[rtabmap] update to 0.21.0 #30254

matlabbe · 2023-03-17T16:51:53Z

Changes comply with the maintainer guide
SHA512s are updated for each updated download
The "supports" clause reflects platforms that may be fixed by this new version
Any fixed CI baseline entries are removed from that file.
Any patches that are no longer applied are deleted from the port's directory.
The version database is fixed by rerunning ./vcpkg x-add-version --all and committing the result.
Only one version is added to each modified port's versions file.

Fixes #30293

ports/rtabmap/portfile.cmake

…CI error

…build (see introlab/rtabmap#995)

matlabbe · 2023-03-18T23:15:03Z

I would need help from vcpkg maintainers, The CI is failing without any description of the error, and I cannot reproduce it on my computer. Here is the output on my side:

c:\vcpkg>vcpkg install rtabmap --triplet=x64-windows
Computing installation plan...
The following packages will be built and installed:
    rtabmap[core,gui,opencv-contrib,opencv-nonfree,tools]:x64-windows -> 0.21.0#4
Detecting compiler hash for triplet x64-windows...
Restored 0 package(s) from C:\Users\Mathieu\AppData\Local\vcpkg\archives in  334 us. Use --debug to see more details.
Installing 1/1 rtabmap:x64-windows...
Building rtabmap[core,gui,opencv-contrib,opencv-nonfree,tools]:x64-windows...
-- Using cached introlab-rtabmap-ab99719a78de5ffe6dd9f22576eed3f56a3aa731.tar.gz.
-- Cleaning sources at C:/vcpkg/buildtrees/rtabmap/src/f56a3aa731-0ec3dda1b9.clean. Use --editable to skip cleaning for the packages you specify.
-- Extracting source C:/vcpkg/downloads/introlab-rtabmap-ab99719a78de5ffe6dd9f22576eed3f56a3aa731.tar.gz
-- Applying patch qtdeploy.patch
-- Using source at C:/vcpkg/buildtrees/rtabmap/src/f56a3aa731-0ec3dda1b9.clean
-- Found external ninja('1.11.0').
-- Configuring x64-windows-dbg
-- Configuring x64-windows-rel
-- Building x64-windows-dbg
-- Building x64-windows-rel
-- Installing: C:/vcpkg/packages/rtabmap_x64-windows/share/rtabmap/copyright
-- Performing post-build validation
Stored binary cache: "C:\Users\Mathieu\AppData\Local\vcpkg\archives\b6\b62372dd03227f9ddab02d21da00246ae9fb3bc4de3f81fcb62ad45eadcd48fd.zip"
Elapsed time to handle rtabmap:x64-windows: 10.747169716666667 min
Total install time: 10.781853376666668 min
rtabmap provides CMake targets:

    # this is heuristically generated, and may not be correct
    find_package(RTABMap CONFIG REQUIRED)
    target_link_libraries(main PRIVATE rtabmap::gui rtabmap::core rtabmap::rtabmap rtabmap::utilite)

dg0yt · 2023-03-19T05:22:47Z

You can click through from checks to the "failure logs" artifacts on GH actions. This is the error:

FAILED: guilib/src/rtabmap_gui_autogen/timestamp guilib/src/rtabmap_gui_autogen/mocs_compilation.cpp D:/buildtrees/rtabmap/x64-windows-dbg/guilib/src/rtabmap_gui_autogen/timestamp D:/buildtrees/rtabmap/x64-windows-dbg/guilib/src/rtabmap_gui_autogen/mocs_compilation.cpp 
cmd.exe /C "cd /D D:\buildtrees\rtabmap\x64-windows-dbg\guilib\src && D:\downloads\tools\cmake-3.25.1-windows\cmake-3.25.1-windows-i386\bin\cmake.exe -E cmake_autogen D:/buildtrees/rtabmap/x64-windows-dbg/guilib/src/CMakeFiles/rtabmap_gui_autogen.dir/AutogenInfo.json Debug && D:\downloads\tools\cmake-3.25.1-windows\cmake-3.25.1-windows-i386\bin\cmake.exe -E touch D:/buildtrees/rtabmap/x64-windows-dbg/guilib/src/rtabmap_gui_autogen/timestamp && D:\downloads\tools\cmake-3.25.1-windows\cmake-3.25.1-windows-i386\bin\cmake.exe -E cmake_transform_depfile Ninja gccdepfile D:/buildtrees/rtabmap/src/f56a3aa731-0ec3dda1b9.clean D:/buildtrees/rtabmap/src/f56a3aa731-0ec3dda1b9.clean/guilib/src D:/buildtrees/rtabmap/x64-windows-dbg D:/buildtrees/rtabmap/x64-windows-dbg/guilib/src D:/buildtrees/rtabmap/x64-windows-dbg/guilib/src/rtabmap_gui_autogen/deps D:/buildtrees/rtabmap/x64-windows-dbg/CMakeFiles/d/0a441891f1c00df32e3906b95be69955b3a0261703dc7babd5fc127664899f01.d"

AutoUic error
-------------
"SRC:/guilib/src/AboutDialog.cpp"
includes the uic file "ui_aboutDialog.h",
but the user interface file "aboutDialog.ui"
could not be found in the following directories
  "SRC:/guilib/src"

AFAICS the project uses qt5_wrap_ui, so AUTOUIC shouldn't be used? OTOH I don't see a defined order between generating and using ui_aboutDialog.h.

Note that the cmake config error log has two warnings related to policies affecting autouic - also on your system.

matlabbe · 2023-03-19T17:33:54Z

The project uses Qt6 and qt5_wrap_ui is not even used with the Qt5 version (see here).

I compared the logs on my computer and the one on Azure, see attachments:
install-x64-windows-dbg-out-AZURE.log
install-x64-windows-dbg-out-MYCOMPUTER.log

It seems they are not using the same compiler, maybe it is the issue why I cannot reproduce on my side. Here the logs when it fails on Azure:

[131/254] cmd.exe /C "cd /D D:\buildtrees\rtabmap\x64-windows-dbg\guilib\src && D:\downloads\tools\cmake-3.25.1-windows\cmake-3.25.1-windows-i386\bin\cmake.exe -E cmake_autogen D:/buildtrees/rtabmap/x64-windows-dbg/guilib/src/CMakeFiles/rtabmap_gui_autogen.dir/AutogenInfo.json Debug && D:\downloads\tools\cmake-3.25.1-windows\cmake-3.25.1-windows-i386\bin\cmake.exe -E touch D:/buildtrees/rtabmap/x64-windows-dbg/guilib/src/rtabmap_gui_autogen/timestamp && D:\downloads\tools\cmake-3.25.1-windows\cmake-3.25.1-windows-i386\bin\cmake.exe -E cmake_transform_depfile Ninja gccdepfile D:/buildtrees/rtabmap/src/f56a3aa731-0ec3dda1b9.clean D:/buildtrees/rtabmap/src/f56a3aa731-0ec3dda1b9.clean/guilib/src D:/buildtrees/rtabmap/x64-windows-dbg D:/buildtrees/rtabmap/x64-windows-dbg/guilib/src D:/buildtrees/rtabmap/x64-windows-dbg/guilib/src/rtabmap_gui_autogen/deps D:/buildtrees/rtabmap/x64-windows-dbg/CMakeFiles/d/0a441891f1c00df32e3906b95be69955b3a0261703dc7babd5fc127664899f01.d"
FAILED: guilib/src/rtabmap_gui_autogen/timestamp guilib/src/rtabmap_gui_autogen/mocs_compilation.cpp

and corresponding lines on my computer (they are completely different):

[125/246] cmd.exe /C "cd /D C:\vcpkg\buildtrees\rtabmap\x64-windows-dbg\guilib\src\__\include\rtabmap\gui && C:\vcpkg\installed\x64-windows\tools\Qt6\bin\moc.exe @C:/vcpkg/buildtrees/rtabmap/x64-windows-dbg/guilib/src/__/include/rtabmap/gui/moc_MainWindow.cpp_parameters"
[126/246] cmd.exe /C "cd /D C:\vcpkg\buildtrees\rtabmap\x64-windows-dbg\guilib\src\__\include\rtabmap\gui && C:\vcpkg\installed\x64-windows\tools\Qt6\bin\moc.exe @C:/vcpkg/buildtrees/rtabmap/x64-windows-dbg/guilib/src/__/include/rtabmap/gui/moc_PreferencesDialog.cpp_parameters"

On CI, I am not sure why it is using cmake_autogen, as on my computer it is using qt moc.exe directly. Is it just a cmake version difference? My computer is using cmake 3.24.2 from Visual Studio Community 2022, while CI is using 3.25.1.

EDIT: cmake config:
config-x64-windows-dbg-out-AZURE.log
config-x64-windows-dbg-out-MYCOMPUTER.log

dg0yt · 2023-03-19T18:25:43Z

I may have hit an old version, but is it significant? The current version is using qt6_wrap_ui now, i.e. does not rely on the modern AUTOUIC, but still the error is reported from "AutoUic." Maybe run CMake with --trace-expand?

matlabbe · 2023-03-19T18:35:38Z

Oh sorry, yeah the project indeed uses qt6_wrap_ui, but it is strange that CI and my computer are not calling the same tools. I am currently releasing new RTAB-Map binaries, I may return debugging vcpkg later and try --trace-expand.

dg0yt · 2023-03-19T18:36:28Z

ports/rtabmap/vcpkg.json

+      "description": "Build RTAB-Map with GUI support (Qt)",
+      "dependencies": [
+        {
+          "name": "pcl",
+          "default-features": false,
+          "features": [
+            "qt"
+          ]
+        }
+      ]


To build with Qt support, there should be an explicit dependency on qtbase and the other qt ports which are needed here.

~~It worked thx!~~ actually no... :(

I didn't expect it to fix the issue. Still waiting for --trace-expand.
FTR I would also add "default-features": false for qtbase so that users can control which features they want from the default set.

I updated qtbase without defautl features. Here is the --trace-expand:

vcpkg install rtabmap --x-cmake-args=--trace-expand > output.txt

cmake-trace.txt

We need it from the failing CI, i.e. add it to OPTIONS of vcpkg_cmake_configure.

…i2, realsense2, k4w2

FrankXie05

The port-version should be 0.
see https://github.com/microsoft/vcpkg-docs/blob/main/vcpkg/contributing/maintainer-guide.md#versioning

versions/r-/rtabmap.json

matlabbe · 2023-03-20T03:21:57Z

Reconverted to Draft, as this issue #30254 (comment) is still there on CI. As I cannot reproduce the error on my computer, it is quite difficult to debug this. I'll check back later when I will have some spare time.

dg0yt · 2023-03-21T21:41:24Z

Now we have a big log file.
I don't claim I can immediately say what is wrong because variable scopes are difficult to track.
Looking for autouic yields:

D:/installed/x64-windows/share/opencv/OpenCVModules.cmake(54):  set(CMAKE_AUTOUIC ON )

but also

D:/installed/x64-windows/share/Qt6Widgets/Qt6WidgetsMacros.cmake(63):  set_source_files_properties(D:/buildtrees/rtabmap/x64-windows-dbg/guilib/src/ui_aboutDialog.h PROPERTIES SKIP_AUTOUIC ON )

I still don't see how CMake could determine that compiling AboutDialog.cpp depends the qt6_wrap_ui results, and the 32 jobs of vcpkg ci could make a difference with regard to the 16 jobs on your machine.

matlabbe · 2023-03-24T03:49:06Z

@dg0yt FYI

Because OpenCV dependency imported target explicitly sets:

set(CMAKE_AUTOMOC ON)
set(CMAKE_AUTORCC ON)
set(CMAKE_AUTOUIC ON)

the trick is to explicitly add this for downstream packages depending on Qt and OpenCV:

set(CMAKE_AUTOMOC OFF)
set(CMAKE_AUTORCC OFF)
set(CMAKE_AUTOUIC OFF)

... well, for packages not using yet autouic for qt. Still not sure why that bug was not happening on my computer though, so I made a patch here instead of making the change in rtabmap library.

Ready to be merged!

FrankXie05 · 2023-03-30T03:11:22Z

The features have been test successfully locally.

vicroms · 2023-03-30T21:04:21Z

ports/rtabmap/portfile.cmake

-vcpkg_replace_string("${CURRENT_PACKAGES_DIR}/share/unofficial-rtabmap/unofficial-rtabmap-config.cmake"
-    [[# Generated by CMake]]
-    [[# Generated by CMake 
-include(CMakeFindDependencyMacro)
-find_dependency(OpenCV)
-find_dependency(PCL)
-find_dependency(ZLIB)
-find_dependency(VTK)
-find_dependency(OpenMP)]]
-)


don't we need to patch these transitive dependencies anymore?

Is there something missing on downstream packages? rtabmap now uses targets, and provide already those checks: https://github.com/introlab/rtabmap/blob/6dca8ab0f366b2628cafc332ec5ef10869e120b3/RTABMapConfig.cmake.in#L3-L47

matlabbe added 3 commits March 17, 2023 09:40

updated rtabmap port

deda06c

Merge branch 'master' of https://github.com/matlabbe/vcpkg

80d00f6

Update vcpkg.json

ca02ce6

matlabbe mentioned this pull request Mar 17, 2023

Unable to build with c++17 introlab/rtabmap#959

Closed

Neumann-A reviewed Mar 17, 2023

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matlabbe added 9 commits March 18, 2023 01:44

Addressing review comments, fixed missing deployed qt plugins, fixed …

5ab39ac

…CI error

merged

8c7f4fb

Merge branch 'master' of https://github.com/Microsoft/vcpkg

86fb172

applied format-manifest

62b026f

ran x-add-version

3c07263

Making octomap dependency optional because it doesn't work for debug …

1197932

…build (see introlab/rtabmap#995)

updated upstream version, fixed debug config

c4b0269

updated versions

f30ad2e

fixing version

2160aba

matlabbe marked this pull request as ready for review March 18, 2023 23:14

dg0yt mentioned this pull request Mar 19, 2023

RTABMap: Port is placed at the wrong location inside the install directory #30205

Closed

dg0yt reviewed Mar 19, 2023

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JonLiu1993 assigned FrankXie05 Mar 20, 2023

FrankXie05 added the category:port-update The issue is with a library, which is requesting update new revision label Mar 20, 2023

matlabbe added 2 commits March 19, 2023 19:47

Added explicit depedency to qtbase. Added optional dependencies openn…

c650126

…i2, realsense2, k4w2

Updated versions

13120c0

FrankXie05 reviewed Mar 20, 2023

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cleanup versions

2b590d5

matlabbe marked this pull request as draft March 20, 2023 03:20

matlabbe added 3 commits March 19, 2023 20:28

cleanup all versions

d6e7074

Applying format.diff from ci

76636de

overwrite version

870de5d

dg0yt mentioned this pull request Mar 20, 2023

[rtabmap] update to 0.21.0 #30293

Closed

matlabbe and others added 4 commits March 20, 2023 18:59

qtbase: not using defaults

b376fb5

updated versions sha

5bf466d

added --trace-expand

ceeb49f

Merge remote-tracking branch 'origin/master' into HEAD

3406fb3

matlabbe added 6 commits March 21, 2023 18:09

Explicitly set autouic to OFF

2fcd2bc

Update rtabmap.json

1dc1952

removing cmake trace debug

023bda9

updated versions

0753f2c

Merge branch 'master' of https://github.com/Microsoft/vcpkg

cfae802

completing merge

a2ceff5

matlabbe marked this pull request as ready for review March 24, 2023 04:27

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vicroms added requires:author-response and removed requires:author-response labels Mar 30, 2023

vicroms merged commit 21c801e into microsoft:master Apr 3, 2023

matlabbe mentioned this pull request Sep 14, 2023

use AUTOUIC, AUTOMOC and AUTORCC instead of QTX_WRAP_UI, QTX_WRAP_CPP, QTX_ADD_RESOURCES introlab/rtabmap#1135

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[rtabmap] update to 0.21.0 #30254

[rtabmap] update to 0.21.0 #30254

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[rtabmap] update to 0.21.0 #30254

[rtabmap] update to 0.21.0 #30254

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