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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"
)
|
