mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-06 01:57:45 +08:00
228 lines
8.0 KiB
Batchfile
228 lines
8.0 KiB
Batchfile
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@echo off
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setlocal enabledelayedexpansion
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:: --- CONFIGURATION ---
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set "VCPKG_ROOT=%~dp0vcpkg"
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set "EXPORT_DIR=%~dp0vcpkg_binaries"
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set "TRIPLET=x64-windows-release"
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set "SEVENZIP_EXE=C:\Program Files\7-Zip\7z.exe"
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set "VCPKG_JSON=%~dp0vcpkg.json"
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for /f "usebackq tokens=*" %%a in (`powershell -NoProfile -Command "(Get-Content '%VCPKG_JSON%' -Raw | ConvertFrom-Json).'builtin-baseline'"` ) do set "VCPKG_COMMIT=%%a"
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echo [+] Detected VCPKG baseline commit: %VCPKG_COMMIT%
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if "%VCPKG_COMMIT%"=="" (
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echo [X] Error: Could not find 'builtin-baseline' in %VCPKG_JSON%
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pause
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exit /b 1
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)
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set VCPKG_COMMIT_SHORT=%VCPKG_COMMIT:~0,8%
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:: 1. Setup Local vcpkg
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if not exist "%VCPKG_ROOT%" (
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echo [+] Local vcpkg not found. Cloning...
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git clone https://github.com/microsoft/vcpkg.git "%VCPKG_ROOT%"
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)
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pushd "%VCPKG_ROOT%"
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git checkout %VCPKG_COMMIT%
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call .\bootstrap-vcpkg.bat
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popd
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:: 2. Install vcpkg dependencies
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echo [+] Installing dependencies via vcpkg manifest...
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"%VCPKG_ROOT%\vcpkg.exe" install ^
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--triplet=%TRIPLET% ^
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--host-triplet=%TRIPLET% ^
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--clean-after-build ^
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--x-feature=tools ^
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--x-feature=k4w2 ^
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--x-feature=octomap ^
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--x-feature=openmp ^
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--x-feature=realsense2 ^
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--x-feature=openni2 ^
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--x-feature=gtsam-deps ^
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--x-feature=python ^
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--x-feature=libpointmatcher-deps || exit /b !errorlevel!
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:: 3. Export
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echo [+] Exporting built binaries to raw folder...
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set "VS_LOCATOR=%ProgramFiles(x86)%\Microsoft Visual Studio\Installer\vswhere.exe"
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for /f "usebackq tokens=*" %%i in (`"%VS_LOCATOR%" -latest -property catalog_productLineVersion`) do set VS_YEAR=vs%%i
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set TARGET_NAME=vcpkg-export-%VCPKG_COMMIT_SHORT%-x64-%VS_YEAR%
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set TARGET_FULL_PATH=%EXPORT_DIR%\%TARGET_NAME%
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if exist "%TARGET_FULL_PATH%" rd /s /q "%TARGET_FULL_PATH%"
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"%VCPKG_ROOT%\vcpkg.exe" export --raw --output-dir="%EXPORT_DIR%" --triplet=%TRIPLET% || exit /b !errorlevel!
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:: Find the actual exported folder name (it usually contains a date/hash)
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for /d %%i in ("%EXPORT_DIR%\vcpkg-export-20??????-??????") do set "FINAL_EXPORT_PATH=%%i"
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echo [+] Rename folder %FINAL_EXPORT_PATH% to %TARGET_NAME%
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ren "%FINAL_EXPORT_PATH%" "%TARGET_NAME%" || exit /b !errorlevel!
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set "FINAL_EXPORT_PATH=%TARGET_FULL_PATH%"
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echo [+] Add numpy...
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:: We install numpy<2 to be compatible with SuperPoint and SuperGlue scripts
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%FINAL_EXPORT_PATH%/installed/%TRIPLET%/tools/python3/python.exe -m ensurepip --upgrade || exit /b %errorlevel%
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%FINAL_EXPORT_PATH%/installed/%TRIPLET%/tools/python3/python.exe -m pip install --upgrade pip || exit /b !errorlevel!
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%FINAL_EXPORT_PATH%/installed/%TRIPLET%/tools/python3/python.exe -m pip install "numpy<2" || exit /b !errorlevel!
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:: 4. Other dependencies not in vcpkg
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:: libnabo
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echo [+] Building libnabo...
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if not exist libnabo (
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echo [+] Downloading...
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git clone https://github.com/ethz-asl/libnabo.git
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cd libnabo
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:: Jan 27, 2022
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git checkout c925c47
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git apply ../patches/libnabo_c925c47.patch
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cd ..
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)
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cd libnabo
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cmake -S . -B build -GNinja ^
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-DVCPKG_MANIFEST_INSTALL=OFF ^
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-DVCPKG_TARGET_TRIPLET=x64-windows-release ^
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-DVCPKG_INSTALLED_DIR="%FINAL_EXPORT_PATH%\installed" ^
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-DCMAKE_TOOLCHAIN_FILE="%FINAL_EXPORT_PATH%\scripts\buildsystems\vcpkg.cmake" ^
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-DCMAKE_INSTALL_PREFIX="%FINAL_EXPORT_PATH%\installed\%TRIPLET%" ^
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-DCMAKE_BUILD_TYPE=Release ^
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-DSHARED_LIBS=FALSE ^
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-DLIBNABO_BUILD_DOXYGEN=OFF ^
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-DLIBNABO_BUILD_EXAMPLES=OFF ^
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-DLIBNABO_BUILD_PYTHON=OFF ^
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-DLIBNABO_BUILD_TESTS=OFF || exit /b !errorlevel!
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cmake --build build --config Release --target install || exit /b !errorlevel!
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cd ..
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:: libpointmatcher
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echo [+] Building libpointmatcher...
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if not exist libpointmatcher (
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echo [+] Downloading and applying patch...
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git clone https://github.com/ethz-asl/libpointmatcher.git
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cd libpointmatcher
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:: Mar 17, 2023
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git checkout 7dc58e5
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git apply ../patches/pointmatcher_7dc58e5.patch
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cd ..
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)
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cd libpointmatcher
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cmake -S . -B build -GNinja ^
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-DVCPKG_MANIFEST_INSTALL=OFF ^
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-DVCPKG_TARGET_TRIPLET=x64-windows-release ^
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-DVCPKG_INSTALLED_DIR="%FINAL_EXPORT_PATH%\installed" ^
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-DCMAKE_TOOLCHAIN_FILE="%FINAL_EXPORT_PATH%\scripts\buildsystems\vcpkg.cmake" ^
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-DCMAKE_INSTALL_PREFIX="%FINAL_EXPORT_PATH%\installed\%TRIPLET%" ^
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-DCMAKE_BUILD_TYPE=Release ^
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-DBUILD_TESTS=OFF ^
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-DBUILD_SHARED_LIBS=ON ^
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-DPOINTMATCHER_BUILD_EVALUATIONS=OFF ^
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-DPOINTMATCHER_BUILD_EXAMPLES=OFF ^
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-DCMAKE_CXX_FLAGS="-DBOOST_TIMER_ENABLE_DEPRECATED /EHsc -DBOOST_EXCEPTION_DISABLE" || exit /b !errorlevel!
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cmake --build build --config Release --target install || exit /b !errorlevel!
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cd ..
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:: We remove the files in the top-level CMake directory to force use of share/libpointmatcher/cmake
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if exist "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\CMake\" (
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rd /s /q "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\CMake"
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)
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:: gtsam
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echo [+] Building gtsam...
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if not exist gtsam (
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echo [+] Downloading and applying patch...
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git clone https://github.com/borglab/gtsam.git
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cd gtsam
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:: June 18, 2025
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git checkout 4.3a0-ros
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git cherry-pick 18af4e6
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git apply ../patches/gtsam_4_3a0-ros.patch
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cd ..
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)
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cd gtsam
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cmake -S . -B build -GNinja ^
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-DVCPKG_MANIFEST_INSTALL=OFF ^
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-DVCPKG_TARGET_TRIPLET=x64-windows-release ^
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-DVCPKG_INSTALLED_DIR="%FINAL_EXPORT_PATH%\installed" ^
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-DCMAKE_TOOLCHAIN_FILE="%FINAL_EXPORT_PATH%\scripts\buildsystems\vcpkg.cmake" ^
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-DCMAKE_INSTALL_PREFIX="%FINAL_EXPORT_PATH%\installed\%TRIPLET%" ^
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-DCMAKE_BUILD_TYPE=Release ^
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-DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF ^
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-DGTSAM_BUILD_TESTS=OFF ^
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-DGTSAM_BUILD_UNSTABLE=OFF ^
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-DGTSAM_USE_SYSTEM_EIGEN=ON ^
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-DGTSAM_BUILD_WITH_PRECOMPILED_HEADERS=OFF ^
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-DGTSAM_UNSTABLE_BUILD_PYTHON=OFF ^
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-DGTSAM_WITH_EIGEN_MKL=OFF ^
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-DGTSAM_WITH_EIGEN_MKL_OPENMP=OFF ^
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-DCMAKE_CXX_FLAGS="-DBOOST_TIMER_ENABLE_DEPRECATED -DBOOST_BIND_GLOBAL_PLACEHOLDERS" || exit /b !errorlevel!
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cmake --build build --config Release --target install || exit /b !errorlevel!
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cd ..
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:: opengv
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echo [+] Building opengv...
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if not exist opengv (
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echo [+] Downloading and applying patch...
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git clone https://github.com/laurentkneip/opengv.git
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cd opengv
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:: Aug 6, 2020
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git checkout 91f4b19c73450833a40e463ad3648aae80b3a7f3
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git apply ../patches/opengv_91f4b19c.patch
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cd ..
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)
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cd opengv
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cmake -S . -B build -GNinja ^
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-DVCPKG_MANIFEST_INSTALL=OFF ^
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-DVCPKG_TARGET_TRIPLET=x64-windows-release ^
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-DVCPKG_INSTALLED_DIR="%FINAL_EXPORT_PATH%\installed" ^
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-DCMAKE_TOOLCHAIN_FILE="%FINAL_EXPORT_PATH%\scripts\buildsystems\vcpkg.cmake" ^
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-DCMAKE_INSTALL_PREFIX="%FINAL_EXPORT_PATH%\installed\%TRIPLET%" ^
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-DBUILD_TESTS=OFF ^
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-DBUILD_SHARED_LIBS=ON || exit /b !errorlevel!
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cmake --build build --config Release --target install || exit /b !errorlevel!
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cd ..
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:: 5. ZIP the folder
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echo [+] Creating final package with 7-Zip...
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:: Rip off pdb files
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cd /d "%FINAL_EXPORT_PATH%"
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del /s /q /f *.pdb >nul 2>&1
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cd ..
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set "FINAL_ZIP=%TARGET_NAME%.7z"
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:: compress contents without the root folder
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"%SEVENZIP_EXE%" u -t7z -mx9 "%FINAL_ZIP%" "%FINAL_EXPORT_PATH%\*" -up0q0
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if !errorlevel! EQU 0 (
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echo [!] Success! Package created at %FINAL_ZIP%
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) else (
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echo [X] 7-Zip failed with error code !errorlevel!
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)
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:: Example building rtabmap afterwards
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goto :EndComment
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set VCPKG_UNZIPPED_EXPORT_PATH=%USERPROFILE%\Downloads\vcpkg-export-########-x64-vs2022
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set PATH=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\x64-windows-release\bin;%PATH%
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cmake -B build -GNinja ^
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-DCMAKE_BUILD_TYPE=Release ^
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-DBUILD_AS_BUNDLE=ON -DWITH_PYTHON=ON ^
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-DWITH_ZED=OFF ^
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-DVCPKG_MANIFEST_INSTALL=OFF ^
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-DVCPKG_TARGET_TRIPLET=x64-windows-release ^
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-DVCPKG_INSTALLED_DIR="%VCPKG_UNZIPPED_EXPORT_PATH%/installed" ^
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-DCMAKE_TOOLCHAIN_FILE=%VCPKG_UNZIPPED_EXPORT_PATH%/scripts/buildsystems/vcpkg.cmake ^
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-DGTSAM_DIR=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\x64-windows-release\CMake
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cmake --build build --config Release --target package
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:: To install CPU pytorch inside rtabmap package afterwards.
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:: Note that python.exe is the one in the bin directory of the package, not the system one.
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python.exe -m pip install torch torchvision opencv-python-headless "numpy<2"
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:EndComment
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