RTABMap: Port is placed at the wrong location inside the install directory

[Ruhrpottpatriot]

Describe the bug
This is a follow up on #29467. Even after the fix done by #29570 vcpkgs fails to find RTABMap. However, before the fix I could go in and change the path by myself to find RTABMap. This isn't possible anymore as there doesn't even exist an RTABMapConfig.cmake/rtabmap-config.cmake anymore.

Environment

• OS: Windows
• Compiler: MSVC 19.32.31332.0

To Reproduce
Steps to reproduce the behavior:

1. ./vcpkg install rtabmap:x64-windows (also applies to the x86 triplet)
2. Create a new project with the following CMakeLists.txt

cmake_minimum_required(VERSION 3.5)
project(RTABMap_Test VERSION 0.1.0)
 
set(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}")
find_package(RTABMap REQUIRED)
find_package(OpenCV REQUIRED)

set(INCLUDE_DIRS
    ${RTABMap_INCLUDE_DIRS}
    ${OpenCV_INCLUDE_DIRS}
)
set(LIBRARIES
    ${RTABMap_LIBRARIES}
    ${OpenCV_LIBRARIES} 
)

include_directories(${INCLUDE_DIRS})
add_executable(RTABMap_Test main.cpp)
target_link_libraries(RTABMap_Test ${LIBRARIES})

and the main.cpp file:

#include <rtabmap/core/Rtabmap.h>

int main(void) {
  return 0;
}

The cmake settings in VSCode are as follows:

 "cmake.configureSettings": {
    "CMAKE_TOOLCHAIN_FILE": "G:/.vcpkg/scripts/buildsystems/vcpkg.cmake",
    "VCPKG_TARGET_TRIPLET": "x64-windows"
  }

3. build the project

Expected behavior
The build should complete without errors, but doesn't

Failure logs

cmake] -- Selecting Windows SDK version 10.0.19041.0 to target Windows 10.0.19045.
[cmake] CMake Error at G:/.vcpkg/scripts/buildsystems/vcpkg.cmake:852 (_find_package):
[cmake]   By not providing "FindRTABMap.cmake" in CMAKE_MODULE_PATH this project has
[cmake]   asked CMake to find a package configuration file provided by "RTABMap", but
[cmake]   CMake did not find one.
[cmake] 
[cmake]   Could not find a package configuration file provided by "RTABMap" with any
[cmake]   of the following names:
[cmake] 
[cmake]     RTABMapConfig.cmake
[cmake]     rtabmap-config.cmake
[cmake] 
[cmake]   Add the installation prefix of "RTABMap" to CMAKE_PREFIX_PATH or set
[cmake]   "RTABMap_DIR" to a directory containing one of the above files.  If
[cmake]   "RTABMap" provides a separate development package or SDK, be sure it has
[cmake]   been installed.
[cmake] Call Stack (most recent call first):
[cmake]   CMakeLists.txt:37 (find_package)

Additional context
Add any other context about the problem here.

[Ruhrpottpatriot]

Addendum: I found that changing find_package(RTABMap REQUIRED) to find_package(Unofficial-RTABMap REQUIRED) lets CMake run the config step successfully.
However, the compilation now fails because now the RTABMap files now reside in rtabmap-0.20/rtabmap breaking all includes inside rtabmap as they need to have the rtabmap-0.20 prefixed to their include paths, i.e. #include <rtabmap-0.20/rtabmap/core/RtabmapExp.h> instead of #include <rtabmap/core/RtabmapExp.h>

[dg0yt]

A port update is pending in #30254.

[jimwang118]

Addendum: I found that changing find_package(RTABMap REQUIRED) to find_package(Unofficial-RTABMap REQUIRED) lets CMake run the config step successfully. However, the compilation now fails because now the RTABMap files now reside in rtabmap-0.20/rtabmap breaking all includes inside rtabmap as they need to have the rtabmap-0.20 prefixed to their include paths, i.e. #include <rtabmap-0.20/rtabmap/core/RtabmapExp.h> instead of #include <rtabmap/core/RtabmapExp.h>

This should not be a problem, the upstream is in the cmakelist.txt file, and the path with the version number is added to the installed include file path.(https://github.com/introlab/rtabmap/blob/master/CMakeLists.txt#:~:text=set(INSTALL_INCLUDE_DIR%20include,%24%7BDEF_INSTALL_CMAKE_DIR%7D))

[jimwang118]

Thanks for posting this issue. Please reopen this issue if this is still a problem for you.