+# Copyright 1999-2015 Gentoo Foundation
+# Distributed under the terms of the GNU General Public License v2
+# $Id$
+
+EAPI=5
+
+SCM=""
+if [ "${PV#9999}" != "${PV}" ] ; then
+ SCM="git-r3"
+ EGIT_REPO_URI="https://github.com/introlab/rtabmap"
+fi
+
+inherit ${SCM} cmake-utils multilib
+
+if [ "${PV#9999}" != "${PV}" ] ; then
+ KEYWORDS=""
+ SRC_URI=""
+else
+ KEYWORDS="~amd64"
+ SRC_URI="https://github.com/introlab/rtabmap/archive/${PV}.tar.gz -> ${P}.tar.gz"
+fi
+
+DESCRIPTION="Real-Time Appearance-Based Mapping (RGB-D Graph SLAM)"
+HOMEPAGE="http://introlab.github.io/rtabmap/"
+LICENSE="BSD"
+SLOT="0"
+IUSE="ieee1394 openni2 qt4 qt5"
+
+RDEPEND="
+ media-libs/opencv:=
+ sci-libs/pcl[openni,vtk]
+ sci-libs/vtk
+ sys-libs/zlib
+ ieee1394? ( media-libs/libdc1394 )
+ openni2? ( dev-libs/OpenNI2 )
+ !qt5? (
+ qt4? (
+ dev-qt/qtgui:4
+ dev-qt/qtsvg:4
+ dev-qt/qtcore:4
+ media-libs/opencv[-qt5(-)]
+ )
+ )
+ qt5? (
+ dev-qt/qtwidgets:5
+ dev-qt/qtcore:5
+ dev-qt/qtgui:5
+ dev-qt/qtsvg:5
+ media-libs/opencv[qt5(-)]
+ )
+"
+DEPEND="${RDEPEND}
+ virtual/pkgconfig"
+
+src_configure() {
+ local mycmakeargs=(
+ "-DWITH_QT=$(usex qt4 ON "$(usex qt5 ON OFF)")"
+ "-DRTABMAP_QT_VERSION=$(usex qt5 5 4)"
+ "-DWITH_DC1394=$(usex ieee1394 ON OFF)"
+ "-DWITH_OPENNI2=$(usex openni2 ON OFF)"
+ )
+ cmake-utils_src_configure
+}