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# Copyright 1999-2021 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" )
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"
}
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