From 6f78b9574e29d3e3f766370903fcea01491f79b0 Mon Sep 17 00:00:00 2001
From: marius david <marius@mariusdavid.fr>
Date: Sat, 7 Dec 2024 16:56:45 +0100
Subject: [PATCH 1/2] zed-open-capture: init at unstable-2023-24-19

---
 pkgs/by-name/ze/zed-open-capture/package.nix | 47 ++++++++++++++++++++
 1 file changed, 47 insertions(+)
 create mode 100644 pkgs/by-name/ze/zed-open-capture/package.nix

diff --git a/pkgs/by-name/ze/zed-open-capture/package.nix b/pkgs/by-name/ze/zed-open-capture/package.nix
new file mode 100644
index 000000000000..648424d47443
--- /dev/null
+++ b/pkgs/by-name/ze/zed-open-capture/package.nix
@@ -0,0 +1,47 @@
+{
+  lib,
+  stdenv,
+  libusb1,
+  hidapi,
+  opencv,
+  cmake,
+  pkg-config,
+  fetchFromGitHub,
+  withExamples ? false,
+}:
+
+stdenv.mkDerivation {
+  pname = "zed-open-capture";
+  version = "0.5.0-unstable-2023-24-19";
+
+  src = fetchFromGitHub {
+    owner = "stereolabs";
+    repo = "zed-open-capture";
+    rev = "5cf66ff777175776451b9b59ecc6231d730fa202";
+    sha256 = "sha256-ZjgJkCRbvLT7jjOcA8REiEpTg0Jh57du2aMwRk/OKLI=";
+  };
+
+  buildInputs = [
+    libusb1
+    hidapi
+    opencv
+  ];
+
+  nativeBuildInputs = [
+    cmake
+    pkg-config
+  ];
+
+  # all but one example require opencv with UI support, so disable it.
+  # The input OpenCV can be overriden with (opencv.override { enableGtk3 = true; })
+  cmakeFlags = lib.optionals (!withExamples) [
+    "-DBUILD_EXAMPLES=OFF"
+  ];
+
+  meta = with lib; {
+    description = "Platform-agnostic camera and sensor capture API for the ZED 2, ZED 2i, and ZED Mini stereo cameras";
+    homepage = "https://github.com/stereolabs/zed-open-capture";
+    license = licenses.mit;
+    maintainers = with maintainers; [ marius851000 ];
+  };
+}

From e7f4622dae8bbdda34cd0f6952b39693db47d1d7 Mon Sep 17 00:00:00 2001
From: marius david <marius@mariusdavid.fr>
Date: Sat, 7 Dec 2024 16:57:33 +0100
Subject: [PATCH 2/2] rtabmap: make use of zed-open-capture

---
 pkgs/applications/video/rtabmap/default.nix | 58 ++++++++++++---------
 1 file changed, 34 insertions(+), 24 deletions(-)

diff --git a/pkgs/applications/video/rtabmap/default.nix b/pkgs/applications/video/rtabmap/default.nix
index 6565a4097587..45818f48166e 100644
--- a/pkgs/applications/video/rtabmap/default.nix
+++ b/pkgs/applications/video/rtabmap/default.nix
@@ -1,25 +1,28 @@
-{ lib
-, stdenv
-, fetchFromGitHub
-, pkg-config
-, cmake
-, opencv
-, pcl
-, libusb1
-, eigen
-, wrapQtAppsHook
-, qtbase
-, g2o
-, ceres-solver
-, octomap
-, freenect
-, libdc1394
-, libGL
-, libGLU
-, vtkWithQt5
-, wrapGAppsHook3
-, liblapack
-, xorg
+{
+  lib,
+  stdenv,
+  fetchFromGitHub,
+  pkg-config,
+  cmake,
+  opencv,
+  pcl,
+  libusb1,
+  eigen,
+  wrapQtAppsHook,
+  qtbase,
+  g2o,
+  ceres-solver,
+  zed-open-capture,
+  hidapi,
+  octomap,
+  freenect,
+  libdc1394,
+  libGL,
+  libGLU,
+  vtkWithQt5,
+  wrapGAppsHook3,
+  liblapack,
+  xorg,
 }:
 
 stdenv.mkDerivation rec {
@@ -33,7 +36,12 @@ stdenv.mkDerivation rec {
     hash = "sha256-y/p1uFSxVQNXO383DLGCg4eWW7iu1esqpWlyPMF3huk=";
   };
 
-  nativeBuildInputs = [ cmake pkg-config wrapQtAppsHook wrapGAppsHook3 ];
+  nativeBuildInputs = [
+    cmake
+    pkg-config
+    wrapQtAppsHook
+    wrapGAppsHook3
+  ];
   buildInputs = [
     ## Required
     opencv
@@ -57,6 +65,8 @@ stdenv.mkDerivation rec {
     libGL
     libGLU
     vtkWithQt5
+    zed-open-capture
+    hidapi
   ];
 
   # Disable warnings that are irrelevant to us as packagers
@@ -66,7 +76,7 @@ stdenv.mkDerivation rec {
     description = "Real-Time Appearance-Based 3D Mapping";
     homepage = "https://introlab.github.io/rtabmap/";
     license = licenses.bsd3;
-    maintainers = [ ];
+    maintainers = with maintainers; [ marius851000 ];
     platforms = with platforms; linux;
   };
 }