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feat(slam): add rtabmap_ros

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X-lanni
2025-07-14 11:34:38 +08:00
parent 3b6641c1fb
commit 943ce5b06f
1635 changed files with 603092 additions and 0 deletions
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rtabmap/app/android/AndroidManifest.xml.in
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<?xml version="1.0" encoding="utf-8"?>
<!-- BEGIN_INCLUDE(manifest) -->
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
package="com.introlab.rtabmap"
android:versionCode="72"
android:versionName="@RTABMAP_VERSION@">
<uses-permission android:name="android.permission.CAMERA" />
<uses-permission android:name="android.permission.READ_EXTERNAL_STORAGE" />
<uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE" />
<uses-permission android:name="android.permission.INTERNET" />
<uses-permission android:name="android.permission.ACCESS_NETWORK_STATE" />
<uses-permission android:name="android.permission.ACCESS_FINE_LOCATION" />
<uses-permission android:name="android.permission.ACCESS_WIFI_STATE" />
<uses-feature android:name="android.hardware.location.gps" />
<uses-feature android:glEsVersion="0x00020000" />
<!-- This is the platform API where depth16 support in android was introduced. -->
<uses-sdk android:minSdkVersion="@ANDROID_NATIVE_API_LEVEL@" />
<queries>
<package android:name="com.google.ar.core" />
<package android:name="com.huawei.ar.engine" />
</queries>
<!-- This .apk has no Java code itself, so set hasCode to false. -->
<application
android:label="@string/app_name"
android:icon="@drawable/ic_launcher"
android:debuggable="@ANDROID_DEBUGGABLE@">
<uses-library android:name="com.projecttango.libtango_device2" android:required="false" />
<meta-data android:name="com.google.ar.core" android:value="optional" />
<meta-data android:name="com.huawei.ar.engine" android:value="optional" />
<!-- Our activity is the built-in NativeActivity framework class.
This will take care of integrating with our NDK code. -->
<activity android:name="RTABMapActivity"
android:label="@string/app_name"
android:launchMode="singleTask"
android:screenOrientation="fullSensor"
android:configChanges="orientation|screenSize|keyboardHidden"
android:theme="@style/ThemeApp">
<!-- Tell NativeActivity the name of our .so -->
<meta-data android:name="android.app.lib_name"
android:value="NativeRTABMap" />
<intent-filter>
<action android:name="android.intent.action.MAIN" />
<category android:name="android.intent.category.LAUNCHER" />
</intent-filter>
<intent-filter>
<action android:name="android.intent.action.SEND" />
<action android:name="android.intent.action.SEND_MULTIPLE" />
<action android:name="android.intent.action.OPEN_DOCUMENT" />
<category android:name="android.intent.category.DEFAULT" />
<data android:mimeType="application/octet-stream" />
<data android:pathPattern=".*\.db" />
</intent-filter>
</activity>
<activity android:name="SettingsActivity" android:label="@string/settings" android:screenOrientation="fullSensor"/>
<activity android:name="SketchfabActivity" android:label="@string/sketchfab" android:screenOrientation="fullSensor"/>
<meta-data
android:name="com.google.ar.core.min_apk_version"
android:value="191106000" /> <!-- This activity is critical for installing ARCore when it is not already present. -->
<activity
android:name="com.google.ar.core.InstallActivity"
android:configChanges="keyboardHidden|orientation|screenSize"
android:excludeFromRecents="true"
android:exported="false"
android:launchMode="singleTop"
android:theme="@android:style/Theme.Material.Light.Dialog.Alert" />
<provider
android:name="android.support.v4.content.FileProvider"
android:authorities="com.introlab.rtabmap.provider"
android:exported="false"
android:grantUriPermissions="true">
<meta-data
android:name="android.support.FILE_PROVIDER_PATHS"
android:resource="@xml/provider_paths"/>
</provider>
</application>
</manifest>
<!-- END_INCLUDE(manifest) -->