From 9549cd9460a99de41b6c8903c6b024226e7bce64 Mon Sep 17 00:00:00 2001
From: Sean Yen <seanyen@microsoft.com>
Date: Tue, 3 Nov 2020 22:51:43 -0800
Subject: [rtabmap] New port (#14299)

---
 ports/rtabmap/001_opencv.patch | 36 +++++++++++++++++++++++++++++++++
 ports/rtabmap/portfile.cmake   | 46 ++++++++++++++++++++++++++++++++++++++++++
 ports/rtabmap/vcpkg.json       | 12 +++++++++++
 3 files changed, 94 insertions(+)
 create mode 100644 ports/rtabmap/001_opencv.patch
 create mode 100644 ports/rtabmap/portfile.cmake
 create mode 100644 ports/rtabmap/vcpkg.json

diff --git a/ports/rtabmap/001_opencv.patch b/ports/rtabmap/001_opencv.patch
new file mode 100644
index 000000000..5d3a9611e
--- /dev/null
+++ b/ports/rtabmap/001_opencv.patch
@@ -0,0 +1,36 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 1cb24ae36..a5414e26e 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -320,6 +320,9 @@ IF(WITH_QT)
+         ENDIF()
+         ADD_DEFINITIONS(-DQT_NO_KEYWORDS) # To avoid conflicts with boost signals/foreach and Qt macros
+     ENDIF(QT4_FOUND OR Qt5_FOUND)
++ELSE()
++    # Unconditionally disable VTK related features since no visualization tools will be built.
++    ADD_DEFINITIONS("-DDISABLE_VTK")
+ ENDIF(WITH_QT)
+ 
+ IF(WITH_SUPERPOINT_TORCH)
+diff --git a/corelib/src/Features2d.cpp b/corelib/src/Features2d.cpp
+index e4048eefb..862cdc68f 100644
+--- a/corelib/src/Features2d.cpp
++++ b/corelib/src/Features2d.cpp
+@@ -982,7 +982,7 @@ std::vector<cv::KeyPoint> SIFT::generateKeypointsImpl(const cv::Mat & image, con
+ {
+ 	UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
+ 	std::vector<cv::KeyPoint> keypoints;
+-#if defined(RTABMAP_NONFREE) || CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 3)
++#if defined(RTABMAP_NONFREE) && ( CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 3) )
+ 	cv::Mat imgRoi(image, roi);
+ 	cv::Mat maskRoi;
+ 	if(!mask.empty())
+@@ -1000,7 +1000,7 @@ cv::Mat SIFT::generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::Key
+ {
+ 	UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
+ 	cv::Mat descriptors;
+-#if defined(RTABMAP_NONFREE) || CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 3)
++#if defined(RTABMAP_NONFREE) && ( CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 3) )
+ 	_sift->compute(image, keypoints, descriptors);
+ 
+ 	if( rootSIFT_ && !descriptors.empty())
diff --git a/ports/rtabmap/portfile.cmake b/ports/rtabmap/portfile.cmake
new file mode 100644
index 000000000..95c5061d6
--- /dev/null
+++ b/ports/rtabmap/portfile.cmake
@@ -0,0 +1,46 @@
+vcpkg_check_linkage(ONLY_DYNAMIC_LIBRARY)
+
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO introlab/rtabmap
+    REF 0a9d237ac2968463d36c4c9b4436871a6c3ea0ca # 0.20.3
+    SHA512 47438eb07e4687855e89664479644b93f826da722c3556c30ed4b1a51cecb41494582d3ae3337ff4e0925f6db7ebf74fe29871bf930bb2eb51f5198090ac8554
+    HEAD_REF master
+    PATCHES 
+        001_opencv.patch
+)
+
+vcpkg_configure_cmake(
+    SOURCE_PATH ${SOURCE_PATH}
+    PREFER_NINJA
+    OPTIONS -DWITH_QT=OFF
+)
+
+vcpkg_install_cmake()
+vcpkg_fixup_cmake_targets(CONFIG_PATH cmake)
+
+vcpkg_copy_tools(
+    TOOL_NAMES
+        rtabmap-camera
+        rtabmap-console
+        rtabmap-detectMoreLoopClosures
+        rtabmap-export
+        rtabmap-extractObject
+        rtabmap-info
+        rtabmap-kitti_dataset
+        rtabmap-recovery
+        rtabmap-report
+        rtabmap-reprocess
+        rtabmap-res_tool
+        rtabmap-rgbd_dataset
+    AUTO_CLEAN
+)
+
+file(REMOVE_RECURSE 
+    "${CURRENT_PACKAGES_DIR}/debug/include"
+    "${CURRENT_PACKAGES_DIR}/debug/share"
+)
+
+configure_file(${SOURCE_PATH}/LICENSE
+    ${CURRENT_PACKAGES_DIR}/share/${PORT}/copyright COPYONLY
+)
diff --git a/ports/rtabmap/vcpkg.json b/ports/rtabmap/vcpkg.json
new file mode 100644
index 000000000..5e5ee225b
--- /dev/null
+++ b/ports/rtabmap/vcpkg.json
@@ -0,0 +1,12 @@
+{
+  "name": "rtabmap",
+  "version-string": "0.20.3",
+  "description": "Real-Time Appearance-Based Mapping",
+  "homepage": "https://introlab.github.io/rtabmap/",
+  "supports": "windows & !static",
+  "dependencies": [
+    "opencv",
+    "pcl",
+    "zlib"
+  ]
+}
-- 
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