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use external rtabmap #1486

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use external rtabmap #1486

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061549d
use external rtabmap
Serafadam Oct 6, 2025
359ec63
add rtabmap to deps
Serafadam Oct 6, 2025
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3 changes: 0 additions & 3 deletions cmake/depthaiDependencies.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -68,9 +68,6 @@ if(NOT CONFIG_MODE OR (CONFIG_MODE AND NOT DEPTHAI_SHARED_LIBS))
find_package(basalt_sdk ${_QUIET} CONFIG REQUIRED)
endif()
if(DEPTHAI_RTABMAP_SUPPORT)
find_package(g2o ${_QUIET} CONFIG REQUIRED)
find_package(Ceres ${_QUIET} CONFIG REQUIRED)
find_package(PCL CONFIG COMPONENTS common)
find_package(RTABMap ${_QUIET} CONFIG REQUIRED COMPONENTS core utilite)
endif()

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2 changes: 1 addition & 1 deletion cmake/depthaiVcpkgFeatures.cmake
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Expand Up @@ -6,7 +6,7 @@ if(NOT DEPTHAI_VCPKG_INTERNAL_ONLY)
list(APPEND VCPKG_MANIFEST_FEATURES "public-deps")
endif()

if(DEPTHAI_RTABMAP_SUPPORT)
if(DEPTHAI_RTABMAP_SUPPORT AND NOT DEPTHAI_VCPKG_INTERNAL_ONLY)
list(APPEND VCPKG_MANIFEST_FEATURES "rtabmap")
endif()

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1 change: 0 additions & 1 deletion cmake/ports/websocketpp/vcpkg.json
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Expand Up @@ -12,7 +12,6 @@
"recommended": {
"description": "Use recommended dependencies",
"dependencies": [
"boost-asio",
"openssl",
"zlib"
]
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1 change: 1 addition & 0 deletions package.xml
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Expand Up @@ -22,6 +22,7 @@
<depend>zip</depend>
<depend>tar</depend>
<depend>unzip</depend>
<depend>rtabmap</depend>

<buildtool_depend>ament_cmake</buildtool_depend>

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