0002-Create-debian-directory-to-enable-building-Debian-pa.patch

From be94e67e036f7cf483edddca0a2636f69606871b Mon Sep 17 00:00:00 2001
From: Jeremy Ouillette <jeremy.ouillette@intel.com>
Date: Wed, 18 Jun 2025 20:15:18 -0700
Subject: [PATCH 2/3] Create debian directory to enable building Debian package.

---
 debian/changelog                |  5 +++
 debian/compat                   |  1 +
 debian/control                  | 30 ++++++++++++++
 debian/liborb-slam3-dev.install |  1 +
 debian/liborb-slam3.install     |  1 +
 debian/orb-slam3.install        |  1 +
 debian/rules                    | 73 +++++++++++++++++++++++++++++++++
 debian/source/format            |  1 +
 8 files changed, 113 insertions(+)
 create mode 100644 debian/changelog
 create mode 100644 debian/compat
 create mode 100644 debian/control
 create mode 100644 debian/liborb-slam3-dev.install
 create mode 100644 debian/liborb-slam3.install
 create mode 100644 debian/orb-slam3.install
 create mode 100755 debian/rules
 create mode 100644 debian/source/format

diff --git a/debian/changelog b/debian/changelog
new file mode 100644
index 0000000..66899b3
--- /dev/null
+++ b/debian/changelog
@@ -0,0 +1,5 @@
+orb-slam3 (1.0-1) UNRELEASED; urgency=low
+
+  * Initial release
+
+ -- ECI Maintainer <eci.maintainer@intel.com>  Wed, 19 Feb 2025 00:00:00 +0000
diff --git a/debian/compat b/debian/compat
new file mode 100644
index 0000000..9d60796
--- /dev/null
+++ b/debian/compat
@@ -0,0 +1 @@
+11
\ No newline at end of file
diff --git a/debian/control b/debian/control
new file mode 100644
index 0000000..9bd7b48
--- /dev/null
+++ b/debian/control
@@ -0,0 +1,30 @@
+Source: orb-slam3
+Section: utils
+Priority: optional
+Maintainer: ECI Maintainer <eci.maintainer@intel.com>
+Build-Depends: debhelper (>= 12), cmake (>= 3.10), g++ (>= 8), libpangolin-dev, libopencv-dev, libeigen3-dev, libboost-all-dev, libopengl-dev, libsdl2-dev, libssl-dev, libprotobuf-dev, librealsense2-dev, libepoxy-dev, python3-wheel
+Standards-Version: 4.1.4
+
+Package: orb-slam3
+Architecture: any
+Multi-Arch: foreign
+Depends: liborb-slam3 (= ${binary:Version}), ${misc:Depends}
+Description: ORB-SLAM3: A robust and efficient SLAM system
+ ORB-SLAM3 is a state-of-the-art Visual SLAM system for monocular, stereo, and RGB-D cameras, along with inertial 
+ measurement units (IMU). It builds and maintains a 3D map of the environment using various sensor inputs and performs 
+ real-time localization and mapping.
+
+Package: liborb-slam3
+Architecture: any
+Multi-Arch: foreign
+Depends: ${misc:Depends}, ${shlibs:Depends}, libpangolin
+Description: ORB-SLAM3: A robust and efficient SLAM system
+ ORB-SLAM3 is a state-of-the-art Visual SLAM system for monocular, stereo, and RGB-D cameras, along with inertial 
+ measurement units (IMU). It builds and maintains a 3D map of the environment using various sensor inputs and performs 
+ real-time localization and mapping.
+
+Package: liborb-slam3-dev
+Section: libdevel
+Architecture: any
+Depends: liborb-slam3 (= ${binary:Version}), ${misc:Depends}
+Description: ORB SLAM3 development headers
diff --git a/debian/liborb-slam3-dev.install b/debian/liborb-slam3-dev.install
new file mode 100644
index 0000000..67d7936
--- /dev/null
+++ b/debian/liborb-slam3-dev.install
@@ -0,0 +1 @@
+/usr/include/*
diff --git a/debian/liborb-slam3.install b/debian/liborb-slam3.install
new file mode 100644
index 0000000..f5b1d25
--- /dev/null
+++ b/debian/liborb-slam3.install
@@ -0,0 +1 @@
+/usr/lib/*
diff --git a/debian/orb-slam3.install b/debian/orb-slam3.install
new file mode 100644
index 0000000..4d147b0
--- /dev/null
+++ b/debian/orb-slam3.install
@@ -0,0 +1 @@
+/opt/intel/orb-slam3/*
diff --git a/debian/rules b/debian/rules
new file mode 100755
index 0000000..9b52513
--- /dev/null
+++ b/debian/rules
@@ -0,0 +1,73 @@
+#!/usr/bin/make -f
+
+export DH_VERBOSE = 1
+export DEB_BUILD_MAINT_OPTIONS = hardening=+all
+export DEB_HOST_MULTIARCH := $(shell dpkg-architecture -qDEB_HOST_MULTIARCH)
+export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH
+
+BUILD_DIR_DBOW2=$(CURDIR)/build_dbow2
+BUILD_DIR_G2O=$(CURDIR)/build_g2o
+BUILD_DIR_SOPHUS=$(CURDIR)/build_sophus
+
+%:
+	dh $@ --parallel
+
+# Override the default configure step to include custom third-party library builds
+override_dh_auto_configure:
+# Building Thirdparty dependencies (DBoW2, g2o, Sophus) and run build script
+	dh_auto_configure \
+		-O--sourcedir=$(CURDIR)/Thirdparty/DBoW2/ \
+		--builddir=$(BUILD_DIR_DBOW2) -- \
+		-DBOW2_STATIC=1
+	dh_auto_configure \
+		-O--sourcedir=$(CURDIR)/Thirdparty/g2o/ \
+		--builddir=$(BUILD_DIR_G2O) -- \
+		-DG2O_STATIC=1
+	dh_auto_configure \
+		-O--sourcedir=$(CURDIR)/Thirdparty/Sophus/ \
+		--builddir=$(BUILD_DIR_SOPHUS)
+	dh_auto_configure -- -DLINK_LIBRARY_STATIC=1
+
+# Override the default build step to include custom third-party library builds
+override_dh_auto_build:
+	dh_auto_build \
+		-O--sourcedir=$(CURDIR)/Thirdparty/DBoW2/ \
+		--builddir=$(BUILD_DIR_DBOW2) -- && \
+	dh_auto_build \
+		-O--sourcedir=$(CURDIR)/Thirdparty/g2o/ \
+		--builddir=$(BUILD_DIR_G2O) -- && \
+	dh_auto_build \
+		-O--sourcedir=$(CURDIR)/Thirdparty/Sophus/ \
+		--builddir=$(BUILD_DIR_SOPHUS) -- && \
+	dh_auto_build
+
+override_dh_shlibdeps:
+	dh_shlibdeps --dpkg-shlibdeps-params=--ignore-missing-info
+
+# Override the default install step to handle custom installation paths and files
+override_dh_install:
+# Install libraries and headers
+	install -d $(CURDIR)/debian/tmp/usr/lib/$(DEB_HOST_MULTIARCH)
+	install -d $(CURDIR)/debian/tmp/usr/include/orb-slam3
+	install -d $(CURDIR)/debian/tmp/opt/intel/orb-slam3/Vocabulary
+	install -d $(CURDIR)/debian/tmp/opt/intel/orb-slam3/Examples
+	install -m 0755 lib/libORB_SLAM3.so $(CURDIR)/debian/tmp/usr/lib/$(DEB_HOST_MULTIARCH)
+	cp -r include/* $(CURDIR)/debian/tmp/usr/include/orb-slam3
+
+	tar xf Vocabulary/ORBvoc.txt.tar.gz -C Vocabulary
+	cp Vocabulary/ORBvoc.txt $(CURDIR)/debian/tmp/opt/intel/orb-slam3/Vocabulary
+	cp -r Examples/* $(CURDIR)/debian/tmp/opt/intel/orb-slam3/Examples
+	find $(CURDIR)/debian/tmp/opt/intel/orb-slam3 -name "*.cc" | xargs rm
+	find $(CURDIR)/debian/tmp/opt/intel/orb-slam3/Examples/ -name "TUM_TimeStamps" | xargs rm -rf
+	find $(CURDIR)/debian/tmp/opt/intel/orb-slam3/Examples/ -name "TUM_IMU" | xargs rm -rf
+	rm -r $(CURDIR)/debian/tmp/opt/intel/orb-slam3/Examples/Monocular-Inertial/EuRoC_TimeStamps
+	rm -r $(CURDIR)/debian/tmp/opt/intel/orb-slam3/Examples/Monocular-Inertial/EuRoC_IMU
+	dh_install --
+
+# Clean up any temporary files that were generated during the build
+override_dh_clean:
+# Perform cleanup after the build
+	dh_clean
+
+override_dh_auto_test:
+	true
diff --git a/debian/source/format b/debian/source/format
new file mode 100644
index 0000000..9f8e9b6
--- /dev/null
+++ b/debian/source/format
@@ -0,0 +1 @@
+1.0
\ No newline at end of file
-- 
2.30.2