[rtabmap] More patches [skip actions]

ports/rtabmap/link-keywords.patch

@@ -0,0 +1,12 @@
+diff --git a/corelib/src/CMakeLists.txt b/corelib/src/CMakeLists.txt
+index 6a4a9ab..85ede4e 100644
+--- a/corelib/src/CMakeLists.txt
++++ b/corelib/src/CMakeLists.txt
+@@ -167,7 +167,6 @@ SET(LIBRARIES
+ # Issue that qhull dependency uses optimized and debug keywords,
+ # which are converted to \$<\$<NOT:\$<CONFIG:DEBUG>> and \$<\$<CONFIG:DEBUG>
+ # in RTABMap_coreTargets.cmake (not sure why?!).
+-list(REMOVE_ITEM PCL_LIBRARIES "debug" "optimized")
+ SET(PUBLIC_LIBRARIES
+ 	${OpenCV_LIBS}
+ 	${PCL_LIBRARIES}

ports/rtabmap/multi-definition.patch

@@ -0,0 +1,88 @@
+diff --git a/corelib/include/rtabmap/core/stereo/stereoRectifyFisheye.h b/corelib/include/rtabmap/core/stereo/stereoRectifyFisheye.h
+index 2fc12a2..d9af960 100644
+--- a/corelib/include/rtabmap/core/stereo/stereoRectifyFisheye.h
++++ b/corelib/include/rtabmap/core/stereo/stereoRectifyFisheye.h
+@@ -39,6 +39,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ #if CV_MAJOR_VERSION >= 4
+ #include <opencv2/core/core_c.h>
+
++namespace {
++
+ // 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))
+ {
+@@ -919,6 +921,8 @@ void cvConvertPointsHomogeneous( const CvMat* _src, CvMat* _dst )
+
+ #endif // OpenCV3
+
++} // namespace
++
+ namespace rtabmap
+ {
+
+@@ -926,6 +930,7 @@ void
+ icvGetRectanglesFisheye( const CvMat* cameraMatrix, const CvMat* distCoeffs,
+                  const CvMat* R, const CvMat* newCameraMatrix, CvSize imgSize,
+                  cv::Rect_<float>& inner, cv::Rect_<float>& outer )
++#ifdef RTABMAP_STEREORECTIFIYFISHEYE_IMPLEMENTATION
+ {
+     const int N = 9;
+     int x, y, k;
+@@ -967,12 +972,16 @@ icvGetRectanglesFisheye( const CvMat* cameraMatrix, const CvMat* distCoeffs,
+     inner = cv::Rect_<float>(iX0, iY0, iX1-iX0, iY1-iY0);
+     outer = cv::Rect_<float>(oX0, oY0, oX1-oX0, oY1-oY0);
+ }
++#else
++;
++#endif
+
+ void cvStereoRectifyFisheye( const CvMat* _cameraMatrix1, const CvMat* _cameraMatrix2,
+                       const CvMat* _distCoeffs1, const CvMat* _distCoeffs2,
+                       CvSize imageSize, const CvMat* matR, const CvMat* matT,
+                       CvMat* _R1, CvMat* _R2, CvMat* _P1, CvMat* _P2,
+                       CvMat* matQ, int flags, double alpha, CvSize newImgSize )
++#ifdef RTABMAP_STEREORECTIFIYFISHEYE_IMPLEMENTATION
+ {
+     double _om[3], _t[3] = {0}, _uu[3]={0,0,0}, _r_r[3][3], _pp[3][4];
+     double _ww[3], _wr[3][3], _z[3] = {0,0,0}, _ri[3][3], _w3[3];
+@@ -1177,6 +1186,10 @@ void cvStereoRectifyFisheye( const CvMat* _cameraMatrix1, const CvMat* _cameraMa
+         cvConvert( &Q, matQ );
+     }
+ }
++#else
++;
++#endif
++
+
+ void stereoRectifyFisheye( cv::InputArray _cameraMatrix1, cv::InputArray _distCoeffs1,
+ 				cv::InputArray _cameraMatrix2, cv::InputArray _distCoeffs2,
+@@ -1185,6 +1198,7 @@ void stereoRectifyFisheye( cv::InputArray _cameraMatrix1, cv::InputArray _distCo
+ 				cv::OutputArray _Pmat1, cv::OutputArray _Pmat2,
+ 				cv::OutputArray _Qmat, int flags,
+ 				double alpha, cv::Size newImageSize)
++#ifdef RTABMAP_STEREORECTIFIYFISHEYE_IMPLEMENTATION
+ {
+     cv::Mat cameraMatrix1 = _cameraMatrix1.getMat(), cameraMatrix2 = _cameraMatrix2.getMat();
+     cv::Mat distCoeffs1 = _distCoeffs1.getMat(), distCoeffs2 = _distCoeffs2.getMat();
+@@ -1238,6 +1252,9 @@ void stereoRectifyFisheye( cv::InputArray _cameraMatrix1, cv::InputArray _distCo
+         CvSize(newImageSize));
+ #endif
+ }
++#else
++;
++#endif
+
+ }
+
+diff --git a/corelib/src/StereoCameraModel.cpp b/corelib/src/StereoCameraModel.cpp
+index 421d3f4..e7c166c 100644
+--- a/corelib/src/StereoCameraModel.cpp
++++ b/corelib/src/StereoCameraModel.cpp
+@@ -34,6 +34,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ #include <opencv2/imgproc/imgproc.hpp>
+
+ #if CV_MAJOR_VERSION > 2 or (CV_MAJOR_VERSION == 2 and (CV_MINOR_VERSION >4 or (CV_MINOR_VERSION == 4 and CV_SUBMINOR_VERSION >=10)))
++#define RTABMAP_STEREORECTIFIYFISHEYE_IMPLEMENTATION
+ #include <rtabmap/core/stereo/stereoRectifyFisheye.h>
+ #endif
+

ports/rtabmap/portfile.cmake

@@ -1,4 +1,6 @@
-vcpkg_check_linkage(ONLY_DYNAMIC_LIBRARY)
+if(VCPKG_TARGET_IS_WINDOWS)
+    vcpkg_check_linkage(ONLY_DYNAMIC_LIBRARY)
+endif()
 
 vcpkg_from_github(
     OUT_SOURCE_PATH SOURCE_PATH
@@ -9,6 +11,8 @@ vcpkg_from_github(
     PATCHES
         apple.patch
         fix_link.patch
+        link-keywords.patch
+        multi-definition.patch
 )
 
 vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS

ports/rtabmap/vcpkg.json

@@ -4,7 +4,6 @@
   "description": "Real-Time Appearance-Based Mapping",
   "homepage": "https://introlab.github.io/rtabmap/",
   "license": "GPL-3.0-only",
-  "supports": "(windows & !staticcrt & x64) | linux | (osx & x64)",
   "dependencies": [
     "ceres",
     "g2o",