rtabmap/app/android/jni/CMakeLists.txt

SET(INCLUDE_DIRS
    ${CMAKE_CURRENT_SOURCE_DIR}
    ${CMAKE_CURRENT_SOURCE_DIR}/tango-gl/include
    ${CMAKE_CURRENT_SOURCE_DIR}/third-party/include
	  ${PROJECT_BINARY_DIR}/corelib/include
	  ${PROJECT_SOURCE_DIR}/corelib/include
	  ${PROJECT_SOURCE_DIR}/utilite/include
    ${CMAKE_CURRENT_BINARY_DIR}
    ${OpenCV_INCLUDE_DIRS}
    ${PCL_INCLUDE_DIRS}
    "${ANDROID_NDK}/platforms/android-${ANDROID_NATIVE_API_LEVEL}/arch-${ANDROID_ARCH_NAME}/usr/include"
)

SET(LIBRARIES
	${OpenCV_LIBRARIES} 
	${PCL_LIBRARIES}
)

set(sources
  jni_interface.cpp
  CameraMobile.cpp
  RTABMapApp.cpp
  scene.cpp
  point_cloud_drawable.cpp
  graph_drawable.cpp
  background_renderer.cc
  text_drawable.cpp
  quad_color.cpp
  tango-gl/bounding_box.cpp 
  tango-gl/axis.cpp 
  tango-gl/camera.cpp 
  tango-gl/circle.cpp 
  tango-gl/conversions.cpp 
  tango-gl/drawable_object.cpp 
  tango-gl/frustum.cpp 
  tango-gl/gesture_camera.cpp 
  tango-gl/grid.cpp 
  tango-gl/line.cpp 
  tango-gl/mesh.cpp 
  tango-gl/shaders.cpp 
  tango-gl/trace.cpp 
  tango-gl/transform.cpp 
  tango-gl/util.cpp
)

IF(OPENMP_FOUND)
file(COPY ${OpenMP_CXX_LIBRARIES}
       DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME})
ENDIF(OPENMP_FOUND)

IF(Tango_FOUND)

  SET(sources
    ${sources}
    CameraTango.cpp
  )
  SET(INCLUDE_DIRS
    ${INCLUDE_DIRS}
    ${Tango_INCLUDE_DIRS}
  )
  SET(LIBRARIES
    ${LIBRARIES}
    ${Tango_LIBRARIES}
  )
  
  file(COPY ${Tango_support_LIBRARY} 
       DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME}) 
ENDIF(Tango_FOUND)

IF(ARCore_FOUND)

  SET(sources
    ${sources}
    CameraARCore.cpp
  )
  SET(INCLUDE_DIRS
    ${INCLUDE_DIRS}
    ${ARCore_INCLUDE_DIRS}
  )
  SET(LIBRARIES
    ${LIBRARIES}
    ${ARCore_LIBRARIES}
  )
 
  file(COPY ${ARCore_c_LIBRARY} 
       DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME})
  file(COPY ${ARCore_jni_LIBRARY} 
       DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME})
    
ENDIF(ARCore_FOUND)

IF(AREngine_FOUND)

  SET(sources
    ${sources}
    CameraAREngine.cpp
  )
  SET(INCLUDE_DIRS
    ${INCLUDE_DIRS}
    ${AREngine_INCLUDE_DIRS}
  )
  SET(LIBRARIES
    ${LIBRARIES}
    ${AREngine_LIBRARIES}
    camera2ndk
    mediandk
  )
 
  file(COPY ${AREngine_impl_LIBRARY} 
       DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME})
  file(COPY ${AREngine_jni_LIBRARY} 
       DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME})
  file(COPY ${AREngine_ndk_LIBRARY} 
       DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME})
    
ENDIF(AREngine_FOUND)

add_definitions(${PCL_DEFINITIONS})

INCLUDE_DIRECTORIES(${INCLUDE_DIRS})

####################################
# Generate resources files
####################################
SET(RESOURCES
    ${CMAKE_CURRENT_SOURCE_DIR}/resources/text_atlas.png
)

foreach(arg ${RESOURCES})
   get_filename_component(filename ${arg} NAME)
   string(REPLACE "." "_" output ${filename})
   set(RESOURCES_HEADERS "${RESOURCES_HEADERS}" "${CMAKE_CURRENT_BINARY_DIR}/${output}.h")
endforeach(arg ${RESOURCES})

find_host_program(RTABMAP_RES_TOOL rtabmap-res_tool PATHS ${CMAKE_RUNTIME_OUTPUT_DIRECTORY})
IF(NOT RTABMAP_RES_TOOL)
  MESSAGE( FATAL_ERROR "RTABMAP_RES_TOOL is not defined (it is the path to \"rtabmap-res_tool\" application created by a non-Android build)." )
ENDIF(NOT RTABMAP_RES_TOOL)

ADD_CUSTOM_COMMAND(
      OUTPUT ${RESOURCES_HEADERS}
      COMMAND ${RTABMAP_RES_TOOL} -n rtabmap -p ${CMAKE_CURRENT_BINARY_DIR} ${RESOURCES}
      COMMENT "[Creating resources]"
      DEPENDS ${RESOURCES}
)
####################################
# Generate resources files END
####################################

add_library(NativeRTABMap SHARED ${sources} ${RESOURCES_HEADERS})        
target_link_libraries(NativeRTABMap ${LIBRARIES}
  android
  log
  GLESv2
  rtabmap_core
  rtabmap_utilite
)

# see ant.properties.in
set_target_properties(NativeRTABMap PROPERTIES
         LIBRARY_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME}"
         LIBRARY_OUTPUT_DIRECTORY_DEBUG "${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME}"
         LIBRARY_OUTPUT_DIRECTORY_RELEASE "${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME}")
         
IF(ANDROID_NATIVE_API_LEVEL GREATER 22)
add_custom_command(TARGET NativeRTABMap POST_BUILD
    COMMAND "${ANDROID_TOOLCHAIN_PREFIX}strip" -g -S -d --strip-debug --verbose
    "${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME}/libNativeRTABMap.so"
    COMMENT "Strip debug symbols done on final binary.")
ENDIF(ANDROID_NATIVE_API_LEVEL GREATER 22)