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Heiko Thiel committed Nov 30, 2018
1 parent e373be1 commit e540eac
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Showing 77 changed files with 429 additions and 429 deletions.
4 changes: 2 additions & 2 deletions 2d/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,7 @@ PCL_ADD_DOC("${SUBSYS_NAME}")
if(build)

set(srcs
src/convolution_2d.cpp
src/convolution_2d.cpp
)

set(incs
Expand Down Expand Up @@ -41,5 +41,5 @@ if(build)
#Install include files
PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}" ${incs})
PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl" ${impl_incs})

endif()
28 changes: 14 additions & 14 deletions apps/3d_rec_framework/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@ set(SUBSUBSYS_NAME 3d_rec_framework)
set(SUBSUBSYS_DESC "3D recognition framework")
set(SUBSUBSYS_DEPS common geometry io filters sample_consensus segmentation visualization kdtree features surface octree registration keypoints tracking search recognition ml)

# Find VTK
# Find VTK
if(NOT VTK_FOUND)
set(DEFAULT AUTO_OFF)
set(REASON "VTK was not found.")
Expand Down Expand Up @@ -40,7 +40,7 @@ if(build)
"include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/feature_wrapper/global/crh_estimator.h"
"include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/feature_wrapper/global/global_estimator.h"
"include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/feature_wrapper/global/ourcvfh_estimator.h")

set(incs_fw_local "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/feature_wrapper/local/local_estimator.h"
"include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/feature_wrapper/local/fpfh_local_estimator.h"
"include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/feature_wrapper/local/fpfh_local_estimator_omp.h"
Expand All @@ -50,29 +50,29 @@ if(build)
set(incs_pc_source "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/pc_source/source.h"
"include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/pc_source/mesh_source.h"
"include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/pc_source/registered_views_source.h")

set(incs_pipelines "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/pipeline/global_nn_classifier.h"
"include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/pipeline/global_nn_recognizer_crh.h"
"include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/pipeline/global_nn_recognizer_cvfh.h"
"include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/pipeline/local_recognizer.h")

set(incc_tools_framework "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/tools/openni_frame_source.h")

set(incs_utils "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/utils/metrics.h"
"include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/utils/persistence_utils.h"
"include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/utils/vtk_model_sampling.h")

set(srcs src/pipeline/global_nn_classifier.cpp
src/pipeline/global_nn_recognizer_crh.cpp
src/pipeline/global_nn_recognizer_cvfh.cpp
src/pipeline/local_recognizer.cpp
src/pipeline/local_recognizer.cpp
src/tools/openni_frame_source.cpp)

set(impl_incs_pipeline "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/pipeline/impl/global_nn_classifier.hpp"
"include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/pipeline/impl/global_nn_recognizer_crh.hpp"
"include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/pipeline/impl/global_nn_recognizer_cvfh.hpp"
"include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/pipeline/impl/local_recognizer.hpp")

# Install include files
PCL_ADD_INCLUDES("${SUBSUBSYS_NAME}" "${SUBSYS_NAME}/${SUBSUBSYS_NAME}/feature_wrapper" ${incs_fw})
PCL_ADD_INCLUDES("${SUBSUBSYS_NAME}" "${SUBSYS_NAME}/${SUBSUBSYS_NAME}/feature_wrapper/global" ${incs_fw_global})
Expand All @@ -81,23 +81,23 @@ if(build)
PCL_ADD_INCLUDES("${SUBSUBSYS_NAME}" "${SUBSYS_NAME}/${SUBSUBSYS_NAME}/pipeline" ${incs_pipelines})
PCL_ADD_INCLUDES("${SUBSUBSYS_NAME}" "${SUBSYS_NAME}/${SUBSUBSYS_NAME}/pc_source" ${incs_pc_source})
PCL_ADD_INCLUDES("${SUBSUBSYS_NAME}" "${SUBSYS_NAME}/${SUBSUBSYS_NAME}/utils" ${incs_utils})

PCL_ADD_INCLUDES("${SUBSUBSYS_NAME}" "${SUBSYS_NAME}/${SUBSUBSYS_NAME}/pipeline/impl" ${impl_incs_pipeline})

set(LIB_NAME "pcl_${SUBSUBSYS_NAME}")
PCL_ADD_LIBRARY("${LIB_NAME}" "${SUBSUBSYS_NAME}" ${srcs} ${impl_incs_pipeline} ${incs_utils} ${incs_fw} ${incs_fw_global} ${incs_fw_local} ${incc_tools_framework} ${incs_pipelines} ${incs_pc_source})
target_link_libraries("${LIB_NAME}" pcl_apps pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_surface pcl_features pcl_sample_consensus pcl_search)

if(WITH_OPENNI)
target_link_libraries("${LIB_NAME}" ${OPENNI_LIBRARIES})
if(NOT WIN32)
find_package(libusb-1.0 REQUIRED)
target_link_libraries("${LIB_NAME}" ${LIBUSB_1_LIBRARIES})
endif()
endif()

PCL_MAKE_PKGCONFIG("${LIB_NAME}" "${SUBSUBSYS_NAME}" "${SUBSUBSYS_DESC}" "" "" "" "" "")

add_subdirectory(tools)

endif()
48 changes: 24 additions & 24 deletions apps/cloud_composer/CMakeLists.txt
Original file line number Diff line number Diff line change
@@ -1,13 +1,13 @@
#Disable some warnings which are all over Qt headers and make finding error messages hell
#if(${CMAKE_CXX_FLAGS} MATCHES "-Wconversion")
#if(${CMAKE_CXX_FLAGS} MATCHES "-Wconversion")
# string(REGEX REPLACE "-Wconversion(.+)" "" CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
#endif()

set(SUBSUBSYS_NAME cloud_composer)
set(SUBSUBSYS_DESC "Cloud Composer - Application for Manipulating Point Clouds")
set(SUBSUBSYS_DEPS common io visualization filters apps)

# Find VTK
# Find VTK
if(NOT VTK_FOUND)
set(DEFAULT AUTO_OFF)
set(REASON "VTK was not found.")
Expand Down Expand Up @@ -48,7 +48,7 @@ PCL_ADD_DOC(${SUBSUBSYS_NAME})
if(build)

include_directories("${CMAKE_CURRENT_BINARY_DIR}" "${CMAKE_CURRENT_SOURCE_DIR}/include")

#Sources & Headers for main application
set(incs "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/qt.h"
"include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/cloud_composer.h"
Expand All @@ -66,8 +66,8 @@ if(build)
"include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/signal_multiplexer.h"
"include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/merge_selection.h"
"include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/transform_clouds.h")
set(srcs src/main.cpp

set(srcs src/main.cpp
src/cloud_composer.cpp
src/project_model.cpp
src/cloud_viewer.cpp
Expand All @@ -82,52 +82,52 @@ if(build)
src/merge_selection.cpp
src/tool_interface/abstract_tool.cpp
src/transform_clouds.cpp)

set(impl_incs "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/impl/cloud_item.hpp"
"include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/impl/merge_selection.hpp"
"include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/impl/transform_clouds.hpp")
#Sources and headers for item types

#Sources and headers for item types
set(item_incs "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/items/cloud_composer_item.h"
"include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/items/cloud_item.h"
"include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/items/normals_item.h"
"include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/items/fpfh_item.h")

set(item_srcs src/items/cloud_composer_item.cpp
src/items/cloud_item.cpp
src/items/normals_item.cpp
src/items/fpfh_item.cpp)

#Sources and headers for point selectors
set(selector_incs "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/point_selectors/interactor_style_switch.h"
"include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/point_selectors/rectangular_frustum_selector.h"
"include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/point_selectors/selected_trackball_interactor_style.h"
"include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/point_selectors/click_trackball_interactor_style.h")

set(selector_srcs src/point_selectors/interactor_style_switch.cpp
src/point_selectors/selection_event.cpp
src/point_selectors/rectangular_frustum_selector.cpp
src/point_selectors/selected_trackball_interactor_style.cpp
src/point_selectors/click_trackball_interactor_style.cpp
src/point_selectors/manipulation_event.cpp)

set(uis src/cloud_composer_main_window.ui)
set(resources resources/resources.qrc)

QT4_WRAP_UI(cloud_composer_ui ${uis})
QT4_WRAP_CPP(cloud_composer_moc ${incs} OPTIONS -DBOOST_TT_HAS_OPERATOR_HPP_INCLUDED -DBOOST_NO_TEMPLATE_PARTIAL_SPECIALIZATION)
QT4_ADD_RESOURCES(resource_srcs ${resources})

set(EXE_NAME "pcl_${SUBSUBSYS_NAME}")
PCL_ADD_EXECUTABLE("${EXE_NAME}" "${SUBSUBSYS_NAME}" ${cloud_composer_ui} ${cloud_composer_moc} ${srcs} ${resource_srcs} ${item_srcs} ${selector_srcs} ${impl_incs})
target_link_libraries("${EXE_NAME}" pcl_common pcl_io pcl_visualization pcl_filters ${QVTK_LIBRARY} ${QT_LIBRARIES})

# Install include files
PCL_ADD_INCLUDES("${SUBSUBSYS_NAME}" "${SUBSUBSYS_NAME}" ${incs} ${item_incs} ${selector_incs})
PCL_ADD_INCLUDES("${SUBSUBSYS_NAME}" "${SUBSUBSYS_NAME}/impl" ${impl_incs})

PCL_MAKE_PKGCONFIG("${EXE_NAME}" "${SUBSUBSYS_NAME}" "${SUBSYS_DESC}" "" "" "" "" "")


#TOOL buildING SCRIPTS
#Create subdirectory for plugin libs
Expand All @@ -136,23 +136,23 @@ if(build)

set(INTERFACE_HEADERS "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/tool_interface/abstract_tool.h")
set(INTERFACE_SOURCES src/tool_interface/abstract_tool.cpp)

QT4_WRAP_CPP(INTERFACE_HEADERS_MOC ${INTERFACE_HEADERS} OPTIONS -DBOOST_TT_HAS_OPERATOR_HPP_INCLUDED -DBOOST_NO_TEMPLATE_PARTIAL_SPECIALIZATION)
PCL_ADD_LIBRARY(pcl_cc_tool_interface "${SUBSUBSYS_NAME}" ${INTERFACE_SOURCES} ${INTERFACE_HEADERS_MOC})
target_link_libraries(pcl_cc_tool_interface pcl_common ${QT_LIBRARIES})

if(APPLE)
SET_TARGET_PROPERTIES(pcl_cc_tool_interface PROPERTIES LINK_FLAGS "-undefined dynamic_lookup")
endif()

include(ComposerTool.cmake REQUIRED)

#FPFH Tool
set(FPFH_DEPS pcl_features pcl_kdtree pcl_filters)
set(FPFH_SOURCES tools/fpfh_estimation.cpp)
set(FPFH_HEADERS "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/tools/fpfh_estimation.h")
define_composer_tool (fpfh_estimation "${FPFH_SOURCES}" "${FPFH_HEADERS}" "${FPFH_DEPS}")

#Normals Tool
set(NORMALS_DEPS pcl_features pcl_kdtree)
set(NORMALS_SOURCES tools/normal_estimation.cpp)
Expand All @@ -164,31 +164,31 @@ if(build)
set(EC_SOURCES tools/euclidean_clustering.cpp)
set(EC_HEADERS "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/tools/euclidean_clustering.h")
define_composer_tool (euclidean_clustering "${EC_SOURCES}" "${EC_HEADERS}" "${EC_DEPS}")

#Statistical Outlier Removal Tool
set(SOR_DEPS pcl_filters)
set(SOR_SOURCES tools/statistical_outlier_removal.cpp)
set(SOR_HEADERS "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/tools/statistical_outlier_removal.h")
define_composer_tool (statistical_outlier_removal "${SOR_SOURCES}" "${SOR_HEADERS}" "${SOR_DEPS}")

#Vox Grid Downsample Tool
set(VOXDS_DEPS pcl_filters)
set(VOXDS_SOURCES tools/voxel_grid_downsample.cpp)
set(VOXDS_HEADERS "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/tools/voxel_grid_downsample.h")
define_composer_tool (voxel_grid_downsample "${VOXDS_SOURCES}" "${VOXDS_HEADERS}" "${VOXDS_DEPS}")

#Organized Segmentation
set(OSEG_DEPS pcl_segmentation pcl_kdtree)
set(OSEG_SOURCES tools/organized_segmentation.cpp "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/tools/impl/organized_segmentation.hpp")
set(OSEG_HEADERS "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/tools/organized_segmentation.h")
define_composer_tool (organized_segmentation "${OSEG_SOURCES}" "${OSEG_HEADERS}" "${OSEG_DEPS}")

#Sanitize Cloud Tool
set(SAN_DEPS pcl_filters)
set(SAN_SOURCES tools/sanitize_cloud.cpp)
set(SAN_HEADERS "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/tools/sanitize_cloud.h")
define_composer_tool (sanitize_cloud "${SAN_SOURCES}" "${SAN_HEADERS}" "${SAN_DEPS}")

#Supervoxels
set(VSP_DEPS pcl_octree pcl_segmentation)
set(VSP_SOURCES tools/supervoxels.cpp "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/tools/impl/supervoxels.hpp")
Expand Down
8 changes: 4 additions & 4 deletions apps/cloud_composer/ComposerTool.cmake
Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
# Template to make a tool
function(define_composer_tool TOOL_NAME TOOL_SOURCES TOOL_HEADERS DEPS)

project(pcl_cc_tool_${TOOL_NAME})

#message("Making plugin " pcl_cc_tool_${TOOL_NAME})
Expand All @@ -18,12 +18,12 @@ function(define_composer_tool TOOL_NAME TOOL_SOURCES TOOL_HEADERS DEPS)
add_definitions(-DQT_PLUGIN)
add_definitions(-DQT_NO_DEBUG)
add_definitions(-DQT_SHARED)

add_dependencies(${TOOL_TARGET} pcl_cc_tool_interface ${DEPS})
target_link_libraries(${TOOL_TARGET} pcl_cc_tool_interface pcl_common pcl_io ${DEPS} ${QT_LIBRARIES})
target_link_libraries(${TOOL_TARGET} pcl_cc_tool_interface pcl_common pcl_io ${DEPS} ${QT_LIBRARIES})

if(APPLE)
SET_TARGET_PROPERTIES(${TOOL_TARGET} PROPERTIES LINK_FLAGS "-undefined dynamic_lookup")
endif()

endfunction(define_composer_tool TOOL_NAME TOOL_SOURCES TOOL_HEADERS DEPS)
2 changes: 1 addition & 1 deletion apps/modeler/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -45,7 +45,7 @@ PCL_ADD_DOC("${SUBSUBSYS_NAME}")
if(build)
include_directories("${CMAKE_CURRENT_BINARY_DIR}" "${CMAKE_CURRENT_SOURCE_DIR}/include")

# Set Qt files and resources here
# Set Qt files and resources here
set(uis main_window.ui)
set(moc_incs "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/main_window.h"
"include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/scene_tree.h"
Expand Down
2 changes: 1 addition & 1 deletion apps/optronic_viewer/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -48,7 +48,7 @@ if(build)

include_directories("${CMAKE_CURRENT_BINARY_DIR}" "${CMAKE_CURRENT_SOURCE_DIR}/include")

# Set Qt files and resources here
# Set Qt files and resources here
# set(uis main_window.ui)
set(moc_incs "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/main_window.h"
"include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/filter_window.h"
Expand Down
34 changes: 17 additions & 17 deletions cmake/CudaComputeTargetFlags.cmake
Original file line number Diff line number Diff line change
@@ -1,41 +1,41 @@
#
# Compute target flags macros by Anatoly Baksheev
#
#
# Usage in CmakeLists.txt:
# include(CudaComputeTargetFlags.cmake)
# APPEND_TARGET_ARCH_FLAGS()
# APPEND_TARGET_ARCH_FLAGS()

#compute flags macros
MACRO(CUDA_COMPUTE_TARGET_FLAGS arch_bin arch_ptx cuda_nvcc_target_flags)
string(REGEX REPLACE "\\." "" ARCH_BIN_WITHOUT_DOTS "${${arch_bin}}")
string(REGEX REPLACE "\\." "" ARCH_PTX_WITHOUT_DOTS "${${arch_ptx}}")
set(cuda_computer_target_flags_temp "")

set(cuda_computer_target_flags_temp "")

# Tell NVCC to add binaries for the specified GPUs
string(REGEX MATCHALL "[0-9()]+" ARCH_LIST "${ARCH_BIN_WITHOUT_DOTS}")
foreach(ARCH IN LISTS ARCH_LIST)
if(ARCH MATCHES "([0-9]+)\\(([0-9]+)\\)")
# User explicitly specified PTX for the concrete BIN
set(cuda_computer_target_flags_temp ${cuda_computer_target_flags_temp} -gencode arch=compute_${CMAKE_MATCH_2},code=sm_${CMAKE_MATCH_1})
else()
# User didn't explicitly specify PTX for the concrete BIN, we assume PTX=BIN
set(cuda_computer_target_flags_temp ${cuda_computer_target_flags_temp} -gencode arch=compute_${ARCH},code=sm_${ARCH})
# User explicitly specified PTX for the concrete BIN
set(cuda_computer_target_flags_temp ${cuda_computer_target_flags_temp} -gencode arch=compute_${CMAKE_MATCH_2},code=sm_${CMAKE_MATCH_1})
else()
# User didn't explicitly specify PTX for the concrete BIN, we assume PTX=BIN
set(cuda_computer_target_flags_temp ${cuda_computer_target_flags_temp} -gencode arch=compute_${ARCH},code=sm_${ARCH})
endif()
endforeach()

# Tell NVCC to add PTX intermediate code for the specified architectures
string(REGEX MATCHALL "[0-9]+" ARCH_LIST "${ARCH_PTX_WITHOUT_DOTS}")
foreach(ARCH IN LISTS ARCH_LIST)
set(cuda_computer_target_flags_temp ${cuda_computer_target_flags_temp} -gencode arch=compute_${ARCH},code=compute_${ARCH})
endforeach()
set(${cuda_nvcc_target_flags} ${cuda_computer_target_flags_temp})
foreach(ARCH IN LISTS ARCH_LIST)
set(cuda_computer_target_flags_temp ${cuda_computer_target_flags_temp} -gencode arch=compute_${ARCH},code=compute_${ARCH})
endforeach()

set(${cuda_nvcc_target_flags} ${cuda_computer_target_flags_temp})
ENDMACRO()

MACRO(APPEND_TARGET_ARCH_FLAGS)
set(cuda_nvcc_target_flags "")
CUDA_COMPUTE_TARGET_FLAGS(CUDA_ARCH_BIN CUDA_ARCH_PTX cuda_nvcc_target_flags)
CUDA_COMPUTE_TARGET_FLAGS(CUDA_ARCH_BIN CUDA_ARCH_PTX cuda_nvcc_target_flags)
if(cuda_nvcc_target_flags)
message(STATUS "CUDA NVCC target flags: ${cuda_nvcc_target_flags}")
list(APPEND CUDA_NVCC_FLAGS ${cuda_nvcc_target_flags})
Expand Down
8 changes: 4 additions & 4 deletions cmake/Modules/FindFZAPI.cmake
Original file line number Diff line number Diff line change
Expand Up @@ -5,22 +5,22 @@
# FZAPI_FOUND - True if FZAPI was found.
# FZAPI_INCLUDE_DIRS - Directories containing the FZAPI include files.
# FZAPI_LIBRARIES - Libraries needed to use FZAPI.

if(FZ_API_DIR)
# Find include dirs
find_path(FZAPI_INCLUDE_DIR fz_api.h
PATHS "${FZ_API_DIR}" NO_DEFAULT_PATH
DOC "Fotonic include directories")

# Find libraries
find_library(FZAPI_LIBS fotonic_fz_api
HINTS "${FZ_API_DIR}/Release" NO_DEFAULT_PATH
DOC "Fotonic libraries")
else()
set(FZ_API_DIR "default value" CACHE FILEPATH "directory of Fotonic API")
set(FZ_API_DIR "default value" CACHE FILEPATH "directory of Fotonic API")
endif()

include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(FZAPI DEFAULT_MSG
FZAPI_LIBS FZAPI_INCLUDE_DIRS)

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