From deda06c9a9daa35915badb7ea2c830dfef839a62 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Fri, 17 Mar 2023 09:40:10 -0700 Subject: [PATCH 01/23] updated rtabmap port --- ports/rtabmap/0003-fix-qt.patch | 18 ---- ports/rtabmap/cpp17.patch | 152 --------------------------- ports/rtabmap/fix-CMake-export.patch | 27 ----- ports/rtabmap/portfile.cmake | 74 ++++--------- ports/rtabmap/vcpkg.json | 54 ++++++++-- 5 files changed, 70 insertions(+), 255 deletions(-) delete mode 100644 ports/rtabmap/0003-fix-qt.patch delete mode 100644 ports/rtabmap/cpp17.patch delete mode 100644 ports/rtabmap/fix-CMake-export.patch diff --git a/ports/rtabmap/0003-fix-qt.patch b/ports/rtabmap/0003-fix-qt.patch deleted file mode 100644 index facc1ffe8f4dd6..00000000000000 --- a/ports/rtabmap/0003-fix-qt.patch +++ /dev/null @@ -1,18 +0,0 @@ ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -966,13 +966,13 @@ IF(ANDROID) - IF(BUILD_APP) - ADD_SUBDIRECTORY( app ) - ENDIF(BUILD_APP) -+ELSEIF(NOT WITH_QT) -+ MESSAGE(WARNING "the GUI lib and the stand-alone application will not be compiled...") - ELSEIF(Qt5_FOUND OR (QT4_FOUND AND QT_QTCORE_FOUND AND QT_QTGUI_FOUND)) - ADD_SUBDIRECTORY( guilib ) - IF(BUILD_APP) - ADD_SUBDIRECTORY( app ) - ENDIF(BUILD_APP) --ELSEIF(WITH_QT) -- MESSAGE(WARNING "Qt not found, the GUI lib and the stand-alone application will not be compiled...") - ENDIF() - - IF(BUILD_TOOLS) diff --git a/ports/rtabmap/cpp17.patch b/ports/rtabmap/cpp17.patch deleted file mode 100644 index d595f89eef982a..00000000000000 --- a/ports/rtabmap/cpp17.patch +++ /dev/null @@ -1,152 +0,0 @@ -diff --git a/corelib/src/SimpleIni.h b/corelib/src/SimpleIni.h -index 3fccf9dc1..e787be813 100644 ---- a/corelib/src/SimpleIni.h -+++ b/corelib/src/SimpleIni.h -@@ -324,7 +324,10 @@ public: - #endif - - /** Strict less ordering by name of key only */ -- struct KeyOrder : std::binary_function { -+ struct KeyOrder { -+ using result_type = bool; -+ using first_argument_type = Entry; -+ using second_argument_type = Entry; - bool operator()(const Entry & lhs, const Entry & rhs) const { - const static SI_STRLESS isLess = SI_STRLESS(); - return isLess(lhs.pItem, rhs.pItem); -@@ -332,7 +335,10 @@ public: - }; - - /** Strict less ordering by order, and then name of key */ -- struct LoadOrder : std::binary_function { -+ struct LoadOrder { -+ using result_type = bool; -+ using first_argument_type = Entry; -+ using second_argument_type = Entry; - bool operator()(const Entry & lhs, const Entry & rhs) const { - if (lhs.nOrder != rhs.nOrder) { - return lhs.nOrder < rhs.nOrder; -diff --git a/corelib/src/rtflann/algorithms/dist.h b/corelib/src/rtflann/algorithms/dist.h -index a286f1eea..6456eb25b 100644 ---- a/corelib/src/rtflann/algorithms/dist.h -+++ b/corelib/src/rtflann/algorithms/dist.h -@@ -517,6 +517,7 @@ struct HammingPopcnt - result += __builtin_popcountll(a_final ^ b_final); - } - #else -+ typedef unsigned long long pop_t; - HammingLUT lut; - result = lut(reinterpret_cast (a), - reinterpret_cast (b), size * sizeof(pop_t)); -diff --git a/corelib/src/rtflann/algorithms/kdtree_index.h b/corelib/src/rtflann/algorithms/kdtree_index.h -index c2ab18864..407233770 100644 ---- a/corelib/src/rtflann/algorithms/kdtree_index.h -+++ b/corelib/src/rtflann/algorithms/kdtree_index.h -@@ -37,6 +37,7 @@ - #include - #include - #include -+#include - - #include "rtflann/general.h" - #include "rtflann/algorithms/nn_index.h" -@@ -675,9 +676,11 @@ protected: - - tree_roots_.resize(trees_); - /* Construct the randomized trees. */ -+ std::random_device rd; -+ std::mt19937 g(rd()); - for (int i = 0; i < trees_; i++) { - /* Randomize the order of vectors to allow for unbiased sampling. */ -- std::random_shuffle(ind.begin(), ind.end()); -+ std::shuffle(ind.begin(), ind.end(),g); - tree_roots_[i] = divideTree(&ind[0], int(size_) ); - } - delete[] mean_; -diff --git a/corelib/src/rtflann/util/heap.h b/corelib/src/rtflann/util/heap.h -index b104ee3ae..a9b50550c 100644 ---- a/corelib/src/rtflann/util/heap.h -+++ b/corelib/src/rtflann/util/heap.h -@@ -115,8 +115,11 @@ public: - count = 0; - } - -- struct CompareT : public std::binary_function -+ struct CompareT - { -+ using result_type = bool; -+ using first_argument_type = T; -+ using second_argument_type = T; - bool operator()(const T& t_1, const T& t_2) const - { - return t_2 < t_1; -diff --git a/corelib/src/rtflann/util/lsh_table.h b/corelib/src/rtflann/util/lsh_table.h -index 974bb9e44..5389dc743 100644 ---- a/corelib/src/rtflann/util/lsh_table.h -+++ b/corelib/src/rtflann/util/lsh_table.h -@@ -39,6 +39,7 @@ - #include - #include - #include -+#include - // TODO as soon as we use C++0x, use the code in USE_UNORDERED_MAP - #if RTFLANN_USE_UNORDERED_MAP - #include -@@ -362,9 +363,11 @@ inline LshTable::LshTable(unsigned int feature_size, unsigned int - mask_ = std::vector((size_t)ceil((float)(feature_size * sizeof(char)) / (float)sizeof(size_t)), 0); - - // A bit brutal but fast to code -+ std::random_device rd; -+ std::mt19937 g(rd()); - std::vector indices(feature_size * CHAR_BIT); - for (size_t i = 0; i < feature_size * CHAR_BIT; ++i) indices[i] = i; -- std::random_shuffle(indices.begin(), indices.end()); -+ std::shuffle(indices.begin(), indices.end(),g); - - // Generate a random set of order of subsignature_size_ bits - for (unsigned int i = 0; i < key_size_; ++i) { -diff --git a/corelib/src/rtflann/util/random.h b/corelib/src/rtflann/util/random.h -index 871c9d15f..5d96ac273 100644 ---- a/corelib/src/rtflann/util/random.h -+++ b/corelib/src/rtflann/util/random.h -@@ -35,6 +35,7 @@ - #include - #include - #include -+#include - - #include "rtflann/general.h" - -@@ -75,14 +76,6 @@ inline int rand_int(int high = RAND_MAX, int low = 0) - return low + (int) ( double(high-low) * (std::rand() / (RAND_MAX + 1.0))); - } - -- --class RandomGenerator --{ --public: -- ptrdiff_t operator() (ptrdiff_t i) { return rand_int(i); } --}; -- -- - /** - * Random number generator that returns a distinct number from - * the [0,n) interval each time. -@@ -110,14 +103,15 @@ public: - */ - void init(int n) - { -- static RandomGenerator generator; - // create and initialize an array of size n - vals_.resize(n); - size_ = n; - for (int i = 0; i < size_; ++i) vals_[i] = i; - - // shuffle the elements in the array -- std::random_shuffle(vals_.begin(), vals_.end(), generator); -+ std::random_device rd; -+ std::mt19937 g(rd()); -+ std::shuffle(vals_.begin(), vals_.end(), g); - - counter_ = 0; - } diff --git a/ports/rtabmap/fix-CMake-export.patch b/ports/rtabmap/fix-CMake-export.patch deleted file mode 100644 index 810ec1671b9b33..00000000000000 --- a/ports/rtabmap/fix-CMake-export.patch +++ /dev/null @@ -1,27 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index ef02aa0..32a1e38 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -1656,3 +1656,22 @@ MESSAGE(SEND_ERROR "No graph optimizer found! You should have at least one of th - ENDIF(NOT GTSAM_FOUND AND NOT G2O_FOUND AND NOT WITH_TORO AND NOT WITH_CERES AND NOT CERES_FOUND) - - # vim: set et ft=cmake fenc=utf-8 ff=unix sts=0 sw=2 ts=2 : -+ -+SET(install_targets rtabmap_utilite rtabmap_core) -+TARGET_INCLUDE_DIRECTORIES(rtabmap_utilite INTERFACE $) -+TARGET_INCLUDE_DIRECTORIES(rtabmap_core INTERFACE $) -+INSTALL(TARGETS ${install_targets} EXPORT unofficial-rtabmap-config) -+ -+INSTALL(EXPORT unofficial-rtabmap-config -+ NAMESPACE unofficial::rtabmap:: -+ DESTINATION share/unofficial-rtabmap -+ FILE unofficial-rtabmap-config.cmake -+) -+ -+INCLUDE(CMakePackageConfigHelpers) -+write_basic_package_version_file( -+ "${CMAKE_CURRENT_BINARY_DIR}/unofficial-rtabmapConfigVersion.cmake" -+ VERSION ${PROJECT_VERSION} -+ COMPATIBILITY SameMajorVersion) -+ -+INSTALL(FILES "${CMAKE_CURRENT_BINARY_DIR}/unofficial-rtabmapConfigVersion.cmake" DESTINATION "share/unofficial-rtabmap") diff --git a/ports/rtabmap/portfile.cmake b/ports/rtabmap/portfile.cmake index 5a13bcf4080d34..1b564a5a491f22 100644 --- a/ports/rtabmap/portfile.cmake +++ b/ports/rtabmap/portfile.cmake @@ -4,19 +4,17 @@ vcpkg_from_github( OUT_SOURCE_PATH SOURCE_PATH REPO introlab/rtabmap # rtabmap stops releasing, check their CMakeLists.txt for version. - # currently is 0.20.23 - REF 95e6a9f03936697a60be2c26e119c519e47c11f5 - SHA512 082af7e15316bdeb89ff833a87a91916ddbf85de56bf4f38a0b5a40f4f330ecc057ae72a2f5ec901824e51d6f73c4a05a328116eaa5529551ffe4ca770fe0474 + # currently is 0.21.0 + REF 46edd15121b5efc607f3141e61e54171c48b791b + SHA512 cfc83a9982fee261dbcf65a694b72a0f7ed2afdce1a0c16636822b047ab8a983464d40c5624a343fd361da95d5635a53ec8edc86eca3af5d44db2afba9599b61 HEAD_REF master - PATCHES - 0003-fix-qt.patch - cpp17.patch - fix-CMake-export.patch ) vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS FEATURES tools BUILD_TOOLS + tools BUILD_APP + gui WITH_QT ) vcpkg_cmake_configure( @@ -24,10 +22,9 @@ vcpkg_cmake_configure( DISABLE_PARALLEL_CONFIGURE OPTIONS ${FEATURE_OPTIONS} - -DBUILD_APP=OFF + -DBUILD_AS_BUNDLE=OFF -DBUILD_EXAMPLES=OFF - -DWITH_QT=OFF - -DWITH_ORB_OCTREE=OFF + -DWITH_ORB_OCTREE=ON -DWITH_TORCH=OFF -DWITH_PYTHON=OFF -DWITH_PYTHON_THREADING=OFF @@ -38,9 +35,9 @@ vcpkg_cmake_configure( -DWITH_K4A=OFF -DWITH_OPENNI2=OFF -DWITH_DC1394=OFF - -DWITH_G2O=OFF + -DWITH_G2O=ON -DWITH_GTSAM=OFF - -DWITH_CERES=OFF + -DWITH_CERES=ON -DWITH_VERTIGO=OFF -DWITH_CVSBA=OFF -DWITH_POINTMATCHER=OFF @@ -54,7 +51,7 @@ vcpkg_cmake_configure( -DWITH_REALSENSE2=OFF -DWITH_MYNTEYE=OFF -DWITH_DEPTHAI=OFF - -DWITH_OCTOMAP=OFF + -DWITH_OCTOMAP=ON -DWITH_CPUTSDF=OFF -DWITH_OPENCHISEL=OFF -DWITH_ALICE_VISION=OFF @@ -70,47 +67,20 @@ vcpkg_cmake_configure( ) vcpkg_cmake_install() -vcpkg_cmake_config_fixup(PACKAGE_NAME unofficial-rtabmap CONFIG_PATH share/unofficial-rtabmap) -vcpkg_replace_string("${CURRENT_PACKAGES_DIR}/share/unofficial-rtabmap/unofficial-rtabmap-config.cmake" - [[# Generated by CMake]] - [[# Generated by CMake -include(CMakeFindDependencyMacro) -find_dependency(OpenCV) -find_dependency(PCL) -find_dependency(ZLIB) -find_dependency(VTK) -find_dependency(OpenMP)]] -) - -vcpkg_copy_tools(TOOL_NAMES rtabmap-res_tool AUTO_CLEAN) +file(GLOB CONFIG_FILES "${CURRENT_PACKAGES_DIR}/CMake/*.cmake") +file(COPY ${CONFIG_FILES} DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}") +vcpkg_cmake_config_fixup(PACKAGE_NAME RTABMap) -if("tools" IN_LIST FEATURES) - vcpkg_copy_tools( - TOOL_NAMES - rtabmap-camera - rtabmap-console - rtabmap-detectMoreLoopClosures - rtabmap-export - rtabmap-extractObject - rtabmap-info - rtabmap-kitti_dataset - rtabmap-recovery - rtabmap-report - rtabmap-reprocess - rtabmap-rgbd_dataset - rtabmap-euroc_dataset - rtabmap-cleanupLocalGrids - rtabmap-globalBundleAdjustment - AUTO_CLEAN - ) -endif() +file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include") +file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/share") +file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/CMake") +file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/CMake") -file(REMOVE_RECURSE - "${CURRENT_PACKAGES_DIR}/debug/include" - "${CURRENT_PACKAGES_DIR}/debug/share" - "${CURRENT_PACKAGES_DIR}/debug/CMake" - "${CURRENT_PACKAGES_DIR}/CMake" -) +file(GLOB EXEFILES_RELEASE "${CURRENT_PACKAGES_DIR}/bin/*${VCPKG_TARGET_EXECUTABLE_SUFFIX}") +file(GLOB EXEFILES_DEBUG "${CURRENT_PACKAGES_DIR}/debug/bin/*${VCPKG_TARGET_EXECUTABLE_SUFFIX}") +file(COPY ${EXEFILES_RELEASE} DESTINATION "${CURRENT_PACKAGES_DIR}/tools/${PORT}") +file(REMOVE ${EXEFILES_RELEASE} ${EXEFILES_DEBUG}) +vcpkg_copy_tool_dependencies("${CURRENT_PACKAGES_DIR}/tools/${PORT}") vcpkg_install_copyright(FILE_LIST "${SOURCE_PATH}/LICENSE") diff --git a/ports/rtabmap/vcpkg.json b/ports/rtabmap/vcpkg.json index 000b215aca854b..3452506017a5b1 100644 --- a/ports/rtabmap/vcpkg.json +++ b/ports/rtabmap/vcpkg.json @@ -1,7 +1,7 @@ { "name": "rtabmap", - "version": "0.20.23", - "port-version": 2, + "version": "0.21.0", + "port-version": 3, "description": "Real-Time Appearance-Based Mapping", "homepage": "https://introlab.github.io/rtabmap/", "license": "BSD-3-Clause", @@ -26,14 +26,20 @@ "name": "vcpkg-cmake-config", "host": true }, - "zlib" + "zlib", + "sqlite3", + "octomap", + "g2o" ], "default-features": [ - "opencv-contrib" + "opencv-contrib", + "opencv-nonfree", + "tools", + "gui" ], "features": { "opencv-contrib": { - "description": "Use OpenCV with contrib modules", + "description": "Use OpenCV with contrib modules (e.g., xfeatures2d, aruco)", "dependencies": [ { "name": "opencv", @@ -44,8 +50,44 @@ } ] }, + "opencv-nonfree": { + "description": "Use OpenCV with nonfree module (surf feature)", + "dependencies": [ + { + "name": "opencv", + "default-features": false, + "features": [ + "nonfree" + ] + } + ] + }, + "opencv-cuda": { + "description": "Use OpenCV with CUDA (accelerated SIFT ad SURF GPU options)", + "dependencies": [ + { + "name": "opencv", + "default-features": false, + "features": [ + "cuda" + ] + } + ] + }, + "gui": { + "description": "Build RTAB-Map with GUI support (Qt)", + "dependencies": [ + { + "name": "pcl", + "default-features": false, + "features": [ + "qt" + ] + } + ] + }, "tools": { - "description": "Build tools", + "description": "Build RTAB-Map's tools", "dependencies": [ "yaml-cpp" ] From ca02ce624a100bfc48f4d34c1ef33412071975c2 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Fri, 17 Mar 2023 09:49:07 -0700 Subject: [PATCH 02/23] Update vcpkg.json --- ports/rtabmap/vcpkg.json | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ports/rtabmap/vcpkg.json b/ports/rtabmap/vcpkg.json index 3452506017a5b1..3da1c4d6211077 100644 --- a/ports/rtabmap/vcpkg.json +++ b/ports/rtabmap/vcpkg.json @@ -28,8 +28,8 @@ }, "zlib", "sqlite3", - "octomap", - "g2o" + "octomap", + "g2o" ], "default-features": [ "opencv-contrib", From 5ab39aca0d50c300f29345b8ad73fe32fde94429 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Sat, 18 Mar 2023 01:44:06 -0700 Subject: [PATCH 03/23] Addressing review comments, fixed missing deployed qt plugins, fixed CI error --- ports/rtabmap/portfile.cmake | 58 +++++++++++++++++++++++++++++++----- ports/rtabmap/qtdeploy.patch | 20 +++++++++++++ ports/rtabmap/vcpkg.json | 3 +- versions/r-/rtabmap.json | 5 ++++ 4 files changed, 78 insertions(+), 8 deletions(-) create mode 100644 ports/rtabmap/qtdeploy.patch diff --git a/ports/rtabmap/portfile.cmake b/ports/rtabmap/portfile.cmake index 1b564a5a491f22..a890ea95071a00 100644 --- a/ports/rtabmap/portfile.cmake +++ b/ports/rtabmap/portfile.cmake @@ -5,9 +5,11 @@ vcpkg_from_github( REPO introlab/rtabmap # rtabmap stops releasing, check their CMakeLists.txt for version. # currently is 0.21.0 - REF 46edd15121b5efc607f3141e61e54171c48b791b - SHA512 cfc83a9982fee261dbcf65a694b72a0f7ed2afdce1a0c16636822b047ab8a983464d40c5624a343fd361da95d5635a53ec8edc86eca3af5d44db2afba9599b61 + REF e66ea7b42b8a18d89411aa125a0cefbf33302f0a + SHA512 ec6dc68789630988a0f78851af03c3259a11bc8d515a97e1fb4956c878109be648adfdd916c8f9a40b7c6f6cac60f5257e8f80a254d01354c9e1c84e5df63247 HEAD_REF master + PATCHES + qtdeploy.patch ) vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS @@ -77,10 +79,52 @@ file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/share") file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/CMake") file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/CMake") -file(GLOB EXEFILES_RELEASE "${CURRENT_PACKAGES_DIR}/bin/*${VCPKG_TARGET_EXECUTABLE_SUFFIX}") -file(GLOB EXEFILES_DEBUG "${CURRENT_PACKAGES_DIR}/debug/bin/*${VCPKG_TARGET_EXECUTABLE_SUFFIX}") -file(COPY ${EXEFILES_RELEASE} DESTINATION "${CURRENT_PACKAGES_DIR}/tools/${PORT}") -file(REMOVE ${EXEFILES_RELEASE} ${EXEFILES_DEBUG}) -vcpkg_copy_tool_dependencies("${CURRENT_PACKAGES_DIR}/tools/${PORT}") +vcpkg_copy_tools(TOOL_NAMES rtabmap-res_tool AUTO_CLEAN) + +if("tools" IN_LIST FEATURES) + vcpkg_copy_tools( + TOOL_NAMES + rtabmap-camera + rtabmap-console + rtabmap-detectMoreLoopClosures + rtabmap-export + rtabmap-extractObject + rtabmap-info + rtabmap-kitti_dataset + rtabmap-recovery + rtabmap-report + rtabmap-reprocess + rtabmap-rgbd_dataset + rtabmap-euroc_dataset + rtabmap-cleanupLocalGrids + rtabmap-globalBundleAdjustment + AUTO_CLEAN + ) + if("gui" IN_LIST FEATURES) + vcpkg_copy_tools( + TOOL_NAMES + rtabmap + rtabmap-calibration + rtabmap-databaseViewer + rtabmap-dataRecorder + rtabmap-odometryViewer + rtabmap-rgbd_camera + AUTO_CLEAN + ) + + # Remove duplicate files that were added by qtdeploy + # that would be already deployed by vcpkg_copy_tools + file(RENAME ${CURRENT_PACKAGES_DIR}/bin ${CURRENT_PACKAGES_DIR}/tmp) + file(GLOB RTABMAP_LIBS ${CURRENT_PACKAGES_DIR}/tmp/rtabmap*) + file(COPY ${RTABMAP_LIBS} DESTINATION ${CURRENT_PACKAGES_DIR}/bin) + file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/tmp") + file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/translations") + file(RENAME ${CURRENT_PACKAGES_DIR}/plugins ${CURRENT_PACKAGES_DIR}/tools/${PORT}/plugins) + #qt.conf + file(WRITE ${CURRENT_PACKAGES_DIR}/tools/${PORT}/qt.conf "[Paths] + Prefix = .") + + endif() +endif() vcpkg_install_copyright(FILE_LIST "${SOURCE_PATH}/LICENSE") diff --git a/ports/rtabmap/qtdeploy.patch b/ports/rtabmap/qtdeploy.patch new file mode 100644 index 00000000000000..979ee8313d2889 --- /dev/null +++ b/ports/rtabmap/qtdeploy.patch @@ -0,0 +1,20 @@ +diff --git a/app/src/CMakeLists.txt b/app/src/CMakeLists.txt +index f0cef72c..f007eb83 100644 +--- a/app/src/CMakeLists.txt ++++ b/app/src/CMakeLists.txt +@@ -53,7 +53,14 @@ ENDIF() + INSTALL(TARGETS rtabmap_app + RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime + BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime) +- ++ ++qt_generate_deploy_app_script( ++ TARGET rtabmap_app ++ FILENAME_VARIABLE deploy_script ++ NO_UNSUPPORTED_PLATFORM_ERROR ++) ++install(SCRIPT ${deploy_script}) ++ + IF(APPLE AND BUILD_AS_BUNDLE) + INSTALL(CODE "execute_process(COMMAND ln -s \"../MacOS/${CMAKE_BUNDLE_NAME}\" ${PROJECT_NAME} + WORKING_DIRECTORY \$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/bin)") diff --git a/ports/rtabmap/vcpkg.json b/ports/rtabmap/vcpkg.json index 3452506017a5b1..d5fd2c440ec6b6 100644 --- a/ports/rtabmap/vcpkg.json +++ b/ports/rtabmap/vcpkg.json @@ -29,7 +29,8 @@ "zlib", "sqlite3", "octomap", - "g2o" + "g2o", + "ceres" ], "default-features": [ "opencv-contrib", diff --git a/versions/r-/rtabmap.json b/versions/r-/rtabmap.json index 9202c36120544e..4ff9b7e544c674 100644 --- a/versions/r-/rtabmap.json +++ b/versions/r-/rtabmap.json @@ -1,6 +1,11 @@ { "versions": [ { + "git-tree": "e66ea7b42b8a18d89411aa125a0cefbf33302f0a", + "version": "0.21.0", + "port-version": 0 + }, + { "git-tree": "f820f54d02aada9453b8d26fb72d03dc30e04bf9", "version": "0.20.23", "port-version": 2 From 62b026fe654c55f7c9b66f10d76dbaad2c8e2286 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Sat, 18 Mar 2023 01:59:58 -0700 Subject: [PATCH 04/23] applied format-manifest --- ports/rtabmap/vcpkg.json | 44 ++++++++++++++++++++-------------------- 1 file changed, 22 insertions(+), 22 deletions(-) diff --git a/ports/rtabmap/vcpkg.json b/ports/rtabmap/vcpkg.json index d5fd2c440ec6b6..a5191749c517d9 100644 --- a/ports/rtabmap/vcpkg.json +++ b/ports/rtabmap/vcpkg.json @@ -7,6 +7,9 @@ "license": "BSD-3-Clause", "supports": "windows & !static", "dependencies": [ + "ceres", + "g2o", + "octomap", { "name": "opencv", "default-features": false @@ -18,6 +21,7 @@ "vtk" ] }, + "sqlite3", { "name": "vcpkg-cmake", "host": true @@ -26,39 +30,35 @@ "name": "vcpkg-cmake-config", "host": true }, - "zlib", - "sqlite3", - "octomap", - "g2o", - "ceres" + "zlib" ], "default-features": [ + "gui", "opencv-contrib", "opencv-nonfree", - "tools", - "gui" + "tools" ], "features": { - "opencv-contrib": { - "description": "Use OpenCV with contrib modules (e.g., xfeatures2d, aruco)", + "gui": { + "description": "Build RTAB-Map with GUI support (Qt)", "dependencies": [ { - "name": "opencv", + "name": "pcl", "default-features": false, "features": [ - "contrib" + "qt" ] } ] }, - "opencv-nonfree": { - "description": "Use OpenCV with nonfree module (surf feature)", + "opencv-contrib": { + "description": "Use OpenCV with contrib modules (e.g., xfeatures2d, aruco)", "dependencies": [ { "name": "opencv", "default-features": false, "features": [ - "nonfree" + "contrib" ] } ] @@ -75,17 +75,17 @@ } ] }, - "gui": { - "description": "Build RTAB-Map with GUI support (Qt)", + "opencv-nonfree": { + "description": "Use OpenCV with nonfree module (surf feature)", "dependencies": [ { - "name": "pcl", - "default-features": false, - "features": [ - "qt" - ] + "name": "opencv", + "default-features": false, + "features": [ + "nonfree" + ] } - ] + ] }, "tools": { "description": "Build RTAB-Map's tools", From 3c07263e2dc9059315e5c640e19982e7355ff07e Mon Sep 17 00:00:00 2001 From: matlabbe Date: Sat, 18 Mar 2023 02:01:29 -0700 Subject: [PATCH 05/23] ran x-add-version --- versions/baseline.json | 4 ++-- versions/r-/rtabmap.json | 7 ++++++- 2 files changed, 8 insertions(+), 3 deletions(-) diff --git a/versions/baseline.json b/versions/baseline.json index a9fe6d583d4248..e37d6db600051e 100644 --- a/versions/baseline.json +++ b/versions/baseline.json @@ -6977,8 +6977,8 @@ "port-version": 1 }, "rtabmap": { - "baseline": "0.20.23", - "port-version": 2 + "baseline": "0.21.0", + "port-version": 3 }, "rtaudio": { "baseline": "2021-11-16", diff --git a/versions/r-/rtabmap.json b/versions/r-/rtabmap.json index 4ff9b7e544c674..e3f3d74b6122b7 100644 --- a/versions/r-/rtabmap.json +++ b/versions/r-/rtabmap.json @@ -1,11 +1,16 @@ { "versions": [ + { + "git-tree": "d0a0e34ff92c3900e26427b40d8bdff995f512d0", + "version": "0.21.0", + "port-version": 3 + }, { "git-tree": "e66ea7b42b8a18d89411aa125a0cefbf33302f0a", "version": "0.21.0", "port-version": 0 }, - { + { "git-tree": "f820f54d02aada9453b8d26fb72d03dc30e04bf9", "version": "0.20.23", "port-version": 2 From 1197932c2e3be35b199c22d92560849d7b009cf7 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Sat, 18 Mar 2023 12:50:39 -0700 Subject: [PATCH 06/23] Making octomap dependency optional because it doesn't work for debug build (see https://github.com/introlab/rtabmap/issues/995) --- ports/rtabmap/portfile.cmake | 2 +- ports/rtabmap/vcpkg.json | 7 ++++++- 2 files changed, 7 insertions(+), 2 deletions(-) diff --git a/ports/rtabmap/portfile.cmake b/ports/rtabmap/portfile.cmake index a890ea95071a00..da07a745a25e86 100644 --- a/ports/rtabmap/portfile.cmake +++ b/ports/rtabmap/portfile.cmake @@ -17,6 +17,7 @@ vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS tools BUILD_TOOLS tools BUILD_APP gui WITH_QT + octomap WITH_OCTOMAP ) vcpkg_cmake_configure( @@ -53,7 +54,6 @@ vcpkg_cmake_configure( -DWITH_REALSENSE2=OFF -DWITH_MYNTEYE=OFF -DWITH_DEPTHAI=OFF - -DWITH_OCTOMAP=ON -DWITH_CPUTSDF=OFF -DWITH_OPENCHISEL=OFF -DWITH_ALICE_VISION=OFF diff --git a/ports/rtabmap/vcpkg.json b/ports/rtabmap/vcpkg.json index a5191749c517d9..22c1116acf541f 100644 --- a/ports/rtabmap/vcpkg.json +++ b/ports/rtabmap/vcpkg.json @@ -9,7 +9,6 @@ "dependencies": [ "ceres", "g2o", - "octomap", { "name": "opencv", "default-features": false @@ -51,6 +50,12 @@ } ] }, + "octomap": { + "description": "Build RTAB-Map with OctoMap support", + "dependencies": [ + "octomap" + ] + }, "opencv-contrib": { "description": "Use OpenCV with contrib modules (e.g., xfeatures2d, aruco)", "dependencies": [ From c4b026913972d5cb1d36251bbbd5c93dde6561e0 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Sat, 18 Mar 2023 14:44:37 -0700 Subject: [PATCH 07/23] updated upstream version, fixed debug config --- ports/rtabmap/portfile.cmake | 35 ++++++++++++++++++++++++----------- 1 file changed, 24 insertions(+), 11 deletions(-) diff --git a/ports/rtabmap/portfile.cmake b/ports/rtabmap/portfile.cmake index da07a745a25e86..fa7789de7a150a 100644 --- a/ports/rtabmap/portfile.cmake +++ b/ports/rtabmap/portfile.cmake @@ -5,8 +5,8 @@ vcpkg_from_github( REPO introlab/rtabmap # rtabmap stops releasing, check their CMakeLists.txt for version. # currently is 0.21.0 - REF e66ea7b42b8a18d89411aa125a0cefbf33302f0a - SHA512 ec6dc68789630988a0f78851af03c3259a11bc8d515a97e1fb4956c878109be648adfdd916c8f9a40b7c6f6cac60f5257e8f80a254d01354c9e1c84e5df63247 + REF ab99719a78de5ffe6dd9f22576eed3f56a3aa731 + SHA512 bdc09f6b9d0b869fe55797a7e85b660b1ad44eae44f747f384448f6416dfb0263149203285f32e7918bd22282a369416790544a64173ce5fb79aeda79d928eaa HEAD_REF master PATCHES qtdeploy.patch @@ -14,15 +14,24 @@ vcpkg_from_github( vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS FEATURES - tools BUILD_TOOLS - tools BUILD_APP gui WITH_QT octomap WITH_OCTOMAP ) +vcpkg_check_features(OUT_FEATURE_OPTIONS REL_FEATURE_OPTIONS + FEATURES + tools BUILD_TOOLS + tools BUILD_APP +) + vcpkg_cmake_configure( SOURCE_PATH "${SOURCE_PATH}" DISABLE_PARALLEL_CONFIGURE + OPTIONS_DEBUG + -DBUILD_TOOLS=OFF + -DBUILD_APP=OFF + OPTIONS_RELEASE + ${REL_FEATURE_OPTIONS} OPTIONS ${FEATURE_OPTIONS} -DBUILD_AS_BUNDLE=OFF @@ -70,14 +79,10 @@ vcpkg_cmake_configure( vcpkg_cmake_install() -file(GLOB CONFIG_FILES "${CURRENT_PACKAGES_DIR}/CMake/*.cmake") -file(COPY ${CONFIG_FILES} DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}") -vcpkg_cmake_config_fixup(PACKAGE_NAME RTABMap) +vcpkg_cmake_config_fixup(PACKAGE_NAME RTABMap CONFIG_PATH CMake) file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include") file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/share") -file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/CMake") -file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/CMake") vcpkg_copy_tools(TOOL_NAMES rtabmap-res_tool AUTO_CLEAN) @@ -115,14 +120,22 @@ if("tools" IN_LIST FEATURES) # Remove duplicate files that were added by qtdeploy # that would be already deployed by vcpkg_copy_tools file(RENAME ${CURRENT_PACKAGES_DIR}/bin ${CURRENT_PACKAGES_DIR}/tmp) - file(GLOB RTABMAP_LIBS ${CURRENT_PACKAGES_DIR}/tmp/rtabmap*) - file(COPY ${RTABMAP_LIBS} DESTINATION ${CURRENT_PACKAGES_DIR}/bin) + file(GLOB RTABMAP_REL_LIBS ${CURRENT_PACKAGES_DIR}/tmp/rtabmap*) + file(COPY ${RTABMAP_REL_LIBS} DESTINATION ${CURRENT_PACKAGES_DIR}/bin) file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/tmp") file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/translations") file(RENAME ${CURRENT_PACKAGES_DIR}/plugins ${CURRENT_PACKAGES_DIR}/tools/${PORT}/plugins) #qt.conf file(WRITE ${CURRENT_PACKAGES_DIR}/tools/${PORT}/qt.conf "[Paths] Prefix = .") + + # Debug + file(RENAME ${CURRENT_PACKAGES_DIR}/debug/bin ${CURRENT_PACKAGES_DIR}/debug/tmp) + file(GLOB RTABMAP_DBG_LIBS ${CURRENT_PACKAGES_DIR}/debug/tmp/rtabmap*) + file(COPY ${RTABMAP_DBG_LIBS} DESTINATION ${CURRENT_PACKAGES_DIR}/debug/bin) + file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/tmp") + file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/plugins") + file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/translations") endif() endif() From f30ad2e485f33c5d991c0e9066537e192d398a25 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Sat, 18 Mar 2023 14:53:17 -0700 Subject: [PATCH 08/23] updated versions --- ports/rtabmap/vcpkg.json | 2 +- versions/baseline.json | 2 +- versions/r-/rtabmap.json | 5 +++++ 3 files changed, 7 insertions(+), 2 deletions(-) diff --git a/ports/rtabmap/vcpkg.json b/ports/rtabmap/vcpkg.json index 22c1116acf541f..a3b489bbb10295 100644 --- a/ports/rtabmap/vcpkg.json +++ b/ports/rtabmap/vcpkg.json @@ -1,7 +1,7 @@ { "name": "rtabmap", "version": "0.21.0", - "port-version": 3, + "port-version": 4, "description": "Real-Time Appearance-Based Mapping", "homepage": "https://introlab.github.io/rtabmap/", "license": "BSD-3-Clause", diff --git a/versions/baseline.json b/versions/baseline.json index e37d6db600051e..fa82d853b38501 100644 --- a/versions/baseline.json +++ b/versions/baseline.json @@ -6978,7 +6978,7 @@ }, "rtabmap": { "baseline": "0.21.0", - "port-version": 3 + "port-version": 4 }, "rtaudio": { "baseline": "2021-11-16", diff --git a/versions/r-/rtabmap.json b/versions/r-/rtabmap.json index e3f3d74b6122b7..99091c55aaa9c4 100644 --- a/versions/r-/rtabmap.json +++ b/versions/r-/rtabmap.json @@ -1,5 +1,10 @@ { "versions": [ + { + "git-tree": "482f2865339c6204e268cd5f504738b17c0e12c2", + "version": "0.21.0", + "port-version": 4 + }, { "git-tree": "d0a0e34ff92c3900e26427b40d8bdff995f512d0", "version": "0.21.0", From 2160abaa1f4c814e19d1d4e0fe5620f304dd4390 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Sat, 18 Mar 2023 14:57:32 -0700 Subject: [PATCH 09/23] fixing version --- versions/r-/rtabmap.json | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/versions/r-/rtabmap.json b/versions/r-/rtabmap.json index 99091c55aaa9c4..136dd7c2ef64c2 100644 --- a/versions/r-/rtabmap.json +++ b/versions/r-/rtabmap.json @@ -1,7 +1,7 @@ { "versions": [ { - "git-tree": "482f2865339c6204e268cd5f504738b17c0e12c2", + "git-tree": "7730107dbcf0aa5f9c8a9ccfa1f025015fec1253", "version": "0.21.0", "port-version": 4 }, From c650126305e345da5107d89845043dd96276d5d2 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Sun, 19 Mar 2023 19:47:13 -0700 Subject: [PATCH 10/23] Added explicit depedency to qtbase. Added optional dependencies openni2, realsense2, k4w2 --- ports/rtabmap/portfile.cmake | 12 +++++------- ports/rtabmap/vcpkg.json | 28 +++++++++++++++++++++++++++- 2 files changed, 32 insertions(+), 8 deletions(-) diff --git a/ports/rtabmap/portfile.cmake b/ports/rtabmap/portfile.cmake index fa7789de7a150a..6da394d53ef65f 100644 --- a/ports/rtabmap/portfile.cmake +++ b/ports/rtabmap/portfile.cmake @@ -3,10 +3,8 @@ vcpkg_check_linkage(ONLY_DYNAMIC_LIBRARY) vcpkg_from_github( OUT_SOURCE_PATH SOURCE_PATH REPO introlab/rtabmap - # rtabmap stops releasing, check their CMakeLists.txt for version. - # currently is 0.21.0 - REF ab99719a78de5ffe6dd9f22576eed3f56a3aa731 - SHA512 bdc09f6b9d0b869fe55797a7e85b660b1ad44eae44f747f384448f6416dfb0263149203285f32e7918bd22282a369416790544a64173ce5fb79aeda79d928eaa + REF 0.21.0 + SHA512 47fa00e760cd9089d42dc27cc0120f2dc2ad4b32b6a05e87fb5320fd6fe3971e68958984714895640989543be9252fd0fb96ccebf0d00d70afbad224022a7a53 HEAD_REF master PATCHES qtdeploy.patch @@ -16,6 +14,9 @@ vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS FEATURES gui WITH_QT octomap WITH_OCTOMAP + realsense2 WITH_REALSENSE2 + k4w2 WITH_K4W2 + openni2 WITH_OPENNI2 ) vcpkg_check_features(OUT_FEATURE_OPTIONS REL_FEATURE_OPTIONS @@ -43,9 +44,7 @@ vcpkg_cmake_configure( -DWITH_PDAL=OFF -DWITH_FREENECT=OFF -DWITH_FREENECT2=OFF - -DWITH_K4W2=OFF -DWITH_K4A=OFF - -DWITH_OPENNI2=OFF -DWITH_DC1394=OFF -DWITH_G2O=ON -DWITH_GTSAM=OFF @@ -60,7 +59,6 @@ vcpkg_cmake_configure( -DWITH_ZEDOC=OFF -DWITH_REALSENSE=OFF -DWITH_REALSENSE_SLAM=OFF - -DWITH_REALSENSE2=OFF -DWITH_MYNTEYE=OFF -DWITH_DEPTHAI=OFF -DWITH_CPUTSDF=OFF diff --git a/ports/rtabmap/vcpkg.json b/ports/rtabmap/vcpkg.json index a3b489bbb10295..c62316c8f9cb41 100644 --- a/ports/rtabmap/vcpkg.json +++ b/ports/rtabmap/vcpkg.json @@ -47,7 +47,14 @@ "features": [ "qt" ] - } + }, + "qtbase" + ] + }, + "k4w2": { + "description": "Build RTAB-Map with Kinect For Windows SDK 2.0 camera driver", + "dependencies": [ + "kinectsdk2" ] }, "octomap": { @@ -92,6 +99,25 @@ } ] }, + "openni2": { + "description": "Build RTAB-Map with OpenNI2 camera driver", + "dependencies": [ + "kinectsdk1", + "openni2" + ] + }, + "realsense2": { + "description": "Build RTAB-Map with RealSense2 camera driver", + "dependencies": [ + { + "name": "realsense2", + "default-features": false, + "features": [ + "tm2" + ] + } + ] + }, "tools": { "description": "Build RTAB-Map's tools", "dependencies": [ From 13120c0159a99f67771eb0e13be2d5563282c6d9 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Sun, 19 Mar 2023 19:54:20 -0700 Subject: [PATCH 11/23] Updated versions --- ports/rtabmap/vcpkg.json | 2 +- versions/baseline.json | 2 +- versions/r-/rtabmap.json | 5 +++++ 3 files changed, 7 insertions(+), 2 deletions(-) diff --git a/ports/rtabmap/vcpkg.json b/ports/rtabmap/vcpkg.json index c62316c8f9cb41..233d38237d300e 100644 --- a/ports/rtabmap/vcpkg.json +++ b/ports/rtabmap/vcpkg.json @@ -1,7 +1,7 @@ { "name": "rtabmap", "version": "0.21.0", - "port-version": 4, + "port-version": 5, "description": "Real-Time Appearance-Based Mapping", "homepage": "https://introlab.github.io/rtabmap/", "license": "BSD-3-Clause", diff --git a/versions/baseline.json b/versions/baseline.json index fa82d853b38501..b1bb4ba8f9c6fc 100644 --- a/versions/baseline.json +++ b/versions/baseline.json @@ -6978,7 +6978,7 @@ }, "rtabmap": { "baseline": "0.21.0", - "port-version": 4 + "port-version": 5 }, "rtaudio": { "baseline": "2021-11-16", diff --git a/versions/r-/rtabmap.json b/versions/r-/rtabmap.json index 136dd7c2ef64c2..5fe8cbf3f10152 100644 --- a/versions/r-/rtabmap.json +++ b/versions/r-/rtabmap.json @@ -1,5 +1,10 @@ { "versions": [ + { + "git-tree": "b40241c1d57d6f9a43f4ff921dcbe463adb92450", + "version": "0.21.0", + "port-version": 5 + }, { "git-tree": "7730107dbcf0aa5f9c8a9ccfa1f025015fec1253", "version": "0.21.0", From 1334fff89ec488a9d0e6ba93bedd81ea00288618 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Sun, 19 Mar 2023 20:01:44 -0700 Subject: [PATCH 12/23] Updated versions --- versions/r-/rtabmap.json | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/versions/r-/rtabmap.json b/versions/r-/rtabmap.json index 5fe8cbf3f10152..bfdeb551c182ec 100644 --- a/versions/r-/rtabmap.json +++ b/versions/r-/rtabmap.json @@ -1,7 +1,7 @@ { "versions": [ { - "git-tree": "b40241c1d57d6f9a43f4ff921dcbe463adb92450", + "git-tree": "5ce659c225b440ef3046db35829a0646dc113a52", "version": "0.21.0", "port-version": 5 }, From 2b590d5cb0e30e99570a8037837442a2f96fd571 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Sun, 19 Mar 2023 20:08:38 -0700 Subject: [PATCH 13/23] cleanup versions --- versions/r-/rtabmap.json | 12 +----------- 1 file changed, 1 insertion(+), 11 deletions(-) diff --git a/versions/r-/rtabmap.json b/versions/r-/rtabmap.json index bfdeb551c182ec..ab2f7dd9959251 100644 --- a/versions/r-/rtabmap.json +++ b/versions/r-/rtabmap.json @@ -6,17 +6,7 @@ "port-version": 5 }, { - "git-tree": "7730107dbcf0aa5f9c8a9ccfa1f025015fec1253", - "version": "0.21.0", - "port-version": 4 - }, - { - "git-tree": "d0a0e34ff92c3900e26427b40d8bdff995f512d0", - "version": "0.21.0", - "port-version": 3 - }, - { - "git-tree": "e66ea7b42b8a18d89411aa125a0cefbf33302f0a", + "git-tree": "a406c3775099f351eec9474a5432e9356ce53e95", "version": "0.21.0", "port-version": 0 }, From d6e7074c21449188f9e2eb75a8d7b35b17e20d83 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Sun, 19 Mar 2023 20:28:56 -0700 Subject: [PATCH 14/23] cleanup all versions --- ports/rtabmap/vcpkg.json | 2 +- versions/baseline.json | 2 +- versions/r-/rtabmap.json | 5 ----- 3 files changed, 2 insertions(+), 7 deletions(-) diff --git a/ports/rtabmap/vcpkg.json b/ports/rtabmap/vcpkg.json index 233d38237d300e..16eadff0e4bab5 100644 --- a/ports/rtabmap/vcpkg.json +++ b/ports/rtabmap/vcpkg.json @@ -1,7 +1,7 @@ { "name": "rtabmap", "version": "0.21.0", - "port-version": 5, + "port-version": 0, "description": "Real-Time Appearance-Based Mapping", "homepage": "https://introlab.github.io/rtabmap/", "license": "BSD-3-Clause", diff --git a/versions/baseline.json b/versions/baseline.json index b1bb4ba8f9c6fc..3eb52e98675a4a 100644 --- a/versions/baseline.json +++ b/versions/baseline.json @@ -6978,7 +6978,7 @@ }, "rtabmap": { "baseline": "0.21.0", - "port-version": 5 + "port-version": 0 }, "rtaudio": { "baseline": "2021-11-16", diff --git a/versions/r-/rtabmap.json b/versions/r-/rtabmap.json index ab2f7dd9959251..78a99a9b9051cb 100644 --- a/versions/r-/rtabmap.json +++ b/versions/r-/rtabmap.json @@ -1,10 +1,5 @@ { "versions": [ - { - "git-tree": "5ce659c225b440ef3046db35829a0646dc113a52", - "version": "0.21.0", - "port-version": 5 - }, { "git-tree": "a406c3775099f351eec9474a5432e9356ce53e95", "version": "0.21.0", From 76636de5a9d43bfbb83c861d2cc27b58b21f4bd5 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Sun, 19 Mar 2023 20:33:56 -0700 Subject: [PATCH 15/23] Applying format.diff from ci --- ports/rtabmap/vcpkg.json | 1 - 1 file changed, 1 deletion(-) diff --git a/ports/rtabmap/vcpkg.json b/ports/rtabmap/vcpkg.json index 16eadff0e4bab5..e6c93474fec6d0 100644 --- a/ports/rtabmap/vcpkg.json +++ b/ports/rtabmap/vcpkg.json @@ -1,7 +1,6 @@ { "name": "rtabmap", "version": "0.21.0", - "port-version": 0, "description": "Real-Time Appearance-Based Mapping", "homepage": "https://introlab.github.io/rtabmap/", "license": "BSD-3-Clause", From 870de5df57d84bfb440d4f870f4aaaa23dff7319 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Sun, 19 Mar 2023 20:41:50 -0700 Subject: [PATCH 16/23] overwrite version --- versions/r-/rtabmap.json | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/versions/r-/rtabmap.json b/versions/r-/rtabmap.json index 78a99a9b9051cb..1231d428c56469 100644 --- a/versions/r-/rtabmap.json +++ b/versions/r-/rtabmap.json @@ -1,7 +1,7 @@ { "versions": [ { - "git-tree": "a406c3775099f351eec9474a5432e9356ce53e95", + "git-tree": "ac25d2882aca4636cb06a9833cbc4532a67c2840", "version": "0.21.0", "port-version": 0 }, From b376fb566bb8f4a1e96b92a93758a101adb4f3df Mon Sep 17 00:00:00 2001 From: matlabbe Date: Mon, 20 Mar 2023 18:59:13 -0700 Subject: [PATCH 17/23] qtbase: not using defaults --- ports/rtabmap/vcpkg.json | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/ports/rtabmap/vcpkg.json b/ports/rtabmap/vcpkg.json index e6c93474fec6d0..86754dd8dba660 100644 --- a/ports/rtabmap/vcpkg.json +++ b/ports/rtabmap/vcpkg.json @@ -47,7 +47,15 @@ "qt" ] }, - "qtbase" + { + "name": "qtbase", + "default-features": false, + "features": [ + "gui", + "opengl", + "widgets" + ] + } ] }, "k4w2": { From 5bf466d65ff80d982ecf612b2bb970b00e6efb07 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Mon, 20 Mar 2023 21:01:19 -0700 Subject: [PATCH 18/23] updated versions sha --- versions/r-/rtabmap.json | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/versions/r-/rtabmap.json b/versions/r-/rtabmap.json index 1231d428c56469..56f2cbd61059f5 100644 --- a/versions/r-/rtabmap.json +++ b/versions/r-/rtabmap.json @@ -1,7 +1,7 @@ { "versions": [ { - "git-tree": "ac25d2882aca4636cb06a9833cbc4532a67c2840", + "git-tree": "65254822e82998747376cf710ab669776072ef26", "version": "0.21.0", "port-version": 0 }, From ceeb49f0760462828390718711324e0350885abd Mon Sep 17 00:00:00 2001 From: matlabbe Date: Tue, 21 Mar 2023 08:36:09 -0700 Subject: [PATCH 19/23] added --trace-expand --- ports/rtabmap/portfile.cmake | 1 + 1 file changed, 1 insertion(+) diff --git a/ports/rtabmap/portfile.cmake b/ports/rtabmap/portfile.cmake index 6da394d53ef65f..8c384398c220f0 100644 --- a/ports/rtabmap/portfile.cmake +++ b/ports/rtabmap/portfile.cmake @@ -34,6 +34,7 @@ vcpkg_cmake_configure( OPTIONS_RELEASE ${REL_FEATURE_OPTIONS} OPTIONS + --trace-expand ${FEATURE_OPTIONS} -DBUILD_AS_BUNDLE=OFF -DBUILD_EXAMPLES=OFF From 2fcd2bccc096361253f0c467ec1e2efc8a47400c Mon Sep 17 00:00:00 2001 From: matlabbe Date: Tue, 21 Mar 2023 18:09:52 -0700 Subject: [PATCH 20/23] Explicitly set autouic to OFF --- ports/rtabmap/fix_autouic.patch | 15 +++++++++++++++ ...qtdeploy.patch => fix_qt_deploy_plugins.patch} | 0 ports/rtabmap/portfile.cmake | 3 ++- 3 files changed, 17 insertions(+), 1 deletion(-) create mode 100644 ports/rtabmap/fix_autouic.patch rename ports/rtabmap/{qtdeploy.patch => fix_qt_deploy_plugins.patch} (100%) diff --git a/ports/rtabmap/fix_autouic.patch b/ports/rtabmap/fix_autouic.patch new file mode 100644 index 00000000000000..540642dd3a811f --- /dev/null +++ b/ports/rtabmap/fix_autouic.patch @@ -0,0 +1,15 @@ +diff --git a/guilib/src/CMakeLists.txt b/guilib/src/CMakeLists.txt +index 349f6f9e..ac54b0f2 100644 +--- a/guilib/src/CMakeLists.txt ++++ b/guilib/src/CMakeLists.txt +@@ -60,6 +60,10 @@ SET(qrc + ./GuiLib.qrc + ) + ++set(CMAKE_AUTOMOC OFF) ++set(CMAKE_AUTORCC OFF) ++set(CMAKE_AUTOUIC OFF) ++ + IF(QT4_FOUND) + # generate rules for building source files from the resources + QT4_ADD_RESOURCES(srcs_qrc ${qrc}) diff --git a/ports/rtabmap/qtdeploy.patch b/ports/rtabmap/fix_qt_deploy_plugins.patch similarity index 100% rename from ports/rtabmap/qtdeploy.patch rename to ports/rtabmap/fix_qt_deploy_plugins.patch diff --git a/ports/rtabmap/portfile.cmake b/ports/rtabmap/portfile.cmake index 8c384398c220f0..51e8cc1e7b3065 100644 --- a/ports/rtabmap/portfile.cmake +++ b/ports/rtabmap/portfile.cmake @@ -7,7 +7,8 @@ vcpkg_from_github( SHA512 47fa00e760cd9089d42dc27cc0120f2dc2ad4b32b6a05e87fb5320fd6fe3971e68958984714895640989543be9252fd0fb96ccebf0d00d70afbad224022a7a53 HEAD_REF master PATCHES - qtdeploy.patch + fix_qt_deploy_plugins.patch + fix_autouic.patch ) vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS From 1dc19522d1bcde77e9908712df1db9353d3d64e2 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Wed, 22 Mar 2023 08:42:04 -0700 Subject: [PATCH 21/23] Update rtabmap.json --- versions/r-/rtabmap.json | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/versions/r-/rtabmap.json b/versions/r-/rtabmap.json index 56f2cbd61059f5..dd93869630c42e 100644 --- a/versions/r-/rtabmap.json +++ b/versions/r-/rtabmap.json @@ -1,7 +1,7 @@ { "versions": [ { - "git-tree": "65254822e82998747376cf710ab669776072ef26", + "git-tree": "415945efade6762e7c23a977e49fb8bfc7c62c1c", "version": "0.21.0", "port-version": 0 }, From 023bda970cda85b5fe78152aced06bbb47a283af Mon Sep 17 00:00:00 2001 From: matlabbe Date: Thu, 23 Mar 2023 20:34:37 -0700 Subject: [PATCH 22/23] removing cmake trace debug --- ports/rtabmap/portfile.cmake | 1 - 1 file changed, 1 deletion(-) diff --git a/ports/rtabmap/portfile.cmake b/ports/rtabmap/portfile.cmake index 51e8cc1e7b3065..710db46e5ad6eb 100644 --- a/ports/rtabmap/portfile.cmake +++ b/ports/rtabmap/portfile.cmake @@ -35,7 +35,6 @@ vcpkg_cmake_configure( OPTIONS_RELEASE ${REL_FEATURE_OPTIONS} OPTIONS - --trace-expand ${FEATURE_OPTIONS} -DBUILD_AS_BUNDLE=OFF -DBUILD_EXAMPLES=OFF From 0753f2c430733ddc4f8abd24d35f9db3a8d6c0e0 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Thu, 23 Mar 2023 20:35:52 -0700 Subject: [PATCH 23/23] updated versions --- versions/r-/rtabmap.json | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/versions/r-/rtabmap.json b/versions/r-/rtabmap.json index 56f2cbd61059f5..fb84b55756988e 100644 --- a/versions/r-/rtabmap.json +++ b/versions/r-/rtabmap.json @@ -1,7 +1,7 @@ { "versions": [ { - "git-tree": "65254822e82998747376cf710ab669776072ef26", + "git-tree": "557a37dc751f64ec6040505e57074251f2441822", "version": "0.21.0", "port-version": 0 },