Merge pull request #158778 from ckiee/rtabmap-init

rtabmap: init at unstable-2022-02-07
2022-02-22 11:50:57 +01:00 · 2022-02-22 11:50:57 +01:00 · df95cf173f
commit df95cf173f
parent cd38a92d7e 4308069bf1
4 changed files with 210 additions and 0 deletions
--- a/pkgs/applications/video/rtabmap/0001-remove-printer-support.patch
+++ b/pkgs/applications/video/rtabmap/0001-remove-printer-support.patch
@ -0,0 +1,139 @@
+From c04ce502d29f7769efbff730d1f9060b8c24629a Mon Sep 17 00:00:00 2001
+From: ckie <git-525ff67@ckie.dev>
+Date: Tue, 8 Feb 2022 19:18:49 +0200
+Subject: [PATCH] remove printer support
+
+---
+ app/src/CMakeLists.txt       |  4 ++--
+ guilib/src/CMakeLists.txt    |  4 ++--
+ guilib/src/GraphViewer.cpp   | 12 +-----------
+ guilib/src/ImageView.cpp     | 16 ----------------
+ guilib/src/utilite/UPlot.cpp |  9 ---------
+ 5 files changed, 5 insertions(+), 40 deletions(-)
+
+diff --git a/app/src/CMakeLists.txt b/app/src/CMakeLists.txt
+index b20a07d4..2cad8c1e 100644
+--- a/app/src/CMakeLists.txt
+++ b/app/src/CMakeLists.txt
+@@ -63,9 +63,9 @@ ENDIF()
+ TARGET_LINK_LIBRARIES(rtabmap rtabmap_core rtabmap_gui rtabmap_utilite ${LIBRARIES})
+ IF(Qt5_FOUND)
+     IF(Qt5Svg_FOUND)
+-        QT5_USE_MODULES(rtabmap Widgets Core Gui Svg PrintSupport)
+        QT5_USE_MODULES(rtabmap Widgets Core Gui Svg)
+     ELSE()
+-        QT5_USE_MODULES(rtabmap Widgets Core Gui PrintSupport)
+        QT5_USE_MODULES(rtabmap Widgets Core Gui)
+     ENDIF()
+ ENDIF(Qt5_FOUND)
+ 
+diff --git a/guilib/src/CMakeLists.txt b/guilib/src/CMakeLists.txt
+index 3711205b..a393aa25 100644
+--- a/guilib/src/CMakeLists.txt
+++ b/guilib/src/CMakeLists.txt
+@@ -208,9 +208,9 @@ ADD_LIBRARY(rtabmap_gui ${SRC_FILES})
+ TARGET_LINK_LIBRARIES(rtabmap_gui rtabmap_core rtabmap_utilite ${LIBRARIES})
+ IF(Qt5_FOUND)
+     IF(Qt5Svg_FOUND)
+-        QT5_USE_MODULES(rtabmap_gui Widgets Core Gui Svg PrintSupport)
+        QT5_USE_MODULES(rtabmap_gui Widgets Core Gui Svg)
+     ELSE()
+-        QT5_USE_MODULES(rtabmap_gui Widgets Core Gui PrintSupport)
+        QT5_USE_MODULES(rtabmap_gui Widgets Core Gui)
+     ENDIF()
+ ENDIF(Qt5_FOUND)
+ 
+diff --git a/guilib/src/GraphViewer.cpp b/guilib/src/GraphViewer.cpp
+index 58907c34..7b41061f 100644
+--- a/guilib/src/GraphViewer.cpp
+++ b/guilib/src/GraphViewer.cpp
+@@ -38,7 +38,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ #include <QtGui/QDesktopServices>
+ #include <QtGui/QContextMenuEvent>
+ #include <QColorDialog>
+-#include <QPrinter>
+ #include <QFileDialog>
+ #ifdef QT_SVG_LIB
+ #include <QtSvg/QSvgGenerator>
+@@ -2011,16 +2010,7 @@ void GraphViewer::contextMenuEvent(QContextMenuEvent * event)
+ 				this->scene()->setSceneRect(this->scene()->itemsBoundingRect());  // Re-shrink the scene to it's bounding contents
+ 				QSize sceneSize = this->scene()->sceneRect().size().toSize();
+ 
+-				if(QFileInfo(filePath).suffix().compare("pdf") == 0)
+-				{
+-					QPrinter printer(QPrinter::HighResolution);
+-					printer.setOrientation(QPrinter::Portrait);
+-					printer.setOutputFileName( filePath );
+-					QPainter p(&printer);
+-					scene()->render(&p);
+-					p.end();
+-				}
+-				else if(QFileInfo(filePath).suffix().compare("svg") == 0)
+				if(QFileInfo(filePath).suffix().compare("svg") == 0)
+ 				{
+ #ifdef QT_SVG_LIB
+ 					QSvgGenerator svgGen;
+diff --git a/guilib/src/ImageView.cpp b/guilib/src/ImageView.cpp
+index 714f2d36..887e7bdc 100644
+--- a/guilib/src/ImageView.cpp
+++ b/guilib/src/ImageView.cpp
+@@ -37,7 +37,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ #include <QInputDialog>
+ #include <QVBoxLayout>
+ #include <QColorDialog>
+-#include <QPrinter>
+ #include <QGraphicsRectItem>
+ #include "rtabmap/utilite/ULogger.h"
+ #include "rtabmap/gui/KeypointItem.h"
+@@ -843,21 +842,6 @@ void ImageView::contextMenuEvent(QContextMenuEvent * e)
+ 				}
+ 
+ 				_savedFileName = text;
+-				if(QFileInfo(text).suffix().compare("pdf") == 0)
+-				{
+-					QPrinter printer(QPrinter::HighResolution);
+-					printer.setOrientation(QPrinter::Portrait);
+-					printer.setOutputFileName( text );
+-					QPainter p(&printer);
+-					p.begin(&printer);
+-					double xscale = printer.pageRect().width()/double(_graphicsView->sceneRect().width());
+-					double yscale = printer.pageRect().height()/double(_graphicsView->sceneRect().height());
+-					double scale = qMin(xscale, yscale);
+-					p.scale(scale, scale);
+-					_graphicsView->scene()->render(&p, _graphicsView->sceneRect(), _graphicsView->sceneRect());
+-					p.end();
+-				}
+-				else
+ 				{
+ 					QImage img(_graphicsView->sceneRect().width(), _graphicsView->sceneRect().height(), QImage::Format_ARGB32_Premultiplied);
+ 					QPainter p(&img);
+diff --git a/guilib/src/utilite/UPlot.cpp b/guilib/src/utilite/UPlot.cpp
+index 1b11c65e..8bf94841 100644
+--- a/guilib/src/utilite/UPlot.cpp
+++ b/guilib/src/utilite/UPlot.cpp
+@@ -42,7 +42,6 @@
+ #include <QFileDialog>
+ #include <QtGui/QClipboard>
+ #include <QApplication>
+-#include <QPrinter>
+ #include <QColorDialog>
+ #include <QToolTip>
+ #ifdef QT_SVG_LIB
+@@ -2849,14 +2848,6 @@ void UPlot::contextMenuEvent(QContextMenuEvent * event)
+ 			else
+ 			{
+ #endif
+-				if(QFileInfo(text).suffix().compare("pdf") == 0)
+-				{
+-					QPrinter printer;
+-					printer.setOutputFormat(QPrinter::PdfFormat);
+-					printer.setOutputFileName(text);
+-					this->render(&printer);
+-				}
+-				else
+ 				{
+ 					QPixmap figure = QPixmap::grabWidget(this);
+ 					figure.save(text);
+-- 
+2.34.1
+
--- a/pkgs/applications/video/rtabmap/default.nix
+++ b/pkgs/applications/video/rtabmap/default.nix
@ -0,0 +1,59 @@
+{ lib, stdenv, fetchFromGitHub, pkg-config, cmake, opencv, pcl, libusb1, eigen
+, wrapQtAppsHook, qtbase, g2o, ceres-solver, libpointmatcher, octomap, freenect
+, libdc1394, librealsense, libGL, libGLU, vtkWithQt5, wrapGAppsHook }:
+
+stdenv.mkDerivation rec {
+  pname = "rtabmap";
+  version = "unstable-2022-02-07";
+
+  src = fetchFromGitHub {
+    owner = "introlab";
+    repo = "rtabmap";
+    rev = "f584f42ea423c44138aa0668b5c8eb18f2978fe2";
+    sha256 = "sha256-xotOcaz5XrmzwEKuVEQZoeq6fEVbACK7PSUW9kULH40=";
+  };
+
+  patches = [
+    # Our Qt5 seems to be missing PrintSupport.. I think?
+    ./0001-remove-printer-support.patch
+  ];
+
+  nativeBuildInputs = [ cmake pkg-config wrapQtAppsHook wrapGAppsHook ];
+  buildInputs = [
+    ## Required
+    opencv
+    pcl
+    ## 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";
+
+  # We run one of the executables we build while the build is
+  # still running (and patchelf hasn't been invoked) which means
+  # the RPATH is not set correctly. This hacks around that error:
+  #
+  # build/bin/rtabmap-res_tool: error while loading shared libraries: librtabmap_utilite.so.0.20: cannot open shared object file: No such file or directory
+  LD_LIBRARY_PATH = "/build/source/build/bin";
+
+  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;
+  };
+}
--- a/pkgs/development/libraries/vtk/generic.nix
+++ b/pkgs/development/libraries/vtk/generic.nix
@ -90,6 +90,16 @@ in stdenv.mkDerivation rec {
    sed -i 's/fprintf(output, shift)/fprintf(output, "%s", shift)/g' ./ThirdParty/libxml2/vtklibxml2/xpath.c
  '';

+  preFixup = ''
+    for lib in $out/lib/libvtk*.so; do
+      ln -s $lib $out/lib/"$(basename "$lib" | sed -e 's/-[[:digit:]]*.[[:digit:]]*//g')"
+    done
+
+    mv $out/include/vtk-${majorVersion}/* $out/include
+    rmdir $out/include/vtk-${majorVersion}
+    ln -s $out/include $out/include/vtk-${majorVersion}
+  '';
+
  meta = with lib; {
    description = "Open source libraries for 3D computer graphics, image processing and visualization";
    homepage = "https://www.vtk.org/";
--- a/pkgs/top-level/all-packages.nix
+++ b/pkgs/top-level/all-packages.nix
@ -9144,6 +9144,8 @@ with pkgs;

  rocket = libsForQt5.callPackage ../tools/graphics/rocket { };

+  rtabmap = libsForQt5.callPackage ../applications/video/rtabmap/default.nix { };
+
  rtaudio = callPackage ../development/libraries/audio/rtaudio {
    jack = libjack2;
    inherit (darwin.apple_sdk.frameworks) CoreAudio;