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# Copyright 1999-2024 Gentoo Authors
# Distributed under the terms of the GNU General Public License v2
EAPI=8
VER_SUFFIX=noetic
inherit cmake
if [[ ${PV} == *9999* ]]; then
inherit git-r3
EGIT_REPO_URI="https://github.com/introlab/rtabmap"
else
SRC_URI="https://github.com/introlab/rtabmap/archive/refs/tags/${PV}-${VER_SUFFIX}.tar.gz -> ${P}.tar.gz"
S="${WORKDIR}/${P}-${VER_SUFFIX}"
KEYWORDS="~amd64"
fi
DESCRIPTION="Real-Time Appearance-Based Mapping (RGB-D Graph SLAM)"
HOMEPAGE="https://introlab.github.io/rtabmap/"
LICENSE="BSD"
SLOT="0"
IUSE="examples ieee1394 openni2 qt6"
RDEPEND="
dev-cpp/yaml-cpp:=
dev-libs/boost:=
media-libs/opencv:=[qt6(-)?]
sci-libs/octomap:=
sci-libs/pcl:=[openni,vtk,qt6(-)?]
sci-libs/vtk:=[qt6(-)?]
sys-libs/zlib
ieee1394? ( media-libs/libdc1394:2= )
openni2? ( dev-libs/OpenNI2 )
qt6? (
dev-qt/qtbase:6[gui,widgets]
dev-qt/qtsvg:6
)
"
DEPEND="${RDEPEND}"
BDEPEND="virtual/pkgconfig"
src_configure() {
local mycmakeargs=(
-DRTABMAP_QT_VERSION=6
-DWITH_QT=$(usex qt6)
-DWITH_DC1394=$(usex ieee1394)
-DWITH_OPENNI2=$(usex openni2)
-DBUILD_EXAMPLES=$(usex examples)
)
cmake_src_configure
}
src_install() {
cmake_src_install
# Needed since we force ros crawling to be done only in
# /usr/share/ros_packages/
insinto /usr/share/ros_packages/${PN}
doins "${ED}/usr/share/${PN}/package.xml"
}
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