sci-libs/rtabmap: bump to 0.20.18

Package-Manager: Portage-3.0.30, Repoman-3.0.3
Signed-off-by: Alexis Ballier <aballier@gentoo.org>

3 files changed, 99 insertions, 0 deletions

diff --git a/sci-libs/rtabmap/Manifest b/sci-libs/rtabmap/Manifest
index 194e9590c789..af70c88c7b8a 100644
--- a/sci-libs/rtabmap/Manifest
+++ b/sci-libs/rtabmap/Manifest
@@ -1 +1,2 @@
 DIST rtabmap-0.20.13.tar.gz 21501493 BLAKE2B eddec6e4812cea231f88263ce136eb535bc099939a482d6fb6de0e6ab3a302c395eb5f6c824d04da8d48a7f7ad9d63b8fa313ae3c21dcada74ec89c7e8130af5 SHA512 4014ec3b7bc2edbd7f361026d5a4be9222b094e398fde68512aab37b3edcb01d47256e4931de6ea1b3bcada9ac81405946e85e774220b9cf43d14a2db6c91118
+DIST rtabmap-0.20.18.tar.gz 21545395 BLAKE2B 1cd7727cc499f0c78fa62f94fca4517e9a5f1eb79e0690683da1c61536542a6d3e342794f4282c92aa725be221fd88afb1f730cc8e431bb9ac293bd73e7146cf SHA512 313b95ba741ecbbec721ce3c339b508e75578f2b85f23739d22ddda5be28c03104e9bb6c4ab8a45ac2225bd72c7b9e84b4c5a5ae7bd4d04b1bb054566be23fff
diff --git a/sci-libs/rtabmap/files/ocv.patch b/sci-libs/rtabmap/files/ocv.patch
new file mode 100644
index 000000000000..642f2e1e911b
--- /dev/null
+++ b/sci-libs/rtabmap/files/ocv.patch
@@ -0,0 +1,30 @@
+From cf64b20e1fd5b7aca6f5f708e9b790aa41e799db Mon Sep 17 00:00:00 2001
+From: matlabbe <matlabbe@gmail.com>
+Date: Tue, 10 May 2022 22:47:15 -0400
+Subject: [PATCH] =?UTF-8?q?Fixed=20error:=20=E2=80=98drawAxis=E2=80=99=20i?=
+ =?UTF-8?q?s=20not=20a=20member=20of=20=E2=80=98cv::aruco=E2=80=99=20(open?=
+ =?UTF-8?q?cv=204.5.5)?=
+MIME-Version: 1.0
+Content-Type: text/plain; charset=UTF-8
+Content-Transfer-Encoding: 8bit
+
+---
+ corelib/src/MarkerDetector.cpp | 4 ++++
+ 1 file changed, 4 insertions(+)
+
+diff --git a/corelib/src/MarkerDetector.cpp b/corelib/src/MarkerDetector.cpp
+index b59cb9468..2a3957f90 100644
+--- a/corelib/src/MarkerDetector.cpp
++++ b/corelib/src/MarkerDetector.cpp
+@@ -304,7 +304,11 @@ 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
+                 }
+ 			}
+ 		}
diff --git a/sci-libs/rtabmap/rtabmap-0.20.18.ebuild b/sci-libs/rtabmap/rtabmap-0.20.18.ebuild
new file mode 100644
index 000000000000..61f45ae6ab9f
--- /dev/null
+++ b/sci-libs/rtabmap/rtabmap-0.20.18.ebuild
@@ -0,0 +1,68 @@
+# Copyright 1999-2022 Gentoo Authors
+# Distributed under the terms of the GNU General Public License v2
+
+EAPI=7
+
+SCM=""
+if [ "${PV#9999}" != "${PV}" ] ; then
+	SCM="git-r3"
+	EGIT_REPO_URI="https://github.com/introlab/rtabmap"
+fi
+
+inherit ${SCM} cmake multilib
+
+VER_SUFFIX=rolling
+
+if [ "${PV#9999}" != "${PV}" ] ; then
+	SRC_URI=""
+else
+	KEYWORDS="~amd64"
+	SRC_URI="https://github.com/introlab/rtabmap/archive/${PV}-${VER_SUFFIX}.tar.gz -> ${P}.tar.gz"
+	S="${WORKDIR}/${P}-${VER_SUFFIX}"
+fi
+
+DESCRIPTION="Real-Time Appearance-Based Mapping (RGB-D Graph SLAM)"
+HOMEPAGE="http://introlab.github.io/rtabmap/"
+LICENSE="BSD"
+SLOT="0"
+IUSE="examples ieee1394 openni2 qt5"
+
+RDEPEND="
+	media-libs/opencv:=[qt5(-)?]
+	sci-libs/pcl:=[openni,vtk,qt5(-)?]
+	sci-libs/vtk:=[qt5(-)?]
+	sys-libs/zlib
+	sci-libs/octomap:=
+	dev-libs/boost:=
+	dev-cpp/yaml-cpp:=
+	ieee1394? ( media-libs/libdc1394:2= )
+	openni2? ( dev-libs/OpenNI2 )
+	qt5? (
+		dev-qt/qtwidgets:5
+		dev-qt/qtcore:5
+		dev-qt/qtgui:5
+		dev-qt/qtsvg:5
+	)
+"
+DEPEND="${RDEPEND}"
+BDEPEND="virtual/pkgconfig"
+
+PATCHES=( "${FILESDIR}/yamlcpp.patch" "${FILESDIR}/ocv.patch" )
+
+src_configure() {
+	local mycmakeargs=(
+		"-DWITH_QT=$(usex qt5 ON OFF)"
+		"-DWITH_DC1394=$(usex ieee1394 ON OFF)"
+		"-DWITH_OPENNI2=$(usex openni2 ON OFF)"
+		"-DBUILD_EXAMPLES=$(usex examples ON OFF)"
+	)
+	cmake_src_configure
+}
+
+src_install() {
+	cmake_src_install
+	# Needed since we force ros crawling to be done only in
+	# /usr/share/ros_packages/
+	insinto /usr/share/ros_packages/${PN}
+	doins "${ED}/usr/share/${PN}/package.xml"
+}