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Merge pull request #158778 from ckiee/rtabmap-init

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rtabmap: init at unstable-2022-02-07
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Linus Heckemann 2022-02-22 11:50:57 +01:00 committed by GitHub
commit df95cf173f
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4 changed files with 210 additions and 0 deletions
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139
pkgs/applications/video/rtabmap/0001-remove-printer-support.patch Normal file
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@ -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

59
pkgs/applications/video/rtabmap/default.nix Normal file
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@ -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;
};
}

10
pkgs/development/libraries/vtk/generic.nix
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@ -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/";

2
pkgs/top-level/all-packages.nix
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@ -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;