[pcl] PCL VTK9 support.

ports/pcl/CONTROL

@@ -1,6 +1,6 @@
 Source: pcl
 Version: 1.11.1
-Port-Version: 2
+Port-Version: 3
 Homepage: https://github.com/PointCloudLibrary/pcl
 Description: Point Cloud Library (PCL) is open source library for 2D/3D image and point cloud processing.
 Build-Depends: eigen3, flann, qhull, libpng, boost-system, boost-filesystem, boost-thread, boost-date-time, boost-iostreams, boost-random, boost-foreach, boost-dynamic-bitset, boost-property-map, boost-graph, boost-multi-array, boost-signals2, boost-sort, boost-ptr-container, boost-uuid, boost-interprocess, boost-asio

ports/pcl/add-gcc-version-check.patch

@@ -1,15 +1,15 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 6c452ce..2c50b8d 100644
+index 456009cd3..c1998252f 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
 @@ -303,6 +303,10 @@ set(FLANN_USE_STATIC ON)
  find_package(FLANN 1.7.0 REQUIRED)
  find_package(lz4)
 
 +if(UNIX AND CMAKE_CXX_COMPILER_VERSION VERSION_LESS 6.0)
-+    set (CMAKE_CXX_STANDARD 17)
++  set(CMAKE_CXX_STANDARD 17)
 +endif()
 +
- # libusb-1.0
+ # libusb
  option(WITH_LIBUSB "Build USB RGBD-Camera drivers" TRUE)
  if(WITH_LIBUSB)

ports/pcl/fix-link-libpng.patch

@@ -1,20 +1,26 @@
 diff --git a/io/CMakeLists.txt b/io/CMakeLists.txt
-index f234971..86ea242 100644
+index d26e60421..893104b77 100644
 --- a/io/CMakeLists.txt
 +++ b/io/CMakeLists.txt
-@@ -333,12 +333,13 @@ set(LIB_NAME "pcl_${SUBSYS_NAME}")
- add_definitions(${VTK_DEFINES})
- PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${compression_incs} ${impl_incs} ${OPENNI_INCLUDES} ${OPENNI2_INCLUDES})
+@@ -334,6 +334,10 @@ PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${c
+
  target_include_directories(${LIB_NAME} PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/include")
--link_directories(${VTK_LINK_DIRECTORIES})
--target_link_libraries("${LIB_NAME}" pcl_common pcl_io_ply ${VTK_LIBRARIES})
- if(PNG_FOUND)
-   target_link_libraries("${LIB_NAME}" ${PNG_LIBRARIES})
- endif()
 
-+link_directories(${VTK_LINK_DIRECTORIES})
-+target_link_libraries("${LIB_NAME}" pcl_common pcl_io_ply ${VTK_LIBRARIES})
++if(PNG_FOUND)
++  target_link_libraries("${LIB_NAME}" ${PNG_LIBRARIES})
++endif()
 +
- if(LIBUSB_1_FOUND)
-   target_link_libraries("${LIB_NAME}" ${LIBUSB_1_LIBRARIES})
+ target_link_libraries("${LIB_NAME}" pcl_common pcl_io_ply)
+ if(VTK_FOUND)
+   if(${VTK_VERSION} VERSION_LESS 9.0)
+@@ -347,10 +351,6 @@ if(VTK_FOUND)
+   endif()
+ endif()
+
+-if(PNG_FOUND)
+-  target_link_libraries("${LIB_NAME}" ${PNG_LIBRARIES})
+-endif()
+-
+ if(LIBUSB_FOUND)
+   target_link_libraries("${LIB_NAME}" libusb::libusb)
  endif()

ports/pcl/portfile.cmake

@@ -1,8 +1,8 @@
 vcpkg_from_github(
     OUT_SOURCE_PATH SOURCE_PATH
     REPO PointCloudLibrary/pcl
-    REF d98313133b014553ab1b1b5b112f9aade837d55c # pcl-1.11.1
-    SHA512 4d60f34d4fbf0a4b4caf9cc4391af471ebd260b3bbac106d45e5ff38448894ea4dc82d5320c2e395c537a4414eb13c6a6a0eb6c13e4e1cc1d831d4bf24067966
+    REF 4d59ab8eeee0ed45865562015450d77c730044ea # pcl-1.11.1+patch
+    SHA512 d98bed0bbd22df7a12f76fb6c2776912dccfd97938f9d8453c0cadfda0697e05017ca7a7f42ec269732bf24b8f62c4d906f14c028cc2a08cf816f8e545f00dc8
     HEAD_REF master
     PATCHES
         pcl_utils.patch
@@ -12,7 +12,6 @@ vcpkg_from_github(
         fix-link-libpng.patch
         remove-broken-targets.patch
         fix-check-sse.patch
-        realsense2.patch
         add-gcc-version-check.patch
 )
 
@@ -66,7 +65,7 @@ vcpkg_copy_pdbs()
 file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/include)
 file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/share)
 
-if("tools" IN_LIST FEATURES) 
+if("tools" IN_LIST FEATURES)
     file(GLOB EXEFILES_RELEASE ${CURRENT_PACKAGES_DIR}/bin/*.exe)
     file(GLOB EXEFILES_DEBUG ${CURRENT_PACKAGES_DIR}/debug/bin/*.exe)
     file(COPY ${EXEFILES_RELEASE} DESTINATION ${CURRENT_PACKAGES_DIR}/tools/pcl)

ports/pcl/use_flann_targets.patch

@@ -4,23 +4,23 @@ index 93a6448..b24f681 100644
 +++ b/CMakeLists.txt
 @@ -302,10 +302,9 @@ find_package(Eigen 3.1 REQUIRED)
  include_directories(SYSTEM ${EIGEN_INCLUDE_DIRS})
- 
+
  # FLANN (required)
 -if(NOT PCL_SHARED_LIBS OR ((WIN32 AND NOT MINGW) AND NOT PCL_BUILD_WITH_FLANN_DYNAMIC_LINKING_WIN32))
 -  set(FLANN_USE_STATIC ON)
 -endif()
 +set(FLANN_USE_STATIC ON)
  find_package(FLANN 1.7.0 REQUIRED)
 +find_package(lz4)
- 
- # libusb-1.0
+
+ # libusb
  option(WITH_LIBUSB "Build USB RGBD-Camera drivers" TRUE)
 diff --git a/PCLConfig.cmake.in b/PCLConfig.cmake.in
 index 79077fb..042467b 100644
 --- a/PCLConfig.cmake.in
 +++ b/PCLConfig.cmake.in
 @@ -88,11 +88,6 @@ endmacro()
- 
+
  ### ---[ 3rd party libraries
  macro(find_boost)
 -  if(PCL_ALL_IN_ONE_INSTALLER)
@@ -32,27 +32,27 @@ index 79077fb..042467b 100644
    if(WIN32)
      set(Boost_USE_STATIC_LIBS @Boost_USE_STATIC_LIBS@)
 @@ -667,8 +662,8 @@ pcl_remove_duplicate_libraries(PCL_COMPONENTS PCL_LIBRARIES)
- 
+
  # Add 3rd party libraries, as user code might include our .HPP implementations
  list(APPEND PCL_LIBRARIES ${BOOST_LIBRARIES} ${QHULL_LIBRARIES} ${OPENNI_LIBRARIES} ${OPENNI2_LIBRARIES} ${ENSENSO_LIBRARIES} ${davidSDK_LIBRARIES} ${DSSDK_LIBRARIES} ${RSSDK_LIBRARIES} ${RSSDK2_LIBRARIES} ${VTK_LIBRARIES})
 -if (TARGET FLANN::FLANN)
 -  list(APPEND PCL_LIBRARIES FLANN::FLANN)
 +if (TARGET flann::flann_cpp)
 +  list(APPEND PCL_LIBRARIES flann::flann_cpp)
  endif()
- 
+
  find_package_handle_standard_args(PCL DEFAULT_MSG PCL_LIBRARIES PCL_INCLUDE_DIRS)
 diff --git a/doc/tutorials/content/sources/vfh_recognition/CMakeLists.txt b/doc/tutorials/content/sources/vfh_recognition/CMakeLists.txt
 index 7d25d3f..18227a6 100644
 --- a/doc/tutorials/content/sources/vfh_recognition/CMakeLists.txt
 +++ b/doc/tutorials/content/sources/vfh_recognition/CMakeLists.txt
 @@ -16,7 +16,7 @@ include_directories(SYSTEM
- 
+
  add_executable(build_tree build_tree.cpp)
  target_link_libraries(build_tree ${PCL_LIBRARIES} ${Boost_LIBRARIES}
 -                                 FLANN::FLANN ${HDF5_LIBRARIES})
 +                                 flann::flann_cpp ${HDF5_LIBRARIES})
- 
+
  add_executable(nearest_neighbors nearest_neighbors.cpp)
 -target_link_libraries(nearest_neighbors ${PCL_LIBRARIES} ${Boost_LIBRARIES} FLANN::FLANN ${HDF5_LIBRARIES})
 +target_link_libraries(nearest_neighbors ${PCL_LIBRARIES} ${Boost_LIBRARIES} flann::flann_cpp ${HDF5_LIBRARIES})
@@ -68,7 +68,7 @@ index 826e902..f714130 100644
 +target_link_libraries("${LIB_NAME}" pcl_common flann::flann_cpp)
  set(EXT_DEPS flann)
  PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS} EXT_DEPS ${EXT_DEPS})
- 
+
 diff --git a/search/CMakeLists.txt b/search/CMakeLists.txt
 index 46f4632..67c5e53 100644
 --- a/search/CMakeLists.txt
@@ -81,7 +81,7 @@ index 46f4632..67c5e53 100644
 +target_link_libraries("${LIB_NAME}" pcl_common flann::flann_cpp pcl_octree pcl_kdtree)
  list(APPEND EXT_DEPS flann)
  PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS})
- 
+
 diff --git a/test/features/CMakeLists.txt b/test/features/CMakeLists.txt
 index 9775415..bf582ac 100644
 --- a/test/features/CMakeLists.txt

ports/rtabmap/001_opencv.patch

@@ -1,36 +1,14 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 1cb24ae36..a5414e26e 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -320,6 +320,9 @@ IF(WITH_QT)
-         ENDIF()
-         ADD_DEFINITIONS(-DQT_NO_KEYWORDS) # To avoid conflicts with boost signals/foreach and Qt macros
-     ENDIF(QT4_FOUND OR Qt5_FOUND)
-+ELSE()
-+    # Unconditionally disable VTK related features since no visualization tools will be built.
-+    ADD_DEFINITIONS("-DDISABLE_VTK")
- ENDIF(WITH_QT)
-
- IF(WITH_SUPERPOINT_TORCH)
-diff --git a/corelib/src/Features2d.cpp b/corelib/src/Features2d.cpp
-index e4048eefb..862cdc68f 100644
---- a/corelib/src/Features2d.cpp
-+++ b/corelib/src/Features2d.cpp
-@@ -982,7 +982,7 @@ std::vector<cv::KeyPoint> SIFT::generateKeypointsImpl(const cv::Mat & image, con
- {
- 	UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
- 	std::vector<cv::KeyPoint> keypoints;
--#if defined(RTABMAP_NONFREE) || CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 3)
-+#if defined(RTABMAP_NONFREE) && ( CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 3) )
- 	cv::Mat imgRoi(image, roi);
- 	cv::Mat maskRoi;
- 	if(!mask.empty())
-@@ -1000,7 +1000,7 @@ cv::Mat SIFT::generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::Key
- {
- 	UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
- 	cv::Mat descriptors;
--#if defined(RTABMAP_NONFREE) || CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 3)
-+#if defined(RTABMAP_NONFREE) && ( CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 3) )
- 	_sift->compute(image, keypoints, descriptors);
-
- 	if( rootSIFT_ && !descriptors.empty())
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index c9adfe34..7e397cdb 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -325,6 +325,9 @@ IF(WITH_QT)
+         ENDIF()
+         ADD_DEFINITIONS(-DQT_NO_KEYWORDS) # To avoid conflicts with boost signals/foreach and Qt macros
+     ENDIF(QT4_FOUND OR Qt5_FOUND)
++    ELSE()
++         # Unconditionally disable VTK related features since no visualization tools will be built.
++         ADD_DEFINITIONS("-DDISABLE_VTK")
+ ENDIF(WITH_QT)
+
+ IF(WITH_TORCH)

ports/rtabmap/portfile.cmake

@@ -3,10 +3,10 @@ vcpkg_check_linkage(ONLY_DYNAMIC_LIBRARY)
 vcpkg_from_github(
     OUT_SOURCE_PATH SOURCE_PATH
     REPO introlab/rtabmap
-    REF 0a9d237ac2968463d36c4c9b4436871a6c3ea0ca # 0.20.3
-    SHA512 47438eb07e4687855e89664479644b93f826da722c3556c30ed4b1a51cecb41494582d3ae3337ff4e0925f6db7ebf74fe29871bf930bb2eb51f5198090ac8554
+    REF 5d777469ff46260991be81cdc4600f5bb8847365 # 0.20.8
+    SHA512 8bd7c528f58e78d5f3511dcbdac30ce737e49e570c9583309826bc745e288703fd4e8f5ac631902e67465967a22112856a6c245b45191404c8f4049a44535f93
     HEAD_REF master
-    PATCHES 
+    PATCHES
         001_opencv.patch
 )
 
@@ -81,7 +81,7 @@ if("tools" IN_LIST FEATURES)
   )
 endif()
 
-file(REMOVE_RECURSE 
+file(REMOVE_RECURSE
     "${CURRENT_PACKAGES_DIR}/debug/include"
     "${CURRENT_PACKAGES_DIR}/debug/share"
 )

ports/rtabmap/vcpkg.json

@@ -1,7 +1,7 @@
 {
   "name": "rtabmap",
-  "version-string": "0.20.3",
-  "port-version": 1,
+  "version-string": "0.20.8",
+  "port-version": 2,
   "description": "Real-Time Appearance-Based Mapping",
   "homepage": "https://introlab.github.io/rtabmap/",
   "supports": "windows & !static",

versions/baseline.json

@@ -4586,7 +4586,7 @@
     },
     "pcl": {
       "baseline": "1.11.1",
-      "port-version": 2
+      "port-version": 3
     },
     "pcre": {
       "baseline": "8.44",

versions/p-/pcl.json

@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "1b2441792aeedb4f4e766ccb4cd159b9dfa1aa88",
+      "version-string": "1.11.1",
+      "port-version": 3
+    },
     {
       "git-tree": "7efe6bc9f411b5669ec8ae76407a1250318f3772",
       "version-string": "1.11.1",

versions/r-/rtabmap.json

@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "5d777469ff46260991be81cdc4600f5bb8847365",
+      "version-string": "0.20.8",
+      "port-version": 2
+    },
     {
       "git-tree": "07422ec8ed79148e476dbb807db950ed78852ca0",
       "version-string": "0.20.3",