From 9789bcaa74c0154180412f14507c13b294aa51dd Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Tue, 13 Feb 2024 09:14:43 -0800
Subject: [PATCH 1/2] rtabmap 0.21.4 (new formula)

---
 Formula/r/rtabmap.rb | 63 ++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 63 insertions(+)
 create mode 100644 Formula/r/rtabmap.rb

diff --git a/Formula/r/rtabmap.rb b/Formula/r/rtabmap.rb
new file mode 100644
index 0000000000000..03a106f08d307
--- /dev/null
+++ b/Formula/r/rtabmap.rb
@@ -0,0 +1,63 @@
+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
+    output = if OS.linux?
+      # Linux CI cannot start windowed applications due to Qt plugin failures
+      shell_output("#{bin}/rtabmap-console --version")
+    else
+      shell_output("#{bin}/rtabmap --version")
+    end
+    assert_match "RTAB-Map:               #{version}", output
+
+    # Required to avoid missing Xcode headers
+    # https://github.com/Homebrew/homebrew-core/pull/162576/files#r1489824628
+    ENV.delete "CPATH" if OS.mac? && MacOS::CLT.installed?
+
+    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

From bf4e5428547b04f2d41d18d96f6be6400ba650b6 Mon Sep 17 00:00:00 2001
From: Mike McQuaid <mike@mikemcquaid.com>
Date: Thu, 21 Mar 2024 12:17:52 +0000
Subject: [PATCH 2/2] rtabmap: add 0.21.4 bottle.

---
 Formula/r/rtabmap.rb | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/Formula/r/rtabmap.rb b/Formula/r/rtabmap.rb
index 03a106f08d307..60ad0fec54e1c 100644
--- a/Formula/r/rtabmap.rb
+++ b/Formula/r/rtabmap.rb
@@ -6,6 +6,16 @@ class Rtabmap < Formula
   license "BSD-3-Clause"
   head "https://github.com/introlab/rtabmap.git", branch: "master"
 
+  bottle do
+    sha256                               arm64_sonoma:   "2c38fca1ac84b47eba43de32a781d2fd181a263f4925ef15fa280c84efe9a3fa"
+    sha256                               arm64_ventura:  "396c70a3efbdd53ae2605906f2eaedcfb9335ca9082ada6e5691d2aa4c5bf66f"
+    sha256                               arm64_monterey: "86d6a2567d2e28c55f48232a186fa167758bff7772b2294b760ec362a2b81f87"
+    sha256                               sonoma:         "be8665e9d7ae0b1effcfef0c4f82ae86e665ba25dad6016fd37aab5c71800bc7"
+    sha256                               ventura:        "d262fc25ce3f5c1c251b38976317eb969b83caa73a8fb36ab9dc6d7ef6aa1c72"
+    sha256                               monterey:       "3352cfbbda1039bceecaf60d83cafff009f58c6afb3fec80600194cf9c3f62d7"
+    sha256 cellar: :any_skip_relocation, x86_64_linux:   "ab72221ba2f0dff302f8999f4d5f32c67c4ed79b62f9c3b7fe3fd6ad7ac7d4c6"
+  end
+
   depends_on "cmake" => [:build, :test]
   depends_on "g2o"
   depends_on "librealsense"