1 files changed, 101 insertions, 0 deletions
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
+