9 files changed, 31 insertions, 192 deletions
diff --git a/sci-libs/rtabmap/Manifest b/sci-libs/rtabmap/Manifest
index b00e0bb91474..1e7d482f8f16 100644
--- a/sci-libs/rtabmap/Manifest
+++ b/sci-libs/rtabmap/Manifest
@@ -1,10 +1,5 @@
-AUX boost173.patch 738 BLAKE2B c4e21499dc6b279ac1216c1e076df5b902a57c36fa33325622af6da667a2c1f7298f07ab864a5cc9f498543b05d454fba9ad436383f4274bca295fd06565fb61 SHA512 e0d754d4adb636ad83445b98ba0b42b82ed77537cd7d3e84d7db8d540b83c13933667d31ae279caf4c5d2c5021719d777868771949d89bb2574e926038caacf6
-AUX ocv.patch 958 BLAKE2B 8614bf90f25363fea34374e2fb0294ecf7779aa795f91d4b0e9156c4c3413698344c458c1dc5895007b30affc3b2db2294c3cff8fbd22c7518c12282a28573bf SHA512 57bbffb34ad7f7d67c668c9a48cab21f826ce7ddbb719ae0815d6238a784d327ec7644c78a3b437e7d813181d201f60cfeba91f93067355cdb41a20770f95a13
-AUX ocv4.patch 698 BLAKE2B 4ec82ff9d08b3051181cd44b157b9097783e4128e5bb09debbd844ec574455c5f9a5e153d643f209f96bf0f2a92474d189d5b8449a17fbe171dc5cee395748b3 SHA512 83814e1fa862c1eb8f23d0865a4f36d2067512af57a12c3569697b12559d27027915b888d9c1cb845d08bd82bdabffd3a06594234b23a68f04a6c723d00265b4
-AUX pcl111.patch 1824 BLAKE2B 45bfbf7bb7a1459c126ebf13e47ed4519383a8e6088980bc83ff87ab66e7a2f8168ec02f39ecdef95bce3c83bc329c5dc698ab0d150acc08f43b7795615e3f29 SHA512 3342bf908ef9d4abf9fd49c2840d3498b26ec95e61b725a94049f3dc7958642c7a24bd41686191e57137f3e9166160c48cde53dfdadbb7a740d5d79dbbe70926
-DIST rtabmap-0.19.3.tar.gz 19818629 BLAKE2B f732a02db6ef8434b1457234211a128e3050236590e0f6a1e08e36bbb5899b9d3de9409d7d7329f346d29874d440bd86835c1501fb638e3802e2663907e7b04d SHA512 bda72596911b1c35d757322c7e5acd7e43ec1f4e984bfb0599cfb39597bee79e470d1bc11b492f244f39c35812ae570d023848cdcbd011eeb78e347727045509
-DIST rtabmap-0.19.7.tar.gz 19936131 BLAKE2B ec640bb8dddb2acac9eb70e828edc88e76d90b287dc5be0c99f0943dac3df448b0a06bde79b1288e0b84a1b2a022e5713346f87e68f11a6f25be486e3122b62a SHA512 d02fec1db427092867b32d464e4b2450a729923260088b75dd0a813fc6d3e2539b3694035cddffc33b8fcd5a56a2a5c3dedb7c7a998b72f2094e1916f2a99084
-EBUILD rtabmap-0.19.3-r1.ebuild 1473 BLAKE2B 2a8c64e81f3077cc3440294ccd1fe605a4dd4211b50639414913fb34671486b6cca15ad1483a9b3a63852295c06e108b9fe74358505c5a0e262844df15392fe4 SHA512 1d1c479c484c811b44e8f088add28daa00e7154c2e6db25960e263f2eede05b9e939dc2190d8d9cb337f3fddd82c35a471df17bb0f3a54bd1bebe963aa03b3ac
-EBUILD rtabmap-0.19.7.ebuild 1531 BLAKE2B e05cd3506738e0fc124e16607b1b6e43dd583cd10353e8e7ffa85e46ebffd28b3a02b9412a3286f1bf34ebb72e407fcaf5df07812b7cb99d2ccc66295b6c59ca SHA512 ca14572df16837ce1bab93e4f4911b7bbc6f276f0097613ee94ab022b09b94c7e3598dffb4223d5c9a7940336eabca4963c29f0159a744ab6cf89808d507b806
-EBUILD rtabmap-9999.ebuild 1436 BLAKE2B 058a4f207d6ff2c0f2b05a4126dbf7ebae67de82bdf956b0abdd5ba6f8285b3cd61f60ae086ca2036f9523f62b90ad61c462f98a983e05b7207643ba16f80a1e SHA512 139f504b42598b3c0c9894a87f32f7980873122a2959e3ca1b1764a77e7e0c3bc7c7af360494422b629ee01c0ee711b974312388d412007b47ed545b8e8928ed
+AUX pcl.patch 1093 BLAKE2B 16faab539f13f54db1518babe02d208b438d984fd462098ac4c1babc9b6f509e14b307c58f59e66a177e66bdaadd8ccc3e509aac9da4c207104f0a967e790843 SHA512 5a5b97f9c028adff316ad50cf4e002b54d8603f3394d631330109c986b7184aaae6cba08e2bbcc1c21f9b97f77fbabe2fab344fa1119b47a1c24a774ed637bd6
+DIST rtabmap-0.20.3.tar.gz 20008545 BLAKE2B d50a66034905243473d26f66a09f1e1408477908cca9337d77227d8e38ba6b571d5720a5391495903cd784742dd11ccaa035b2ed03568c9917e85c46681bdfe1 SHA512 2f8837e00f89210b270dbd863e1088d9786774a8fcf3db593efe35384251c2bb92bd97b261f823e4aee90312e30c886b42241ed22042a540091a218a2d1819f7
+EBUILD rtabmap-0.20.3.ebuild 1475 BLAKE2B 285587eaefbd1fb7f90cb4b91c5c52d883467f659247427722048ec098974ebdf1cb2ce70ad25a4ca652a1e785336c8425fb9fe6f65cdaf650785092e9ae0a32 SHA512 369371740d24305e9466381bda18f7c7f65325cf0a01050c42fcd43e02b78ca326824db45120181d10ca0fb143353a0d98d22c56fc4e8eca729cd85e64d5c3d8
+EBUILD rtabmap-9999.ebuild 1439 BLAKE2B 9f889c2cceffd44463e20627ad414dc1b6d2b4b7d3fc1776cc9e7fdb8d6020aea63fcd6735778218973a12c7e0bbe130b0e9f7aefc0c9e86954d5aca205fbb3f SHA512 e7a0d3cda93b7df313beb6027d8e3daec01e54fe97344d5ae1f282d7e4760467634b345c8f7f09be586411692d51b342cc3de248b232d574fa78594b6d31ea88
 MISC metadata.xml 471 BLAKE2B d5e9287982f5e772ca5b3570010bc79b18e3d86424c64ed501765a9ca4285349f4fdc1428c92817b7fbdfd2000e5c43ff49dd44d37d512b227e4ee4bec98f3fc SHA512 41752dfbb60d49072337438d49c313eec8a13b51bf8d3e65ad26ca519d3d8f105966756495111f01c6b365d57acb4f7be0b4dd017f8b7bfa483c08c354b0ca81
diff --git a/sci-libs/rtabmap/files/boost173.patch b/sci-libs/rtabmap/files/boost173.patch
deleted file mode 100644
index 4549e9bc8426..000000000000
--- a/sci-libs/rtabmap/files/boost173.patch
+++ /dev/null
@@ -1,13 +0,0 @@
-Index: rtabmap-0.19.7/corelib/src/camera/CameraOpenni.cpp
-===================================================================
---- rtabmap-0.19.7.orig/corelib/src/camera/CameraOpenni.cpp
-+++ rtabmap-0.19.7/corelib/src/camera/CameraOpenni.cpp
-@@ -126,7 +126,7 @@ bool CameraOpenni::init(const std::strin
- 		boost::function<void (
- 				const boost::shared_ptr<openni_wrapper::Image>&,
- 				const boost::shared_ptr<openni_wrapper::DepthImage>&,
--				float)> f = boost::bind (&CameraOpenni::image_cb, this, _1, _2, _3);
-+				float)> f = boost::bind (&CameraOpenni::image_cb, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3);
- 		connection_ = interface_->registerCallback (f);
- 
- 		interface_->start ();
diff --git a/sci-libs/rtabmap/files/ocv.patch b/sci-libs/rtabmap/files/ocv.patch
deleted file mode 100644
index 0802b7899a26..000000000000
--- a/sci-libs/rtabmap/files/ocv.patch
+++ /dev/null
@@ -1,24 +0,0 @@
-From 7041d5fd34fb34851ad3287891aa5c383d73b5c2 Mon Sep 17 00:00:00 2001
-From: matlabbe <matlabbe@gmail.com>
-Date: Sun, 3 May 2020 22:59:35 -0400
-Subject: [PATCH] Fixed #541
-
----
- corelib/include/rtabmap/core/stereo/stereoRectifyFisheye.h | 3 ---
- 1 file changed, 3 deletions(-)
-
-Index: rtabmap-0.19.7/corelib/include/rtabmap/core/stereo/stereoRectifyFisheye.h
-===================================================================
---- rtabmap-0.19.7.orig/corelib/include/rtabmap/core/stereo/stereoRectifyFisheye.h
-+++ rtabmap-0.19.7/corelib/include/rtabmap/core/stereo/stereoRectifyFisheye.h
-@@ -37,10 +37,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBI
- #include <opencv2/calib3d/calib3d_c.h>
- 
- #if CV_MAJOR_VERSION >= 4
--
--#if CV_MINOR_VERSION >= 3
- #include <opencv2/core/core_c.h>
--#endif
- 
- // Opencv4 doesn't expose those functions below anymore, we should recopy all of them!
- int cvRodrigues2( const CvMat* src, CvMat* dst, CvMat* jacobian CV_DEFAULT(0))
diff --git a/sci-libs/rtabmap/files/ocv4.patch b/sci-libs/rtabmap/files/ocv4.patch
deleted file mode 100644
index 465b364ef013..000000000000
--- a/sci-libs/rtabmap/files/ocv4.patch
+++ /dev/null
@@ -1,23 +0,0 @@
-From d5b4b252870e4225ed00bd544a102015e5172c85 Mon Sep 17 00:00:00 2001
-From: matlabbe <matlabbe@gmail.com>
-Date: Fri, 9 Aug 2019 15:31:47 -0400
-Subject: [PATCH] updated ORBExtractor opencv include (compatibility issue
- https://github.com/introlab/rtabmap_ros/issues/333)
-
----
- corelib/src/opencv/ORBextractor.h | 2 +-
- 1 file changed, 1 insertion(+), 1 deletion(-)
-
-diff --git a/corelib/src/opencv/ORBextractor.h b/corelib/src/opencv/ORBextractor.h
-index 0f06c395..58619a15 100644
---- a/corelib/src/opencv/ORBextractor.h
-+++ b/corelib/src/opencv/ORBextractor.h
-@@ -31,7 +31,7 @@
- 
- #include <vector>
- #include <list>
--#include <opencv/cv.h>
-+#include <opencv2/core/core_c.h>
- 
- 
- namespace rtabmap
diff --git a/sci-libs/rtabmap/files/pcl.patch b/sci-libs/rtabmap/files/pcl.patch
new file mode 100644
index 000000000000..249d93d1c595
--- /dev/null
+++ b/sci-libs/rtabmap/files/pcl.patch
@@ -0,0 +1,22 @@
+From 24052a6ebe65fb260ee1d838ca5305b12b15d928 Mon Sep 17 00:00:00 2001
+From: matlabbe <matlabbe@gmail.com>
+Date: Tue, 25 Aug 2020 10:56:30 -0400
+Subject: [PATCH] fixed pcl::getAngle3D not found error on latest pcl version
+ (https://github.com/PointCloudLibrary/pcl/commit/6df3e602a72ea16657f901c9a6911d95b263ba08#diff-8e08415b9972a447d115dbca3f8fa0a1)
+
+---
+ corelib/src/pcl18/surface/impl/texture_mapping.hpp | 1 +
+ 1 file changed, 1 insertion(+)
+
+diff --git a/corelib/src/pcl18/surface/impl/texture_mapping.hpp b/corelib/src/pcl18/surface/impl/texture_mapping.hpp
+index a30f5766f..fbeedb221 100644
+--- a/corelib/src/pcl18/surface/impl/texture_mapping.hpp
++++ b/corelib/src/pcl18/surface/impl/texture_mapping.hpp
+@@ -41,6 +41,7 @@
+ #include <pcl/common/distances.h>
+ #include <pcl18/surface/texture_mapping.h>
+ #include <pcl/search/octree.h>
++#include <pcl/common/common.h> // for getAngle3D
+ 
+ ///////////////////////////////////////////////////////////////////////////////////////////////
+ template<typename PointInT> std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> >
diff --git a/sci-libs/rtabmap/files/pcl111.patch b/sci-libs/rtabmap/files/pcl111.patch
deleted file mode 100644
index 3ff5d6be452d..000000000000
--- a/sci-libs/rtabmap/files/pcl111.patch
+++ /dev/null
@@ -1,49 +0,0 @@
-Index: rtabmap-0.19.7/corelib/src/Graph.cpp
-===================================================================
---- rtabmap-0.19.7.orig/corelib/src/Graph.cpp
-+++ rtabmap-0.19.7/corelib/src/Graph.cpp
-@@ -39,6 +39,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBI
- #include <pcl/search/kdtree.h>
- #include <pcl/common/eigen.h>
- #include <pcl/common/common.h>
-+#include <pcl/common/point_tests.h>
- #include <set>
- #include <queue>
- #include <fstream>
-Index: rtabmap-0.19.7/corelib/src/clams/frame_projector.cpp
-===================================================================
---- rtabmap-0.19.7.orig/corelib/src/clams/frame_projector.cpp
-+++ rtabmap-0.19.7/corelib/src/clams/frame_projector.cpp
-@@ -33,6 +33,7 @@ RTAB-Map integration: Mathieu Labbe
- #include <rtabmap/core/util3d.h>
- #include <opencv2/highgui/highgui.hpp>
- #include <opencv2/imgproc/imgproc.hpp>
-+#include <pcl/common/point_tests.h>
- 
- using namespace std;
- using namespace Eigen;
-Index: rtabmap-0.19.7/corelib/src/util3d_correspondences.cpp
-===================================================================
---- rtabmap-0.19.7.orig/corelib/src/util3d_correspondences.cpp
-+++ rtabmap-0.19.7/corelib/src/util3d_correspondences.cpp
-@@ -32,6 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBI
- #include <rtabmap/core/EpipolarGeometry.h>
- #include <opencv2/calib3d/calib3d.hpp>
- #include <pcl/search/kdtree.h>
-+#include <pcl/common/point_tests.h>
- 
- namespace rtabmap
- {
-Index: rtabmap-0.19.7/corelib/src/util3d_features.cpp
-===================================================================
---- rtabmap-0.19.7.orig/corelib/src/util3d_features.cpp
-+++ rtabmap-0.19.7/corelib/src/util3d_features.cpp
-@@ -42,6 +42,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBI
- 
- #include <opencv2/video/tracking.hpp>
- 
-+#include <pcl/common/point_tests.h>
-+
- namespace rtabmap
- {
- 
diff --git a/sci-libs/rtabmap/rtabmap-0.19.7.ebuild b/sci-libs/rtabmap/rtabmap-0.19.7.ebuild
deleted file mode 100644
index 4640d13e9cf0..000000000000
--- a/sci-libs/rtabmap/rtabmap-0.19.7.ebuild
+++ /dev/null
@@ -1,69 +0,0 @@
-# Copyright 1999-2020 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 ${SCM} cmake-utils multilib
-
-if [ "${PV#9999}" != "${PV}" ] ; then
-	KEYWORDS=""
-	SRC_URI=""
-else
-	KEYWORDS="~amd64"
-	SRC_URI="https://github.com/introlab/rtabmap/archive/${PV}.tar.gz -> ${P}.tar.gz"
-	S="${WORKDIR}/${P}"
-fi
-
-DESCRIPTION="Real-Time Appearance-Based Mapping (RGB-D Graph SLAM)"
-HOMEPAGE="http://introlab.github.io/rtabmap/"
-LICENSE="BSD"
-SLOT="0"
-IUSE="examples ieee1394 openni2 qt5"
-
-RDEPEND="
-	media-libs/opencv:=[qt5(-)?]
-	sci-libs/pcl:=[openni,vtk,qt5(-)?]
-	sci-libs/vtk:=[qt5(-)?]
-	sys-libs/zlib
-	sci-libs/octomap:=
-	dev-libs/boost:=
-	ieee1394? ( media-libs/libdc1394 )
-	openni2? ( dev-libs/OpenNI2 )
-	qt5? (
-		dev-qt/qtwidgets:5
-		dev-qt/qtcore:5
-		dev-qt/qtgui:5
-		dev-qt/qtsvg:5
-	)
-"
-DEPEND="${RDEPEND}"
-BDEPEND="virtual/pkgconfig"
-PATCHES=(
-	"${FILESDIR}/pcl111.patch"
-	"${FILESDIR}/boost173.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=$(usex examples ON OFF)"
-	)
-	cmake-utils_src_configure
-}
-
-src_install() {
-	cmake-utils_src_install
-	# Needed since we force ros crawling to be done only in
-	# /usr/share/ros_packages/
-	insinto /usr/share/ros_packages/${PN}
-	doins "${ED}/usr/share/${PN}/package.xml"
-}
diff --git a/sci-libs/rtabmap/rtabmap-0.19.3-r1.ebuild b/sci-libs/rtabmap/rtabmap-0.20.3.ebuild
index df3b781baf72..1fd30dc27ec8 100644
--- a/sci-libs/rtabmap/rtabmap-0.19.3-r1.ebuild
+++ b/sci-libs/rtabmap/rtabmap-0.20.3.ebuild
@@ -1,4 +1,4 @@
-# Copyright 1999-2019 Gentoo Authors
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
 EAPI=7
@@ -33,7 +33,7 @@ RDEPEND="
 	sys-libs/zlib
 	sci-libs/octomap:=
 	dev-libs/boost:=
-	ieee1394? ( media-libs/libdc1394 )
+	ieee1394? ( media-libs/libdc1394:2= )
 	openni2? ( dev-libs/OpenNI2 )
 	qt5? (
 		dev-qt/qtwidgets:5
@@ -44,7 +44,7 @@ RDEPEND="
 "
 DEPEND="${RDEPEND}"
 BDEPEND="virtual/pkgconfig"
-PATCHES=( "${FILESDIR}/ocv4.patch" )
+PATCHES=( "${FILESDIR}/pcl.patch" )
 
 src_configure() {
 	local mycmakeargs=(
diff --git a/sci-libs/rtabmap/rtabmap-9999.ebuild b/sci-libs/rtabmap/rtabmap-9999.ebuild
index 24cbe5a01b96..5519717519d9 100644
--- a/sci-libs/rtabmap/rtabmap-9999.ebuild
+++ b/sci-libs/rtabmap/rtabmap-9999.ebuild
@@ -1,4 +1,4 @@
-# Copyright 1999-2019 Gentoo Authors
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
 EAPI=7
@@ -33,7 +33,7 @@ RDEPEND="
 	sys-libs/zlib
 	sci-libs/octomap:=
 	dev-libs/boost:=
-	ieee1394? ( media-libs/libdc1394 )
+	ieee1394? ( media-libs/libdc1394:2= )
 	openni2? ( dev-libs/OpenNI2 )
 	qt5? (
 		dev-qt/qtwidgets:5