%define ros_distro humble
%define RosPkgName aruco-markers
%define src_version 0.0.3-1

Name:           ros-%{ros_distro}-%{RosPkgName}
Version:        0.0.3
Release:        5%{?dist}
Summary:        A ros2 node for detecting aruco markers in camera images
License:        MIT
URL:            https://github.com/namo-robotics/aruco_markers/tree/humble
Source0:        %{RosPkgName}-%{src_version}.tar.gz

%global debug_package %{nil}
%global __os_install_post %(echo '%{__os_install_post}' | sed -e 's!/usr/lib[^[:space:]]*/brp-python-bytecompile[[:space:]].*$!!g')
%global __provides_exclude_from ^/opt/ros/%{ros_distro}/.*$
%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
BuildRequires:  ros-%{ros_distro}-image-transport
BuildRequires:  ros-%{ros_distro}-sensor-msgs
BuildRequires:  ros-%{ros_distro}-tf2-geometry-msgs
BuildRequires:  ros-%{ros_distro}-tf2-ros
BuildRequires:  ros-%{ros_distro}-aruco-markers-msgs
BuildRequires:  opencv

Requires:       ros-%{ros_distro}-ros-workspace
Requires:       ros-%{ros_distro}-ament-cmake
Requires:       ros-%{ros_distro}-cv-bridge
Requires:       ros-%{ros_distro}-geometry-msgs
Requires:       ros-%{ros_distro}-image-transport
Requires:       ros-%{ros_distro}-sensor-msgs
Requires:       ros-%{ros_distro}-tf2-geometry-msgs
Requires:       ros-%{ros_distro}-tf2-ros
Requires:       ros-%{ros_distro}-aruco-markers-msgs
Requires:       opencv

Provides:       %{name}-devel = %{version}-%{release}
Provides:       %{name}-doc = %{version}-%{release}
Provides:       %{name}-runtime = %{version}-%{release}

%description
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
# Remove aruco component (bundled) but add calib3d (was transitively pulled by aruco)
sed -i 's/find_package(OpenCV REQUIRED COMPONENTS core imgproc aruco)/find_package(OpenCV REQUIRED COMPONENTS core imgproc calib3d)/' aruco_markers/CMakeLists.txt
# Replace catch-all <opencv2/opencv.hpp> with specific includes to prevent
# system OpenCV 4.8+ objdetect aruco headers (new API) from being pulled in
# and conflicting with bundled 4.5.x aruco (old API). Code only uses core,
# imgproc (line/putText/FONT_HERSHEY_SIMPLEX) and calib3d (Rodrigues/projectPoints).
sed -i 's|#include <opencv2/opencv.hpp>|#include <opencv2/core.hpp>\n#include <opencv2/imgproc.hpp>\n#include <opencv2/calib3d.hpp>|' aruco_markers/include/aruco_markers/aruco_markers.hpp

%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}

# Build bundled opencv_contrib aruco module as static library
# openEuler opencv 4.8+ has aruco in mainline with new API that shadows bundled
# old API 4.5.x headers; put bundled include path FIRST to avoid shadowing.
# Skip charuco.cpp: project does not use CharucoBoard, and it uses old API
# (CharucoBoard::create/ids/chessboardCorners/draw) incompatible with system core.
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 "$ARUCO_BUILD"
g++ -c -O2 -g -fPIC -std=c++14 \
    -I"$ARUCO_DIR/include" \
    -I"$ARUCO_DIR/src" \
    -I/usr/include/opencv4 \
    "$ARUCO_DIR/src/aruco.cpp" \
    "$ARUCO_DIR/src/dictionary.cpp" \
    "$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/"

# Mask system OpenCV 4.8+ objdetect aruco headers (new API) to prevent
# conflict with bundled 4.5.x aruco (old API). opencv2/opencv.hpp (included
# transitively by cv_bridge etc.) pulls in objdetect/aruco_detector.hpp etc.
# which define cv::aruco::* types with new API that clash with bundled old API.
# Emptying them lets bundled aruco.hpp be the sole definition source.
for f in /usr/include/opencv4/opencv2/objdetect/aruco_detector.hpp \
         /usr/include/opencv4/opencv2/objdetect/aruco_dictionary.hpp \
         /usr/include/opencv4/opencv2/objdetect/aruco_board.hpp \
         /usr/include/opencv4/opencv2/objdetect/charuco_detector.hpp; do
  [ -f "$f" ] && cp "$f" "$f.bak" && echo "// masked: using bundled aruco 4.5.x" > "$f" || true
done

# Patch CMakeLists.txt to use bundled aruco headers and static library
# BEFORE keyword ensures bundled include path takes precedence over system OpenCV
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 BEFORE 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 BEFORE 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}" \
    -DAMENT_PREFIX_PATH="/opt/ros/%{ros_distro}" \
    -DCMAKE_PREFIX_PATH="/opt/ros/%{ros_distro}" \
    -UINCLUDE_INSTALL_DIR -ULIB_INSTALL_DIR -USYSCONF_INSTALL_DIR -USHARE_INSTALL_PREFIX -ULIB_SUFFIX \
    -DSETUPTOOLS_DEB_LAYOUT=OFF \
    -DBUILD_TESTING=OFF -DTESTING=OFF -DCMAKE_SUPPRESS_REGENERATION=ON \
    ..
make %{?_smp_mflags}

%install
[ -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
cd .obj
make install DESTDIR=%{buildroot}

%files
/opt/ros/%{ros_distro}

%changelog
* Mon Oct 12 2026 ai-importer <ai-importer@openeuler.org> - 0.0.3-5
- Add calib3d to find_package(OpenCV COMPONENTS) to resolve linker errors
  (projectPoints/solvePnP/calibrateCamera/Rodrigues/drawFrameAxes/undistortPoints/findHomography)
  caused by removing aruco component which transitively pulled calib3d

* Mon Oct 12 2026 ai-importer <ai-importer@openeuler.org> - 0.0.3-4
- Replace catch-all <opencv2/opencv.hpp> with specific includes (core/imgproc/calib3d)
- Mask system objdetect/aruco_*.hpp headers to prevent new/old API conflict

* Mon Oct 12 2026 ai-importer <ai-importer@openeuler.org> - 0.0.3-3
- Fix include path ordering: bundled aruco headers before system OpenCV
- Skip charuco.cpp compilation (project does not use CharucoBoard)
- Add BEFORE keyword to cmake target_include_directories

* 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)