From c85caef30229840ce59d6191bd48e5bf7209d8b7 Mon Sep 17 00:00:00 2001
From: CoprDistGit <infra@openeuler.org>
Date: Wed, 21 Oct 2026 04:28:36 +0000
Subject: automatic import of ros-humble-nebula-hesai-decoders

---
 nebula-hesai-decoders.spec | 27 ++++++++++++++++++++++++++-
 1 file changed, 26 insertions(+), 1 deletion(-)

diff --git a/nebula-hesai-decoders.spec b/nebula-hesai-decoders.spec
index f84c7d8..be3a357 100644
--- a/nebula-hesai-decoders.spec
+++ b/nebula-hesai-decoders.spec
@@ -71,6 +71,20 @@ nebula_hesai_decoders colcon 子包；monorepo 其余 colcon 包由各自独立
 # -a1：额外解压 Source1（png++ vendor 源码）到 Source0 目录
 %autosetup -n %{RosPkgName}-%{src_version} -a1
 
+# 上游 bug 修补：已装 sibling 包 nebula-core-decoders 的头文件 downsample_mask.hpp
+# 误用 Eigen::MatrixX<uint8_t>，但 Eigen 并无 MatrixX 模板（仅有 MatrixXf/MatrixXi
+# 等具体 typedef），编译报 'MatrixX' does not name a template type。该头文件 header-only，
+# sibling 包自身构建未实例化故未暴露；本包 hesai_decoder.hpp:18 包含它，且
+# hesai_decoder.hpp:93 用 std::optional<DownsampleMaskFilter> 触发完整类型实例化才报错。
+# mockbuild 无权改写 /opt/ros/humble/include 下已装头文件，故建影子 include 目录放
+# sed 修补副本，经 CXXFLAGS -I 优先于 -isystem /opt/ros/humble/include 命中本修补版。
+mkdir -p %{_builddir}/patch-include/nebula_core_decoders/point_filters
+cp src/nebula_core/nebula_core_decoders/include/nebula_core_decoders/point_filters/downsample_mask.hpp \
+   %{_builddir}/patch-include/nebula_core_decoders/point_filters/
+# Eigen::MatrixX<uint8_t> → Eigen::Matrix<uint8_t, Dynamic, Dynamic>（动态矩阵标准写法）
+sed -i 's/Eigen::MatrixX<uint8_t>/Eigen::Matrix<uint8_t, Eigen::Dynamic, Eigen::Dynamic>/g' \
+   %{_builddir}/patch-include/nebula_core_decoders/point_filters/downsample_mask.hpp
+
 %build
 # ROS 基座环境（§4：setup.sh 可能不存在，用 [ -f ] 守卫）
 [ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || true
@@ -85,7 +99,9 @@ export PKG_CONFIG_PATH=/opt/ros/%{ros_distro}/lib/pkgconfig${PKG_CONFIG_PATH:+:$
 # #include <png++/...> 解析
 install -d %{_builddir}/pngpp-include/png++
 install -p -m 0644 png++-0.2.10/*.hpp %{_builddir}/pngpp-include/png++/
-export CXXFLAGS="%{optflags} -I%{_builddir}/pngpp-include"
+# patch-include：downsample_mask.hpp 修补影子目录（见 %prep），-I 优先于
+# -isystem /opt/ros/humble/include 命中修补版，规避已装 sibling 头文件的 Eigen::MatrixX bug
+export CXXFLAGS="%{optflags} -I%{_builddir}/patch-include -I%{_builddir}/pngpp-include"
 
 # monorepo 子包构建：进入目标 colcon 包目录（§5 ament_cmake 显式 out-of-source，规避 openEuler cmake 宏的默认位置参数）
 cd src/nebula_hesai/nebula_hesai_decoders
@@ -121,6 +137,15 @@ make install DESTDIR=%{buildroot}
 %{_licensedir}/%{name}-bundled-pngpp/
 
 %changelog
+* Wed Oct 21 2026 ai-importer <ai-importer@openeuler.org> - 1.3.1-1
+- 修复 build 阶段（round 4）：downsample_mask.hpp 上游误用 Eigen::MatrixX<uint8_t>
+  （Eigen 无 MatrixX 模板，仅 MatrixXf/MatrixXi 等具体 typedef），sed 改为
+  Eigen::Matrix<uint8_t, Dynamic, Dynamic>；sibling 包 nebula-core-decoders 的该
+  header-only 头文件未实例化故自身构建未暴露，本包 hesai_decoder.hpp 经
+  std::optional<DownsampleMaskFilter> 实例化才触发；mockbuild 无权改写
+  /opt/ros/humble/include 已装头文件，故建 patch-include 影子目录放修补副本，
+  经 CXXFLAGS -I 优先于 -isystem /opt/ros/humble/include 命中
+
 * Wed Oct 21 2026 ai-importer <ai-importer@openeuler.org> - 1.3.1-1
 - Initial import (ROS batch)
 - 源自 tier4/nebula monorepo，commit 8be1ed775b02985eadafe39b00e0e4fc944114e2
-- 
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