mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 01:20:25 +08:00
012439aa0b
* Created general CameraMobile interface. Tango is now optional. Camera is disabled on visualizaion (battery saving). * Working android app on non-tango android phones (tested on x86_64 android emulator). * fixed typo * android: updated tango not available msg * android: fixed build with latest android sdk/ndk * Added ARCore limited support for pose and rgb streams. * Added AREngine support. Don't assert if depth size is not a modulo of rgb size. * Added ARCore shared camera support * android: fixed read/write runtime permissions for >=api23. arcore ndk: added feature point cloud. Fixed file sharing persmissions (>=api24 issue) * ARCore NDK: mapping with feature point cloud * android: Added post build strip command to reduce native library size * android: fixed some compilation issues * android: put back gtsam as default optimizer, manifest min api is dynamic based on cmake parameters * AREngine: min api 24 * android: Fixed build without AREngine * android: fixed not available libraries for API<24 * android: fixed build with old cmake versions * android: set arcore min api to 23 * android: fixed arengine error on start when not built with native arengine support * android: fixed tango camera permission for api>=23 * Added bionic android docker files * Fixed wrong 3D words projection when depth size is not an exact multiple of rgb size. DbViewer: fixed images size not correctly shown in label of the calibration. ImageView: fixed depth scale when depth size is not a multiple of rgb size * CameraMobile: added exact display rotation for local transform * DbViewer: fixed gravity link shown in constraint view, show full local transform matrix in camera calibration label * Android: fixed localization mode in visualization, fixed some tansitions between some UI states * Android: Hide stop button when HUD is hidden. Updated About years.
192 lines
6.1 KiB
CMake
192 lines
6.1 KiB
CMake
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option(WITH_TANGO "Include Tango support" ON)
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option(WITH_ARCORE "Include ARCore support" ON)
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option(WITH_ARENGINE "Include AREngine support" ON)
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option(DISABLE_LOG "Disable Android logging (should be true in release)" ON)
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option(DEPTH_TEST "Enable depth test on ARCore" OFF)
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# Google Tango needs access to system shared
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# libraries (e.g. libbinder.so) that are not accessible
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# with android >=24
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IF(WITH_TANGO AND ${ANDROID_NATIVE_API_LEVEL} LESS 24)
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FIND_PACKAGE(Tango QUIET)
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IF(Tango_FOUND)
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MESSAGE(STATUS "Found Tango: ${Tango_INCLUDE_DIRS}")
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ENDIF(Tango_FOUND)
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ENDIF(WITH_TANGO AND ${ANDROID_NATIVE_API_LEVEL} LESS 24)
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IF(WITH_ARCORE AND ${ANDROID_NATIVE_API_LEVEL} GREATER 22)
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FIND_PACKAGE(ARCore QUIET)
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IF(ARCore_FOUND)
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MESSAGE(STATUS "Found ARCore: ${ARCore_INCLUDE_DIRS}")
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ENDIF(ARCore_FOUND)
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ENDIF(WITH_ARCORE AND ${ANDROID_NATIVE_API_LEVEL} GREATER 22)
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IF(WITH_ARENGINE AND ${ANDROID_NATIVE_API_LEVEL} GREATER 23)
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FIND_PACKAGE(AREngine QUIET)
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IF(AREngine_FOUND)
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MESSAGE(STATUS "Found AREngine: ${AREngine_INCLUDE_DIRS}")
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ENDIF(AREngine_FOUND)
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ENDIF(WITH_ARENGINE AND ${ANDROID_NATIVE_API_LEVEL} GREATER 23)
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IF(NOT Tango_FOUND)
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SET(TANGO "//")
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ENDIF(NOT Tango_FOUND)
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IF(NOT ARCore_FOUND)
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SET(ARCORE "//")
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ENDIF(NOT ARCore_FOUND)
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IF(NOT AREngine_FOUND)
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SET(ARENGINE "//")
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ENDIF(NOT AREngine_FOUND)
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CONFIGURE_FILE(CameraAvailability.h.in ${CMAKE_CURRENT_SOURCE_DIR}/jni/CameraAvailability.h)
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IF(DISABLE_LOG)
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ADD_DEFINITIONS(-DDISABLE_LOG)
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ENDIF(DISABLE_LOG)
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IF(DEPTH_TEST)
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ADD_DEFINITIONS(-DDEPTH_TEST)
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ENDIF(DEPTH_TEST)
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MESSAGE(STATUS "--------------------------------------------")
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MESSAGE(STATUS "Android build info:")
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MESSAGE(STATUS " DISABLE_LOG = ${DISABLE_LOG}")
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MESSAGE(STATUS " DEPTH_TEST = ${DEPTH_TEST}")
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IF(Tango_FOUND)
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MESSAGE(STATUS " With Tango = YES")
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ELSEIF(NOT WITH_TANGO)
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MESSAGE(STATUS " With Tango = NO (WITH_TANGO=OFF)")
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ELSE()
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IF(${ANDROID_NATIVE_API_LEVEL} GREATER 23)
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MESSAGE(STATUS " With Tango = NO (ANDROID_NATIVE_API_LEVEL should be <= 23)")
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ELSE()
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MESSAGE(STATUS " With Tango = NO (tango not found)")
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ENDIF()
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ENDIF()
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IF(ARCore_FOUND)
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MESSAGE(STATUS " With ARCore = YES")
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ELSEIF(NOT WITH_ARCORE)
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MESSAGE(STATUS " With ARCore = NO (WITH_ARCORE=OFF)")
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ELSE()
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IF(${ANDROID_NATIVE_API_LEVEL} LESS 23)
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MESSAGE(STATUS " With ARCore = NO (ANDROID_NATIVE_API_LEVEL should be >= 23)")
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ELSE()
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MESSAGE(STATUS " With ARCore = NO (ARCore not found)")
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ENDIF()
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ENDIF()
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IF(AREngine_FOUND)
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MESSAGE(STATUS " With AREngine = YES")
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ELSEIF(NOT WITH_ARENGINE)
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MESSAGE(STATUS " With AREngine = NO (WITH_ARENGINE=OFF)")
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ELSE()
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IF(${ANDROID_NATIVE_API_LEVEL} LESS 24)
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MESSAGE(STATUS " With AREngine = NO (ANDROID_NATIVE_API_LEVEL should be >= 24)")
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ELSE()
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MESSAGE(STATUS " With AREngine = NO (AREngine not found)")
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ENDIF()
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ENDIF()
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MESSAGE(STATUS " ANDROID_NATIVE_API_LEVEL = ${ANDROID_NATIVE_API_LEVEL}")
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MESSAGE(STATUS " ANDROID_COMPILER_FLAGS_RELEASE = ${ANDROID_COMPILER_FLAGS_RELEASE}")
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MESSAGE(STATUS " ANDROID_TOOLCHAIN_PREFIX = ${ANDROID_TOOLCHAIN_PREFIX}")
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IF(DISABLE_LOG)
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SET(ANDROID_DEBUGGABLE false)
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ELSE()
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SET(ANDROID_DEBUGGABLE true)
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ENDIF()
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add_subdirectory(jni)
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######
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# Packaging
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######
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# find android
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find_host_program(ANDROID_EXECUTABLE
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NAMES android
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DOC "The android command-line tool")
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if(NOT ANDROID_EXECUTABLE)
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message(FATAL_ERROR "Can not find android command line tool: android")
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endif()
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configure_file(
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"${CMAKE_CURRENT_SOURCE_DIR}/AndroidManifest.xml.in"
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"${CMAKE_CURRENT_SOURCE_DIR}/AndroidManifest.xml"
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@ONLY)
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configure_file(
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"${CMAKE_CURRENT_SOURCE_DIR}/AndroidManifest.xml"
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"${CMAKE_CURRENT_BINARY_DIR}/AndroidManifest.xml"
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COPYONLY)
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configure_file(
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"${CMAKE_CURRENT_SOURCE_DIR}/info.txt.in"
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"${CMAKE_CURRENT_SOURCE_DIR}/res/raw/info.txt")
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configure_file(
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"${CMAKE_CURRENT_SOURCE_DIR}/ant.properties.in"
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"${CMAKE_CURRENT_BINARY_DIR}/ant.properties"
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@ONLY)
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configure_file(
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"${CMAKE_CURRENT_SOURCE_DIR}/custom_rules.xml"
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"${CMAKE_CURRENT_BINARY_DIR}/custom_rules.xml"
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COPYONLY)
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add_custom_target(NativeRTABMap-ant-configure ALL
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COMMAND "${ANDROID_EXECUTABLE}"
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update project
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--name RTABMap
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--path "${CMAKE_CURRENT_SOURCE_DIR}"
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--target "android-${ANDROID_NATIVE_API_LEVEL}"
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COMMAND "${CMAKE_COMMAND}" -E copy_if_different
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"${CMAKE_CURRENT_SOURCE_DIR}/build.xml"
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"${CMAKE_CURRENT_BINARY_DIR}/build.xml"
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COMMAND "${CMAKE_COMMAND}" -E copy_if_different
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"${CMAKE_CURRENT_SOURCE_DIR}/local.properties"
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"${CMAKE_CURRENT_BINARY_DIR}/local.properties"
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COMMAND "${CMAKE_COMMAND}" -E copy_if_different
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"${CMAKE_CURRENT_SOURCE_DIR}/project.properties"
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"${CMAKE_CURRENT_BINARY_DIR}/project.properties"
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COMMAND "${CMAKE_COMMAND}" -E copy_if_different
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"${CMAKE_CURRENT_SOURCE_DIR}/proguard-project.txt"
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"${CMAKE_CURRENT_BINARY_DIR}/proguard-project.txt"
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COMMAND "${CMAKE_COMMAND}" -E remove
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"${CMAKE_CURRENT_SOURCE_DIR}/build.xml"
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"${CMAKE_CURRENT_SOURCE_DIR}/local.properties"
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"${CMAKE_CURRENT_SOURCE_DIR}/project.properties"
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"${CMAKE_CURRENT_SOURCE_DIR}/proguard-project.txt"
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WORKING_DIRECTORY
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"${CMAKE_CURRENT_BINARY_DIR}")
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add_dependencies(NativeRTABMap-ant-configure NativeRTABMap)
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#find ant
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find_host_program(ANT_EXECUTABLE
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NAMES ant
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DOC "The ant build tool")
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if(NOT ANT_EXECUTABLE)
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message(FATAL_ERROR "Can not find ant build tool: ant")
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endif()
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add_custom_target(NativeRTABMap-apk-release ALL
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COMMAND ${ANT_EXECUTABLE}
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-file "${CMAKE_CURRENT_BINARY_DIR}/build.xml"
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release)
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add_dependencies(NativeRTABMap-apk-release
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NativeRTABMap-ant-configure
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NativeRTABMap)
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add_custom_target(NativeRTABMap-apk-debug ALL
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COMMAND ${ANT_EXECUTABLE}
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-file "${CMAKE_CURRENT_BINARY_DIR}/build.xml"
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debug)
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add_dependencies(NativeRTABMap-apk-debug
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# NativeRTABMap-apk-release
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NativeRTABMap-ant-configure
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NativeRTABMap)
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