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{ lib, stdenv, fetchFromGitHub, pkg-config, cmake, opencv, pcl, libusb1, eigen
, wrapQtAppsHook, qtbase, g2o, ceres-solver, libpointmatcher, octomap, freenect
, libdc1394, librealsense, libGL, libGLU, vtk_8_withQt5, wrapGAppsHook, liblapack
, xorg }:
stdenv.mkDerivation rec {
pname = "rtabmap";
version = "unstable-2022-09-24";
src = fetchFromGitHub {
owner = "introlab";
repo = "rtabmap";
rev = "fa31affea0f0bd54edf1097b8289209c7ac0548e";
sha256 = "sha256-kcY+o31fSmwxBcvF/e+Wu6OIqiQzLKgEJJxcj+g3qDM=";
};
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
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
vtk_8_withQt5
];
# 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;
};
}
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