[rtabmap] update to 0.21.0

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})

ports/rtabmap/fix_qt_deploy_plugins.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)")

ports/rtabmap/portfile.cmake

@@ -3,44 +3,53 @@ 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 0.20.23
-    REF 95e6a9f03936697a60be2c26e119c519e47c11f5
-    SHA512 082af7e15316bdeb89ff833a87a91916ddbf85de56bf4f38a0b5a40f4f330ecc057ae72a2f5ec901824e51d6f73c4a05a328116eaa5529551ffe4ca770fe0474
+    REF 0.21.0
+    SHA512 47fa00e760cd9089d42dc27cc0120f2dc2ad4b32b6a05e87fb5320fd6fe3971e68958984714895640989543be9252fd0fb96ccebf0d00d70afbad224022a7a53
     HEAD_REF master
     PATCHES
-        0003-fix-qt.patch
-        cpp17.patch
-        fix-CMake-export.patch
+        fix_qt_deploy_plugins.patch
+        fix_autouic.patch
 )
 
 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
     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_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
         -DWITH_PDAL=OFF
         -DWITH_FREENECT=OFF
         -DWITH_FREENECT2=OFF
-        -DWITH_K4W2=OFF
         -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
@@ -51,10 +60,8 @@ vcpkg_cmake_configure(
         -DWITH_ZEDOC=OFF
         -DWITH_REALSENSE=OFF
         -DWITH_REALSENSE_SLAM=OFF
-        -DWITH_REALSENSE2=OFF
         -DWITH_MYNTEYE=OFF
         -DWITH_DEPTHAI=OFF
-        -DWITH_OCTOMAP=OFF
         -DWITH_CPUTSDF=OFF
         -DWITH_OPENCHISEL=OFF
         -DWITH_ALICE_VISION=OFF
@@ -70,18 +77,11 @@ vcpkg_cmake_configure(
 )
 
 vcpkg_cmake_install()
-vcpkg_cmake_config_fixup(PACKAGE_NAME unofficial-rtabmap CONFIG_PATH share/unofficial-rtabmap)
 
-vcpkg_replace_string("${CURRENT_PACKAGES_DIR}/share/unofficial-rtabmap/unofficial-rtabmap-config.cmake"
-    [[# Generated by CMake]]
-    [[# Generated by CMake 
-include(CMakeFindDependencyMacro)
-find_dependency(OpenCV)
-find_dependency(PCL)
-find_dependency(ZLIB)
-find_dependency(VTK)
-find_dependency(OpenMP)]]
-)
+vcpkg_cmake_config_fixup(PACKAGE_NAME RTABMap CONFIG_PATH CMake)
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/share")
 
 vcpkg_copy_tools(TOOL_NAMES rtabmap-res_tool AUTO_CLEAN)
 
@@ -104,13 +104,39 @@ if("tools" IN_LIST FEATURES)
         rtabmap-globalBundleAdjustment
     AUTO_CLEAN
   )
-endif()
+  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_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 = .")
 
-file(REMOVE_RECURSE
-    "${CURRENT_PACKAGES_DIR}/debug/include"
-    "${CURRENT_PACKAGES_DIR}/debug/share"
-    "${CURRENT_PACKAGES_DIR}/debug/CMake"
-    "${CURRENT_PACKAGES_DIR}/CMake"
-)
+    # 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()
 
 vcpkg_install_copyright(FILE_LIST "${SOURCE_PATH}/LICENSE")