{
  "name": "rtabmap",
  "version-string": "latest",
  "$baseline_comment": [
    "`builtin-baseline` pins the vcpkg *registry snapshot* (a commit in the vcpkg repo).",
    "Currently matching gtsam's vcpkg version.",
    "Current commit is from 2026-01-16."
  ],
  "builtin-baseline": "66c0373dc7fca549e5803087b9487edfe3aca0a1",
  "description": "Real-Time Appearance-Based Mapping",
  "homepage": "https://introlab.github.io/rtabmap/",
  "license": null,
  "dependencies": [
    "boost-crc",
    "ceres",
    "g2o",
    {
      "name": "opencv",
      "default-features": false,
      "features": [
        "fs",
        "intrinsics",
        "thread"
      ]
    },
    {
      "name": "pcl",
      "default-features": false
    },
    {
      "name": "rtabmap-res-tool",
      "host": true
    },
    "sqlite3",
    {
      "name": "vcpkg-cmake",
      "host": true
    },
    {
      "name": "vcpkg-cmake-config",
      "host": true
    },
    "zlib"
  ],
  "default-features": [
    "gui",
    "opencv-contrib",
    "opencv-nonfree",
    {
      "name": "openmp",
      "platform": "!osx"
    },
    {
      "name": "tbb",
      "platform": "!osx"
    }
  ],
  "features": {
    "gtsam-deps": {
      "description": "Build GTSAM's dependencies (based on official vcpkg.json file in gtsam repo). Removed pybind11 and mkl.",
      "dependencies": [
        "tbb",
        "geographiclib",
        "eigen3",
        "boost-concept-check",
        "boost-fusion",
        "boost-graph",
        "boost-move",
        "boost-optional",
        "boost-phoenix",
        "boost-pool",
        "boost-program-options",
        "boost-random",
        "boost-range",
        "boost-serialization",
        "boost-smart-ptr",
        "boost-spirit",
        "boost-timer",
        "boost-tokenizer",
        "boost-type-traits"
      ]
    },
    "gui": {
      "description": "Build RTAB-Map with GUI support (Qt)",
      "dependencies": [
        {
          "name": "pcl",
          "default-features": false,
          "features": [
            "qt",
            "visualization"
          ]
        },
        {
          "name": "qtbase",
          "default-features": false,
          "features": [
            "gui",
            "opengl",
            "widgets",
			"png"
          ]
        },
        {
          "name": "vtk",
          "default-features": false
        }
      ]
    },
    "k4w2": {
      "description": "Build RTAB-Map with Kinect For Windows SDK 2.0 camera driver",
      "dependencies": [
        "kinectsdk2"
      ]
    },
    "libfreenect2-deps": {
      "description": "Build libfreenect2's dependencies",
      "dependencies": [
        "libusb",
        "libjpeg-turbo",
        "glfw3",
        {
          "name": "pkgconf",
          "host": true
        }
      ]
    },
    "libpointmatcher-deps": {
      "description": "Build libpointmatcher's dependencies",
      "dependencies": [
        "boost-assign",
        "boost-format",
        "boost-program-options",
        "boost-timer"
      ]
    },
    "octomap": {
      "description": "Build RTAB-Map with OctoMap support",
      "dependencies": [
        "octomap"
      ]
    },
    "opencv-contrib": {
      "description": "Use OpenCV with contrib modules (e.g., xfeatures2d, aruco)",
      "dependencies": [
        {
          "name": "opencv",
          "default-features": false,
          "features": [
            "contrib",
            "fs",
            "intrinsics",
            "thread"
          ]
        }
      ]
    },
    "opencv-cuda": {
      "description": "Use OpenCV with CUDA (accelerated SIFT ad SURF GPU options)",
      "dependencies": [
        {
          "name": "opencv",
          "default-features": false,
          "features": [
            "cuda",
            "fs",
            "intrinsics",
            "thread"
          ]
        }
      ]
    },
    "opencv-nonfree": {
      "description": "Use OpenCV with nonfree module (surf feature)",
      "dependencies": [
        {
          "name": "opencv",
          "default-features": false,
          "features": [
            "fs",
            "intrinsics",
            "nonfree",
            "thread"
          ]
        }
      ]
    },
    "python": {
      "description": "Build RTAB-Map with python support",
      "dependencies": [
        "pybind11"
      ]
    },
    "tbb": {
      "description": "Include TBB (for opencv and gtsam-deps)",
      "dependencies": [
        "tbb",
        {
          "name": "opencv",
          "default-features": false,
          "features": [
            "fs",
            "intrinsics",
            "tbb",
            "thread"
          ]
        }
      ]
    },
    "openmp": {
      "description": "Enable OpenMP parallel execution"
    },
    "openni2": {
      "description": "Build RTAB-Map with OpenNI2 camera driver",
      "dependencies": [
        "kinectsdk1",
        "openni2"
      ]
    },
    "realsense2": {
      "description": "Build RTAB-Map with RealSense2 camera driver",
      "dependencies": [
        {
          "name": "realsense2",
          "default-features": false
        }
      ]
    },
    "tools": {
      "description": "Build RTAB-Map's tools",
      "dependencies": [
        "yaml-cpp"
      ]
    }
  }
}