rtabmap/app/src/CMakeLists.txt

SET(SRC_FILES
    main.cpp
)

# For Apple set the icns file containing icons
IF(APPLE AND BUILD_AS_BUNDLE)
  # set how it shows up in the Info.plist file
  SET(MACOSX_BUNDLE_ICON_FILE ${PROJECT_NAME}.icns) 
  # set where in the bundle to put the icns file
  SET_SOURCE_FILES_PROPERTIES(${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}.icns PROPERTIES MACOSX_PACKAGE_LOCATION Resources)
  # include the icns file in the target
  SET(SRC_FILES ${SRC_FILES} ${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}.icns)
ENDIF(APPLE AND BUILD_AS_BUNDLE)

# Add exe icon resource
IF(WIN32)
  IF( MINGW )
    # resource compilation for MinGW
    ADD_CUSTOM_COMMAND( OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/AppIco.o
                        COMMAND windres.exe -I${CMAKE_CURRENT_SOURCE_DIR} -i${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}.rc 
                             -o ${CMAKE_CURRENT_BINARY_DIR}/AppIco.o )
    SET(SRC_FILES ${SRC_FILES} ${CMAKE_CURRENT_BINARY_DIR}/AppIco.o)
  ELSE( MINGW )
    SET(SRC_FILES ${SRC_FILES} ${PROJECT_NAME}.rc)
  ENDIF( MINGW )
ENDIF(WIN32)

IF(BUILD_AS_BUNDLE)
  ADD_DEFINITIONS("-DBUILD_AS_BUNDLE")
ENDIF()

# Add binary
IF(APPLE AND BUILD_AS_BUNDLE)
  ADD_EXECUTABLE(rtabmap_app MACOSX_BUNDLE ${SRC_FILES})
ELSEIF(WIN32 AND BUILD_AS_BUNDLE)
  ADD_EXECUTABLE(rtabmap_app WIN32 ${SRC_FILES})
ELSE()
  ADD_EXECUTABLE(rtabmap_app ${SRC_FILES})
ENDIF()
TARGET_LINK_LIBRARIES(rtabmap_app rtabmap_gui)

IF(APPLE AND BUILD_AS_BUNDLE)
  SET_TARGET_PROPERTIES(rtabmap_app PROPERTIES
    OUTPUT_NAME ${CMAKE_BUNDLE_NAME})
ELSEIF(WIN32)
  SET_TARGET_PROPERTIES(rtabmap_app PROPERTIES
    OUTPUT_NAME ${PROJECT_NAME})
ELSE()
  SET_TARGET_PROPERTIES(rtabmap_app PROPERTIES
    OUTPUT_NAME ${PROJECT_PREFIX})
ENDIF()

#---------------------------
# Installation stuff
#--------------------------- 
INSTALL(TARGETS rtabmap_app
        RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
        BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime)
      
IF(APPLE AND BUILD_AS_BUNDLE)
INSTALL(CODE "execute_process(COMMAND ln -s \"../MacOS/${CMAKE_BUNDLE_NAME}\" ${PROJECT_NAME}
        WORKING_DIRECTORY \$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/bin)")
ENDIF(APPLE AND BUILD_AS_BUNDLE)
       
IF(BUILD_AS_BUNDLE AND (APPLE OR WIN32))
  SET(APPS "\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/bin/${PROJECT_NAME}${CMAKE_EXECUTABLE_SUFFIX}")
  SET(plugin_dest_dir bin)
  SET(qtconf_dest_dir bin)
  SET(thirdparty_dest_dir bin)
 
  IF(APPLE)
    SET(plugin_dest_dir MacOS/plugins)
    IF(Qt6_FOUND)
       SET(plugin_dest_dir PlugIns)
    ENDIF()
    SET(qtconf_dest_dir Resources)
    SET(thirdparty_dest_dir MacOS)
    SET(APPS "\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/MacOS/${CMAKE_BUNDLE_NAME}")
  ENDIF(APPLE)

  IF(OpenNI2_FOUND)
    # Install needed OpenNI sensor dll by copying directories from the OpenNI2 installation
    IF(WIN32)
      find_path(OpenNI2_BIN_DIR NAMES OpenNI2.dll)
      IF(NOT OpenNI2_BIN_DIR)
        MESSAGE(FATAL_ERROR "OpenNI2.dll not found! Verify your PATH.")
      ENDIF(NOT OpenNI2_BIN_DIR)
    ELSE()
      # Mac OS X
      get_filename_component(OpenNI2_BIN_DIR "${OpenNI2_LIBRARY}" PATH)
    ENDIF()
    
    INSTALL(DIRECTORY "${OpenNI2_BIN_DIR}/OpenNI2" 
          DESTINATION ${thirdparty_dest_dir} 
          COMPONENT runtime 
          REGEX ".*pdb" EXCLUDE)
    INSTALL(FILES "${OpenNI2_BIN_DIR}/OpenNI.ini" 
          DESTINATION ${thirdparty_dest_dir} 
          COMPONENT runtime)
  ENDIF(OpenNI2_FOUND)
  
  IF(k4a_FOUND)
	# Install needed depthengine_2_0.dll
    IF(WIN32)
		file(TO_CMAKE_PATH "$ENV{K4A_ROOT_DIR}" ENV_K4A_ROOT_DIR)
		INSTALL(FILES "${ENV_K4A_ROOT_DIR}/tools/depthengine_2_0.dll" 
          DESTINATION ${thirdparty_dest_dir} 
          COMPONENT runtime)
	ENDIF(WIN32)
  ENDIF(k4a_FOUND)
  
  IF(Torch_FOUND)
	# Install needed cudnn_ops_infer64_8.dll and cudnn_cnn_infer64_8.dll
	# TODO: should be a more general way to include them if version is different
    IF(WIN32 AND CUDA_FOUND)
		find_file(CUDNN_OPS_DLL NAMES cudnn_ops_infer64_8.dll)
		find_file(CUDNN_CNN_DLL NAMES cudnn_cnn_infer64_8.dll)
		IF(CUDNN_OPS_DLL AND CUDNN_CNN_DLL)
			MESSAGE(STATUS "Found ${CUDNN_OPS_DLL}")
			MESSAGE(STATUS "Found ${CUDNN_CNN_DLL}")
			INSTALL(FILES ${CUDNN_OPS_DLL} ${CUDNN_CNN_DLL}
			  DESTINATION ${thirdparty_dest_dir} 
			  COMPONENT runtime)
		ELSE()
			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.")
		ENDIF()
	ENDIF(WIN32 AND CUDA_FOUND)
  ENDIF(Torch_FOUND)

  IF(Qt6_FOUND)
	# Reference: https://doc-snapshots.qt.io/qt6-6.4/qt-deploy-runtime-dependencies.html
	# The following script must only be executed at install time
	set(deploy_script "${CMAKE_CURRENT_BINARY_DIR}/deploy_app$<CONFIG>.cmake")
	file(GENERATE OUTPUT ${deploy_script} CONTENT "
	# Including the file pointed to by QT_DEPLOY_SUPPORT ensures the generated
	# deployment script has access to qt_deploy_runtime_dependencies()
	include(\"${QT_DEPLOY_SUPPORT}\")
	qt_deploy_runtime_dependencies(
		EXECUTABLE \"${APPS}\"
		PLUGINS_DIR ${plugin_dest_dir}
		GENERATE_QT_CONF
		NO_TRANSLATIONS
		VERBOSE
	)")
    	IF("${CMAKE_BUILD_TYPE}" STREQUAL "" OR "${CMAKE_BUILD_TYPE}" STREQUAL "Debug")
	install(SCRIPT "${CMAKE_CURRENT_BINARY_DIR}/deploy_appDebug.cmake"
            CONFIGURATIONS Debug
            COMPONENT runtime)
    	ENDIF()
    	IF("${CMAKE_BUILD_TYPE}" STREQUAL "" OR "${CMAKE_BUILD_TYPE}" STREQUAL "Release")
        install(SCRIPT "${CMAKE_CURRENT_BINARY_DIR}/deploy_appRelease.cmake"
            CONFIGURATIONS Release
            COMPONENT runtime)
    	ENDIF()
    	IF("${CMAKE_BUILD_TYPE}" STREQUAL "" OR "${CMAKE_BUILD_TYPE}" STREQUAL "RelWithDebInfo")
        install(SCRIPT "${CMAKE_CURRENT_BINARY_DIR}/deploy_appRelWithDebInfo.cmake"
            CONFIGURATIONS RelWithDebInfo
            COMPONENT runtime)
    	ENDIF()
    	IF("${CMAKE_BUILD_TYPE}" STREQUAL "" OR "${CMAKE_BUILD_TYPE}" STREQUAL "MinSizeRel")
        install(SCRIPT "${CMAKE_CURRENT_BINARY_DIR}/deploy_appMinSizeRel.cmake"
            CONFIGURATIONS MinSizeRel
            COMPONENT runtime)
    	ENDIF()
  ELSEIF(Qt5_FOUND)
    #Qt5
    foreach(plugin ${Qt5Gui_PLUGINS})
        get_target_property(plugin_loc ${plugin} LOCATION)
        get_filename_component(plugin_dir ${plugin_loc} DIRECTORY)
        string(REPLACE "plugins" ";" loc_list ${plugin_dir})
        list(GET loc_list 1 plugin_type)
        IF(NOT plugin_root)
            get_filename_component(plugin_root ${plugin_dir} DIRECTORY)
        ENDIF(NOT plugin_root)
        #MESSAGE(STATUS "Qt5 plugin \"${plugin_loc}\" installed in \"${plugin_dest_dir}${plugin_type}\"")
        INSTALL(FILES ${plugin_loc}
          DESTINATION ${plugin_dest_dir}${plugin_type}
          COMPONENT runtime)
    endforeach()
    IF(NOT Qt5Widgets_VERSION VERSION_LESS 5.10.0)
        IF(WIN32)
            SET(plugin_loc "${plugin_root}/styles/qwindowsvistastyle.dll")
        ELSEIF(APPLE)
            SET(plugin_loc "${plugin_root}/styles/libqmacstyle.dylib")
        ENDIF()
        IF(EXISTS ${plugin_loc})
            get_filename_component(plugin_dir ${plugin_loc} DIRECTORY)
            string(REPLACE "plugins" ";" loc_list ${plugin_dir})
            list(GET loc_list 1 plugin_type)
            INSTALL(FILES ${plugin_loc}
                DESTINATION ${plugin_dest_dir}/plugins${plugin_type}
                COMPONENT runtime)
            #MESSAGE(STATUS "Qt5 plugin \"${plugin_loc}\" installed in \"${plugin_dest_dir}${plugin_type}\"")
        ENDIF(EXISTS ${plugin_loc})
    ENDIF(NOT Qt5Widgets_VERSION VERSION_LESS 5.10.0)
  ELSEIF(QT_PLUGINS_DIR) # Qt4
    # Install needed Qt plugins by copying directories from the qt installation
    # One can cull what gets copied by using 'REGEX "..." EXCLUDE'
    # Exclude debug libraries
    INSTALL(DIRECTORY "${QT_PLUGINS_DIR}/imageformats"
        DESTINATION ${plugin_dest_dir}
        COMPONENT runtime 
        REGEX ".*d4.dll" EXCLUDE
        REGEX ".*d4.a" EXCLUDE)
  ENDIF()
 
  IF(Qt5_FOUND OR QT4_FOUND)
      # install a qt.conf file
      # this inserts some cmake code into the install script to write the file
      SET(QT_CONF_FILE [Paths]\nPlugins=plugins)
      IF(APPLE)
        SET(QT_CONF_FILE [Paths]\nPlugins=MacOS/plugins)
      ENDIF(APPLE)
      INSTALL(CODE "
        file(WRITE \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/${qtconf_dest_dir}/qt.conf\" \"${QT_CONF_FILE}\")
        " COMPONENT runtime)
  ENDIF()

  # directories to look for dependencies
  SET(DIRS "${QT_LIBRARY_DIRS}" "\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/lib")
  IF(APPLE)
    SET(DIRS ${DIRS} /usr/local /usr/local/lib /opt/homebrew /opt/homebrew/lib /opt/homebrew/lib/gcc/current)
  ENDIF(APPLE)
 
  # Now the work of copying dependencies into the bundle/package
  # The quotes are escaped and variables to use at install time have their $ escaped
  # An alternative is the do a configure_file() on a script and use install(SCRIPT  ...).
  # Note that the image plugins depend on QtSvg and QtXml, and it got those copied
  # over.
  # To find dependencies, cmake use "otool" on Apple and "dumpbin" on Windows (make sure you have one of them).
  install(CODE "
   file(GLOB_RECURSE QTPLUGINS \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/${plugin_dest_dir}/*${CMAKE_SHARED_LIBRARY_SUFFIX}\")
    set(BU_CHMOD_BUNDLE_ITEMS ON)
    include(\"BundleUtilities\")
    fixup_bundle(\"${APPS}\" \"\${QTPLUGINS}\" \"${DIRS}\")
  " COMPONENT runtime)

ENDIF(BUILD_AS_BUNDLE AND (APPLE OR WIN32))