87 lines
1.7 KiB
Nix
87 lines
1.7 KiB
Nix
{ lib
|
|
, stdenv
|
|
, fetchFromGitHub
|
|
, fetchpatch
|
|
, pkg-config
|
|
, cmake
|
|
, opencv
|
|
, pcl
|
|
, libusb1
|
|
, eigen
|
|
, wrapQtAppsHook
|
|
, qtbase
|
|
, g2o
|
|
, ceres-solver
|
|
, libpointmatcher
|
|
, octomap
|
|
, freenect
|
|
, libdc1394
|
|
, librealsense
|
|
, libGL
|
|
, libGLU
|
|
, vtkWithQt5
|
|
, wrapGAppsHook
|
|
, liblapack
|
|
, xorg
|
|
}:
|
|
|
|
stdenv.mkDerivation rec {
|
|
pname = "rtabmap";
|
|
version = "0.21.0";
|
|
|
|
src = fetchFromGitHub {
|
|
owner = "introlab";
|
|
repo = "rtabmap";
|
|
rev = "refs/tags/${version}";
|
|
hash = "sha256-1xb8O3VrErldid2OgAUMG28mSUO7QBUsPuSz8p03tSI";
|
|
};
|
|
|
|
patches = [
|
|
# Fix build with g2o 20230806
|
|
(fetchpatch {
|
|
url = "https://github.com/introlab/rtabmap/commit/85cc6fe3c742855ad16c8442895e12dbb10b6e8b.patch";
|
|
hash = "sha256-P6GkYKCNwe9dgZdgF/oEhgjA3bJnwXFWJCPoyIknQCo=";
|
|
})
|
|
# Fix typo in previous patch
|
|
(fetchpatch {
|
|
url = "https://github.com/introlab/rtabmap/commit/c4e94bcdc31b859c1049724dbb7671e4597d86de.patch";
|
|
hash = "sha256-1btkV4/y+bnF3xEVqlUy/9F6BoANeTOEJjZLmRzG3iA=";
|
|
})
|
|
];
|
|
|
|
nativeBuildInputs = [ cmake pkg-config wrapQtAppsHook wrapGAppsHook ];
|
|
buildInputs = [
|
|
## Required
|
|
opencv
|
|
pcl
|
|
liblapack
|
|
xorg.libSM
|
|
xorg.libICE
|
|
xorg.libXt
|
|
## Optional
|
|
libusb1
|
|
eigen
|
|
g2o
|
|
ceres-solver
|
|
# libpointmatcher - ABI mismatch
|
|
octomap
|
|
freenect
|
|
libdc1394
|
|
# librealsense - missing includedir
|
|
qtbase
|
|
libGL
|
|
libGLU
|
|
vtkWithQt5
|
|
];
|
|
|
|
# Disable warnings that are irrelevant to us as packagers
|
|
cmakeFlags = [ "-Wno-dev" ];
|
|
|
|
meta = with lib; {
|
|
description = "Real-Time Appearance-Based 3D Mapping";
|
|
homepage = "https://introlab.github.io/rtabmap/";
|
|
license = licenses.bsd3;
|
|
maintainers = with maintainers; [ ckie ];
|
|
platforms = with platforms; linux;
|
|
};
|
|
}
|