[g2o] Update to 20230806_git

ports/g2o/fix-absolute.patch

@@ -0,0 +1,12 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index c3b6ab5..f050970 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -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)

ports/g2o/portfile.cmake

@@ -1,11 +1,12 @@
+string(REPLACE "-" "" GIT_TAG "${VERSION}_git")
 vcpkg_from_github(
     OUT_SOURCE_PATH SOURCE_PATH
     REPO RainerKuemmerle/g2o
-    REF fcba4eaca6f20d9a5792404cc8ef303aeb8ba5d2
-    SHA512 41e5a6d40db10d66182653d56f937f29264bf4f9412dfa651be949caeb055741c9d9ba75a122180892aafe7d45b334d50470284121148c0561e1d49f6ba5e20a
+    REF "${GIT_TAG}"
+    SHA512 626b4d286b564ca6714957d0caf41cf5387ecbc7100299c1a1134fa4a11a340f6e6e0796fa5ff16229032a1e1e384bc03e7d2c118be39d6d51a20d9f2774a98d
     HEAD_REF master
     PATCHES
-        csparse.diff
+        fix-absolute.patch
 )
 
 string(COMPARE EQUAL "${VCPKG_LIBRARY_LINKAGE}" "dynamic" BUILD_LGPL_SHARED_LIBS)

ports/g2o/vcpkg.json

@@ -1,7 +1,6 @@
 {
   "name": "g2o",
-  "version-date": "2020-02-07",
-  "port-version": 6,
+  "version-date": "2023-08-06",
   "description": "g2o: A General Framework for Graph Optimization",
   "homepage": "https://openslam.org/g2o.html",
   "dependencies": [

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

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

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,

versions/baseline.json

@@ -2993,8 +2993,8 @@
       "port-version": 2
     },
     "g2o": {
-      "baseline": "2020-02-07",
-      "port-version": 6
+      "baseline": "2023-08-06",
+      "port-version": 0
     },
     "g3log": {
       "baseline": "2.4",
@@ -8046,7 +8046,7 @@
     },
     "rtabmap": {
       "baseline": "0.21.4.1",
-      "port-version": 2
+      "port-version": 3
     },
     "rtabmap-res-tool": {
       "baseline": "0.21.4.1",

versions/g-/g2o.json

@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "be30b61ad0d13087804bc474abea6673ba269a20",
+      "version-date": "2023-08-06",
+      "port-version": 0
+    },
     {
       "git-tree": "dcf90e398d2940de9be1685b435cc4314f348125",
       "version-date": "2020-02-07",

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",