automatic import of ros-humble-aruco-markers

1 files changed, 53 insertions, 2 deletions

diff --git a/aruco-markers.spec b/aruco-markers.spec
index 1859983..8891033 100644
--- a/aruco-markers.spec
+++ b/aruco-markers.spec
@@ -4,7 +4,7 @@
 
 Name:           ros-%{ros_distro}-%{RosPkgName}
 Version:        0.0.3
-Release:        1%{?dist}
+Release:        2%{?dist}
 Summary:        A ros2 node for detecting aruco markers in camera images
 License:        MIT
 URL:            https://github.com/namo-robotics/aruco_markers/tree/humble
@@ -16,6 +16,7 @@ Source0:        %{RosPkgName}-%{src_version}.tar.gz
 %global __requires_exclude_from ^/opt/ros/%{ros_distro}/.*$
 
 BuildRequires:  cmake
+BuildRequires:  gcc-c++
 BuildRequires:  ros-%{ros_distro}-ament-cmake
 BuildRequires:  ros-%{ros_distro}-cv-bridge
 BuildRequires:  ros-%{ros_distro}-geometry-msgs
@@ -46,12 +47,59 @@ A ros2 node for detecting aruco markers in camera images
 
 %prep
 %autosetup -n %{RosPkgName}-%{src_version}
+# openEuler opencv 4.5.2 lacks the aruco contrib module; bundle from opencv_contrib 4.5.2
+sed -i 's/find_package(OpenCV REQUIRED COMPONENTS core imgproc aruco)/find_package(OpenCV REQUIRED COMPONENTS core imgproc)/' aruco_markers/CMakeLists.txt
 
 %build
 [ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || true
 export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages${PYTHONPATH:+:$PYTHONPATH}
 export PKG_CONFIG_PATH=/opt/ros/%{ros_distro}/lib/pkgconfig${PKG_CONFIG_PATH:+:$PKG_CONFIG_PATH}
-cd aruco_markers
+
+# Build bundled opencv_contrib aruco module as static library
+# openEuler opencv 4.5.2 does not include aruco contrib (headers or library)
+ARUCO_DIR=%{_builddir}/%{RosPkgName}-%{src_version}/opencv_contrib_aruco
+ARUCO_BUILD=%{_builddir}/aruco_build
+ARUCO_INC=%{_builddir}/aruco_include
+mkdir -p "$ARUCO_BUILD" "$ARUCO_INC/opencv2/aruco"
+cd "$ARUCO_BUILD"
+g++ -c -O2 -g -fPIC -std=c++14 \
+    -I/usr/include/opencv4 \
+    -I"$ARUCO_DIR/include" \
+    -I"$ARUCO_DIR/src" \
+    "$ARUCO_DIR/src/aruco.cpp" \
+    "$ARUCO_DIR/src/dictionary.cpp" \
+    "$ARUCO_DIR/src/charuco.cpp" \
+    "$ARUCO_DIR/src/apriltag_quad_thresh.cpp" \
+    "$ARUCO_DIR/src/zmaxheap.cpp"
+ar rcs libaruco_contrib.a *.o
+rm -f *.o
+cp "$ARUCO_DIR/include/opencv2/aruco.hpp" "$ARUCO_INC/opencv2/"
+cp "$ARUCO_DIR/include/opencv2/aruco/"*.hpp "$ARUCO_INC/opencv2/aruco/"
+
+# Patch CMakeLists.txt to use bundled aruco headers and static library
+export ARUCO_INC ARUCO_DIR ARUCO_BUILD
+cd %{_builddir}/%{RosPkgName}-%{src_version}/aruco_markers
+python3 << 'PYEOF'
+import os
+inc = os.environ["ARUCO_INC"]
+src_dir = os.environ["ARUCO_DIR"] + "/src"
+lib = os.environ["ARUCO_BUILD"] + "/libaruco_contrib.a"
+with open("CMakeLists.txt") as f:
+    c = f.read()
+c = c.replace(
+    "target_link_libraries(aruco_markers_lib ${OpenCV_LIBRARIES})",
+    "target_link_libraries(aruco_markers_lib ${OpenCV_LIBRARIES} " + lib + ")\n"
+    "target_include_directories(aruco_markers_lib PUBLIC " + inc + " " + src_dir + ")"
+)
+c = c.replace(
+    "target_link_libraries(aruco_markers aruco_markers_lib ${OpenCV_LIBRARIES})",
+    "target_link_libraries(aruco_markers aruco_markers_lib ${OpenCV_LIBRARIES} " + lib + ")\n"
+    "target_include_directories(aruco_markers PUBLIC " + inc + " " + src_dir + ")"
+)
+with open("CMakeLists.txt", "w") as f:
+    f.write(c)
+PYEOF
+
 mkdir -p .obj && cd .obj
 %cmake3 \
     -DCMAKE_INSTALL_PREFIX="/opt/ros/%{ros_distro}" \
@@ -75,5 +123,8 @@ make install DESTDIR=%{buildroot}
 /opt/ros/%{ros_distro}
 
 %changelog
+* Mon Oct 12 2026 ai-importer <ai-importer@openeuler.org> - 0.0.3-2
+- Bundle opencv_contrib 4.5.2 aruco module (openEuler opencv lacks it)
+
 * Mon Oct 12 2026 ai-importer <ai-importer@openeuler.org> - 0.0.3-1
 - Initial import (ROS batch)