automatic import of rtabmap

2 files changed, 33 insertions, 5 deletions

diff --git a/fix-gtsam42-vertigo-manifold-traits.patch b/fix-gtsam42-vertigo-manifold-traits.patch
index 8d7f830..12af8dc 100644
--- a/fix-gtsam42-vertigo-manifold-traits.patch
+++ b/fix-gtsam42-vertigo-manifold-traits.patch
@@ -1,5 +1,5 @@
 diff --git a/corelib/src/optimizer/vertigo/gtsam/switchVariableLinear.h b/corelib/src/optimizer/vertigo/gtsam/switchVariableLinear.h
-index e95e0b5..5131d04 100644
+index e95e0b5..f40d4b2 100644
 --- a/corelib/src/optimizer/vertigo/gtsam/switchVariableLinear.h
 +++ b/corelib/src/optimizer/vertigo/gtsam/switchVariableLinear.h
 @@ -110,6 +110,10 @@ namespace gtsam {
@@ -13,8 +13,19 @@ index e95e0b5..5131d04 100644
    static void Print(const vertigo::SwitchVariableLinear& key, const std::string& str = "") {
      key.print(str);
    }
+@@ -118,8 +122,8 @@ template<> struct traits<vertigo::SwitchVariableLinear> {
+   }
+   static int GetDimension(const vertigo::SwitchVariableLinear & key) {return key.Dim();}
+ 
+-  typedef OptionalJacobian<3, 3> ChartJacobian;
+-  typedef gtsam::Vector TangentVector;
++  typedef OptionalJacobian<1, 1> ChartJacobian;
++  typedef Eigen::Matrix<double, 1, 1> TangentVector;
+   static TangentVector Local(const vertigo::SwitchVariableLinear& origin, const vertigo::SwitchVariableLinear& other,
+ #if GTSAM_VERSION_NUMERIC >= 40300
+       ChartJacobian Horigin = {}, ChartJacobian Hother = {}) {
 diff --git a/corelib/src/optimizer/vertigo/gtsam/switchVariableSigmoid.h b/corelib/src/optimizer/vertigo/gtsam/switchVariableSigmoid.h
-index 79e1fca..059a372 100644
+index 79e1fca..237c7cd 100644
 --- a/corelib/src/optimizer/vertigo/gtsam/switchVariableSigmoid.h
 +++ b/corelib/src/optimizer/vertigo/gtsam/switchVariableSigmoid.h
 @@ -111,6 +111,10 @@ namespace gtsam {
@@ -28,3 +39,14 @@ index 79e1fca..059a372 100644
    static void Print(const vertigo::SwitchVariableSigmoid& key, const std::string& str = "") {
      key.print(str);
    }
+@@ -119,8 +123,8 @@ template<> struct traits<vertigo::SwitchVariableSigmoid> {
+   }
+   static int GetDimension(const vertigo::SwitchVariableSigmoid & key) {return key.Dim();}
+ 
+-  typedef OptionalJacobian<3, 3> ChartJacobian;
+-  typedef gtsam::Vector TangentVector;
++  typedef OptionalJacobian<1, 1> ChartJacobian;
++  typedef Eigen::Matrix<double, 1, 1> TangentVector;
+   static TangentVector Local(const vertigo::SwitchVariableSigmoid& origin, const vertigo::SwitchVariableSigmoid& other,
+ #if GTSAM_VERSION_NUMERIC >= 40300
+ 	  ChartJacobian Horigin = {}, ChartJacobian Hother = {}) {
diff --git a/rtabmap.spec b/rtabmap.spec
index e133430..3b25100 100644
--- a/rtabmap.spec
+++ b/rtabmap.spec
@@ -11,7 +11,7 @@
 
 Name:           ros-%{ros_distro}-%{RosPkgName}
 Version:        0.22.1
-Release:        2%{?dist}%{?release_suffix}
+Release:        3%{?dist}%{?release_suffix}
 Summary:        RTAB-Map's standalone library. RTAB-Map is a RGB-D SLAM approach with real-time constraints.
 
 Url:            http://introlab.github.io/rtabmap
@@ -133,11 +133,17 @@ else echo "RPM TESTS SKIPPED"; fi
 /opt/ros/%{ros_distro}
 
 %changelog
-* Sun Apr 06 2026 openEuler ROS SIG - 0.22.1-2
+* Sun Apr 06 2026 openEuler ROS SIG <rosig@openeuler.sh> - 0.22.1-3
+- Update fix-gtsam42-vertigo-manifold-traits.patch: also fix TangentVector
+  (gtsam::Vector -> Eigen::Matrix<double,1,1>) and ChartJacobian
+  (OptionalJacobian<3,3> -> OptionalJacobian<1,1>) to match dimension=1,
+  fixing static_assert(TangentVector::SizeAtCompileTime == dim) in Manifold.h
+
+* Sun Apr 06 2026 openEuler ROS SIG <rosig@openeuler.sh> - 0.22.1-2
 - Add fix-gtsam42-vertigo-manifold-traits.patch: add missing manifold traits
   (structure_category, dimension, ManifoldType) to gtsam::traits specializations
   for vertigo::SwitchVariableLinear and vertigo::SwitchVariableSigmoid, required
   by GTSAM 4.2.0 IsManifold concept check in NoiseModel.h and Manifold.h
 
-* Wed Mar 25 2026 Mathieu Labbe matlabbe@gmail.com - 0.22.1-1
+* Wed Mar 26 2026 Mathieu Labbe <matlabbe@gmail.com> - 0.22.1-1
 - Autogenerated by ros-porting-tools