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-rw-r--r--vcpkg/ports/rtabmap/0001-cmakelists-fixes.patch55
-rw-r--r--vcpkg/ports/rtabmap/0002-fix-link.patch13
-rw-r--r--vcpkg/ports/rtabmap/0003-multi-definition.patch101
-rw-r--r--vcpkg/ports/rtabmap/0004-remove-apple-sys-path.patch11
-rw-r--r--vcpkg/ports/rtabmap/portfile.cmake167
-rw-r--r--vcpkg/ports/rtabmap/vcpkg.json158
6 files changed, 505 insertions, 0 deletions
diff --git a/vcpkg/ports/rtabmap/0001-cmakelists-fixes.patch b/vcpkg/ports/rtabmap/0001-cmakelists-fixes.patch
new file mode 100644
index 0000000..b677fb0
--- /dev/null
+++ b/vcpkg/ports/rtabmap/0001-cmakelists-fixes.patch
@@ -0,0 +1,55 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 1faa317b..2157fffb 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -264,7 +264,7 @@ endif()
+
+ # OpenMP ("-fopenmp" should be added for flann included in PCL)
+ # the gcc-4.2.1 coming with MacOS X is not compatible with the OpenMP pragmas we use, so disabling OpenMP for it
+-if(((NOT APPLE) OR (NOT CMAKE_COMPILER_IS_GNUCXX) OR (GCC_VERSION VERSION_GREATER 4.2.1) OR (CMAKE_CXX_COMPILER_ID STREQUAL "Clang")) AND WITH_OPENMP)
++if(WITH_OPENMP)
+ find_package(OpenMP COMPONENTS C CXX)
+ endif()
+ if(OPENMP_FOUND)
+@@ -633,10 +633,12 @@ IF(WITH_REALSENSE)
+ ENDIF(WITH_REALSENSE)
+
+ IF(WITH_REALSENSE2)
+- IF(WIN32)
++ IF(0)
+ FIND_PACKAGE(RealSense2 QUIET)
+ ELSE()
+ FIND_PACKAGE(realsense2 QUIET)
++ set(RealSense2_LIBRARIES realsense2::realsense2)
++ set(realsense2_LIBRARIES realsense2::realsense2)
+ ENDIF()
+ IF(realsense2_FOUND)
+ MESSAGE(STATUS "Found RealSense2: ${realsense2_INCLUDE_DIRS}")
+@@ -977,14 +979,14 @@ IF(NOT realsense2_FOUND)
+ SET(CONF_WITH_REALSENSE2 0)
+ ELSE()
+ SET(CONF_WITH_REALSENSE2 1)
+- IF(WIN32)
++ IF(0)
+ install(
+ FILES
+ "${CMAKE_CURRENT_SOURCE_DIR}/cmake_modules/FindRealSense2.cmake"
+ DESTINATION ${INSTALL_CMAKE_DIR}/Modules/.
+ COMPONENT devel
+ )
+- ENDIF(WIN32)
++ ENDIF(0)
+ ENDIF()
+ IF(NOT mynteye_FOUND)
+ SET(MYNTEYE "//")
+diff --git a/utilite/resource_generator/CMakeLists.txt b/utilite/resource_generator/CMakeLists.txt
+index 82f12535..f1a1c8aa 100644
+--- a/utilite/resource_generator/CMakeLists.txt
++++ b/utilite/resource_generator/CMakeLists.txt
+@@ -1,5 +1,5 @@
+
+-if (CMAKE_CROSSCOMPILING OR ANDROID OR IOS)
++if (CMAKE_CROSSCOMPILING OR ANDROID OR IOS OR RTABMAP_RES_TOOL)
+ # See this page about tools being required in the build:
+ # https://gitlab.kitware.com/cmake/community/-/wikis/doc/cmake/CrossCompiling#using-executables-in-the-build-created-during-the-build
+
diff --git a/vcpkg/ports/rtabmap/0002-fix-link.patch b/vcpkg/ports/rtabmap/0002-fix-link.patch
new file mode 100644
index 0000000..6d329a9
--- /dev/null
+++ b/vcpkg/ports/rtabmap/0002-fix-link.patch
@@ -0,0 +1,13 @@
+--- a/corelib/src/global_map/OctoMap.cpp
++++ b/corelib/src/global_map/OctoMap.cpp
+@@ -278,10 +278,8 @@ RtabmapColorOcTree::StaticMemberInitializer::StaticMemberInitializer() {
+ AbstractOcTree::registerTreeType(tree);
+ }
+
+-#ifndef _WIN32
+ // On Windows, the app freezes on start if the following is defined
+ RtabmapColorOcTree::StaticMemberInitializer RtabmapColorOcTree::RtabmapColorOcTreeMemberInit;
+-#endif
+
+
+ //////////////////////////////////////
diff --git a/vcpkg/ports/rtabmap/0003-multi-definition.patch b/vcpkg/ports/rtabmap/0003-multi-definition.patch
new file mode 100644
index 0000000..12cfe93
--- /dev/null
+++ b/vcpkg/ports/rtabmap/0003-multi-definition.patch
@@ -0,0 +1,101 @@
+--- a/corelib/include/rtabmap/core/stereo/stereoRectifyFisheye.h
++++ b/corelib/include/rtabmap/core/stereo/stereoRectifyFisheye.h
+@@ -39,6 +39,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ #if CV_MAJOR_VERSION >= 4
+ #include <opencv2/core/core_c.h>
+
++#include <rtabmap/core/rtabmap_core_export.h>
++
++namespace {
++
+ // Opencv4 doesn't expose those functions below anymore, we should recopy all of them!
+ int cvRodrigues2( const CvMat* src, CvMat* dst, CvMat* jacobian CV_DEFAULT(0))
+ {
+@@ -915,6 +919,8 @@ void cvConvertPointsHomogeneous( const CvMat* _src, CvMat* _dst )
+ }
+ }
+
++} // namespace
++
+ #endif // OpenCV4
+
+ #endif // OpenCV3
+@@ -923,9 +929,11 @@ namespace rtabmap
+ {
+
+ void
++RTABMAP_CORE_EXPORT
+ icvGetRectanglesFisheye( const CvMat* cameraMatrix, const CvMat* distCoeffs,
+ const CvMat* R, const CvMat* newCameraMatrix, CvSize imgSize,
+ cv::Rect_<float>& inner, cv::Rect_<float>& outer )
++#ifdef RTABMAP_STEREORECTIFIYFISHEYE_IMPLEMENTATION
+ {
+ const int N = 9;
+ int x, y, k;
+@@ -967,12 +975,17 @@ icvGetRectanglesFisheye( const CvMat* cameraMatrix, const CvMat* distCoeffs,
+ inner = cv::Rect_<float>(iX0, iY0, iX1-iX0, iY1-iY0);
+ outer = cv::Rect_<float>(oX0, oY0, oX1-oX0, oY1-oY0);
+ }
++#else
++;
++#endif
+
+-void cvStereoRectifyFisheye( const CvMat* _cameraMatrix1, const CvMat* _cameraMatrix2,
++void RTABMAP_CORE_EXPORT
++ cvStereoRectifyFisheye( const CvMat* _cameraMatrix1, const CvMat* _cameraMatrix2,
+ const CvMat* _distCoeffs1, const CvMat* _distCoeffs2,
+ CvSize imageSize, const CvMat* matR, const CvMat* matT,
+ CvMat* _R1, CvMat* _R2, CvMat* _P1, CvMat* _P2,
+ CvMat* matQ, int flags, double alpha, CvSize newImgSize )
++#ifdef RTABMAP_STEREORECTIFIYFISHEYE_IMPLEMENTATION
+ {
+ double _om[3], _t[3] = {0}, _uu[3]={0,0,0}, _r_r[3][3], _pp[3][4];
+ double _ww[3], _wr[3][3], _z[3] = {0,0,0}, _ri[3][3], _w3[3];
+@@ -1177,19 +1190,25 @@ void cvStereoRectifyFisheye( const CvMat* _cameraMatrix1, const CvMat* _cameraMa
+ cvConvert( &Q, matQ );
+ }
+ }
++#else
++;
++#endif
++
+
+-void stereoRectifyFisheye( cv::InputArray _cameraMatrix1, cv::InputArray _distCoeffs1,
++void RTABMAP_CORE_EXPORT
++ stereoRectifyFisheye( cv::InputArray _cameraMatrix1, cv::InputArray _distCoeffs1,
+ cv::InputArray _cameraMatrix2, cv::InputArray _distCoeffs2,
+ cv::Size imageSize, cv::InputArray _Rmat, cv::InputArray _Tmat,
+ cv::OutputArray _Rmat1, cv::OutputArray _Rmat2,
+ cv::OutputArray _Pmat1, cv::OutputArray _Pmat2,
+ cv::OutputArray _Qmat, int flags,
+ double alpha, cv::Size newImageSize)
++#ifdef RTABMAP_STEREORECTIFIYFISHEYE_IMPLEMENTATION
+ {
+ cv::Mat cameraMatrix1 = _cameraMatrix1.getMat(), cameraMatrix2 = _cameraMatrix2.getMat();
+ cv::Mat distCoeffs1 = _distCoeffs1.getMat(), distCoeffs2 = _distCoeffs2.getMat();
+ cv::Mat Rmat = _Rmat.getMat(), Tmat = _Tmat.getMat();
+-
++
+ #if CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION >= 3 && (CV_MINOR_VERSION>4 || (CV_MINOR_VERSION>=4 && CV_SUBMINOR_VERSION>=4)))
+ CvMat c_cameraMatrix1 = cvMat(cameraMatrix1);
+ CvMat c_cameraMatrix2 = cvMat(cameraMatrix2);
+@@ -1238,6 +1257,9 @@ void stereoRectifyFisheye( cv::InputArray _cameraMatrix1, cv::InputArray _distCo
+ CvSize(newImageSize));
+ #endif
+ }
++#else
++;
++#endif
+
+ }
+
+--- a/corelib/src/StereoCameraModel.cpp
++++ b/corelib/src/StereoCameraModel.cpp
+@@ -34,6 +34,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ #include <opencv2/imgproc/imgproc.hpp>
+
+ #if CV_MAJOR_VERSION > 2 or (CV_MAJOR_VERSION == 2 and (CV_MINOR_VERSION >4 or (CV_MINOR_VERSION == 4 and CV_SUBMINOR_VERSION >=10)))
++#define RTABMAP_STEREORECTIFIYFISHEYE_IMPLEMENTATION
+ #include <rtabmap/core/stereo/stereoRectifyFisheye.h>
+ #endif
+
diff --git a/vcpkg/ports/rtabmap/0004-remove-apple-sys-path.patch b/vcpkg/ports/rtabmap/0004-remove-apple-sys-path.patch
new file mode 100644
index 0000000..692b08e
--- /dev/null
+++ b/vcpkg/ports/rtabmap/0004-remove-apple-sys-path.patch
@@ -0,0 +1,11 @@
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -119,8 +119,6 @@ endif()
+ #Other paths...
+ IF(APPLE)
+ # For Mac ports
+- SET(CMAKE_INCLUDE_PATH "/opt/local/include;${CMAKE_INCLUDE_PATH}")
+- SET(CMAKE_LIBRARY_PATH "/opt/local/lib;${CMAKE_LIBRARY_PATH}")
+ ENDIF()
+
+ ####### Build libraries as shared or static #######
diff --git a/vcpkg/ports/rtabmap/portfile.cmake b/vcpkg/ports/rtabmap/portfile.cmake
new file mode 100644
index 0000000..3f92f28
--- /dev/null
+++ b/vcpkg/ports/rtabmap/portfile.cmake
@@ -0,0 +1,167 @@
+vcpkg_from_github(
+ OUT_SOURCE_PATH SOURCE_PATH
+ REPO introlab/rtabmap
+ REF ${VERSION}
+ SHA512 9bcd0f359e0ee8060cf7088761544a3f7d38aadb37df820958f0811aa7b8edbfaf00f00d9472a8bf46261d4e5d868f9c10785263aaabaf374b6e5aa5237d70b0
+ HEAD_REF master
+ PATCHES
+ 0001-cmakelists-fixes.patch
+ 0002-fix-link.patch
+ 0003-multi-definition.patch
+ 0004-remove-apple-sys-path.patch
+)
+# Will use vcpkg to find these packages
+file(REMOVE_RECURSE
+ "${SOURCE_PATH}/cmake_modules/FindEigen3.cmake"
+ "${SOURCE_PATH}/cmake_modules/FindRealSense2.cmake"
+ "${SOURCE_PATH}/src/sqlite3"
+)
+
+vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
+ FEATURES
+ gui WITH_QT
+ gui VCPKG_LOCK_FIND_PACKAGE_Qt6
+ gui VCPKG_LOCK_FIND_PACKAGE_VTK
+ k4w2 WITH_K4W2
+ k4w2 VCPKG_LOCK_FIND_PACKAGE_KinectSDK2
+ octomap WITH_OCTOMAP
+ octomap VCPKG_LOCK_FIND_PACKAGE_octomap
+ openmp WITH_OPENMP
+ openmp VCPKG_LOCK_FIND_PACKAGE_OpenMP
+ openni2 WITH_OPENNI2
+ openni2 VCPKG_LOCK_FIND_PACKAGE_OpenNI2
+ realsense2 WITH_REALSENSE2
+ realsense2 VCPKG_LOCK_FIND_PACKAGE_realsense2
+ tools BUILD_APP
+ tools BUILD_TOOLS
+)
+
+vcpkg_cmake_configure(
+ SOURCE_PATH "${SOURCE_PATH}"
+ DISABLE_PARALLEL_CONFIGURE
+ OPTIONS_DEBUG
+ -DBUILD_TOOLS=OFF
+ -DBUILD_APP=OFF
+ OPTIONS
+ ${FEATURE_OPTIONS}
+ "-DRTABMAP_RES_TOOL=${CURRENT_HOST_INSTALLED_DIR}/tools/rtabmap-res-tool/rtabmap-res_tool${VCPKG_TARGET_EXECUTABLE_SUFFIX}"
+ -DRTABMAP_QT_VERSION=6
+ -DBUILD_AS_BUNDLE=OFF
+ -DBUILD_EXAMPLES=OFF
+ -DVCPKG_LOCK_FIND_PACKAGE_SQLite3=ON
+ ## always on feats
+ -DWITH_G2O=ON -DVCPKG_LOCK_FIND_PACKAGE_g2o=ON
+ -DWITH_CERES=ON
+ -DWITH_ORB_OCTREE=ON # GPLv3
+ ## always off feats
+ -DWITH_ALICE_VISION=OFF
+ -DWITH_ARCore=OFF
+ -DWITH_ARENGINE=OFF
+ -DWITH_CCCORELIB=OFF
+ -DWITH_CPUTSDF=OFF
+ -DWITH_CVSBA=OFF
+ -DWITH_DC1394=OFF
+ -DWITH_DEPTHAI=OFF
+ -DWITH_DVO=OFF
+ -DWITH_FASTCV=OFF
+ -DWITH_FLOAM=OFF
+ -DWITH_FLYCAPTURE2=OFF
+ -DWITH_FOVIS=OFF
+ -DWITH_FREENECT=OFF
+ -DWITH_FREENECT2=OFF
+ -DWITH_GRIDMAP=OFF
+ -DWITH_GTSAM=OFF
+ -DWITH_K4A=OFF
+ -DWITH_LOAM=OFF
+ -DWITH_MADGWICK=OFF
+ -DWITH_MRPT=OFF
+ -DWITH_MSCKF_VIO=OFF
+ -DWITH_MYNTEYE=OFF
+ -DWITH_OKVIS=OFF
+ -DWITH_OPEN3D=OFF
+ -DWITH_OPENCHISEL=OFF
+ -DWITH_OPENGV=OFF
+ -DWITH_OPENVINS=OFF
+ -DWITH_ORB_SLAM=OFF
+ -DWITH_PDAL=OFF
+ -DWITH_POINTMATCHER=OFF
+ -DWITH_PYTHON=OFF
+ -DWITH_PYTHON_THREADING=OFF
+ -DWITH_REALSENSE=OFF
+ -DWITH_REALSENSE_SLAM=OFF
+ -DWITH_TANGO=OFF
+ -DWITH_TORCH=OFF
+ -DWITH_VERTIGO=OFF
+ -DWITH_VINS=OFF
+ -DWITH_VISO2=OFF
+ -DWITH_ZED=OFF
+ -DWITH_ZEDOC=OFF
+ MAYBE_UNUSED_VARIABLES
+ VCPKG_LOCK_FIND_PACKAGE_Qt6
+ VCPKG_LOCK_FIND_PACKAGE_VTK
+ VCPKG_LOCK_FIND_PACKAGE_KinectSDK2
+ VCPKG_LOCK_FIND_PACKAGE_octomap
+ VCPKG_LOCK_FIND_PACKAGE_OpenMP
+ VCPKG_LOCK_FIND_PACKAGE_OpenNI2
+ VCPKG_LOCK_FIND_PACKAGE_realsense2
+ VCPKG_LOCK_FIND_PACKAGE_RealSense2
+ # Android
+ WITH_ARCore
+ WITH_ARENGINE
+ WITH_TANGO
+)
+
+vcpkg_cmake_install()
+
+if(VCPKG_TARGET_IS_WINDOWS)
+ vcpkg_cmake_config_fixup(CONFIG_PATH CMake)
+else()
+ vcpkg_cmake_config_fixup(CONFIG_PATH lib/rtabmap-0.23)
+endif()
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/share")
+
+if("tools" IN_LIST FEATURES)
+ vcpkg_copy_tools(
+ TOOL_NAMES
+ rtabmap-camera
+ rtabmap-console
+ rtabmap-detectMoreLoopClosures
+ rtabmap-export
+ rtabmap-extractObject
+ rtabmap-info
+ rtabmap-kitti_dataset
+ rtabmap-recovery
+ rtabmap-report
+ rtabmap-reprocess
+ rtabmap-rgbd_dataset
+ rtabmap-euroc_dataset
+ rtabmap-cleanupLocalGrids
+ rtabmap-globalBundleAdjustment
+ AUTO_CLEAN
+ )
+ if("gui" IN_LIST FEATURES)
+ vcpkg_copy_tools(
+ TOOL_NAMES
+ rtabmap
+ rtabmap-calibration
+ rtabmap-databaseViewer
+ rtabmap-dataRecorder
+ rtabmap-odometryViewer
+ rtabmap-rgbd_camera
+ rtabmap-lidar_viewer
+ AUTO_CLEAN
+ )
+ file(COPY "${CURRENT_INSTALLED_DIR}/tools/Qt6/bin/qt.conf" DESTINATION "${CURRENT_PACKAGES_DIR}/tools/${PORT}")
+ vcpkg_replace_string("${CURRENT_PACKAGES_DIR}/tools/${PORT}/qt.conf" "./../../../" "./../../")
+ endif()
+endif()
+
+vcpkg_install_copyright(
+ COMMENT [[
+The RTAB-Map main license is BSD-3-Clause, but some parts of the
+source code are under other licenses possibly including GPL-3.0-only.
+]]
+ FILE_LIST "${SOURCE_PATH}/LICENSE"
+)
diff --git a/vcpkg/ports/rtabmap/vcpkg.json b/vcpkg/ports/rtabmap/vcpkg.json
new file mode 100644
index 0000000..3d3edd8
--- /dev/null
+++ b/vcpkg/ports/rtabmap/vcpkg.json
@@ -0,0 +1,158 @@
+{
+ "name": "rtabmap",
+ "version": "0.23.2",
+ "description": "Real-Time Appearance-Based Mapping",
+ "homepage": "https://introlab.github.io/rtabmap/",
+ "license": null,
+ "dependencies": [
+ "boost-crc",
+ "ceres",
+ "g2o",
+ {
+ "name": "opencv",
+ "default-features": false,
+ "features": [
+ "fs",
+ "intrinsics",
+ "thread"
+ ]
+ },
+ {
+ "name": "pcl",
+ "default-features": false
+ },
+ {
+ "name": "rtabmap-res-tool",
+ "host": true
+ },
+ "sqlite3",
+ {
+ "name": "vcpkg-cmake",
+ "host": true
+ },
+ {
+ "name": "vcpkg-cmake-config",
+ "host": true
+ },
+ "zlib"
+ ],
+ "default-features": [
+ "gui",
+ "opencv-contrib",
+ "opencv-nonfree",
+ {
+ "name": "openmp",
+ "platform": "!osx"
+ }
+ ],
+ "features": {
+ "gui": {
+ "description": "Build RTAB-Map with GUI support (Qt)",
+ "dependencies": [
+ {
+ "name": "pcl",
+ "default-features": false,
+ "features": [
+ "qt",
+ "visualization"
+ ]
+ },
+ {
+ "name": "qtbase",
+ "default-features": false,
+ "features": [
+ "gui",
+ "opengl",
+ "widgets"
+ ]
+ },
+ {
+ "name": "vtk",
+ "default-features": false
+ }
+ ]
+ },
+ "k4w2": {
+ "description": "Build RTAB-Map with Kinect For Windows SDK 2.0 camera driver",
+ "dependencies": [
+ "kinectsdk2"
+ ]
+ },
+ "octomap": {
+ "description": "Build RTAB-Map with OctoMap support",
+ "dependencies": [
+ "octomap"
+ ]
+ },
+ "opencv-contrib": {
+ "description": "Use OpenCV with contrib modules (e.g., xfeatures2d, aruco)",
+ "dependencies": [
+ {
+ "name": "opencv",
+ "default-features": false,
+ "features": [
+ "contrib",
+ "fs",
+ "intrinsics",
+ "thread"
+ ]
+ }
+ ]
+ },
+ "opencv-cuda": {
+ "description": "Use OpenCV with CUDA (accelerated SIFT ad SURF GPU options)",
+ "dependencies": [
+ {
+ "name": "opencv",
+ "default-features": false,
+ "features": [
+ "cuda",
+ "fs",
+ "intrinsics",
+ "thread"
+ ]
+ }
+ ]
+ },
+ "opencv-nonfree": {
+ "description": "Use OpenCV with nonfree module (surf feature)",
+ "dependencies": [
+ {
+ "name": "opencv",
+ "default-features": false,
+ "features": [
+ "fs",
+ "intrinsics",
+ "nonfree",
+ "thread"
+ ]
+ }
+ ]
+ },
+ "openmp": {
+ "description": "Enable OpenMP parallel execution"
+ },
+ "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
+ }
+ ]
+ },
+ "tools": {
+ "description": "Build RTAB-Map's tools",
+ "dependencies": [
+ "yaml-cpp"
+ ]
+ }
+ }
+}
generated by cgit v1.2.3 (git 2.39.1) at 2026-02-15 02:38:00 +0000