From bfb6abbcf4c1b4f48883ba9fc2ecc557f6ba9ec7 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Tue, 13 Feb 2024 09:14:43 -0800
Subject: [PATCH] rtabmap 0.21.3 (new formula)

---
 Formula/r/rtabmap.rb | 62 ++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 62 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..40840d44858d9
--- /dev/null
+++ b/Formula/r/rtabmap.rb
@@ -0,0 +1,62 @@
+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/0.21.3-noetic.tar.gz"
+  sha256 "d7fc662d19a6ff772c81cc96365862afdb9bac7f41aeb4d6c543ed3a2477fb01"
+  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