rtabmap.rb

class Rtabmap < Formula
  desc "Visual and LiDAR SLAM library and standalone application"
  homepage "https://introlab.github.io/rtabmap"
  url "https://github.com/introlab/rtabmap/archive/refs/tags/0.21.4.tar.gz"
  sha256 "242f8da7c5d20f86a0399d6cfdd1a755e64e9117a9fa250ed591c12f38209157"
  license "BSD-3-Clause"
  head "https://github.com/introlab/rtabmap.git", branch: "master"

  depends_on "cmake" => [:build, :test]
  depends_on "g2o"
  depends_on "librealsense"
  depends_on "octomap"
  depends_on "opencv"
  depends_on "pcl"
  depends_on "pdal"

  def install
    args = %W[
      -DCMAKE_INSTALL_RPATH=#{rpath}
    ]
    system "cmake", "-S", ".", "-B", "build", *std_cmake_args, *args
    system "cmake", "--build", "build"
    system "cmake", "--install", "build"
  end

  test do
    # Test if main app is built and can be launched
    output = if OS.linux?
      # CI linux cannot start windows apps, causing qt plugins failing
      shell_output("#{bin}/rtabmap-console --version")
    else
      shell_output("#{bin}/rtabmap --version")
    end
    assert_match "RTAB-Map:               #{version}", output

    # Test c++ library
    ENV.delete "CPATH" # error xcode headers missing
    rtabmap_dir = lib/"rtabmap-#{version.major_minor}"
    (testpath/"CMakeLists.txt").write <<~EOS
      cmake_minimum_required(VERSION 3.10)
      project(test)
      find_package(RTABMap REQUIRED COMPONENTS core)
      add_executable(test test.cpp)
      target_link_libraries(test rtabmap::core)
    EOS
    (testpath/"test.cpp").write <<~EOS
      #include <rtabmap/core/Rtabmap.h>
      #include <stdio.h>
      int main()
      {
        rtabmap::Rtabmap rtabmap;
        printf(RTABMAP_VERSION);
        return 0;
      }
    EOS
    args = std_cmake_args
    args << "-DCMAKE_BUILD_RPATH=#{lib}" if OS.linux?
    system "cmake", ".", *args, "-DCMAKE_VERBOSE_MAKEFILE=ON", "-DRTABMap_DIR=#{rtabmap_dir}"
    system "make"
    assert_equal version.to_s, shell_output("./test").strip
  end
end