[pcl] Update to 1.12.0 [rtabmap] Update to 0.20.13 (#18855)

* [pcl] Update patches and portfile for PCL 1.12.0.99 * [pcl] Update pcl to 1.12.0.99 * Update rtabmap to 0.20.13, don't build Qt libs when WITH_QT is OFF * [rtabmap] update to 0.20.13 * Use PCL 1.12.0 instead of 1.12.0.99 * [pcl] Use PCL 1.12.0 * Require pcl[vtk] to build rtabmap * Fix rtabmap hash * Go back to ccc8202, where Linux CI was passing, update rtabmap to require pcl[vtk] * test - go back to pcl 1.20.0.99 * That wasn't it - go back to PCL release commit * Go back to pcl 1.12.0 * Remove libpng patch due to updated VTK per https://github.com/microsoft/vcpkg/pull/18855#issuecomment-880989289 * Bump version as per git bot * Fix find dependencies in pcl's dependency * version stuff * version * Replace depreciate functions * version * Add DISABLE_PARALLEL_CONFIGURE to rtabmap * version Co-authored-by: JackBoosY <yuzaiyang@beyondsoft.com>
2024-12-04 03:19:00 +08:00 · 2021-11-05 03:24:45 -04:00 · 2021-11-05 03:24:45 -04:00 · 8acb35e27f
commit 8acb35e27f
parent 13156b1cf6
19 changed files with 215 additions and 132 deletions
--- a/ports/pcl/add-gcc-version-check.patch
+++ b/ports/pcl/add-gcc-version-check.patch
@ -1,27 +1,27 @@
-From 8a7a883b51e18645974921b1bfe9d3b6ef3c626c Mon Sep 17 00:00:00 2001
-From: Lars Glud <larshg@gmail.com>
-Date: Fri, 19 Mar 2021 22:22:57 +0100
-Subject: [PATCH] Add gcc-version-check
+From 116e665df611242ea0575a62478c31ec03e78fcc Mon Sep 17 00:00:00 2001
+From: raahilsha-z <raahil.sha@zimaging.io>
+Date: Wed, 7 Jul 2021 15:53:49 -0400
+Subject: [PATCH] add gcc version check

 ---
 CMakeLists.txt | 4 ++++
 1 file changed, 4 insertions(+)

 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index e5aa7f40a..1e346a316 100644
+index 63b38df68..29f79d31b 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -304,6 +304,10 @@ if(NOT PCL_SHARED_LIBS OR ((WIN32 AND NOT MINGW) AND NOT PCL_BUILD_WITH_FLANN_DY
+@@ -311,6 +311,10 @@ if(NOT (${FLANN_LIBRARY_TYPE} MATCHES ${PCL_FLANN_REQUIRED_TYPE}) AND NOT (${PCL
+   message(FATAL_ERROR "Flann was selected with ${PCL_FLANN_REQUIRED_TYPE} but found as ${FLANN_LIBRARY_TYPE}")
 endif()
- find_package(FLANN 1.7.0 REQUIRED)
 
 +if(UNIX AND CMAKE_CXX_COMPILER_VERSION VERSION_LESS 6.0)
 +    set (CMAKE_CXX_STANDARD 17)
 +endif()
 +
- # libusb-1.0
+ # libusb
 option(WITH_LIBUSB "Build USB RGBD-Camera drivers" TRUE)
 if(WITH_LIBUSB)
 -- 
-2.29.2.windows.2
+2.32.0.windows.1

--- a/ports/pcl/fix-check-sse.patch
+++ b/ports/pcl/fix-check-sse.patch
@ -1,5 +1,14 @@
+From c65e034afb538932f4ff55a93332f875ae43a578 Mon Sep 17 00:00:00 2001
+From: raahilsha-z <raahil.sha@zimaging.io>
+Date: Wed, 7 Jul 2021 15:54:33 -0400
+Subject: [PATCH] fix check sse
+
+---
+ CMakeLists.txt | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index e580b1a..572ea06 100644
+index 29f79d31b..a1d9bb58f 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
@@ -86,7 +86,7 @@ endif()
@ -11,3 +20,6 @@ index e580b1a..572ea06 100644
   PCL_CHECK_FOR_SSE()
 endif()
 
+-- 
+2.32.0.windows.1
+
--- a/ports/pcl/fix-cmake_find_library_suffixes.patch
+++ b/ports/pcl/fix-cmake_find_library_suffixes.patch
@ -0,0 +1,20 @@
+diff --git a/cmake/pcl_options.cmake b/cmake/pcl_options.cmake
+index 6570d75..1d9b0d8 100644
+--- a/cmake/pcl_options.cmake
+++ b/cmake/pcl_options.cmake
+@@ -7,14 +7,13 @@ if(PCL_SHARED_LIBS)
+   set(PCL_LIB_SUFFIX ${CMAKE_SHARED_LIBRARY_SUFFIX})
+   set(PCL_LIB_TYPE "SHARED")
+ #  set(CMAKE_FIND_LIBRARY_SUFFIXES ${CMAKE_SHARED_LIBRARY_SUFFIX})
+-  if(WIN32)
+  if(0)
+     set(CMAKE_FIND_LIBRARY_SUFFIXES ${CMAKE_IMPORT_LIBRARY_SUFFIX})
+   endif()
+ else()
+   set(PCL_LIB_PREFIX ${CMAKE_STATIC_LIBRARY_PREFIX})
+   set(PCL_LIB_SUFFIX ${CMAKE_STATIC_LIBRARY_SUFFIX})
+   set(PCL_LIB_TYPE "STATIC")
+-  set(CMAKE_FIND_LIBRARY_SUFFIXES ${CMAKE_STATIC_LIBRARY_SUFFIX})
+ endif()
+ mark_as_advanced(PCL_SHARED_LIBS)
+ 
--- a/ports/pcl/fix-find-qhull.patch
+++ b/ports/pcl/fix-find-qhull.patch
@ -1,8 +1,18 @@
+From 7e3117fb47f58c7b1fb83e3a062a630b787a43bc Mon Sep 17 00:00:00 2001
+From: raahilsha-z <raahil.sha@zimaging.io>
+Date: Wed, 7 Jul 2021 16:11:12 -0400
+Subject: [PATCH] fix find qhull
+
+---
+ CMakeLists.txt         | 5 +----
+ surface/CMakeLists.txt | 9 +++++++--
+ 2 files changed, 8 insertions(+), 6 deletions(-)
+
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 2c50b8d..c5bdf35 100644
+index a1d9bb58f..7cf86f74b 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -354,10 +354,7 @@ if(WITH_QHULL)
+@@ -359,10 +359,7 @@ if(WITH_QHULL)
   if(NOT PCL_SHARED_LIBS OR ((WIN32 AND NOT MINGW) AND NOT PCL_BUILD_WITH_QHULL_DYNAMIC_LINKING_WIN32))
     set(QHULL_USE_STATIC ON)
   endif()
@ -15,7 +25,7 @@ index 2c50b8d..c5bdf35 100644
 
 # Cuda
 diff --git a/surface/CMakeLists.txt b/surface/CMakeLists.txt
-index e5e4231..2fb8a46 100644
+index d8a8566ea..1953c5566 100644
 --- a/surface/CMakeLists.txt
 +++ b/surface/CMakeLists.txt
@@ -12,7 +12,7 @@ if(NOT build)
@ -27,10 +37,10 @@ index e5e4231..2fb8a46 100644
   set(HULL_INCLUDES
     "include/pcl/${SUBSYS_NAME}/concave_hull.h"
     "include/pcl/${SUBSYS_NAME}/convex_hull.h"
-@@ -159,7 +159,12 @@ include_directories(SYSTEM
- link_directories(${VTK_LIBRARY_DIRS})
- PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs} ${VTK_SMOOTHING_INCLUDES} ${POISSON_INCLUDES} ${OPENNURBS_INCLUDES} ${ON_NURBS_INCLUDES})
- target_link_libraries("${LIB_NAME}" pcl_common pcl_search pcl_kdtree pcl_octree ${VTK_LIBRARIES} ${ON_NURBS_LIBRARIES})
+@@ -186,7 +186,12 @@ if(VTK_FOUND)
+   endif()
+ endif()
+ 
 -if(QHULL_FOUND)
 +if(Qhull_FOUND)
 +  if(QHULL_USE_STATIC)
@ -40,4 +50,7 @@ index e5e4231..2fb8a46 100644
 +  endif()
   target_link_libraries("${LIB_NAME}" ${QHULL_LIBRARIES})
 endif()
- PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS})
+ 
+-- 
+2.32.0.windows.1
+
--- a/ports/pcl/fix-link-libpng.patch
+++ b/ports/pcl/fix-link-libpng.patch
@ -1,20 +0,0 @@
-diff --git a/io/CMakeLists.txt b/io/CMakeLists.txt
-index f234971..86ea242 100644
--- a/io/CMakeLists.txt
-+++ b/io/CMakeLists.txt
-@@ -333,12 +333,13 @@ set(LIB_NAME "pcl_${SUBSYS_NAME}")
- add_definitions(${VTK_DEFINES})
- PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${compression_incs} ${impl_incs} ${OPENNI_INCLUDES} ${OPENNI2_INCLUDES})
- target_include_directories(${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 ${VTK_LIBRARIES})
-+
- if(LIBUSB_1_FOUND)
-   target_link_libraries("${LIB_NAME}" ${LIBUSB_1_LIBRARIES})
- endif()
--- a/ports/pcl/fix-numeric-literals-flag.patch
+++ b/ports/pcl/fix-numeric-literals-flag.patch
@ -1,8 +1,17 @@
+From 3ea8aa5ded2782cfb10577348fc9f56144c72d7b Mon Sep 17 00:00:00 2001
+From: raahilsha-z <raahil.sha@zimaging.io>
+Date: Wed, 7 Jul 2021 15:57:46 -0400
+Subject: [PATCH] fix numeric literals flag
+
+---
+ CMakeLists.txt | 3 +++
+ 1 file changed, 3 insertions(+)
+
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index b301cf1..789b660 100644
+index 7cf86f74b..e07fd430a 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -462,6 +462,9 @@ endif()
+@@ -420,6 +420,9 @@ endif()
 
 # Boost (required)
 include("${PCL_SOURCE_DIR}/cmake/pcl_find_boost.cmake")
@ -12,3 +21,6 @@ index b301cf1..789b660 100644
 
 ### ---[ Create the config.h file
 set(pcl_config_h_in "${CMAKE_CURRENT_SOURCE_DIR}/pcl_config.h.in")
+-- 
+2.32.0.windows.1
+
--- a/ports/pcl/pcl_config.patch
+++ b/ports/pcl/pcl_config.patch
@ -1,15 +1,25 @@
+From 2f4952e1767ad5b0349a03ee56d676d226102381 Mon Sep 17 00:00:00 2001
+From: raahilsha-z <raahil.sha@zimaging.io>
+Date: Wed, 7 Jul 2021 15:59:12 -0400
+Subject: [PATCH] pcl_config
+
+---
+ PCLConfig.cmake.in | 12 +++---------
+ 1 file changed, 3 insertions(+), 9 deletions(-)
+
 diff --git a/PCLConfig.cmake.in b/PCLConfig.cmake.in
-index 9f78fcf..0cbe94f 100644
+index a1283a810..4137ed18c 100644
 --- a/PCLConfig.cmake.in
 +++ b/PCLConfig.cmake.in
-@@ -396,25 +396,16 @@ file(TO_CMAKE_PATH "${PCL_DIR}" PCL_DIR)
+@@ -384,6 +384,7 @@ file(TO_CMAKE_PATH "${PCL_DIR}" PCL_DIR)
 if(WIN32 AND NOT MINGW)
 # PCLConfig.cmake is installed to PCL_ROOT/cmake
   get_filename_component(PCL_ROOT "${PCL_DIR}" PATH)
 +  get_filename_component(PCL_ROOT "${PCL_ROOT}" PATH)
- else()
- # PCLConfig.cmake is installed to PCL_ROOT/share/pcl-x.y
-   get_filename_component(PCL_ROOT "${CMAKE_CURRENT_LIST_DIR}/../.." ABSOLUTE)
+   if(EXISTS "${PCL_ROOT}/3rdParty")
+     set(PCL_ALL_IN_ONE_INSTALLER ON)
+   endif()
+@@ -393,16 +394,9 @@ else()
 endif()
 
 # check whether PCLConfig.cmake is found into a PCL installation or in a build tree
@ -18,9 +28,6 @@ index 9f78fcf..0cbe94f 100644
 -  # pcl_message("Found a PCL installation")
 -  set(PCL_CONF_INCLUDE_DIR "${PCL_ROOT}/include/pcl-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}")
 -  set(PCL_LIBRARY_DIRS "${PCL_ROOT}/@LIB_INSTALL_DIR@")
-  if(EXISTS "${PCL_ROOT}/3rdParty")
-    set(PCL_ALL_IN_ONE_INSTALLER ON)
-  endif()
 -elseif(EXISTS "${PCL_ROOT}/include/pcl/pcl_config.h")
 -  # Found a non-standard (likely ANDROID) PCL installation
 -  # pcl_message("Found a PCL installation")
@ -28,6 +35,9 @@ index 9f78fcf..0cbe94f 100644
   set(PCL_CONF_INCLUDE_DIR "${PCL_ROOT}/include")
 -  set(PCL_LIBRARY_DIRS "${PCL_ROOT}/lib")
 +  set(PCL_LIBRARY_DIRS "${PCL_ROOT}/@LIB_INSTALL_DIR@" "${PCL_ROOT}/debug/@LIB_INSTALL_DIR@")
-   if(EXISTS "${PCL_ROOT}/3rdParty")
-     set(PCL_ALL_IN_ONE_INSTALLER ON)
-   endif()
+ elseif(EXISTS "${PCL_DIR}/include/pcl/pcl_config.h")
+   # Found PCLConfig.cmake in a build tree of PCL
+   # pcl_message("PCL found into a build tree.")
+-- 
+2.32.0.windows.1
+
--- a/ports/pcl/pcl_utils.patch
+++ b/ports/pcl/pcl_utils.patch
@ -1,5 +1,14 @@
+From 6f4e2fea829b5986863403d6a611c52c5ac8b2a9 Mon Sep 17 00:00:00 2001
+From: raahilsha-z <raahil.sha@zimaging.io>
+Date: Wed, 7 Jul 2021 16:00:30 -0400
+Subject: [PATCH] pcl_utils
+
+---
+ cmake/pcl_utils.cmake | 13 ++-----------
+ 1 file changed, 2 insertions(+), 11 deletions(-)
+
 diff --git a/cmake/pcl_utils.cmake b/cmake/pcl_utils.cmake
-index d87d02d..7c951bf 100644
+index d87d02da9..7c951bfd5 100644
 --- a/cmake/pcl_utils.cmake
 +++ b/cmake/pcl_utils.cmake
@@ -94,21 +94,12 @@ macro(SET_INSTALL_DIRS)
@ -26,3 +35,6 @@ index d87d02d..7c951bf 100644
 endmacro()
 
 
+-- 
+2.32.0.windows.1
+
--- a/ports/pcl/portfile.cmake
+++ b/ports/pcl/portfile.cmake
@ -1,19 +1,18 @@
 vcpkg_from_github(
    OUT_SOURCE_PATH SOURCE_PATH
    REPO PointCloudLibrary/pcl
-    REF d98313133b014553ab1b1b5b112f9aade837d55c # pcl-1.11.1
-    SHA512 4d60f34d4fbf0a4b4caf9cc4391af471ebd260b3bbac106d45e5ff38448894ea4dc82d5320c2e395c537a4414eb13c6a6a0eb6c13e4e1cc1d831d4bf24067966
+    REF f36a69a5e89953708990c4669317f989d532cf08 # pcl-1.12.0
+    SHA512 dbbd0adbb08949ddef2789e0021b6ca9727be33c7193d0bb135c61def09a42ed6a71333f06b6fad407010ecb4b73c19f087f7520386b92a008e90c254eafe422
    HEAD_REF master
    PATCHES
-        pcl_utils.patch
-        pcl_config.patch
-        boost-1.70.patch
-        fix-link-libpng.patch
-        remove-broken-targets.patch
-        fix-check-sse.patch
-        realsense2.patch
        add-gcc-version-check.patch
+        fix-check-sse.patch
        fix-find-qhull.patch
+        fix-numeric-literals-flag.patch
+        pcl_config.patch
+        pcl_utils.patch
+        remove-broken-targets.patch
+        fix-cmake_find_library_suffixes.patch
 )

 file(REMOVE ${SOURCE_PATH}/cmake/Modules/FindQhull.cmake)
@ -40,9 +39,8 @@ vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
        vtk     WITH_VTK
 )

-vcpkg_configure_cmake(
+vcpkg_cmake_configure(
    SOURCE_PATH ${SOURCE_PATH}
-    PREFER_NINJA
    OPTIONS
        # BUILD
        -DBUILD_surface_on_nurbs=ON
@ -59,8 +57,8 @@ vcpkg_configure_cmake(
        ${FEATURE_OPTIONS}
 )

-vcpkg_install_cmake()
-vcpkg_fixup_cmake_targets()
+vcpkg_cmake_install()
+vcpkg_cmake_config_fixup()
 vcpkg_copy_pdbs()

 file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/include)
--- a/ports/pcl/realsense2.patch
+++ b/ports/pcl/realsense2.patch
@ -1,13 +0,0 @@
-diff --git a/io/src/real_sense_2_grabber.cpp b/io/src/real_sense_2_grabber.cpp
-index d13231e..06d1238 100644
--- a/io/src/real_sense_2_grabber.cpp
-+++ b/io/src/real_sense_2_grabber.cpp
-@@ -287,7 +287,7 @@ namespace pcl
-     cloud->width = sp.width ();
-     cloud->height = sp.height ();
-     cloud->is_dense = false;
-    cloud->points.resize ( size () );
-+    cloud->points.resize ( points.size () );
- 
-     const auto cloud_vertices_ptr = points.get_vertices ();
-     const auto cloud_texture_ptr = points.get_texture_coordinates ();
--- a/ports/pcl/remove-broken-targets.patch
+++ b/ports/pcl/remove-broken-targets.patch
@ -1,5 +1,14 @@
+From 1b2613e1df507fd868b4971294f9a28183ce2e6c Mon Sep 17 00:00:00 2001
+From: raahilsha-z <raahil.sha@zimaging.io>
+Date: Wed, 7 Jul 2021 16:01:03 -0400
+Subject: [PATCH] remove broken targets
+
+---
+ tools/CMakeLists.txt | 9 ---------
+ 1 file changed, 9 deletions(-)
+
 diff --git a/tools/CMakeLists.txt b/tools/CMakeLists.txt
-index 1911f7b..11566a2 100644
+index 5bfe6e94c..7abf3d746 100644
 --- a/tools/CMakeLists.txt
 +++ b/tools/CMakeLists.txt
@@ -123,15 +123,6 @@ target_link_libraries(pcl_concatenate_points_pcd pcl_common pcl_io)
@ -18,3 +27,6 @@ index 1911f7b..11566a2 100644
 PCL_ADD_EXECUTABLE(pcl_fast_bilateral_filter COMPONENT ${SUBSYS_NAME} SOURCES fast_bilateral_filter.cpp)
 target_link_libraries(pcl_fast_bilateral_filter pcl_common pcl_io pcl_filters)
 
+-- 
+2.32.0.windows.1
+
--- a/ports/pcl/vcpkg.json
+++ b/ports/pcl/vcpkg.json
@ -1,7 +1,6 @@
 {
  "name": "pcl",
-  "version": "1.11.1",
-  "port-version": 5,
+  "version": "1.12.0",
  "description": "Point Cloud Library (PCL) is open source library for 2D/3D image and point cloud processing.",
  "homepage": "https://github.com/PointCloudLibrary/pcl",
  "supports": "!(arm64 & windows)",
@ -26,7 +25,15 @@
    "eigen3",
    "flann",
    "libpng",
-    "qhull"
+    "qhull",
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
  ],
  "features": {
    "cuda": {
--- a/ports/rtabmap/001_opencv.patch
+++ b/ports/rtabmap/001_opencv.patch
@ -1,36 +0,0 @@
-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())
--- a/ports/rtabmap/fix-qt.patch
+++ b/ports/rtabmap/fix-qt.patch
@ -0,0 +1,31 @@
+From a9f8c032bb7915c075f0fb32a0bbfa633ca3b388 Mon Sep 17 00:00:00 2001
+Date: Wed, 7 Jul 2021 15:13:43 -0400
+Subject: [PATCH] Fix Qt
+
+---
+ CMakeLists.txt | 4 ++--
+ 1 file changed, 2 insertions(+), 2 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 5cdae617..fe98199b 100644
+--- a/CMakeLists.txt
+++ b/CMakeLists.txt
+@@ -966,13 +966,13 @@ IF(ANDROID)
+    IF(BUILD_APP)
+       ADD_SUBDIRECTORY( app )
+    ENDIF(BUILD_APP)
+ELSEIF(NOT WITH_QT)
+    MESSAGE(WARNING "the GUI lib and the stand-alone application will not be compiled...")
+ ELSEIF(Qt5_FOUND OR (QT4_FOUND AND QT_QTCORE_FOUND AND QT_QTGUI_FOUND))
+    ADD_SUBDIRECTORY( guilib )
+    IF(BUILD_APP)
+       ADD_SUBDIRECTORY( app )
+    ENDIF(BUILD_APP)
+-ELSEIF(WITH_QT)
+-   MESSAGE(WARNING "Qt not found, the GUI lib and the stand-alone application will not be compiled...")
+ ENDIF()
+ 
+ IF(BUILD_TOOLS)
+-- 
+2.32.0.windows.1
+
--- a/ports/rtabmap/portfile.cmake
+++ b/ports/rtabmap/portfile.cmake
@ -3,20 +3,21 @@ 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 a921d615c5cb4eb55a8dfc608dae6efde13e9126
+    SHA512 7787d5f927f53554cec3044221011cbc78b654c504d96af29947266e25058194923c5463aefde73b93dcfb3930eedf731f6af4d0c311d8f2f0d7be2114393e05
    HEAD_REF master
-    PATCHES 
-        001_opencv.patch
+    PATCHES
+        fix-qt.patch
 )

 vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
-    tools BUILD_TOOLS
+    FEATURES
+        tools BUILD_TOOLS
 )

-vcpkg_configure_cmake(
+vcpkg_cmake_configure(
    SOURCE_PATH ${SOURCE_PATH}
-    PREFER_NINJA
+    DISABLE_PARALLEL_CONFIGURE
    OPTIONS
        ${FEATURE_OPTIONS}
        -DBUILD_APP=OFF
@ -57,8 +58,8 @@ vcpkg_configure_cmake(
        -DWITH_FASTCV=OFF
 )

-vcpkg_install_cmake()
-vcpkg_fixup_cmake_targets(CONFIG_PATH cmake)
+vcpkg_cmake_install()
+vcpkg_cmake_config_fixup(CONFIG_PATH cmake)

 vcpkg_copy_tools(TOOL_NAMES rtabmap-res_tool AUTO_CLEAN)

--- a/ports/rtabmap/vcpkg.json
+++ b/ports/rtabmap/vcpkg.json
@ -1,13 +1,27 @@
 {
  "name": "rtabmap",
-  "version-string": "0.20.3",
+  "version-string": "0.20.13",
  "port-version": 1,
  "description": "Real-Time Appearance-Based Mapping",
  "homepage": "https://introlab.github.io/rtabmap/",
  "supports": "windows & !static",
  "dependencies": [
    "opencv",
-    "pcl",
+    {
+      "name": "pcl",
+      "default-features": false,
+      "features": [
+        "vtk"
+      ]
+    },
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    },
    "zlib"
  ],
  "features": {
--- a/versions/baseline.json
+++ b/versions/baseline.json
@ -5113,8 +5113,8 @@
      "port-version": 1
    },
    "pcl": {
-      "baseline": "1.11.1",
-      "port-version": 5
+      "baseline": "1.12.0",
+      "port-version": 0
    },
    "pcre": {
      "baseline": "8.45",
@ -5989,7 +5989,7 @@
      "port-version": 2
    },
    "rtabmap": {
-      "baseline": "0.20.3",
+      "baseline": "0.20.13",
      "port-version": 1
    },
    "rtaudio": {
--- a/versions/p-/pcl.json
+++ b/versions/p-/pcl.json
@ -1,5 +1,10 @@
 {
  "versions": [
+    {
+      "git-tree": "6a65773e049bbdfef835781a6a61ee6a3a94dd27",
+      "version": "1.12.0",
+      "port-version": 0
+    },
    {
      "git-tree": "32f16f4b317bc068cc45259ca36d23ebd16a3099",
      "version": "1.11.1",
--- a/versions/r-/rtabmap.json
+++ b/versions/r-/rtabmap.json
@ -1,5 +1,10 @@
 {
  "versions": [
+    {
+      "git-tree": "93a792dbedcec5e900509396ebbe4461cde51320",
+      "version-string": "0.20.13",
+      "port-version": 1
+    },
    {
      "git-tree": "07422ec8ed79148e476dbb807db950ed78852ca0",
      "version-string": "0.20.3",