feat(slam): add rtabmap_ros
This commit is contained in:
X-lanni
@@ -0,0 +1,240 @@
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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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IF(BUILD_AS_BUNDLE)
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ADD_DEFINITIONS("-DBUILD_AS_BUNDLE")
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ENDIF()
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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}${CMAKE_EXECUTABLE_SUFFIX}")
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SET(plugin_dest_dir bin/plugins)
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SET(qtconf_dest_dir bin)
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SET(thirdparty_dest_dir bin)
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IF(APPLE)
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SET(plugin_dest_dir MacOS/plugins)
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IF(Qt6_FOUND)
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SET(plugin_dest_dir PlugIns)
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ENDIF()
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SET(qtconf_dest_dir Resources)
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SET(thirdparty_dest_dir MacOS)
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SET(APPS "\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/MacOS/${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 ${thirdparty_dest_dir}
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COMPONENT runtime
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REGEX ".*pdb" EXCLUDE)
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INSTALL(FILES "${OpenNI2_BIN_DIR}/OpenNI.ini"
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DESTINATION ${thirdparty_dest_dir}
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COMPONENT runtime)
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ENDIF(OpenNI2_FOUND)
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IF(k4a_FOUND)
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# Install needed depthengine_2_0.dll
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IF(WIN32)
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file(TO_CMAKE_PATH "$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 ${thirdparty_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 ${thirdparty_dest_dir}
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COMPONENT runtime)
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ELSE()
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MESSAGE(AUTHOR_WARNING "Using Torch with CUDA, but cudnn_ops_infer64_8.dll and cudnn_cnn_infer64_8.dll are not found on the PATH, so it won't be added to package.")
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ENDIF()
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ENDIF(WIN32 AND CUDA_FOUND)
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ENDIF(Torch_FOUND)
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IF(Qt6_FOUND)
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# Reference: https://doc-snapshots.qt.io/qt6-6.4/qt-deploy-runtime-dependencies.html
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# The following script must only be executed at install time
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set(deploy_script "${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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PLUGINS_DIR ${plugin_dest_dir}
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GENERATE_QT_CONF
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NO_TRANSLATIONS
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VERBOSE
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)")
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IF("${CMAKE_BUILD_TYPE}" STREQUAL "" OR "${CMAKE_BUILD_TYPE}" STREQUAL "Debug")
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install(SCRIPT "${CMAKE_CURRENT_BINARY_DIR}/deploy_appDebug.cmake"
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CONFIGURATIONS Debug
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COMPONENT runtime)
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ENDIF()
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IF("${CMAKE_BUILD_TYPE}" STREQUAL "" OR "${CMAKE_BUILD_TYPE}" STREQUAL "Release")
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install(SCRIPT "${CMAKE_CURRENT_BINARY_DIR}/deploy_appRelease.cmake"
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CONFIGURATIONS Release
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COMPONENT runtime)
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ENDIF()
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IF("${CMAKE_BUILD_TYPE}" STREQUAL "" OR "${CMAKE_BUILD_TYPE}" STREQUAL "RelWithDebInfo")
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install(SCRIPT "${CMAKE_CURRENT_BINARY_DIR}/deploy_appRelWithDebInfo.cmake"
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CONFIGURATIONS RelWithDebInfo
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COMPONENT runtime)
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ENDIF()
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IF("${CMAKE_BUILD_TYPE}" STREQUAL "" OR "${CMAKE_BUILD_TYPE}" STREQUAL "MinSizeRel")
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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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ENDIF()
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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 \"${plugin_dest_dir}${plugin_type}\"")
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INSTALL(FILES ${plugin_loc}
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DESTINATION ${plugin_dest_dir}${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}${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 ${plugin_dest_dir}
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COMPONENT runtime
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REGEX ".*d4.dll" EXCLUDE
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REGEX ".*d4.a" EXCLUDE)
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ENDIF()
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IF(Qt5_FOUND OR QT4_FOUND)
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# install a qt.conf file
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# this inserts some cmake code into the install script to write the file
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SET(QT_CONF_FILE [Paths]\nPlugins=plugins)
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IF(APPLE)
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SET(QT_CONF_FILE [Paths]\nPlugins=MacOS/plugins)
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ENDIF(APPLE)
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INSTALL(CODE "
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file(WRITE \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/${qtconf_dest_dir}/qt.conf\" \"${QT_CONF_FILE}\")
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" COMPONENT runtime)
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ENDIF()
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# directories to look for dependencies
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SET(DIRS "${QT_LIBRARY_DIRS}" "\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/lib")
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IF(APPLE)
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SET(DIRS ${DIRS} /usr/local /usr/local/lib /opt/homebrew /opt/homebrew/lib /opt/homebrew/lib/gcc/current)
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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}/${plugin_dest_dir}/*${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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Binary file not shown.
Binary file not shown.
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After Width: | Height: | Size: 49 KiB |
@@ -0,0 +1 @@
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IDI_ICON1 ICON DISCARDABLE "RTABMap.ico"
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@@ -0,0 +1,127 @@
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/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include <QApplication>
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#include <QtCore/QDir>
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#include "rtabmap/utilite/UEventsManager.h"
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#include "rtabmap/core/RtabmapThread.h"
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#include "rtabmap/core/Rtabmap.h"
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#include "rtabmap/gui/MainWindow.h"
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#include <QMessageBox>
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#include "rtabmap/utilite/UObjDeletionThread.h"
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#include "rtabmap/utilite/UFile.h"
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#include "rtabmap/utilite/UConversion.h"
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#include <vtkVersionMacros.h>
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#include <vtkObject.h>
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#if VTK_MAJOR_VERSION > 9 || (VTK_MAJOR_VERSION==9 && VTK_MINOR_VERSION >= 1)
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#include <QVTKRenderWidget.h>
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#endif
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using namespace rtabmap;
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int main(int argc, char* argv[])
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{
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/* Set logger type */
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ULogger::setType(ULogger::kTypeConsole);
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ULogger::setLevel(ULogger::kWarning);
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#ifdef WIN32
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CoInitialize(nullptr);
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#endif
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#if VTK_MAJOR_VERSION > 9 || (VTK_MAJOR_VERSION==9 && VTK_MINOR_VERSION >= 1)
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// needed to ensure appropriate OpenGL context is created for VTK rendering.
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QSurfaceFormat::setDefaultFormat(QVTKRenderWidget::defaultFormat());
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#endif
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/* Create tasks */
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QApplication * app = new QApplication(argc, argv);
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app->setStyleSheet("QMessageBox { messagebox-text-interaction-flags: 5; }"); // selectable message box
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ParametersMap parameters = Parameters::parseArguments(argc, argv, false);
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MainWindow * mainWindow = new MainWindow();
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app->installEventFilter(mainWindow); // to catch FileOpen events.
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std::string database;
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for(int i=1; i<argc; ++i)
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{
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std::string value = uReplaceChar(argv[i], '~', UDirectory::homeDir());
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if(UFile::exists(value) &&
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UFile::getExtension(value).compare("db") == 0)
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{
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database = value;
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}
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}
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printf("Program started...\n");
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UEventsManager::addHandler(mainWindow);
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/* Start thread's task */
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if(mainWindow->isSavedMaximized())
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{
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mainWindow->showMaximized();
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}
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else
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{
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mainWindow->show();
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}
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RtabmapThread * rtabmap = new RtabmapThread(new Rtabmap());
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rtabmap->start(); // start it not initialized... will be initialized by event from the gui
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UEventsManager::addHandler(rtabmap);
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if(!database.empty())
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{
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mainWindow->openDatabase(database.c_str(), parameters);
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}
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else if(parameters.size())
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{
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mainWindow->updateParameters(parameters);
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}
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// Now wait for application to finish
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app->connect( app, SIGNAL( lastWindowClosed() ),
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app, SLOT( quit() ) );
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app->exec();// MUST be called by the Main Thread
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/* Remove handlers */
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UEventsManager::removeHandler(mainWindow);
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UEventsManager::removeHandler(rtabmap);
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rtabmap->join(true);
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printf("Closing RTAB-Map...\n");
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delete rtabmap;
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delete mainWindow;
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delete app;
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printf("All done!\n");
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return 0;
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}
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Reference in New Issue
Block a user