MapsHD · michalpelka · Sep 11, 2026 · Sep 10, 2026 · Sep 10, 2026
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -80,6 +80,7 @@ set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
 # Include cmake configs
 include(cmake/cpu_optimizations.cmake)
 include(cmake/disable_target_warnings.cmake)
+include(cmake/install_app.cmake)
 include(cmake/platform.cmake)
 include(cmake/imgui.cmake)
 include(cmake/imguizmo.cmake)

diff --git a/apps/camera_lidar_calibration/CMakeLists.txt b/apps/camera_lidar_calibration/CMakeLists.txt
@@ -60,4 +60,4 @@ if(MSVC)
     target_compile_options(camera_lidar_calibration PRIVATE /bigobj)
 endif()
 
-install(TARGETS camera_lidar_calibration DESTINATION bin)
+hdmapping_install_app(camera_lidar_calibration)
diff --git a/apps/camera_lidar_intrinsics_calib/CMakeLists.txt b/apps/camera_lidar_intrinsics_calib/CMakeLists.txt
@@ -50,4 +50,4 @@ if(MSVC)
     target_compile_options(camera_lidar_intrinsics_calib PRIVATE /bigobj)
 endif()
 
-install(TARGETS camera_lidar_intrinsics_calib DESTINATION bin)
+hdmapping_install_app(camera_lidar_intrinsics_calib)
diff --git a/apps/camera_lidar_trajectory_viewer/CMakeLists.txt b/apps/camera_lidar_trajectory_viewer/CMakeLists.txt
@@ -106,4 +106,4 @@ if(MSVC)
     target_compile_options(camera_lidar_trajectory_viewer PRIVATE /bigobj)
 endif()
 
-install(TARGETS camera_lidar_trajectory_viewer DESTINATION bin)
+hdmapping_install_app(camera_lidar_trajectory_viewer)
diff --git a/apps/compare_trajectories/CMakeLists.txt b/apps/compare_trajectories/CMakeLists.txt
@@ -54,4 +54,4 @@ if (MSVC)
     target_compile_options(mandeye_compare_trajectories PRIVATE /bigobj)
 endif()
 
-install(TARGETS mandeye_compare_trajectories DESTINATION bin)
+hdmapping_install_app(mandeye_compare_trajectories)
diff --git a/apps/concatenate_multi_livox/CMakeLists.txt b/apps/concatenate_multi_livox/CMakeLists.txt
@@ -42,4 +42,4 @@ if (MSVC)
     target_compile_options(concatenate_multi_livox PRIVATE /bigobj)
 endif()
 
-install (TARGETS concatenate_multi_livox DESTINATION bin)
+hdmapping_install_app(concatenate_multi_livox)
diff --git a/apps/console_tools/CMakeLists.txt b/apps/console_tools/CMakeLists.txt
@@ -117,4 +117,17 @@ endif()
 
 if (MSVC)
     target_compile_options(laz_to_mcap PRIVATE /bigobj)
-endif()
+endif()
+
+# These are built whenever BUILD_WITH_CLI_TOOLS is ON (the default), so they
+# ship in the DEB package alongside the GUI apps.
+hdmapping_install_app(
+  matrix_mul
+  multiply_timestamps_session_point_cloud_laz
+  multiply_timestamps_session_trajectory_csv
+  laz_to_ply
+  laz_to_pcd
+  pcd_to_laz
+  laz_to_txt
+  laz_to_mcap
+  mcap_to_laz)
diff --git a/apps/hd_mapper/CMakeLists.txt b/apps/hd_mapper/CMakeLists.txt
@@ -48,4 +48,4 @@ if(WIN32)
     COMMAND_EXPAND_LISTS)
 endif()
 
-install(TARGETS hd_mapper DESTINATION bin)
+hdmapping_install_app(hd_mapper)
diff --git a/apps/lidar_odometry_step_1/CMakeLists.txt b/apps/lidar_odometry_step_1/CMakeLists.txt
@@ -146,4 +146,6 @@ if (MSVC)
     target_compile_options(drag_folder_with_mandeye_data_and_drop_here-precision_forestry PRIVATE /bigobj)
 endif()
 
-install(TARGETS drag_folder_with_mandeye_data_and_drop_here-precision_forestry DESTINATION bin)
+hdmapping_install_app(
+  lidar_odometry_step_1
+  drag_folder_with_mandeye_data_and_drop_here-precision_forestry)
diff --git a/apps/livox_mid_360_intrinsic_calibration/CMakeLists.txt b/apps/livox_mid_360_intrinsic_calibration/CMakeLists.txt
@@ -56,4 +56,4 @@ if (MSVC)
     target_compile_options(livox_mid_360_intrinsic_calibration PRIVATE /bigobj)
 endif()
 
-install(TARGETS livox_mid_360_intrinsic_calibration DESTINATION bin)
+hdmapping_install_app(livox_mid_360_intrinsic_calibration)
diff --git a/apps/mandeye_mission_recorder_calibration/CMakeLists.txt b/apps/mandeye_mission_recorder_calibration/CMakeLists.txt
@@ -66,4 +66,4 @@ if (MSVC)
     target_compile_options(mandeye_mission_recorder_calibration PRIVATE /bigobj)
 endif()
 
-install(TARGETS mandeye_mission_recorder_calibration DESTINATION bin)
+hdmapping_install_app(mandeye_mission_recorder_calibration)
diff --git a/apps/mandeye_raw_data_viewer/CMakeLists.txt b/apps/mandeye_raw_data_viewer/CMakeLists.txt
@@ -71,4 +71,4 @@ if (MSVC)
     target_compile_options(mandeye_raw_data_viewer PRIVATE /bigobj)
 endif()
 
-install(TARGETS mandeye_raw_data_viewer DESTINATION bin)
+hdmapping_install_app(mandeye_raw_data_viewer)
diff --git a/apps/mandeye_single_session_viewer/CMakeLists.txt b/apps/mandeye_single_session_viewer/CMakeLists.txt
@@ -65,4 +65,4 @@ if (MSVC)
     target_compile_options(mandeye_single_session_viewer PRIVATE /bigobj)
 endif()
 
-install(TARGETS mandeye_single_session_viewer DESTINATION bin)
+hdmapping_install_app(mandeye_single_session_viewer)
diff --git a/apps/manual_color/CMakeLists.txt b/apps/manual_color/CMakeLists.txt
@@ -47,4 +47,4 @@ if (MSVC)
     target_compile_options(mandeye_with_360_camera_manual_coloring PRIVATE /bigobj)
 endif()
 
-install(TARGETS mandeye_with_360_camera_manual_coloring DESTINATION bin)
+hdmapping_install_app(mandeye_with_360_camera_manual_coloring)
diff --git a/apps/multi_session_registration/CMakeLists.txt b/apps/multi_session_registration/CMakeLists.txt
@@ -64,4 +64,4 @@ if (MSVC)
     target_compile_options(multi_session_registration_step_3 PRIVATE /bigobj)
 endif()
 
-install (TARGETS multi_session_registration_step_3 DESTINATION bin)
+hdmapping_install_app(multi_session_registration_step_3)
diff --git a/apps/multi_view_tls_registration/CMakeLists.txt b/apps/multi_view_tls_registration/CMakeLists.txt
@@ -95,4 +95,4 @@ if (MSVC)
     target_compile_options(multi_view_tls_registration_step_2 PRIVATE /bigobj)
 endif()
 
-install (TARGETS multi_view_tls_registration_step_2 DESTINATION bin)
+hdmapping_install_app(multi_view_tls_registration_step_2)
diff --git a/apps/multi_view_tls_registration_legacy/CMakeLists.txt b/apps/multi_view_tls_registration_legacy/CMakeLists.txt
@@ -77,4 +77,4 @@ if (MSVC)
     target_compile_options(multi_view_tls_registration_step_2_legacy PRIVATE /bigobj)
 endif()
 
-install (TARGETS multi_view_tls_registration_step_2_legacy DESTINATION bin)
+hdmapping_install_app(multi_view_tls_registration_step_2_legacy)
diff --git a/apps/precision_forestry_tools/CMakeLists.txt b/apps/precision_forestry_tools/CMakeLists.txt
@@ -48,4 +48,4 @@ if (MSVC)
     target_compile_options(precision_forestry_tools PRIVATE /bigobj)
 endif()
 
-install (TARGETS precision_forestry_tools DESTINATION bin)
+hdmapping_install_app(precision_forestry_tools)
diff --git a/apps/single_session_manual_coloring/CMakeLists.txt b/apps/single_session_manual_coloring/CMakeLists.txt
@@ -49,4 +49,4 @@ if (MSVC)
     target_compile_options(single_session_manual_coloring PRIVATE /bigobj)
 endif()
 
-install(TARGETS single_session_manual_coloring DESTINATION bin)
+hdmapping_install_app(single_session_manual_coloring)
diff --git a/apps/split_multi_livox/CMakeLists.txt b/apps/split_multi_livox/CMakeLists.txt
@@ -38,4 +38,4 @@ if (MSVC)
     target_compile_options(split_multi_livox PRIVATE /bigobj)
 endif()
 
-install (TARGETS split_multi_livox DESTINATION bin)
+hdmapping_install_app(split_multi_livox)
diff --git a/cmake/install_app.cmake b/cmake/install_app.cmake
@@ -0,0 +1,50 @@
+include_guard()
+
+# Prefix applied to installed executable names, so that generic tool names
+# (laz_to_ply, matrix_mul, pcd_to_laz, ...) do not collide with unrelated
+# binaries once they land in a shared directory like /usr/local/bin.
+set(HDMAPPING_BINARY_PREFIX "hdmapping-" CACHE STRING
+    "Prefix applied to installed executable names")
+
+# hdmapping_install_app(<target>...)
+#
+# Installs each target into <prefix>/bin as "${HDMAPPING_BINARY_PREFIX}<name>",
+# leaving the build-tree name alone. Keeping build/bin/ unprefixed is
+# deliberate: deploy_mandeye.bat validates the build output against a hardcoded
+# list of plain .exe names, and IDE run configurations reference them too.
+#
+# install(TARGETS) has no RENAME option, and the obvious workaround --
+# install(PROGRAMS $<TARGET_FILE:t> RENAME ...) -- is wrong here: it copies the
+# binary verbatim, so the installed executable keeps the build-tree RUNPATH
+# (build/3rdparty/LASzip/lib) instead of having it stripped, and would resolve
+# the bundled liblaszip.so from the build directory rather than the system
+# liblaszip that CPACK_DEBIAN_PACKAGE_DEPENDS declares. So install(TARGETS)
+# stays responsible for the copy (and its RPATH rewriting), and the file is
+# renamed immediately afterwards by an install-time script.
+#
+# $<TARGET_FILE_NAME:> (not the target name) carries the platform executable
+# suffix, so the installed Windows name keeps its .exe. DESTDIR has to be
+# honoured explicitly, the way CMake's own generated cmake_install.cmake does,
+# because CPack stages the DEB through it.
+function(hdmapping_install_app)
+    foreach(target_name IN LISTS ARGN)
+        if(NOT TARGET ${target_name})
+            message(FATAL_ERROR "hdmapping_install_app: no such target '${target_name}'")
+        endif()
+
+        install(TARGETS ${target_name} RUNTIME DESTINATION bin)
+
+        # Declared after the install(TARGETS) above and in the same directory,
+        # so it runs after it.
+        install(CODE "
+            set(_hdmapping_bindir \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/bin\")
+            set(_hdmapping_plain \"\${_hdmapping_bindir}/$<TARGET_FILE_NAME:${target_name}>\")
+            set(_hdmapping_prefixed \"\${_hdmapping_bindir}/${HDMAPPING_BINARY_PREFIX}$<TARGET_FILE_NAME:${target_name}>\")
+            if(EXISTS \"\${_hdmapping_plain}\")
+                file(REMOVE \"\${_hdmapping_prefixed}\")
+                file(RENAME \"\${_hdmapping_plain}\" \"\${_hdmapping_prefixed}\")
+                message(STATUS \"Installing: \${_hdmapping_prefixed}\")
+            endif()
+        ")
+    endforeach()
+endfunction()
diff --git a/deploy_mandeye.bat b/deploy_mandeye.bat
@@ -52,10 +52,15 @@ echo Copying executables and DLLs...
 xcopy /Y /Q "%BUILD_DIR%\*.exe" "%DEPLOY_DIR%\" >nul
 xcopy /Y /Q "%BUILD_DIR%\*.dll" "%DEPLOY_DIR%\" >nul
 
-rem Everything the last known-good build produced. If a target wasn't
-rem built (e.g. you only built a subset), it just won't be in BUILD_DIR
-rem and xcopy above silently skips it - so check explicitly and warn.
-set "EXPECTED=concatenate_multi_livox.exe drag_folder_with_mandeye_data_and_drop_here-precision_forestry.exe laz_to_pcd.exe laz_to_ply.exe laz_to_txt.exe lidar_odometry_step_1.exe livox_mid_360_intrinsic_calibration.exe mandeye_compare_trajectories.exe mandeye_mission_recorder_calibration.exe mandeye_raw_data_viewer.exe mandeye_single_session_viewer.exe mandeye_with_360_camera_manual_coloring.exe matrix_mul.exe multiply_timestamps_session_point_cloud_laz.exe multiply_timestamps_session_trajectory_csv.exe multi_session_registration_step_3.exe multi_view_tls_registration_step_2.exe pcd_to_laz.exe precision_forestry_tools.exe single_session_manual_coloring.exe split_multi_livox.exe freeglut.dll laszip3.dll opencv_world4130.dll proj_9_3.dll tbb12.dll z.dll"
+rem Everything a default build produces. If a target wasn't built (e.g. you
+rem only built a subset), it just won't be in BUILD_DIR and the xcopy above
+rem silently skips it - so check explicitly and warn.
+rem
+rem This list has to be kept in sync by hand with the hdmapping_install_app()
+rem calls in apps/*/CMakeLists.txt. hd_mapper is deliberately absent: it is
+rem gated behind BUILD_WITH_HD_MAPPER_APPLICATION, which defaults to OFF, so
+rem listing it would warn on every normal build.
+set "EXPECTED=camera_lidar_calibration.exe camera_lidar_intrinsics_calib.exe camera_lidar_trajectory_viewer.exe concatenate_multi_livox.exe drag_folder_with_mandeye_data_and_drop_here-precision_forestry.exe laz_to_mcap.exe laz_to_pcd.exe laz_to_ply.exe laz_to_txt.exe lidar_odometry_step_1.exe livox_mid_360_intrinsic_calibration.exe mandeye_compare_trajectories.exe mandeye_mission_recorder_calibration.exe mandeye_raw_data_viewer.exe mandeye_single_session_viewer.exe mandeye_with_360_camera_manual_coloring.exe matrix_mul.exe mcap_to_laz.exe multiply_timestamps_session_point_cloud_laz.exe multiply_timestamps_session_trajectory_csv.exe multi_session_registration_step_3.exe multi_view_tls_registration_step_2.exe multi_view_tls_registration_step_2_legacy.exe pcd_to_laz.exe precision_forestry_tools.exe single_session_manual_coloring.exe split_multi_livox.exe freeglut.dll laszip3.dll opencv_world4130.dll proj_9_3.dll tbb12.dll z.dll"
 
 set "MISSING="
 for %%F in (%EXPECTED%) do (