mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-04 17:17:47 +08:00
221 lines
8.5 KiB
CMake
221 lines
8.5 KiB
CMake
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SET(SRC_FILES
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main.cpp
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)
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# For Apple set the icns file containing icons
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IF(APPLE AND BUILD_AS_BUNDLE)
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# set how it shows up in the Info.plist file
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SET(MACOSX_BUNDLE_ICON_FILE ${PROJECT_NAME}.icns)
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# set where in the bundle to put the icns file
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SET_SOURCE_FILES_PROPERTIES(${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}.icns PROPERTIES MACOSX_PACKAGE_LOCATION Resources)
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# include the icns file in the target
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SET(SRC_FILES ${SRC_FILES} ${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}.icns)
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ENDIF(APPLE AND BUILD_AS_BUNDLE)
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# Add exe icon resource
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IF(WIN32)
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IF( MINGW )
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# resource compilation for MinGW
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ADD_CUSTOM_COMMAND( OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/AppIco.o
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COMMAND windres.exe -I${CMAKE_CURRENT_SOURCE_DIR} -i${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}.rc
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-o ${CMAKE_CURRENT_BINARY_DIR}/AppIco.o )
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SET(SRC_FILES ${SRC_FILES} ${CMAKE_CURRENT_BINARY_DIR}/AppIco.o)
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ELSE( MINGW )
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SET(SRC_FILES ${SRC_FILES} ${PROJECT_NAME}.rc)
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ENDIF( MINGW )
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ENDIF(WIN32)
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# Add binary
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IF(APPLE AND BUILD_AS_BUNDLE)
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ADD_EXECUTABLE(rtabmap_app MACOSX_BUNDLE ${SRC_FILES})
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ELSEIF(WIN32 AND BUILD_AS_BUNDLE)
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ADD_EXECUTABLE(rtabmap_app WIN32 ${SRC_FILES})
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ELSE()
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ADD_EXECUTABLE(rtabmap_app ${SRC_FILES})
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ENDIF()
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TARGET_LINK_LIBRARIES(rtabmap_app rtabmap_gui)
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IF(APPLE AND BUILD_AS_BUNDLE)
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SET_TARGET_PROPERTIES(rtabmap_app PROPERTIES
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OUTPUT_NAME ${CMAKE_BUNDLE_NAME})
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ELSEIF(WIN32)
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SET_TARGET_PROPERTIES(rtabmap_app PROPERTIES
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OUTPUT_NAME ${PROJECT_NAME})
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ELSE()
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SET_TARGET_PROPERTIES(rtabmap_app PROPERTIES
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OUTPUT_NAME ${PROJECT_PREFIX})
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ENDIF()
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#---------------------------
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# Installation stuff
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#---------------------------
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INSTALL(TARGETS rtabmap_app
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RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
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BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime)
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IF(APPLE AND BUILD_AS_BUNDLE)
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INSTALL(CODE "execute_process(COMMAND ln -s \"../MacOS/${CMAKE_BUNDLE_NAME}\" ${PROJECT_NAME}
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WORKING_DIRECTORY \$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/bin)")
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ENDIF(APPLE AND BUILD_AS_BUNDLE)
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IF(BUILD_AS_BUNDLE AND (APPLE OR WIN32))
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SET(APPS "\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/bin/${PROJECT_NAME}${CMAKE_EXECUTABLE_SUFFIX}")
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SET(plugin_dest_dir bin)
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SET(qtconf_dest_dir bin)
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SET(openni2_dest_dir bin)
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IF(APPLE)
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SET(plugin_dest_dir MacOS)
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SET(qtconf_dest_dir Resources)
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SET(openni2_dest_dir MacOS)
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SET(APPS "\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/MacOS/${CMAKE_BUNDLE_NAME}")
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ENDIF(APPLE)
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IF(OpenNI2_FOUND)
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# Install needed OpenNI sensor dll by copying directories from the OpenNI2 installation
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IF(WIN32)
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find_path(OpenNI2_BIN_DIR NAMES OpenNI2.dll)
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IF(NOT OpenNI2_BIN_DIR)
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MESSAGE(FATAL_ERROR "OpenNI2.dll not found! Verify your PATH.")
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ENDIF(NOT OpenNI2_BIN_DIR)
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ELSE()
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# Mac OS X
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get_filename_component(OpenNI2_BIN_DIR "${OpenNI2_LIBRARY}" PATH)
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ENDIF()
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INSTALL(DIRECTORY "${OpenNI2_BIN_DIR}/OpenNI2"
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DESTINATION ${openni2_dest_dir}
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COMPONENT runtime
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REGEX ".*pdb" EXCLUDE)
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INSTALL(FILES "${OpenNI2_BIN_DIR}/OpenNI.ini"
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DESTINATION ${openni2_dest_dir}
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COMPONENT runtime)
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ENDIF(OpenNI2_FOUND)
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IF(k4a_FOUND)
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# Install needed depthengine_2_0.dll
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IF(WIN32)
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file(TO_CMAKE_PATH "$ENV{K4A_ROOT_DIR}" ENV_K4A_ROOT_DIR)
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INSTALL(FILES "${ENV_K4A_ROOT_DIR}/tools/depthengine_2_0.dll"
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DESTINATION ${plugin_dest_dir}
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COMPONENT runtime)
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ENDIF(WIN32)
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ENDIF(k4a_FOUND)
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IF(Torch_FOUND)
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# Install needed cudnn_ops_infer64_8.dll and cudnn_cnn_infer64_8.dll
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# TODO: should be a more general way to include them if version is different
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IF(WIN32 AND CUDA_FOUND)
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find_file(CUDNN_OPS_DLL NAMES cudnn_ops_infer64_8.dll)
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find_file(CUDNN_CNN_DLL NAMES cudnn_cnn_infer64_8.dll)
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IF(CUDNN_OPS_DLL AND CUDNN_CNN_DLL)
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MESSAGE(STATUS "Found ${CUDNN_OPS_DLL}")
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MESSAGE(STATUS "Found ${CUDNN_CNN_DLL}")
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INSTALL(FILES ${CUDNN_OPS_DLL} ${CUDNN_CNN_DLL}
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DESTINATION ${plugin_dest_dir}
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COMPONENT runtime)
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ELSE()
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MESSAGE(AUTHOR_WARNING "Using Torch with CUDA, but cudnn_ops_infer64_8.dll and cudnn_cnn_infer64_8.dll are not found on the PATH, so it won't be added to package.")
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ENDIF()
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ENDIF(WIN32 AND CUDA_FOUND)
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ENDIF(Torch_FOUND)
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IF(Qt6_FOUND)
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# Reference: https://doc-snapshots.qt.io/qt6-6.4/qt-deploy-runtime-dependencies.html
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# The following script must only be executed at install time
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set(deploy_script "${CMAKE_CURRENT_BINARY_DIR}/deploy_app$<CONFIG>.cmake")
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file(GENERATE OUTPUT ${deploy_script} CONTENT "
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# Including the file pointed to by QT_DEPLOY_SUPPORT ensures the generated
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# deployment script has access to qt_deploy_runtime_dependencies()
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include(\"${QT_DEPLOY_SUPPORT}\")
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qt_deploy_runtime_dependencies(
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EXECUTABLE \"${APPS}\"
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VERBOSE
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PLUGINS_DIR ${plugin_dest_dir}/plugins
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)")
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install(SCRIPT "${CMAKE_CURRENT_BINARY_DIR}/deploy_appDebug.cmake"
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CONFIGURATIONS Debug
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COMPONENT runtime)
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install(SCRIPT "${CMAKE_CURRENT_BINARY_DIR}/deploy_appRelease.cmake"
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CONFIGURATIONS Release
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COMPONENT runtime)
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install(SCRIPT "${CMAKE_CURRENT_BINARY_DIR}/deploy_appRelWithDebInfo.cmake"
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CONFIGURATIONS RelWithDebInfo
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COMPONENT runtime)
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install(SCRIPT "${CMAKE_CURRENT_BINARY_DIR}/deploy_appMinSizeRel.cmake"
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CONFIGURATIONS MinSizeRel
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COMPONENT runtime)
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ELSEIF(Qt5_FOUND)
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#Qt5
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foreach(plugin ${Qt5Gui_PLUGINS})
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get_target_property(plugin_loc ${plugin} LOCATION)
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get_filename_component(plugin_dir ${plugin_loc} DIRECTORY)
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string(REPLACE "plugins" ";" loc_list ${plugin_dir})
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list(GET loc_list 1 plugin_type)
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IF(NOT plugin_root)
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get_filename_component(plugin_root ${plugin_dir} DIRECTORY)
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ENDIF(NOT plugin_root)
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#MESSAGE(STATUS "Qt5 plugin \"${plugin_loc}\" installed in \"${plugin_dest_dir}/plugins${plugin_type}\"")
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INSTALL(FILES ${plugin_loc}
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DESTINATION ${plugin_dest_dir}/plugins${plugin_type}
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COMPONENT runtime)
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endforeach()
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IF(NOT Qt5Widgets_VERSION VERSION_LESS 5.10.0)
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IF(WIN32)
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SET(plugin_loc "${plugin_root}/styles/qwindowsvistastyle.dll")
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ELSEIF(APPLE)
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SET(plugin_loc "${plugin_root}/styles/libqmacstyle.dylib")
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ENDIF()
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IF(EXISTS ${plugin_loc})
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get_filename_component(plugin_dir ${plugin_loc} DIRECTORY)
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string(REPLACE "plugins" ";" loc_list ${plugin_dir})
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list(GET loc_list 1 plugin_type)
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INSTALL(FILES ${plugin_loc}
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DESTINATION ${plugin_dest_dir}/plugins${plugin_type}
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COMPONENT runtime)
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#MESSAGE(STATUS "Qt5 plugin \"${plugin_loc}\" installed in \"${plugin_dest_dir}/plugins${plugin_type}\"")
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ENDIF(EXISTS ${plugin_loc})
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ENDIF(NOT Qt5Widgets_VERSION VERSION_LESS 5.10.0)
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ELSEIF(QT_PLUGINS_DIR) # Qt4
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# Install needed Qt plugins by copying directories from the qt installation
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# One can cull what gets copied by using 'REGEX "..." EXCLUDE'
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# Exclude debug libraries
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INSTALL(DIRECTORY "${QT_PLUGINS_DIR}/imageformats"
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DESTINATION ${plugin_dest_dir}/plugins
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COMPONENT runtime
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REGEX ".*d4.dll" EXCLUDE
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REGEX ".*d4.a" EXCLUDE)
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ENDIF()
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# install a qt.conf file
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# this inserts some cmake code into the install script to write the file
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SET(QT_CONF_FILE [Paths]\nPlugins=plugins)
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IF(APPLE)
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SET(QT_CONF_FILE [Paths]\nPlugins=MacOS/plugins)
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ENDIF(APPLE)
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INSTALL(CODE "
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file(WRITE \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/${qtconf_dest_dir}/qt.conf\" \"${QT_CONF_FILE}\")
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" COMPONENT runtime)
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# directories to look for dependencies
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SET(DIRS ${QT_LIBRARY_DIRS} ${PROJECT_SOURCE_DIR}/bin)
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IF(APPLE)
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SET(DIRS ${DIRS} /usr/local /usr/local/lib)
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ENDIF(APPLE)
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# Now the work of copying dependencies into the bundle/package
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# The quotes are escaped and variables to use at install time have their $ escaped
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# An alternative is the do a configure_file() on a script and use install(SCRIPT ...).
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# Note that the image plugins depend on QtSvg and QtXml, and it got those copied
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# over.
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# To find dependencies, cmake use "otool" on Apple and "dumpbin" on Windows (make sure you have one of them).
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install(CODE "
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file(GLOB_RECURSE QTPLUGINS \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/${plugin_dest_dir}/plugins/*${CMAKE_SHARED_LIBRARY_SUFFIX}\")
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set(BU_CHMOD_BUNDLE_ITEMS ON)
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include(\"BundleUtilities\")
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fixup_bundle(\"${APPS}\" \"\${QTPLUGINS}\" \"${DIRS}\")
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" COMPONENT runtime)
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ENDIF(BUILD_AS_BUNDLE AND (APPLE OR WIN32))
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