diff --git a/math/g2o/Makefile b/math/g2o/Makefile index a55623230b77..9170700db8ca 100644 --- a/math/g2o/Makefile +++ b/math/g2o/Makefile @@ -1,77 +1,78 @@ PORTNAME= g2o -DISTVERSION= 20230806 -PORTREVISION= 16 +DISTVERSION= 20241228 DISTVERSIONSUFFIX= _git CATEGORIES= math MAINTAINER= yuri@FreeBSD.org COMMENT= General framework for graph optimization WWW= https://openslam-org.github.io/g2o.html \ https://github.com/RainerKuemmerle/g2o LICENSE= LGPL3 GPLv3 LICENSE_COMB= dual BROKEN_FreeBSD_15= compilation error: static assertion failed due to requirement 'is_unsigned::value', see https://github.com/RainerKuemmerle/g2o/issues/838 LIB_DEPENDS= libamd.so:math/suitesparse-amd \ libcamd.so:math/suitesparse-camd \ libccolamd.so:math/suitesparse-ccolamd \ libcholmod.so:math/suitesparse-cholmod \ libcolamd.so:math/suitesparse-colamd \ libcxsparse.so:math/suitesparse-cxsparse \ + libfmt.so:devel/libfmt \ libQGLViewer.so:graphics/libQGLViewer \ libmetis.so:math/metis \ libopenblas.so:math/openblas \ + libspdlog.so:devel/spdlog \ libsuitesparseconfig.so:math/suitesparse-config TEST_DEPENDS= googletest>0:devel/googletest USES= cmake:testing compiler:c++14-lang gl eigen:3 blaslapack:netlib localbase qt:5 USE_GL= gl glu USE_QT= core gui opengl xml widgets buildtools:build qmake:build USE_LDCONFIG= yes USE_GITHUB= yes GH_ACCOUNT= RainerKuemmerle CMAKE_OFF= DO_SSE_AUTODETECT CMAKE_TESTING_ON= BUILD_UNITTESTS OPTIONS_DEFINE= FAST_MATH OPTIONS_SINGLE= SIMD_${ARCH:tu} OPTIONS_SINGLE_SIMD_AMD64= NOSSE SSE2 SSE3 SSE41 SSE42 SSE4A OPTIONS_SINGLE_SIMD_I386= ${OPTIONS_SINGLE_SIMD_AMD64} OPTIONS_DEFAULT_amd64= SSE2 OPTIONS_DEFAULT_i386= SSE2 SIMD_AMD64_DESC= Use SSE SIMD optimizations SIMD_I386_DESC= ${SIMD_AMD64_DESC} FAST_MATH_DESC= Enable fast math operations NOSSE_DESC= Do not use SIMD optimization SSE2_DESC= SSE2 optimization SSE3_DESC= SSE3 optimization SSE41_DESC= SSE41 optimization SSE42_DESC= SSE42 optimization SSE4A_DESC= SSE4a optimization FAST_MATH_CMAKE_BOOL= G2O_FAST_MATH NOSSE_CMAKE_ON= -DDISABLE_SSE2:BOOL=ON -DDISABLE_SSE3:BOOL=ON -DDISABLE_SSE4_1:BOOL=ON -DDISABLE_SSE4_2:BOOL=ON -DDISABLE_SSE4_A:BOOL=ON SSE2_CMAKE_ON= -DDISABLE_SSE3:BOOL=ON -DDISABLE_SSE4_1:BOOL=ON -DDISABLE_SSE4_2:BOOL=ON -DDISABLE_SSE4_A:BOOL=ON SSE3_CMAKE_ON= -DDISABLE_SSE4_1:BOOL=ON -DDISABLE_SSE4_2:BOOL=ON -DDISABLE_SSE4_A:BOOL=ON SSE41_CMAKE_ON= -DDISABLE_SSE4_2:BOOL=ON -DDISABLE_SSE4_A:BOOL=ON SSE42_CMAKE_ON= -DDISABLE_SSE4_A:BOOL=ON SSE4A_CMAKE_ON= # empty to make portlint happy .include .if ${ARCH} != amd64 && ${ARCH} != i386 CMAKE_ARGS+= -DDISABLE_SSE2:BOOL=ON -DDISABLE_SSE3:BOOL=ON -DDISABLE_SSE4_1:BOOL=ON -DDISABLE_SSE4_2:BOOL=ON -DDISABLE_SSE4_A:BOOL=ON .endif post-patch: @${REINPLACE_CMD} -e 's|/usr/include|${LOCALBASE}/include|' \ ${WRKSRC}/cmake_modules/*.cmake -# tests fail to compile, see https://github.com/RainerKuemmerle/g2o/issues/711 +# tests as of 20241228: 100% tests passed, 0 tests failed out of 11 .include diff --git a/math/g2o/distinfo b/math/g2o/distinfo index 209411bbeefb..759f6e583c2b 100644 --- a/math/g2o/distinfo +++ b/math/g2o/distinfo @@ -1,3 +1,3 @@ -TIMESTAMP = 1691453961 -SHA256 (RainerKuemmerle-g2o-20230806_git_GH0.tar.gz) = e717d3b96cc6d00fcbbaf637aae648c9823599e6aa8fcf4546fc9ad4034dcde5 -SIZE (RainerKuemmerle-g2o-20230806_git_GH0.tar.gz) = 903443 +TIMESTAMP = 1759677393 +SHA256 (RainerKuemmerle-g2o-20241228_git_GH0.tar.gz) = d691ead69184ebbb8256c9cd9f4121d1a880b169370efc0554dd31a64802a452 +SIZE (RainerKuemmerle-g2o-20241228_git_GH0.tar.gz) = 893629 diff --git a/math/g2o/pkg-plist b/math/g2o/pkg-plist index 9f18155a377b..f46c107bcb59 100644 --- a/math/g2o/pkg-plist +++ b/math/g2o/pkg-plist @@ -1,369 +1,368 @@ bin/g2o bin/g2o_incremental bin/g2o_online bin/g2o_simulator2d bin/g2o_simulator3d bin/g2o_viewer include/g2o/EXTERNAL/freeglut/freeglut_minimal.h include/g2o/apps/g2o_cli/dl_wrapper.h include/g2o/apps/g2o_cli/g2o_cli_api.h include/g2o/apps/g2o_cli/g2o_common.h include/g2o/apps/g2o_cli/output_helper.h include/g2o/apps/g2o_hierarchical/backbone_tree_action.h include/g2o/apps/g2o_hierarchical/edge_creator.h include/g2o/apps/g2o_hierarchical/edge_labeler.h include/g2o/apps/g2o_hierarchical/edge_types_cost_function.h include/g2o/apps/g2o_hierarchical/g2o_hierarchical_api.h include/g2o/apps/g2o_hierarchical/simple_star_ops.h include/g2o/apps/g2o_hierarchical/star.h include/g2o/apps/g2o_simulator/g2o_simulator_api.h include/g2o/apps/g2o_simulator/pointsensorparameters.h include/g2o/apps/g2o_simulator/sensor_line3d.h include/g2o/apps/g2o_simulator/sensor_odometry.h include/g2o/apps/g2o_simulator/sensor_odometry2d.h include/g2o/apps/g2o_simulator/sensor_odometry3d.h include/g2o/apps/g2o_simulator/sensor_pointxy.h include/g2o/apps/g2o_simulator/sensor_pointxy_bearing.h include/g2o/apps/g2o_simulator/sensor_pointxy_offset.h include/g2o/apps/g2o_simulator/sensor_pointxyz.h include/g2o/apps/g2o_simulator/sensor_pointxyz_depth.h include/g2o/apps/g2o_simulator/sensor_pointxyz_disparity.h include/g2o/apps/g2o_simulator/sensor_pose2d.h include/g2o/apps/g2o_simulator/sensor_pose3d.h include/g2o/apps/g2o_simulator/sensor_pose3d_offset.h include/g2o/apps/g2o_simulator/sensor_se3_prior.h include/g2o/apps/g2o_simulator/sensor_segment2d.h include/g2o/apps/g2o_simulator/sensor_segment2d_line.h include/g2o/apps/g2o_simulator/sensor_segment2d_pointline.h include/g2o/apps/g2o_simulator/simulator.h include/g2o/apps/g2o_simulator/simulator2d.h include/g2o/apps/g2o_simulator/simulator2d_base.h include/g2o/apps/g2o_simulator/simulator3d.h include/g2o/apps/g2o_simulator/simulator3d_base.h include/g2o/apps/g2o_simulator/simutils.h include/g2o/apps/g2o_viewer/g2o_qglviewer.h include/g2o/apps/g2o_viewer/g2o_viewer_api.h include/g2o/apps/g2o_viewer/gui_hyper_graph_action.h include/g2o/apps/g2o_viewer/main_window.h include/g2o/apps/g2o_viewer/properties_widget.h include/g2o/apps/g2o_viewer/run_g2o_viewer.h include/g2o/apps/g2o_viewer/stream_redirect.h include/g2o/apps/g2o_viewer/ui_base_main_window.h include/g2o/apps/g2o_viewer/ui_base_properties_widget.h include/g2o/apps/g2o_viewer/viewer_properties_widget.h include/g2o/autodiff/LICENSE include/g2o/autodiff/array_selector.h include/g2o/autodiff/autodiff.h include/g2o/autodiff/disable_warnings.h include/g2o/autodiff/eigen.h include/g2o/autodiff/fixed_array.h include/g2o/autodiff/integer_sequence_algorithm.h include/g2o/autodiff/jet.h include/g2o/autodiff/memory.h include/g2o/autodiff/parameter_dims.h include/g2o/autodiff/reenable_warnings.h include/g2o/autodiff/types.h include/g2o/autodiff/variadic_evaluate.h include/g2o/config.h include/g2o/core/auto_differentiation.h include/g2o/core/base_binary_edge.h include/g2o/core/base_dynamic_vertex.h include/g2o/core/base_edge.h include/g2o/core/base_fixed_sized_edge.h include/g2o/core/base_fixed_sized_edge.hpp include/g2o/core/base_multi_edge.h include/g2o/core/base_unary_edge.h include/g2o/core/base_variable_sized_edge.h include/g2o/core/base_variable_sized_edge.hpp include/g2o/core/base_vertex.h include/g2o/core/base_vertex.hpp include/g2o/core/batch_stats.h include/g2o/core/block_solver.h include/g2o/core/block_solver.hpp include/g2o/core/cache.h include/g2o/core/creators.h include/g2o/core/dynamic_aligned_buffer.hpp include/g2o/core/eigen_types.h include/g2o/core/estimate_propagator.h include/g2o/core/factory.h include/g2o/core/g2o_core_api.h include/g2o/core/hyper_dijkstra.h include/g2o/core/hyper_graph.h include/g2o/core/hyper_graph_action.h include/g2o/core/io_helper.h include/g2o/core/jacobian_workspace.h include/g2o/core/linear_solver.h include/g2o/core/marginal_covariance_cholesky.h include/g2o/core/matrix_operations.h include/g2o/core/matrix_structure.h include/g2o/core/openmp_mutex.h include/g2o/core/optimizable_graph.h include/g2o/core/optimization_algorithm.h include/g2o/core/optimization_algorithm_dogleg.h include/g2o/core/optimization_algorithm_factory.h include/g2o/core/optimization_algorithm_gauss_newton.h include/g2o/core/optimization_algorithm_levenberg.h include/g2o/core/optimization_algorithm_property.h include/g2o/core/optimization_algorithm_with_hessian.h include/g2o/core/ownership.h include/g2o/core/parameter.h include/g2o/core/parameter_container.h include/g2o/core/robust_kernel.h include/g2o/core/robust_kernel_factory.h include/g2o/core/robust_kernel_impl.h include/g2o/core/solver.h include/g2o/core/sparse_block_matrix.h include/g2o/core/sparse_block_matrix.hpp include/g2o/core/sparse_block_matrix_ccs.h include/g2o/core/sparse_block_matrix_diagonal.h include/g2o/core/sparse_optimizer.h include/g2o/core/sparse_optimizer_terminate_action.h include/g2o/examples/interactive_slam/g2o_incremental/g2o_incremental_api.h include/g2o/examples/interactive_slam/g2o_incremental/graph_optimizer_sparse_incremental.h include/g2o/examples/interactive_slam/g2o_incremental/linear_solver_cholmod_online.h include/g2o/examples/interactive_slam/g2o_interactive/fast_output.h include/g2o/examples/interactive_slam/g2o_interactive/g2o_interactive_api.h include/g2o/examples/interactive_slam/g2o_interactive/g2o_slam_interface.h include/g2o/examples/interactive_slam/g2o_interactive/graph_optimizer_sparse_online.h include/g2o/examples/interactive_slam/g2o_interactive/types_slam2d_online.h include/g2o/examples/interactive_slam/g2o_interactive/types_slam3d_online.h include/g2o/examples/interactive_slam/slam_parser/interface/abstract_slam_interface.h include/g2o/examples/interactive_slam/slam_parser/interface/parser_interface.h include/g2o/examples/interactive_slam/slam_parser/interface/slam_context_interface.h include/g2o/examples/interactive_slam/slam_parser/parser/FlexLexer.h include/g2o/examples/interactive_slam/slam_parser/parser/bison_parser.h include/g2o/examples/interactive_slam/slam_parser/parser/commands.h include/g2o/examples/interactive_slam/slam_parser/parser/driver.h include/g2o/examples/interactive_slam/slam_parser/parser/location.hh include/g2o/examples/interactive_slam/slam_parser/parser/position.hh include/g2o/examples/interactive_slam/slam_parser/parser/scanner.h include/g2o/examples/interactive_slam/slam_parser/parser/slam_context.h include/g2o/solvers/cholmod/cholmod_wrapper.h include/g2o/solvers/cholmod/linear_solver_cholmod.h include/g2o/solvers/csparse/csparse_extension.h include/g2o/solvers/csparse/csparse_helper.h include/g2o/solvers/csparse/csparse_wrapper.h include/g2o/solvers/csparse/g2o_csparse_api.h include/g2o/solvers/csparse/g2o_csparse_extension_api.h include/g2o/solvers/csparse/linear_solver_csparse.h include/g2o/solvers/dense/linear_solver_dense.h include/g2o/solvers/eigen/linear_solver_eigen.h include/g2o/solvers/pcg/linear_solver_pcg.h include/g2o/solvers/pcg/linear_solver_pcg.hpp include/g2o/solvers/slam2d_linear/g2o_slam2d_linear_api.h include/g2o/solvers/slam2d_linear/solver_slam2d_linear.h include/g2o/solvers/structure_only/structure_only_solver.h include/g2o/stuff/color_macros.h include/g2o/stuff/command_args.h include/g2o/stuff/filesys_tools.h include/g2o/stuff/g2o_stuff_api.h include/g2o/stuff/logger.h include/g2o/stuff/logger_format.h include/g2o/stuff/macros.h include/g2o/stuff/misc.h include/g2o/stuff/opengl_primitives.h include/g2o/stuff/opengl_wrapper.h -include/g2o/stuff/os_specific.h include/g2o/stuff/property.h include/g2o/stuff/sampler.h include/g2o/stuff/sparse_helper.h include/g2o/stuff/string_tools.h include/g2o/stuff/tictoc.h include/g2o/stuff/timeutil.h include/g2o/stuff/tuple_tools.h include/g2o/stuff/unscented.h include/g2o/types/data/data_queue.h include/g2o/types/data/g2o_types_data_api.h include/g2o/types/data/laser_parameters.h include/g2o/types/data/raw_laser.h include/g2o/types/data/robot_data.h include/g2o/types/data/robot_laser.h include/g2o/types/data/types_data.h include/g2o/types/data/vertex_ellipse.h include/g2o/types/data/vertex_tag.h include/g2o/types/icp/g2o_types_icp_api.h include/g2o/types/icp/types_icp.h include/g2o/types/sba/edge_project_p2mc.h include/g2o/types/sba/edge_project_p2sc.h include/g2o/types/sba/edge_project_psi2uv.h include/g2o/types/sba/edge_project_stereo_xyz.h include/g2o/types/sba/edge_project_stereo_xyz_onlypose.h include/g2o/types/sba/edge_project_xyz.h include/g2o/types/sba/edge_project_xyz2uv.h include/g2o/types/sba/edge_project_xyz2uvu.h include/g2o/types/sba/edge_project_xyz_onlypose.h include/g2o/types/sba/edge_sba_cam.h include/g2o/types/sba/edge_sba_scale.h include/g2o/types/sba/edge_se3_expmap.h include/g2o/types/sba/g2o_types_sba_api.h include/g2o/types/sba/parameter_cameraparameters.h include/g2o/types/sba/sba_utils.h include/g2o/types/sba/sbacam.h include/g2o/types/sba/types_sba.h include/g2o/types/sba/types_six_dof_expmap.h include/g2o/types/sba/vertex_cam.h include/g2o/types/sba/vertex_intrinsics.h include/g2o/types/sba/vertex_se3_expmap.h include/g2o/types/sclam2d/edge_se2_odom_differential_calib.h include/g2o/types/sclam2d/edge_se2_sensor_calib.h include/g2o/types/sclam2d/g2o_types_sclam2d_api.h include/g2o/types/sclam2d/odometry_measurement.h include/g2o/types/sclam2d/types_sclam2d.h include/g2o/types/sclam2d/vertex_odom_differential_params.h include/g2o/types/sim3/sim3.h include/g2o/types/sim3/types_seven_dof_expmap.h include/g2o/types/slam2d/edge_pointxy.h include/g2o/types/slam2d/edge_se2.h include/g2o/types/slam2d/edge_se2_lotsofxy.h include/g2o/types/slam2d/edge_se2_offset.h include/g2o/types/slam2d/edge_se2_pointxy.h include/g2o/types/slam2d/edge_se2_pointxy_bearing.h include/g2o/types/slam2d/edge_se2_pointxy_calib.h include/g2o/types/slam2d/edge_se2_pointxy_offset.h include/g2o/types/slam2d/edge_se2_prior.h include/g2o/types/slam2d/edge_se2_twopointsxy.h include/g2o/types/slam2d/edge_se2_xyprior.h include/g2o/types/slam2d/edge_xy_prior.h include/g2o/types/slam2d/g2o_types_slam2d_api.h include/g2o/types/slam2d/parameter_se2_offset.h include/g2o/types/slam2d/se2.h include/g2o/types/slam2d/types_slam2d.h include/g2o/types/slam2d/vertex_point_xy.h include/g2o/types/slam2d/vertex_se2.h include/g2o/types/slam2d_addons/edge_line2d.h include/g2o/types/slam2d_addons/edge_line2d_pointxy.h include/g2o/types/slam2d_addons/edge_se2_line2d.h include/g2o/types/slam2d_addons/edge_se2_segment2d.h include/g2o/types/slam2d_addons/edge_se2_segment2d_line.h include/g2o/types/slam2d_addons/edge_se2_segment2d_pointLine.h include/g2o/types/slam2d_addons/g2o_types_slam2d_addons_api.h include/g2o/types/slam2d_addons/line_2d.h include/g2o/types/slam2d_addons/types_slam2d_addons.h include/g2o/types/slam2d_addons/vertex_line2d.h include/g2o/types/slam2d_addons/vertex_segment2d.h include/g2o/types/slam3d/dquat2mat.h include/g2o/types/slam3d/edge_pointxyz.h include/g2o/types/slam3d/edge_se3.h include/g2o/types/slam3d/edge_se3_lotsofxyz.h include/g2o/types/slam3d/edge_se3_offset.h include/g2o/types/slam3d/edge_se3_pointxyz.h include/g2o/types/slam3d/edge_se3_pointxyz_depth.h include/g2o/types/slam3d/edge_se3_pointxyz_disparity.h include/g2o/types/slam3d/edge_se3_prior.h include/g2o/types/slam3d/edge_se3_xyzprior.h include/g2o/types/slam3d/edge_xyz_prior.h include/g2o/types/slam3d/g2o_types_slam3d_api.h include/g2o/types/slam3d/isometry3d_gradients.h include/g2o/types/slam3d/isometry3d_mappings.h include/g2o/types/slam3d/parameter_camera.h include/g2o/types/slam3d/parameter_se3_offset.h include/g2o/types/slam3d/parameter_stereo_camera.h include/g2o/types/slam3d/se3_ops.h include/g2o/types/slam3d/se3_ops.hpp include/g2o/types/slam3d/se3quat.h include/g2o/types/slam3d/types_slam3d.h include/g2o/types/slam3d/vertex_pointxyz.h include/g2o/types/slam3d/vertex_se3.h include/g2o/types/slam3d_addons/edge_plane.h include/g2o/types/slam3d_addons/edge_se3_calib.h include/g2o/types/slam3d_addons/edge_se3_euler.h 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