)
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set(CVLIB_SUFFIX ".${OpenCV_VERSION}")
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if(WIN32 OR NOT PKG_CONFIG_FOUND)
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set(CVLIB_SUFFIX "${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}")
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endif(WIN32 OR NOT PKG_CONFIG_FOUND)
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## Initiate the variable before the loop
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set(OpenCV_LIBS "")
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set(OpenCV_FOUND_TMP true)
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## Loop over each components
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foreach(__CVLIB ${OPENCV_LIB_COMPONENTS})
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find_library(OpenCV_${__CVLIB}_LIBRARY_DEBUG NAMES "${__CVLIB}${CVLIB_SUFFIX}d" "lib${__CVLIB}${CVLIB_SUFFIX}d" PATHS "${OpenCV_DIR}/lib" NO_DEFAULT_PATH)
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find_library(OpenCV_${__CVLIB}_LIBRARY_RELEASE NAMES "${__CVLIB}${CVLIB_SUFFIX}" "lib${__CVLIB}${CVLIB_SUFFIX}" "opencv_${__CVLIB}${CVLIB_SUFFIX}" "opencv_${__CVLIB}" "${__CVLIB}" PATHS "${OpenCV_DIR}/lib" NO_DEFAULT_PATH)
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#On MacOSX libraries are named: libopencv_${__CVLIB}${CVLIB_SUFFIX}.dylib
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#On Linux libraries are named: libopencv_${__CVLIB}.so${CVLIB_SUFFIX}
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# but with pkg-config ${OPENCV_LIB_COMPONENTS} are already prefixed with opencv_ ?
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#we add: "opencv_${__CVLIB}${CVLIB_SUFFIX}" for MacOSX
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#we add: "${__CVLIB}" for linux (but version is not checked !)
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#Remove the cache value
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set(OpenCV_${__CVLIB}_LIBRARY "" CACHE STRING "" FORCE)
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#both debug/release
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if(OpenCV_${__CVLIB}_LIBRARY_DEBUG AND OpenCV_${__CVLIB}_LIBRARY_RELEASE)
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set(OpenCV_${__CVLIB}_LIBRARY debug ${OpenCV_${__CVLIB}_LIBRARY_DEBUG} optimized ${OpenCV_${__CVLIB}_LIBRARY_RELEASE} CACHE STRING "" FORCE)
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#only debug
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elseif(OpenCV_${__CVLIB}_LIBRARY_DEBUG)
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set(OpenCV_${__CVLIB}_LIBRARY ${OpenCV_${__CVLIB}_LIBRARY_DEBUG} CACHE STRING "" FORCE)
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#only release
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elseif(OpenCV_${__CVLIB}_LIBRARY_RELEASE)
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set(OpenCV_${__CVLIB}_LIBRARY ${OpenCV_${__CVLIB}_LIBRARY_RELEASE} CACHE STRING "" FORCE)
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#no library found
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else()
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set(OpenCV_FOUND_TMP false)
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endif()
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#Add to the general list
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if(OpenCV_${__CVLIB}_LIBRARY)
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set(OpenCV_LIBS ${OpenCV_LIBS} ${OpenCV_${__CVLIB}_LIBRARY})
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endif(OpenCV_${__CVLIB}_LIBRARY)
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endforeach(__CVLIB)
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set(OpenCV_FOUND ${OpenCV_FOUND_TMP} CACHE BOOL "" FORCE)
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else(${OpenCV_VERSION} VERSION_GREATER 2.1.0)
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## Initiate the variable before the loop
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set(OpenCV_LIBS "")
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set(OpenCV_FOUND_TMP true)
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## Loop over each components
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foreach(__CVLIB ${OPENCV_LIB_COMPONENTS})
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find_library(OpenCV_${__CVLIB}_LIBRARY_DEBUG NAMES "${__CVLIB}${CVLIB_SUFFIX}d" "lib${__CVLIB}${CVLIB_SUFFIX}d" PATHS "${OpenCV_DIR}/lib" NO_DEFAULT_PATH)
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find_library(OpenCV_${__CVLIB}_LIBRARY_RELEASE NAMES "${__CVLIB}${CVLIB_SUFFIX}" "lib${__CVLIB}${CVLIB_SUFFIX}" PATHS "${OpenCV_DIR}/lib" NO_DEFAULT_PATH)
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#Remove the cache value
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set(OpenCV_${__CVLIB}_LIBRARY "" CACHE STRING "" FORCE)
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#both debug/release
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if(OpenCV_${__CVLIB}_LIBRARY_DEBUG AND OpenCV_${__CVLIB}_LIBRARY_RELEASE)
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set(OpenCV_${__CVLIB}_LIBRARY debug ${OpenCV_${__CVLIB}_LIBRARY_DEBUG} optimized ${OpenCV_${__CVLIB}_LIBRARY_RELEASE} CACHE STRING "" FORCE)
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#only debug
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elseif(OpenCV_${__CVLIB}_LIBRARY_DEBUG)
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set(OpenCV_${__CVLIB}_LIBRARY ${OpenCV_${__CVLIB}_LIBRARY_DEBUG} CACHE STRING "" FORCE)
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#only release
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elseif(OpenCV_${__CVLIB}_LIBRARY_RELEASE)
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set(OpenCV_${__CVLIB}_LIBRARY ${OpenCV_${__CVLIB}_LIBRARY_RELEASE} CACHE STRING "" FORCE)
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#no library found
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else()
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set(OpenCV_FOUND_TMP false)
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endif()
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#Add to the general list
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if(OpenCV_${__CVLIB}_LIBRARY)
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set(OpenCV_LIBS ${OpenCV_LIBS} ${OpenCV_${__CVLIB}_LIBRARY})
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endif(OpenCV_${__CVLIB}_LIBRARY)
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endforeach(__CVLIB)
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set(OpenCV_FOUND ${OpenCV_FOUND_TMP} CACHE BOOL "" FORCE)
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endif(${OpenCV_VERSION} VERSION_GREATER 2.1.0)
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else(EXISTS "${OpenCV_DIR}")
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set(ERR_MSG "Please specify OpenCV directory using OpenCV_DIR env. variable")
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endif(EXISTS "${OpenCV_DIR}")
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##====================================================
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##====================================================
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## Print message
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##----------------------------------------------------
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if(NOT OpenCV_FOUND)
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# make FIND_PACKAGE friendly
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if(NOT OpenCV_FIND_QUIETLY)
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if(OpenCV_FIND_REQUIRED)
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message(FATAL_ERROR "OpenCV required but some headers or libs not found. ${ERR_MSG}")
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else(OpenCV_FIND_REQUIRED)
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message(STATUS "WARNING: OpenCV was not found. ${ERR_MSG}")
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endif(OpenCV_FIND_REQUIRED)
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endif(NOT OpenCV_FIND_QUIETLY)
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else()
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if(NOT OpenCV_FIND_QUIETLY)
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message(STATUS "Found OpenCV ${OpenCV_VERSION}")
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endif(NOT OpenCV_FIND_QUIETLY)
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endif()
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##====================================================
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##====================================================
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## Backward compatibility
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##----------------------------------------------------
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if(OpenCV_FOUND)
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set(OpenCV_INCLUDE_DIRS "${OpenCV_INCLUDE_DIR}")
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#option(OpenCV_BACKWARD_COMPA "Add some variable to make this script compatible with the other version of FindOpenCV.cmake" false)
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#if(OpenCV_BACKWARD_COMPA)
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# find_path(OpenCV_INCLUDE_DIRS "cv.h" PATHS "${OpenCV_DIR}" PATH_SUFFIXES "include" "include/opencv" DOC "Include directory")
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# find_path(OpenCV_INCLUDE_DIR "cv.h" PATHS "${OpenCV_DIR}" PATH_SUFFIXES "include" "include/opencv" DOC "Include directory")
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# set(OpenCV_LIBRARIES "${OpenCV_LIBS}" CACHE STRING "" FORCE)
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#endif(OpenCV_BACKWARD_COMPA)
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endif(OpenCV_FOUND)
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##====================================================
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