X-lanni
172 lines
4.6 KiB
CMake
172 lines
4.6 KiB
CMake
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SET(INCLUDE_DIRS
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${CMAKE_CURRENT_SOURCE_DIR}
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${CMAKE_CURRENT_SOURCE_DIR}/tango-gl/include
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${CMAKE_CURRENT_SOURCE_DIR}/third-party/include
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${PROJECT_BINARY_DIR}/corelib/include
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${PROJECT_SOURCE_DIR}/corelib/include
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${PROJECT_SOURCE_DIR}/utilite/include
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${CMAKE_CURRENT_BINARY_DIR}
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${OpenCV_INCLUDE_DIRS}
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${PCL_INCLUDE_DIRS}
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"${ANDROID_NDK}/platforms/android-${ANDROID_NATIVE_API_LEVEL}/arch-${ANDROID_ARCH_NAME}/usr/include"
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)
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SET(LIBRARIES
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${OpenCV_LIBRARIES}
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${PCL_LIBRARIES}
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)
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set(sources
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jni_interface.cpp
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CameraMobile.cpp
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RTABMapApp.cpp
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scene.cpp
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point_cloud_drawable.cpp
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graph_drawable.cpp
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background_renderer.cc
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text_drawable.cpp
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quad_color.cpp
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tango-gl/bounding_box.cpp
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tango-gl/axis.cpp
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tango-gl/camera.cpp
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tango-gl/circle.cpp
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tango-gl/conversions.cpp
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tango-gl/drawable_object.cpp
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tango-gl/frustum.cpp
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tango-gl/gesture_camera.cpp
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tango-gl/grid.cpp
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tango-gl/line.cpp
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tango-gl/mesh.cpp
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tango-gl/shaders.cpp
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tango-gl/trace.cpp
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tango-gl/transform.cpp
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tango-gl/util.cpp
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)
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IF(OPENMP_FOUND)
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file(COPY ${OpenMP_CXX_LIBRARIES}
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DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME})
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ENDIF(OPENMP_FOUND)
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IF(Tango_FOUND)
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SET(sources
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${sources}
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CameraTango.cpp
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)
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SET(INCLUDE_DIRS
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${INCLUDE_DIRS}
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${Tango_INCLUDE_DIRS}
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)
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SET(LIBRARIES
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${LIBRARIES}
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${Tango_LIBRARIES}
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)
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file(COPY ${Tango_support_LIBRARY}
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DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME})
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ENDIF(Tango_FOUND)
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IF(ARCore_FOUND)
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SET(sources
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${sources}
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CameraARCore.cpp
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)
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SET(INCLUDE_DIRS
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${INCLUDE_DIRS}
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${ARCore_INCLUDE_DIRS}
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)
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SET(LIBRARIES
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${LIBRARIES}
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${ARCore_LIBRARIES}
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)
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file(COPY ${ARCore_c_LIBRARY}
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DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME})
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file(COPY ${ARCore_jni_LIBRARY}
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DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME})
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ENDIF(ARCore_FOUND)
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IF(AREngine_FOUND)
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SET(sources
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${sources}
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CameraAREngine.cpp
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)
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SET(INCLUDE_DIRS
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${INCLUDE_DIRS}
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${AREngine_INCLUDE_DIRS}
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)
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SET(LIBRARIES
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${LIBRARIES}
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${AREngine_LIBRARIES}
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camera2ndk
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mediandk
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)
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file(COPY ${AREngine_impl_LIBRARY}
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DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME})
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file(COPY ${AREngine_jni_LIBRARY}
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DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME})
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file(COPY ${AREngine_ndk_LIBRARY}
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DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME})
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ENDIF(AREngine_FOUND)
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add_definitions(${PCL_DEFINITIONS})
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INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
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####################################
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# Generate resources files
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####################################
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SET(RESOURCES
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${CMAKE_CURRENT_SOURCE_DIR}/resources/text_atlas.png
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)
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foreach(arg ${RESOURCES})
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get_filename_component(filename ${arg} NAME)
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string(REPLACE "." "_" output ${filename})
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set(RESOURCES_HEADERS "${RESOURCES_HEADERS}" "${CMAKE_CURRENT_BINARY_DIR}/${output}.h")
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endforeach(arg ${RESOURCES})
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find_host_program(RTABMAP_RES_TOOL rtabmap-res_tool PATHS ${CMAKE_RUNTIME_OUTPUT_DIRECTORY})
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IF(NOT RTABMAP_RES_TOOL)
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MESSAGE( FATAL_ERROR "RTABMAP_RES_TOOL is not defined (it is the path to \"rtabmap-res_tool\" application created by a non-Android build)." )
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ENDIF(NOT RTABMAP_RES_TOOL)
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ADD_CUSTOM_COMMAND(
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OUTPUT ${RESOURCES_HEADERS}
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COMMAND ${RTABMAP_RES_TOOL} -n rtabmap -p ${CMAKE_CURRENT_BINARY_DIR} ${RESOURCES}
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COMMENT "[Creating resources]"
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DEPENDS ${RESOURCES}
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)
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####################################
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# Generate resources files END
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####################################
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add_library(NativeRTABMap SHARED ${sources} ${RESOURCES_HEADERS})
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target_link_libraries(NativeRTABMap ${LIBRARIES}
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android
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log
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GLESv2
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rtabmap_core
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rtabmap_utilite
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)
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# see ant.properties.in
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set_target_properties(NativeRTABMap PROPERTIES
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LIBRARY_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME}"
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LIBRARY_OUTPUT_DIRECTORY_DEBUG "${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME}"
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LIBRARY_OUTPUT_DIRECTORY_RELEASE "${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME}")
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IF(ANDROID_NATIVE_API_LEVEL GREATER 22)
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add_custom_command(TARGET NativeRTABMap POST_BUILD
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COMMAND "${ANDROID_TOOLCHAIN_PREFIX}strip" -g -S -d --strip-debug --verbose
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"${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME}/libNativeRTABMap.so"
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COMMENT "Strip debug symbols done on final binary.")
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ENDIF(ANDROID_NATIVE_API_LEVEL GREATER 22)
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