From 3db0cb735dbfa98ac4dc6ced4e15c5ea9cf79187 Mon Sep 17 00:00:00 2001 From: Jim-Wang Date: Mon, 9 Dec 2024 08:02:07 +0000 Subject: [PATCH 1/4] update to 20230806_git --- ports/g2o/csparse.diff | 32 -------------------------------- ports/g2o/fix-absolute.patch | 20 ++++++++++++++++++++ ports/g2o/portfile.cmake | 6 +++--- ports/g2o/vcpkg.json | 3 +-- 4 files changed, 24 insertions(+), 37 deletions(-) delete mode 100644 ports/g2o/csparse.diff create mode 100644 ports/g2o/fix-absolute.patch diff --git a/ports/g2o/csparse.diff b/ports/g2o/csparse.diff deleted file mode 100644 index c939deef0ca5e3..00000000000000 --- a/ports/g2o/csparse.diff +++ /dev/null @@ -1,32 +0,0 @@ -diff --git a/cmake_modules/FindCSparse.cmake b/cmake_modules/FindCSparse.cmake -index 5af693d..8be574f 100644 ---- a/cmake_modules/FindCSparse.cmake -+++ b/cmake_modules/FindCSparse.cmake -@@ -15,6 +15,8 @@ find_path(CSPARSE_INCLUDE_DIR NAMES cs.h - ) - - find_library(CSPARSE_LIBRARY NAMES cxsparse libcxsparse -+ cxsparsed libcxsparsed -+ NAMES_PER_DIR - PATHS - /usr/lib - /usr/local/lib -diff --git a/g2o/solvers/csparse/CMakeLists.txt b/g2o/solvers/csparse/CMakeLists.txt -index 60d1269..e6b80fc 100644 ---- a/g2o/solvers/csparse/CMakeLists.txt -+++ b/g2o/solvers/csparse/CMakeLists.txt -@@ -2,13 +2,13 @@ if(NOT G2O_USE_CSPARSE) - return() - endif() - --include_directories(${CSPARSE_INCLUDE_DIR}) - - add_library(csparse_extension ${G2O_LGPL_LIB_TYPE} - csparse_helper.cpp csparse_helper.h - csparse_extension.cpp csparse_extension.h - g2o_csparse_extension_api.h - ) -+target_include_directories(csparse_extension PUBLIC ${CSPARSE_INCLUDE_DIR}) - set_target_properties(csparse_extension PROPERTIES OUTPUT_NAME ${LIB_PREFIX}csparse_extension) - if (APPLE) - set_target_properties(csparse_extension PROPERTIES INSTALL_NAME_DIR "${CMAKE_INSTALL_PREFIX}/lib") diff --git a/ports/g2o/fix-absolute.patch b/ports/g2o/fix-absolute.patch new file mode 100644 index 00000000000000..9bc3a9077351d1 --- /dev/null +++ b/ports/g2o/fix-absolute.patch @@ -0,0 +1,20 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index c3b6ab5..2bad328 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -487,7 +487,6 @@ set(G2O_HAVE_CHOLMOD ${CHOLMOD_FOUND}) + set(G2O_HAVE_CSPARSE ${G2O_USE_CSPARSE}) + set(G2O_SHARED_LIBS ${BUILD_SHARED_LIBS}) + set(G2O_LGPL_SHARED_LIBS ${BUILD_LGPL_SHARED_LIBS}) +-set(G2O_CXX_COMPILER "${CMAKE_CXX_COMPILER_ID} ${CMAKE_CXX_COMPILER}") + + # Generate cmake configuration scripts + set(G2O_GENERATED_DIR "${CMAKE_CURRENT_BINARY_DIR}/generated") +@@ -496,7 +495,6 @@ set(G2O_PROJECT_CONFIG "${G2O_GENERATED_DIR}/${PROJECT_NAME}Config.cmake") + set(G2O_TARGETS_EXPORT_NAME "${PROJECT_NAME}Targets") + set(G2O_CONFIG_INSTALL_DIR "lib/cmake/${PROJECT_NAME}") + set(G2O_NAMESPACE "${PROJECT_NAME}::") +-set(G2O_SRC_DIR "${PROJECT_SOURCE_DIR}") + set(G2O_VERSION 1.0.0) + + include(CMakePackageConfigHelpers) diff --git a/ports/g2o/portfile.cmake b/ports/g2o/portfile.cmake index fbfad1b96087d7..ba597ed5a206fb 100644 --- a/ports/g2o/portfile.cmake +++ b/ports/g2o/portfile.cmake @@ -1,11 +1,11 @@ vcpkg_from_github( OUT_SOURCE_PATH SOURCE_PATH REPO RainerKuemmerle/g2o - REF fcba4eaca6f20d9a5792404cc8ef303aeb8ba5d2 - SHA512 41e5a6d40db10d66182653d56f937f29264bf4f9412dfa651be949caeb055741c9d9ba75a122180892aafe7d45b334d50470284121148c0561e1d49f6ba5e20a + REF "${VERSION}" + SHA512 626b4d286b564ca6714957d0caf41cf5387ecbc7100299c1a1134fa4a11a340f6e6e0796fa5ff16229032a1e1e384bc03e7d2c118be39d6d51a20d9f2774a98d HEAD_REF master PATCHES - csparse.diff + fix-absolute.patch ) string(COMPARE EQUAL "${VCPKG_LIBRARY_LINKAGE}" "dynamic" BUILD_LGPL_SHARED_LIBS) diff --git a/ports/g2o/vcpkg.json b/ports/g2o/vcpkg.json index efabcdf092cc50..fe08cd5216285f 100644 --- a/ports/g2o/vcpkg.json +++ b/ports/g2o/vcpkg.json @@ -1,7 +1,6 @@ { "name": "g2o", - "version-date": "2020-02-07", - "port-version": 6, + "version-string": "20230806_git", "description": "g2o: A General Framework for Graph Optimization", "homepage": "https://openslam.org/g2o.html", "dependencies": [ From a8b9bddee182a828c2d6af8caf4223bacd730e78 Mon Sep 17 00:00:00 2001 From: Jim-Wang Date: Mon, 9 Dec 2024 08:02:26 +0000 Subject: [PATCH 2/4] udpate version --- versions/baseline.json | 4 ++-- versions/g-/g2o.json | 5 +++++ 2 files changed, 7 insertions(+), 2 deletions(-) diff --git a/versions/baseline.json b/versions/baseline.json index b7a8412f8e2d80..089ed04bbf440f 100644 --- a/versions/baseline.json +++ b/versions/baseline.json @@ -2993,8 +2993,8 @@ "port-version": 2 }, "g2o": { - "baseline": "2020-02-07", - "port-version": 6 + "baseline": "20230806_git", + "port-version": 0 }, "g3log": { "baseline": "2.4", diff --git a/versions/g-/g2o.json b/versions/g-/g2o.json index ac8f6de43cf58d..5ca30841d290a2 100644 --- a/versions/g-/g2o.json +++ b/versions/g-/g2o.json @@ -1,5 +1,10 @@ { "versions": [ + { + "git-tree": "b462b19905e7b089480e08ed6d620e59e896b1b9", + "version-string": "20230806_git", + "port-version": 0 + }, { "git-tree": "dcf90e398d2940de9be1685b435cc4314f348125", "version-date": "2020-02-07", From 80a6a41bac199a4177fa414d7796e0a7e66a4666 Mon Sep 17 00:00:00 2001 From: Jim-Wang Date: Tue, 10 Dec 2024 07:59:57 +0000 Subject: [PATCH 3/4] fix ci error --- ports/g2o/fix-absolute.patch | 14 ++------ ports/g2o/portfile.cmake | 3 +- ports/g2o/vcpkg.json | 2 +- ports/rtabmap/fix-find-g2o.patch | 57 ++++++++++++++++++++++++++++++++ ports/rtabmap/portfile.cmake | 1 + ports/rtabmap/vcpkg.json | 2 +- 6 files changed, 65 insertions(+), 14 deletions(-) create mode 100644 ports/rtabmap/fix-find-g2o.patch diff --git a/ports/g2o/fix-absolute.patch b/ports/g2o/fix-absolute.patch index 9bc3a9077351d1..8b2ee5246faa39 100644 --- a/ports/g2o/fix-absolute.patch +++ b/ports/g2o/fix-absolute.patch @@ -1,20 +1,12 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt -index c3b6ab5..2bad328 100644 +index c3b6ab5..f050970 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt -@@ -487,7 +487,6 @@ set(G2O_HAVE_CHOLMOD ${CHOLMOD_FOUND}) - set(G2O_HAVE_CSPARSE ${G2O_USE_CSPARSE}) - set(G2O_SHARED_LIBS ${BUILD_SHARED_LIBS}) - set(G2O_LGPL_SHARED_LIBS ${BUILD_LGPL_SHARED_LIBS}) --set(G2O_CXX_COMPILER "${CMAKE_CXX_COMPILER_ID} ${CMAKE_CXX_COMPILER}") - - # Generate cmake configuration scripts - set(G2O_GENERATED_DIR "${CMAKE_CURRENT_BINARY_DIR}/generated") -@@ -496,7 +495,6 @@ set(G2O_PROJECT_CONFIG "${G2O_GENERATED_DIR}/${PROJECT_NAME}Config.cmake") +@@ -496,7 +496,6 @@ set(G2O_PROJECT_CONFIG "${G2O_GENERATED_DIR}/${PROJECT_NAME}Config.cmake") set(G2O_TARGETS_EXPORT_NAME "${PROJECT_NAME}Targets") set(G2O_CONFIG_INSTALL_DIR "lib/cmake/${PROJECT_NAME}") set(G2O_NAMESPACE "${PROJECT_NAME}::") -set(G2O_SRC_DIR "${PROJECT_SOURCE_DIR}") set(G2O_VERSION 1.0.0) - + include(CMakePackageConfigHelpers) diff --git a/ports/g2o/portfile.cmake b/ports/g2o/portfile.cmake index ba597ed5a206fb..5e5a8d1fa7a01b 100644 --- a/ports/g2o/portfile.cmake +++ b/ports/g2o/portfile.cmake @@ -1,7 +1,8 @@ +string(REPLACE "-" "" GIT_TAG "${VERSION}_git") vcpkg_from_github( OUT_SOURCE_PATH SOURCE_PATH REPO RainerKuemmerle/g2o - REF "${VERSION}" + REF "${GIT_TAG}" SHA512 626b4d286b564ca6714957d0caf41cf5387ecbc7100299c1a1134fa4a11a340f6e6e0796fa5ff16229032a1e1e384bc03e7d2c118be39d6d51a20d9f2774a98d HEAD_REF master PATCHES diff --git a/ports/g2o/vcpkg.json b/ports/g2o/vcpkg.json index fe08cd5216285f..67905648b0354d 100644 --- a/ports/g2o/vcpkg.json +++ b/ports/g2o/vcpkg.json @@ -1,6 +1,6 @@ { "name": "g2o", - "version-string": "20230806_git", + "version-date": "2023-08-06", "description": "g2o: A General Framework for Graph Optimization", "homepage": "https://openslam.org/g2o.html", "dependencies": [ diff --git a/ports/rtabmap/fix-find-g2o.patch b/ports/rtabmap/fix-find-g2o.patch new file mode 100644 index 00000000000000..05a59719429663 --- /dev/null +++ b/ports/rtabmap/fix-find-g2o.patch @@ -0,0 +1,57 @@ +diff --git a/CMakeLists.txt b/CMakeLists.txt +index 5957a50..829a268 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -473,30 +473,7 @@ IF(WITH_DC1394) + ENDIF(WITH_DC1394) + + IF(WITH_G2O) +- FIND_PACKAGE(g2o NO_MODULE) +- IF(g2o_FOUND) +- MESSAGE(STATUS "Found g2o (targets)") +- SET(G2O_FOUND ${g2o_FOUND}) +- get_target_property(G2O_INCLUDES g2o::core INTERFACE_INCLUDE_DIRECTORIES) +- MESSAGE(STATUS "g2o include dir: ${G2O_INCLUDES}") +- FIND_FILE(G2O_FACTORY_FILE g2o/core/factory.h +- PATHS ${G2O_INCLUDES} +- NO_DEFAULT_PATH) +- FILE(READ ${G2O_FACTORY_FILE} TMPTXT) +- STRING(FIND "${TMPTXT}" "shared_ptr" matchres) +- IF(${matchres} EQUAL -1) +- MESSAGE(STATUS "Old g2o factory version detected without shared ptr (factory file: ${G2O_FACTORY_FILE}).") +- SET(G2O_CPP11 2) +- ELSE() +- MESSAGE(STATUS "Latest g2o factory version detected with shared ptr (factory file: ${G2O_FACTORY_FILE}).") +- SET(G2O_CPP11 1) +- ENDIF() +- ELSE() +- FIND_PACKAGE(G2O QUIET) +- IF(G2O_FOUND) +- MESSAGE(STATUS "Found g2o: ${G2O_INCLUDE_DIRS}") +- ENDIF(G2O_FOUND) +- ENDIF() ++ find_package(g2o CONFIG REQUIRED) + ENDIF(WITH_G2O) + + IF(WITH_GTSAM) +diff --git a/corelib/src/CMakeLists.txt b/corelib/src/CMakeLists.txt +index c85acc1..d071f79 100644 +--- a/corelib/src/CMakeLists.txt ++++ b/corelib/src/CMakeLists.txt +@@ -392,12 +392,10 @@ ENDIF(WITH_TORO) + IF(G2O_FOUND) + IF(g2o_FOUND) + SET(LIBRARIES ${LIBRARIES} +- g2o::core +- g2o::solver_eigen +- g2o::solver_pcg +- g2o::types_slam2d +- g2o::types_slam3d +- g2o::types_sba) ++ g2o::core ++ g2o::stuff ++ g2o::types_icp ++ g2o::types_sba) + IF(TARGET g2o::solver_csparse) + SET(LIBRARIES ${LIBRARIES} + g2o::solver_csparse diff --git a/ports/rtabmap/portfile.cmake b/ports/rtabmap/portfile.cmake index e063c884d1ae1e..9fa285a3a42349 100644 --- a/ports/rtabmap/portfile.cmake +++ b/ports/rtabmap/portfile.cmake @@ -11,6 +11,7 @@ vcpkg_from_github( multi-definition.patch rtabmap-res-tool.patch gklib.patch + fix-find-g2o.patch ) vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS diff --git a/ports/rtabmap/vcpkg.json b/ports/rtabmap/vcpkg.json index 051cbaaaba5ae0..928ed827a9734f 100644 --- a/ports/rtabmap/vcpkg.json +++ b/ports/rtabmap/vcpkg.json @@ -1,7 +1,7 @@ { "name": "rtabmap", "version": "0.21.4.1", - "port-version": 2, + "port-version": 3, "description": "Real-Time Appearance-Based Mapping", "homepage": "https://introlab.github.io/rtabmap/", "license": null, From 050a3d76f8f28b93e627197cbf123abf7d1fabb7 Mon Sep 17 00:00:00 2001 From: Jim-Wang Date: Tue, 10 Dec 2024 08:02:08 +0000 Subject: [PATCH 4/4] udpate version --- versions/baseline.json | 4 ++-- versions/g-/g2o.json | 4 ++-- versions/r-/rtabmap.json | 5 +++++ 3 files changed, 9 insertions(+), 4 deletions(-) diff --git a/versions/baseline.json b/versions/baseline.json index 089ed04bbf440f..5eb2c700a07a77 100644 --- a/versions/baseline.json +++ b/versions/baseline.json @@ -2993,7 +2993,7 @@ "port-version": 2 }, "g2o": { - "baseline": "20230806_git", + "baseline": "2023-08-06", "port-version": 0 }, "g3log": { @@ -8046,7 +8046,7 @@ }, "rtabmap": { "baseline": "0.21.4.1", - "port-version": 2 + "port-version": 3 }, "rtabmap-res-tool": { "baseline": "0.21.4.1", diff --git a/versions/g-/g2o.json b/versions/g-/g2o.json index 5ca30841d290a2..2f2d324d070a99 100644 --- a/versions/g-/g2o.json +++ b/versions/g-/g2o.json @@ -1,8 +1,8 @@ { "versions": [ { - "git-tree": "b462b19905e7b089480e08ed6d620e59e896b1b9", - "version-string": "20230806_git", + "git-tree": "be30b61ad0d13087804bc474abea6673ba269a20", + "version-date": "2023-08-06", "port-version": 0 }, { diff --git a/versions/r-/rtabmap.json b/versions/r-/rtabmap.json index 76323019173994..d71504e721e381 100644 --- a/versions/r-/rtabmap.json +++ b/versions/r-/rtabmap.json @@ -1,5 +1,10 @@ { "versions": [ + { + "git-tree": "9bab9b050ad5e8db991955d2905f95cc5ce4a1ff", + "version": "0.21.4.1", + "port-version": 3 + }, { "git-tree": "1161d6eb7dacc4aa2cff53381126c89c87f30fe0", "version": "0.21.4.1",