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[rtabmap] update to 0.23.2 (#46422)

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This commit is contained in:
matlabbe
2025-11-03 12:50:43 -08:00
committed by GitHub
parent d84a08d894
commit 36e865795c
12 changed files with 22 additions and 79 deletions
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2
ports/rtabmap-res-tool/portfile.cmake
View File

@@ -7,7 +7,7 @@ vcpkg_from_github(
OUT_SOURCE_PATH SOURCE_PATH
REPO introlab/rtabmap
REF ${VERSION}
SHA512 2b424f5b6458cf0f976e711985708f104b56d11921c9c43c6a837f9d3dc9e9e802308f1aa2b6d0e7e6ddf13623ff1ad2922b5f54254d16ee5811e786d27b9f98
SHA512 9bcd0f359e0ee8060cf7088761544a3f7d38aadb37df820958f0811aa7b8edbfaf00f00d9472a8bf46261d4e5d868f9c10785263aaabaf374b6e5aa5237d70b0
HEAD_REF master
)
file(COPY "${CURRENT_PORT_DIR}/CMakeLists.txt" DESTINATION "${SOURCE_PATH}")

2
ports/rtabmap-res-tool/vcpkg.json
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@@ -1,6 +1,6 @@
{
"name": "rtabmap-res-tool",
"version": "0.21.4.1",
"version": "0.23.2",
"description": "Real-Time Appearance-Based Mapping, resource generator",
"homepage": "https://introlab.github.io/rtabmap/",
"license": "BSD-3-Clause",

11
ports/rtabmap/0004-fix-manfold-typo.patch
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@@ -1,11 +0,0 @@
--- a/corelib/src/optimizer/OptimizerCeres.cpp
+++ b/corelib/src/optimizer/OptimizerCeres.cpp
@@ -197,7 +197,7 @@ std::map<int, Transform> OptimizerCeres::optimize(
if(angle_local_manifold == NULL)
{
- angle_local_manifold = ceres::examples::AngleManfold::Create();
+ angle_local_manifold = ceres::examples::AngleManifold::Create();
}
SetCeresProblemManifold(problem, &pose_begin_iter->second.yaw_radians, angle_local_manifold);
SetCeresProblemManifold(problem, &pose_end_iter->second.yaw_radians, angle_local_manifold);

0
ports/rtabmap/0006-remove-apple-sys-path.patch → ports/rtabmap/0004-remove-apple-sys-path.patch
View File

14
ports/rtabmap/0005-fix-opencv3-aruco.patch
View File

@@ -1,14 +0,0 @@
--- a/corelib/src/MarkerDetector.cpp
+++ b/corelib/src/MarkerDetector.cpp
@@ -380,11 +380,7 @@ std::map<int, MarkerInfo> MarkerDetector::detect(const cv::Mat & image,
std::map<int, MarkerInfo>::iterator iter = detections.find(ids[i]);
if(iter!=detections.end())
{
-#if CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION == 4 && (CV_MINOR_VERSION >1 || (CV_MINOR_VERSION==1 && CV_PATCH_VERSION>=1)))
cv::drawFrameAxes(*imageWithDetections, model.K(), model.D(), rvecs[i], tvecs[i], iter->second.length() * 0.5f);
-#else
- cv::aruco::drawAxis(*imageWithDetections, model.K(), model.D(), rvecs[i], tvecs[i], iter->second.length() * 0.5f);
-#endif
}
}
}

13
ports/rtabmap/0007-fix-g2o.patch
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@@ -1,13 +0,0 @@
diff --git a/corelib/src/optimizer/OptimizerG2O.cpp b/corelib/src/optimizer/OptimizerG2O.cpp
index f8c93af..4d77e1d 100644
--- a/corelib/src/optimizer/OptimizerG2O.cpp
+++ b/corelib/src/optimizer/OptimizerG2O.cpp
@@ -90,7 +90,7 @@ typedef g2o::LinearSolverCSparse<SlamBlockSolver::PoseMatrixType> SlamLinearCSpa
typedef g2o::LinearSolverCholmod<SlamBlockSolver::PoseMatrixType> SlamLinearCholmodSolver;
#endif
-#ifdef G2O_SRC_DIR
+#if 1
namespace g2o {
typedef VertexPointXYZ VertexSBAPointXYZ;
}

13
ports/rtabmap/0008-fix-pcl-include.patch
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@@ -1,13 +0,0 @@
diff --git a/corelib/src/CameraThread.cpp b/corelib/src/CameraThread.cpp
index a18fc2c1..d1486b20 100644
--- a/corelib/src/CameraThread.cpp
+++ b/corelib/src/CameraThread.cpp
@@ -44,7 +44,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UStl.h>
-#include <pcl/io/io.h>
+#include <pcl/common/io.h>
namespace rtabmap
{

26
ports/rtabmap/portfile.cmake
View File

@@ -1,33 +1,16 @@
vcpkg_download_distfile(CERES_21_PATCH_1
URLS https://patch-diff.githubusercontent.com/raw/introlab/rtabmap/pull/1405.patch
SHA512 c586885683807b3a3853fd09f46942f1599c8d3c3869388338cab97f0c09f51bf55726aad62ee883fbe3ce1734ab3c4c2e23a8ea7f2e5c01e0a7df8f9dc1e94b
FILENAME rtabmap-1405.patch
)
vcpkg_download_distfile(CERES_21_PATCH_2
URLS https://patch-diff.githubusercontent.com/raw/introlab/rtabmap/pull/1437.patch
SHA512 d5400fdfd35594912af0d463e360a2b79739d18d4eb487f81486af67bc80e4c2d26c3bf3b94dbb51dfa159bb02a70196c6d42c9aca4b789b0026c009b1645296
FILENAME rtabmap-1437.patch
)
vcpkg_from_github(
OUT_SOURCE_PATH SOURCE_PATH
REPO introlab/rtabmap
REF ${VERSION}
SHA512 2b424f5b6458cf0f976e711985708f104b56d11921c9c43c6a837f9d3dc9e9e802308f1aa2b6d0e7e6ddf13623ff1ad2922b5f54254d16ee5811e786d27b9f98
SHA512 9bcd0f359e0ee8060cf7088761544a3f7d38aadb37df820958f0811aa7b8edbfaf00f00d9472a8bf46261d4e5d868f9c10785263aaabaf374b6e5aa5237d70b0
HEAD_REF master
PATCHES
${CERES_21_PATCH_1}
${CERES_21_PATCH_2}
0001-cmakelists-fixes.patch
0002-fix-link.patch
0003-multi-definition.patch
0004-fix-manfold-typo.patch
0005-fix-opencv3-aruco.patch
0006-remove-apple-sys-path.patch
0007-fix-g2o.patch
0008-fix-pcl-include.patch
0004-remove-apple-sys-path.patch
)
# Will use vcpkg to find these packages
file(REMOVE_RECURSE
"${SOURCE_PATH}/cmake_modules/FindEigen3.cmake"
"${SOURCE_PATH}/cmake_modules/FindRealSense2.cmake"
@@ -133,7 +116,7 @@ vcpkg_cmake_install()
if(VCPKG_TARGET_IS_WINDOWS)
vcpkg_cmake_config_fixup(CONFIG_PATH CMake)
else()
vcpkg_cmake_config_fixup(CONFIG_PATH lib/rtabmap-0.21)
vcpkg_cmake_config_fixup(CONFIG_PATH lib/rtabmap-0.23)
endif()
file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
@@ -167,6 +150,7 @@ if("tools" IN_LIST FEATURES)
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}")

4
ports/rtabmap/vcpkg.json
View File

@@ -1,11 +1,11 @@
{
"name": "rtabmap",
"version": "0.21.4.1",
"port-version": 7,
"version": "0.23.2",
"description": "Real-Time Appearance-Based Mapping",
"homepage": "https://introlab.github.io/rtabmap/",
"license": null,
"dependencies": [
"boost-crc",
"ceres",
"g2o",
{

6
versions/baseline.json
View File

@@ -8609,11 +8609,11 @@
"port-version": 5
},
"rtabmap": {
"baseline": "0.21.4.1",
"port-version": 7
"baseline": "0.23.2",
"port-version": 0
},
"rtabmap-res-tool": {
"baseline": "0.21.4.1",
"baseline": "0.23.2",
"port-version": 0
},
"rtaudio": {

5
versions/r-/rtabmap-res-tool.json
View File

@@ -1,5 +1,10 @@
{
"versions": [
{
"git-tree": "b8e610eae2d8c418506f21d191f687f28d1ec5c1",
"version": "0.23.2",
"port-version": 0
},
{
"git-tree": "459047a0d2fb7d01cdfd1758985d74dbce0b0f53",
"version": "0.21.4.1",

5
versions/r-/rtabmap.json
View File

@@ -1,5 +1,10 @@
{
"versions": [
{
"git-tree": "9f2ab528536f58b4eb54ac6404497896857ab463",
"version": "0.23.2",
"port-version": 0
},
{
"git-tree": "7adde72419956cc3289fc0bccbe26396e63a6423",
"version": "0.21.4.1",