rtabmap 0.21.4 (new formula)

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/0.21.4.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