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macOS: add Info.plist with NSCameraUsageDescription to app bundle

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macOS requires NSCameraUsageDescription to grant an app access to
USB/UVC cameras (e.g. Orbbec, RealSense); without it camera open fails
with access denied. Add a custom Info.plist for rtabmap_app and set a
bundle identifier, which TCC ties the camera permission to.

Co-Authored-By: Claude Opus 4.8 (1M context) <[email protected]>
This commit is contained in:
matlabbe
2026-06-28 13:16:40 -07:00
co-authored by Claude Opus 4.8
parent 21b50306cf
commit 8d55ce44f6
2 changed files with 48 additions and 0 deletions
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app/src/CMakeLists.txt
+8
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@@ -33,6 +33,14 @@ ENDIF()
# Add binary # Add binary
IF(APPLE AND BUILD_AS_BUNDLE) IF(APPLE AND BUILD_AS_BUNDLE)
ADD_EXECUTABLE(rtabmap_app MACOSX_BUNDLE ${SRC_FILES}) ADD_EXECUTABLE(rtabmap_app MACOSX_BUNDLE ${SRC_FILES})
# Custom Info.plist providing NSCameraUsageDescription, required by macOS to
# grant the app access to USB/UVC cameras (e.g. Orbbec, RealSense). A bundle
# identifier is also set: macOS ties the camera (TCC) permission to it, so it
# must be non-empty for the permission to be granted/persisted.
SET_TARGET_PROPERTIES(rtabmap_app PROPERTIES
MACOSX_BUNDLE_INFO_PLIST ${CMAKE_CURRENT_SOURCE_DIR}/Info.plist.in
MACOSX_BUNDLE_GUI_IDENTIFIER "com.introlab.rtabmap"
MACOSX_BUNDLE_BUNDLE_NAME "${CMAKE_BUNDLE_NAME}")
ELSEIF(WIN32 AND BUILD_AS_BUNDLE) ELSEIF(WIN32 AND BUILD_AS_BUNDLE)
ADD_EXECUTABLE(rtabmap_app ${SRC_FILES}) ADD_EXECUTABLE(rtabmap_app ${SRC_FILES})
ELSE() ELSE()
app/src/Info.plist.in
+40
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@@ -0,0 +1,40 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE plist PUBLIC "-//Apple Computer//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
<plist version="1.0">
<dict>
<key>NSPrincipalClass</key>
<string>NSApplication</string>
<key>NSHighResolutionCapable</key>
<string>True</string>
<key>CFBundleDevelopmentRegion</key>
<string>English</string>
<key>CFBundleExecutable</key>
<string>${MACOSX_BUNDLE_EXECUTABLE_NAME}</string>
<key>CFBundleGetInfoString</key>
<string>${MACOSX_BUNDLE_INFO_STRING}</string>
<key>CFBundleIconFile</key>
<string>${MACOSX_BUNDLE_ICON_FILE}</string>
<key>CFBundleIdentifier</key>
<string>${MACOSX_BUNDLE_GUI_IDENTIFIER}</string>
<key>CFBundleInfoDictionaryVersion</key>
<string>6.0</string>
<key>CFBundleLongVersionString</key>
<string>${MACOSX_BUNDLE_LONG_VERSION_STRING}</string>
<key>CFBundleName</key>
<string>${MACOSX_BUNDLE_BUNDLE_NAME}</string>
<key>CFBundlePackageType</key>
<string>APPL</string>
<key>CFBundleShortVersionString</key>
<string>${MACOSX_BUNDLE_SHORT_VERSION_STRING}</string>
<key>CFBundleSignature</key>
<string>????</string>
<key>CFBundleVersion</key>
<string>${MACOSX_BUNDLE_BUNDLE_VERSION}</string>
<key>CSResourcesFileMapped</key>
<true/>
<key>NSHumanReadableCopyright</key>
<string>${MACOSX_BUNDLE_COPYRIGHT}</string>
<key>NSCameraUsageDescription</key>
<string>RTAB-Map needs access to the camera to capture images from connected RGB-D/stereo cameras (e.g. Orbbec, RealSense).</string>
</dict>
</plist>