diff --git a/jafar-rtslam/Makefile b/jafar-rtslam/Makefile
index 484d71e06a8a3cacecf3720fef5e92e2f0503797..c71376f3fc49891ac10a5ac3a845fff22780513f 100644
--- a/jafar-rtslam/Makefile
+++ b/jafar-rtslam/Makefile
@@ -1,74 +1,81 @@
-VERSION= 0.1
-DISTNAME= jafar-rtslam-${VERSION}
-PKGNAME= jafar-rtslam-${VERSION}
+# robotpkg Makefile for: wip/jafar-rtslam
+# Created: Cyril Roussillon on Wed, 15 Jun 2011
+#
+
+JAFAR_PKG= rtslam-0.2
CATEGORIES= wip
-MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=jafar-rtslam/}
-MAINTAINER= jafar@laas.fr
-HOMEPAGE= https://intranet.laas.fr/intranet/robots/wiki/Jafar
-COMMENT= Jafar module to do fast and generic EKF Slam.
-LICENSE= isc
+JAFAR_COMMENT= Jafar module to do fast and generic EKF Slam.
-USE_LANGUAGES+= c c++ fortran
-USE_PKGLOCALEDIR= yes
+include ../../meta-pkgs/jafar/Makefile.common
-CMAKE_ARGS+= -DBOOST_ROOT=${PREFIX.boost-headers}
-CMAKE_ARGS+= -DCMAKE_MODULE_PATH=.
+PKG_SUPPORTED_OPTIONS+= qdisplay
+PKG_OPTION_DESCR.qdisplay= Enable jafar module qdisplay support.
+define PKG_OPTION_SET.qdisplay
+ CMAKE_ARGS+= -DHAVE_MODULE_QDISPLAY=ON
+ CMAKE_ARGS+= -DHAVE_QT4=ON
-# because the package generation is buggy, it declares JAFAR_NDEBUG instead
-CPPFLAGS += -DJFR_NDEBUG
-CXXFLAGS += -pthread
+ include ../../mk/sysdep/qt4-libs.mk
+ include ../../wip/jafar-qdisplay/depend.mk
+endef
+define PKG_OPTION_UNSET.qdisplay
+ CMAKE_ARGS+= -DHAVE_MODULE_QDISPLAY=OFF
+ CMAKE_ARGS+= -DHAVE_QT4=OFF
+endef
-PKG_SUPPORTED_OPTIONS+= posterlib
-PKG_OPTION_DESCR.posterlib= Enable posterLib support.
-define PKG_OPTION_SET.posterlib
- CMAKE_ARGS+= -DHAVE_POSTERLIB=ON
- CPPFLAGS+= -DHAVE_POSTERLIB
- include ../../middleware/pocolibs/depend.mk
+PKG_SUPPORTED_OPTIONS+= gdhe
+PKG_OPTION_DESCR.gdhe= Enable jafar module gdhe support.
+define PKG_OPTION_SET.gdhe
+ CMAKE_ARGS+= -DHAVE_MODULE_GDHE=ON
+ include ../../wip/jafar-gdhe/depend.mk
endef
-define PKG_OPTION_UNSET.posterlib
- CMAKE_ARGS+= -DHAVE_POSTERLIB=OFF
+define PKG_OPTION_UNSET.gdhe
+ CMAKE_ARGS+= -DHAVE_MODULE_GDHE=OFF
+endef
+
+PKG_SUPPORTED_OPTIONS+= dseg
+PKG_OPTION_DESCR.dseg= Enable jafar module dseg support.
+define PKG_OPTION_SET.dseg
+ CMAKE_ARGS+= -DHAVE_MODULE_DSEG=ON
+ include ../../wip/jafar-dseg/depend.mk
+endef
+define PKG_OPTION_UNSET.dseg
+ CMAKE_ARGS+= -DHAVE_MODULE_DSEG=OFF
endef
+
PKG_SUPPORTED_OPTIONS+= viam
PKG_OPTION_DESCR.viam= Enable viam support.
define PKG_OPTION_SET.viam
CMAKE_ARGS+= -DHAVE_VIAM=ON
- CPPFLAGS+= -DHAVE_VIAM
include ../../image/viam-libs/depend.mk
- REQD_BUILD_OPTIONS.viam-libs+=opencv
- include ../../image/opencv/depend.mk
endef
define PKG_OPTION_UNSET.viam
CMAKE_ARGS+= -DHAVE_VIAM=OFF
endef
-
-PKG_SUPPORTED_OPTIONS+= dseg
-PKG_OPTION_DESCR.dseg= Enable jafar module dseg support for segments
-define PKG_OPTION_SET.dseg
- CPPFLAGS+= -DHAVE_MODULE_DSEG
- include ../../wip/jafar-dseg/depend.mk
+PKG_SUPPORTED_OPTIONS+= MTI
+PKG_OPTION_DESCR.MTI= Enable MTI support.
+define PKG_OPTION_SET.MTI
+ CMAKE_ARGS+= -DHAVE_MTI=ON
+ include ../../hardware/MTI/depend.mk
+endef
+define PKG_OPTION_UNSET.MTI
+ CMAKE_ARGS+= -DHAVE_MTI=OFF
endef
-CMAKE_ARGS+= -DHAVE_MTI=ON
-
-CPPFLAGS+= -DHAVE_MODULE_QDISPLAY
-CPPFLAGS+= -DHAVE_MTI
-CPPFLAGS+= -DHAVE_MODULE_GDHE
-
-DEPEND_ABI.MTI= MTI>=0.5
+PKG_SUPPORTED_OPTIONS+= posterLib
+PKG_OPTION_DESCR.posterLib= Enable posterLib support.
+define PKG_OPTION_SET.posterLib
+ CMAKE_ARGS+= -DHAVE_POSTERLIB=ON
+ include ../../middleware/pocolibs/depend.mk
+endef
+define PKG_OPTION_UNSET.posterLib
+ CMAKE_ARGS+= -DHAVE_POSTERLIB=OFF
+endef
-include ../../image/jafar-correl/depend.mk
-include ../../wip/jafar-gdhe/depend.mk
+include ../../devel/jafar-kernel/depend.mk
include ../../image/jafar-image/depend.mk
include ../../math/jafar-jmath/depend.mk
-include ../../devel/jafar-kernel/depend.mk
-include ../../wip/jafar-qdisplay/depend.mk
+include ../../image/jafar-correl/depend.mk
-include ../../devel/boost-headers/depend.mk
-include ../../devel/boost-libs/depend.mk
-include ../../hardware/MTI/depend.mk
-include ../../pkgtools/libtool/depend.mk
-include ../../pkgtools/pkg-config/depend.mk
-include ../../mk/sysdep/cmake.mk
include ../../mk/robotpkg.mk
diff --git a/jafar-rtslam/PLIST b/jafar-rtslam/PLIST
index 880ba67c8b1f9e8d73d2983a3dd3c1effa2057fc..4733496295afc0bb695a3138c03f6f5f3a3fe59e 100644
--- a/jafar-rtslam/PLIST
+++ b/jafar-rtslam/PLIST
@@ -1,146 +1,96 @@
-@comment Sun Jun 19 01:14:33 CEST 2011
+@comment Fri Dec 14 12:05:08 CET 2012
include/jafar/rtslam/activeSearch.hpp
-include/jafar/rtslam/activeSearch.hpp~
include/jafar/rtslam/activeSegmentSearch.hpp
include/jafar/rtslam/ahpTools.hpp
-include/jafar/rtslam/ahpTools.hpp~
include/jafar/rtslam/ahplTools.hpp
include/jafar/rtslam/appearanceAbstract.hpp
include/jafar/rtslam/appearanceImage.hpp
-include/jafar/rtslam/appearanceImage.hpp~
include/jafar/rtslam/appearanceSegment.hpp
include/jafar/rtslam/dataManagerAbstract.hpp
include/jafar/rtslam/dataManagerActiveSearch.hpp
-include/jafar/rtslam/dataManagerActiveSearch.hpp~
include/jafar/rtslam/dataManagerActiveSearch.impl.hpp
-include/jafar/rtslam/dataManagerActiveSearch.impl.hpp~
include/jafar/rtslam/dataManagerOnePointRansac.hpp
-include/jafar/rtslam/dataManagerOnePointRansac.hpp~
include/jafar/rtslam/dataManagerOnePointRansac.impl.hpp
-include/jafar/rtslam/dataManagerOnePointRansac.impl.hpp~
include/jafar/rtslam/descriptorAbstract.hpp
-include/jafar/rtslam/descriptorAbstract.hpp~
include/jafar/rtslam/descriptorImagePoint.hpp
-include/jafar/rtslam/descriptorImagePoint.hpp~
include/jafar/rtslam/descriptorImageSeg.hpp
include/jafar/rtslam/descriptorSeg.hpp
include/jafar/rtslam/display.hpp
-include/jafar/rtslam/display.hpp~
include/jafar/rtslam/display_example.hpp
include/jafar/rtslam/display_gdhe.hpp
include/jafar/rtslam/display_qt.hpp
-include/jafar/rtslam/display_qt.hpp~
-include/jafar/rtslam/estimatorAbstract.hpp
include/jafar/rtslam/expectation.hpp
-include/jafar/rtslam/expectation.hpp~
include/jafar/rtslam/exporterAbstract.hpp
include/jafar/rtslam/exporterSocket.hpp
include/jafar/rtslam/featureAbstract.hpp
-include/jafar/rtslam/featureAbstract.hpp~
include/jafar/rtslam/featurePoint.hpp
-include/jafar/rtslam/featurePoint.hpp~
include/jafar/rtslam/featureSegment.hpp
include/jafar/rtslam/gaussian.hpp
-include/jafar/rtslam/gaussian.hpp~
include/jafar/rtslam/hardwareEstimatorAbstract.hpp
-include/jafar/rtslam/hardwareEstimatorInertialAdhocSimulator.hpp
-include/jafar/rtslam/hardwareEstimatorInertialAdhocSimulator.hpp~
-include/jafar/rtslam/hardwareEstimatorMti.hpp
-include/jafar/rtslam/hardwareEstimatorMti.hpp~
+include/jafar/rtslam/hardwareEstimatorOdo.hpp
include/jafar/rtslam/hardwareSensorAbstract.hpp
-include/jafar/rtslam/hardwareSensorAbstract.hpp~
include/jafar/rtslam/hardwareSensorAdhocSimulator.hpp
-include/jafar/rtslam/hardwareSensorAdhocSimulator.hpp~
+include/jafar/rtslam/hardwareSensorCamera.hpp
include/jafar/rtslam/hardwareSensorCameraFirewire.hpp
-include/jafar/rtslam/hardwareSensorCameraFirewire.hpp~
+include/jafar/rtslam/hardwareSensorCameraUeye.hpp
+include/jafar/rtslam/hardwareSensorExternalLoc.hpp
include/jafar/rtslam/hardwareSensorGpsGenom.hpp
+include/jafar/rtslam/hardwareSensorInertialAdhocSimulator.hpp
+include/jafar/rtslam/hardwareSensorMocap.hpp
+include/jafar/rtslam/hardwareSensorMti.hpp
+include/jafar/rtslam/hardwareSensorOdomRmp400Genom.hpp
include/jafar/rtslam/imageTools.hpp
include/jafar/rtslam/innovation.hpp
-include/jafar/rtslam/innovation.hpp~
include/jafar/rtslam/kalmanFilter.hpp
-include/jafar/rtslam/kalmanFilter.hpp~
include/jafar/rtslam/kalmanTools.hpp
-include/jafar/rtslam/kalmanTools.hpp~
include/jafar/rtslam/landmarkAbstract.hpp
-include/jafar/rtslam/landmarkAbstract.hpp~
include/jafar/rtslam/landmarkAnchoredHomogeneousPoint.hpp
-include/jafar/rtslam/landmarkAnchoredHomogeneousPoint.hpp~
include/jafar/rtslam/landmarkAnchoredHomogeneousPointsLine.hpp
include/jafar/rtslam/landmarkEuclideanPoint.hpp
-include/jafar/rtslam/landmarkEuclideanPoint.hpp~
include/jafar/rtslam/landmarkFactory.hpp
+include/jafar/rtslam/main.hpp
include/jafar/rtslam/mapAbstract.hpp
-include/jafar/rtslam/mapAbstract.hpp~
include/jafar/rtslam/mapManager.hpp
-include/jafar/rtslam/mapManager.hpp~
include/jafar/rtslam/mapObject.hpp
-include/jafar/rtslam/mapObject.hpp~
include/jafar/rtslam/measurement.hpp
-include/jafar/rtslam/measurement.hpp~
include/jafar/rtslam/objectAbstract.hpp
-include/jafar/rtslam/objectAbstract.hpp~
include/jafar/rtslam/observationAbstract.hpp
-include/jafar/rtslam/observationAbstract.hpp~
include/jafar/rtslam/observationFactory.hpp
include/jafar/rtslam/observationMakers.hpp
include/jafar/rtslam/observationPinHoleAnchoredHomogeneous.hpp
-include/jafar/rtslam/observationPinHoleAnchoredHomogeneous.hpp~
include/jafar/rtslam/observationPinHoleAnchoredHomogeneousPointsLine.hpp
include/jafar/rtslam/observationPinHoleEuclideanPoint.hpp
-include/jafar/rtslam/observationPinHoleEuclideanPoint.hpp~
include/jafar/rtslam/parents.hpp
-include/jafar/rtslam/parents.hpp~
include/jafar/rtslam/perturbation.hpp
-include/jafar/rtslam/perturbation.hpp~
include/jafar/rtslam/pinholeTools.hpp
-include/jafar/rtslam/pinholeTools.hpp~
include/jafar/rtslam/quatTools.hpp
include/jafar/rtslam/quickHarrisDetector.hpp
-include/jafar/rtslam/quickHarrisDetector.hpp~
include/jafar/rtslam/rawAbstract.hpp
-include/jafar/rtslam/rawAbstract.hpp~
include/jafar/rtslam/rawImage.hpp
-include/jafar/rtslam/rawImage.hpp~
include/jafar/rtslam/rawProcessors.hpp
-include/jafar/rtslam/rawProcessors.hpp~
include/jafar/rtslam/rawSegProcessors.hpp
include/jafar/rtslam/robotAbstract.hpp
-include/jafar/rtslam/robotAbstract.hpp~
include/jafar/rtslam/robotCenteredConstantVelocity.hpp
-include/jafar/rtslam/robotCenteredConstantVelocity.hpp~
include/jafar/rtslam/robotConstantVelocity.hpp
-include/jafar/rtslam/robotConstantVelocity.hpp~
include/jafar/rtslam/robotInertial.hpp
-include/jafar/rtslam/robotInertial.hpp~
include/jafar/rtslam/robotOdometry.hpp
-include/jafar/rtslam/robotOdometry.hpp~
include/jafar/rtslam/rtSlam.hpp
-include/jafar/rtslam/rtSlam.hpp~
include/jafar/rtslam/rtslamException.hpp
include/jafar/rtslam/sensorAbsloc.hpp
include/jafar/rtslam/sensorAbstract.hpp
-include/jafar/rtslam/sensorAbstract.hpp~
include/jafar/rtslam/sensorImageParameters.hpp
-include/jafar/rtslam/sensorImageParameters.hpp~
include/jafar/rtslam/sensorManager.hpp
-include/jafar/rtslam/sensorPinHole.hpp~
include/jafar/rtslam/sensorPinhole.hpp
include/jafar/rtslam/simuData.hpp
-include/jafar/rtslam/simuData.hpp~
include/jafar/rtslam/simuRawProcessors.hpp
-include/jafar/rtslam/simuRawProcessors.hpp~
include/jafar/rtslam/simulator.hpp
-include/jafar/rtslam/simulator.hpp~
include/jafar/rtslam/simulatorObjects.hpp
-include/jafar/rtslam/simulatorObjects.hpp~
-include/jafar/rtslam/visibilityManager.hpp~
+include/jafar/rtslam/spaceGrid.hpp
include/jafar/rtslam/visibilityMap.hpp
-include/jafar/rtslam/visibilityMap.hpp~
include/jafar/rtslam/worldAbstract.hpp
-include/jafar/rtslam/worldAbstract.hpp~
lib/libjafar-rtslam.so
-lib/libjafar-rtslam.so.${PKGVERSION}
lib/libjafar-rtslam.so.0
+lib/libjafar-rtslam.so.${PKGVERSION}
lib/pkgconfig/jafar-rtslam.pc
share/cmake/jafar/rtslam-headers.cmake
share/cmake/jafar/rtslam-release.cmake
diff --git a/jafar-rtslam/depend.mk b/jafar-rtslam/depend.mk
index 414ecdd7ab697d82f1a49c52ad7b6ecee0c2de53..9cdb7583f4be2d74c9909cce0d0bf89fd4502cf6 100644
--- a/jafar-rtslam/depend.mk
+++ b/jafar-rtslam/depend.mk
@@ -1,3 +1,6 @@
+# robotpkg depend.mk for: wip/jafar-rtslam
+# Created: Cyril Roussillon on Wed, 15 Jun 2011
+#
DEPEND_DEPTH:= ${DEPEND_DEPTH}+
jafar-rtslam_DEPEND_MK:= ${jafar-rtslam_DEPEND_MK}+
diff --git a/jafar-rtslam/distinfo b/jafar-rtslam/distinfo
index a261b10c38b576f709256692377dea373bf89085..d90ca637ba55bf8c2490466e15a034424914a3b3 100644
--- a/jafar-rtslam/distinfo
+++ b/jafar-rtslam/distinfo
@@ -1,6 +1,3 @@
-SHA1 (jafar-rtslam-0.1.tar.gz) = d6f0cc5f1942d77d392502b00cb9793fc7813208
-RMD160 (jafar-rtslam-0.1.tar.gz) = 501399ae73f2fb94b5fd864f0fe6470e1607db00
-Size (jafar-rtslam-0.1.tar.gz) = 2994279 bytes
-SHA1 (patch-bb) = c5199acd272c3bf7752f0fe3677268890572cfc9
-SHA1 (patch-dd) = 221f7f12ad48def2e3f55ef0f696cdcaf6a19f78
-SHA1 (patch-ee) = 2b79b15318ff326db3339afab63469d9334362fe
+SHA1 (jafar-rtslam-0.2.tar.gz) = 1b4c9ef2fbc8c32259a48ef297a8baf6dd7d10f5
+RMD160 (jafar-rtslam-0.2.tar.gz) = b6840c5170beef8b4c409c86da74ac3cf9841353
+Size (jafar-rtslam-0.2.tar.gz) = 733290 bytes
diff --git a/jafar-rtslam/patches/patch-bb b/jafar-rtslam/patches/patch-bb
deleted file mode 100644
index 2901e39c8f736f1d402260de92215a25aaf755db..0000000000000000000000000000000000000000
--- a/jafar-rtslam/patches/patch-bb
+++ /dev/null
@@ -1,112 +0,0 @@
-diff -Nu FindQt4.cmake FindQt4.cmake
---- FindQt4.cmake 2011-04-08 12:28:39.000000000 +0200
-+++ FindQt4.cmake 2011-06-18 23:37:33.000000000 +0200
-@@ -300,7 +300,7 @@
- INCLUDE(CheckSymbolExists)
- INCLUDE(MacroAddFileDependencies)
-
--SET(QT_USE_FILE ${Jafar_SOURCE_DIR}/tools/cmake/UseQt4.cmake)
-+SET(QT_USE_FILE UseQt4.cmake)
-
- SET( QT_DEFINITIONS "")
-
-diff -Nu UseQt4.cmake UseQt4.cmake
---- UseQt4.cmake 1970-01-01 01:00:00.000000000 +0100
-+++ UseQt4.cmake 2011-06-18 23:36:49.000000000 +0200
-@@ -0,0 +1,96 @@
-+# - Use Module for QT4
-+# Sets up C and C++ to use Qt 4. It is assumed that FindQt.cmake
-+# has already been loaded. See FindQt.cmake for information on
-+# how to load Qt 4 into your CMake project.
-+
-+#=============================================================================
-+# Copyright 2005-2009 Kitware, Inc.
-+#
-+# Distributed under the OSI-approved BSD License (the "License");
-+# see accompanying file Copyright.txt for details.
-+#
-+# This software is distributed WITHOUT ANY WARRANTY; without even the
-+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
-+# See the License for more information.
-+#=============================================================================
-+# (To distribute this file outside of CMake, substitute the full
-+# License text for the above reference.)
-+
-+ADD_DEFINITIONS(${QT_DEFINITIONS})
-+SET_PROPERTY(DIRECTORY APPEND PROPERTY COMPILE_DEFINITIONS_DEBUG QT_DEBUG)
-+SET_PROPERTY(DIRECTORY APPEND PROPERTY COMPILE_DEFINITIONS_RELEASE QT_NO_DEBUG)
-+SET_PROPERTY(DIRECTORY APPEND PROPERTY COMPILE_DEFINITIONS_RELWITHDEBINFO QT_NO_DEBUG)
-+SET_PROPERTY(DIRECTORY APPEND PROPERTY COMPILE_DEFINITIONS_MINSIZEREL QT_NO_DEBUG)
-+
-+INCLUDE_DIRECTORIES(${QT_INCLUDE_DIR})
-+
-+SET(QT_LIBRARIES "")
-+
-+IF (QT_USE_QTMAIN)
-+ IF (Q_WS_WIN)
-+ SET(QT_LIBRARIES ${QT_LIBRARIES} ${QT_QTMAIN_LIBRARY})
-+ ENDIF (Q_WS_WIN)
-+ENDIF (QT_USE_QTMAIN)
-+
-+IF(QT_DONT_USE_QTGUI)
-+ SET(QT_USE_QTGUI 0)
-+ELSE(QT_DONT_USE_QTGUI)
-+ SET(QT_USE_QTGUI 1)
-+ENDIF(QT_DONT_USE_QTGUI)
-+
-+IF(QT_DONT_USE_QTCORE)
-+ SET(QT_USE_QTCORE 0)
-+ELSE(QT_DONT_USE_QTCORE)
-+ SET(QT_USE_QTCORE 1)
-+ENDIF(QT_DONT_USE_QTCORE)
-+
-+IF (QT_USE_QT3SUPPORT)
-+ ADD_DEFINITIONS(-DQT3_SUPPORT)
-+ENDIF (QT_USE_QT3SUPPORT)
-+
-+# list dependent modules, so dependent libraries are added
-+SET(QT_QT3SUPPORT_MODULE_DEPENDS QTGUI QTSQL QTXML QTNETWORK QTCORE)
-+SET(QT_QTSVG_MODULE_DEPENDS QTGUI QTXML QTCORE)
-+SET(QT_QTUITOOLS_MODULE_DEPENDS QTGUI QTXML QTCORE)
-+SET(QT_QTHELP_MODULE_DEPENDS QTGUI QTSQL QTXML QTNETWORK QTCORE)
-+IF(QT_QTDBUS_FOUND)
-+ SET(QT_PHONON_MODULE_DEPENDS QTGUI QTDBUS QTCORE)
-+ELSE(QT_QTDBUS_FOUND)
-+ SET(QT_PHONON_MODULE_DEPENDS QTGUI QTCORE)
-+ENDIF(QT_QTDBUS_FOUND)
-+SET(QT_QTDBUS_MODULE_DEPENDS QTXML QTCORE)
-+SET(QT_QTXMLPATTERNS_MODULE_DEPENDS QTNETWORK QTCORE)
-+SET(QT_QAXCONTAINER_MODULE_DEPENDS QTGUI QTCORE)
-+SET(QT_QAXSERVER_MODULE_DEPENDS QTGUI QTCORE)
-+SET(QT_QTSCRIPTTOOLS_MODULE_DEPENDS QTGUI QTCORE)
-+SET(QT_QTWEBKIT_MODULE_DEPENDS QTXMLPATTERNS QTGUI QTCORE)
-+SET(QT_QTDECLARATIVE_MODULE_DEPENDS QTWEBKIT QTSCRIPT QTSVG QTSQL QTXMLPATTERNS QTXML QTOPENGL QTGUI QTNETWORK QTCORE)
-+SET(QT_QTMULTIMEDIA_MODULE_DEPENDS QTGUI QTCORE)
-+
-+# Qt modules (in order of dependence)
-+FOREACH(module QT3SUPPORT QTOPENGL QTASSISTANT QTDESIGNER QTMOTIF QTNSPLUGIN
-+ QAXSERVER QAXCONTAINER QTDECLARATIVE QTSCRIPT QTSVG QTUITOOLS QTHELP
-+ QTWEBKIT PHONON QTSCRIPTTOOLS QTMULTIMEDIA QTGUI QTTEST QTDBUS QTXML QTSQL
-+ QTXMLPATTERNS QTNETWORK QTCORE)
-+
-+ IF (QT_USE_${module} OR QT_USE_${module}_DEPENDS)
-+ IF (Qt4_${module}_FOUND)
-+ IF(QT_USE_${module})
-+ STRING(REPLACE "QT" "" qt_module_def "${module}")
-+ ADD_DEFINITIONS(-DQT_${qt_module_def}_LIB)
-+ INCLUDE_DIRECTORIES(${QT_${module}_INCLUDE_DIR})
-+ ENDIF(QT_USE_${module})
-+ SET(QT_LIBRARIES ${QT_LIBRARIES} ${Qt4_${module}_LIBRARY})
-+ IF(QT_IS_STATIC)
-+ SET(QT_LIBRARIES ${QT_LIBRARIES} ${Qt4_${module}_LIB_DEPENDENCIES})
-+ ENDIF(QT_IS_STATIC)
-+ FOREACH(depend_module ${QT_${module}_MODULE_DEPENDS})
-+ SET(QT_USE_${depend_module}_DEPENDS 1)
-+ ENDFOREACH(depend_module ${QT_${module}_MODULE_DEPENDS})
-+ ELSE (Qt4_${module}_FOUND)
-+ MESSAGE("Qt ${module} library not found.")
-+ ENDIF (Qt4_${module}_FOUND)
-+ ENDIF (QT_USE_${module} OR QT_USE_${module}_DEPENDS)
-+
-+ENDFOREACH(module)
-+
diff --git a/jafar-rtslam/patches/patch-dd b/jafar-rtslam/patches/patch-dd
deleted file mode 100644
index 83e2e4758e67db51e53c44204f60823d966f4eeb..0000000000000000000000000000000000000000
--- a/jafar-rtslam/patches/patch-dd
+++ /dev/null
@@ -1,41 +0,0 @@
-diff -u CMakeLists.txt CMakeLists.txt
---- CMakeLists.txt 2011-06-19 00:34:10.000000000 +0200
-+++ CMakeLists.txt 2011-06-19 00:56:10.000000000 +0200
-@@ -75,7 +75,7 @@
- #-----------------------------------------------------------------------------
- # Go find them
- #-----------------------------------------------------------------------------
--foreach(package GDHE VIAM POSTERLIB OpenCV)
-+foreach(package GDHE VIAM POSTERLIB)
- find_robots_package("${package}")
- string(TOUPPER "HAVE_${package}" HAVE_PACKAGE)
- string(TOUPPER "${package}_FOUND" PACKAGE_FOUND)
-@@ -89,6 +89,28 @@
- endif(${PACKAGE_FOUND})
- endforeach(package)
-
-+###
-+# PkgConfig
-+###
-+include(FindPkgConfig)
-+
-+###
-+# OpenCV
-+###
-+#include(FindOpenCV)
-+#find_package(OpenCV)
-+pkg_check_modules(OpenCV opencv)
-+set(HAVE_OPENCV ${OpenCV_FOUND})
-+set(OPENCV_FOUND ${OpenCV_FOUND})
-+if(OpenCV_FOUND)
-+ include_directories(${OpenCV_INCLUDE_DIRS})
-+ link_directories(${OpenCV_LIBRARY_DIRS})
-+ set(LIBS ${LIBS} ${OpenCV_LIBRARIES})
-+ message(STATUS "version ${OpenCV_VERSION}")
-+ set(LIBS_MAP_OPENCV "OpenCV")
-+endif(OpenCV_FOUND)
-+set(ROBOTPKG_MAP_OPENCV "image/opencv")
-+
-
- #-----------------------------------------------------------------------------
- # Check for Boost
diff --git a/jafar-rtslam/patches/patch-ee b/jafar-rtslam/patches/patch-ee
deleted file mode 100644
index e1541e5040660088ee4581eadca4e83f46071abc..0000000000000000000000000000000000000000
--- a/jafar-rtslam/patches/patch-ee
+++ /dev/null
@@ -1,67 +0,0 @@
---- CMakeLists.txt 2011-06-19 02:21:44.000000000 +0200
-+++ CMakeLists.txt 2011-06-19 02:22:44.000000000 +0200
-@@ -35,6 +35,55 @@
- set(CMAKE_CXX_FLAGS_RELEASE "-o2 -g0 -DNDEBUG -DJAFAR_NDEBUG -DBOOST_UBLAS_NDEBUG")
- set(CMAKE_CXX_FLAGS_DEBUG "-o0 -g3 -ggdb")
-
-+#------------------------------------------------------------------------------
-+#This macro generates qt special files
-+#------------------------------------------------------------------------------
-+macro(GENERATE_QT_FILES JAFAR_MODULENAME CPPFLAGS)
-+ #include qt specific macros
-+ include(${QT_USE_FILE})
-+
-+MESSAGE(STATUS, "QT_MOC_SRCS: ${QT_MOC_SRCS}")
-+ string(TOUPPER "${JAFAR_MODULENAME}_WRAPPED_HEADERS" QTUI_H_SRC)
-+ string(TOUPPER "${JAFAR_MODULENAME}_WRAPPED_CPPS" QT_MOC_SRCS)
-+
-+ #generate headers from ui files
-+ file(GLOB UI_FILES ${CMAKE_CURRENT_SOURCE_DIR}/src/*.ui)
-+# QT4_WRAP_UI(${QTUI_H_SRC} ${UI_FILES})
-+ foreach(ui_file ${UI_FILES})
-+ get_filename_component(generated_header ${ui_file} NAME_WE)
-+ set(generated_header ${CMAKE_CURRENT_SOURCE_DIR}/src/${generated_header}.h)
-+ execute_process(
-+ COMMAND ${QT_UIC_EXECUTABLE} ${ui_file} -o ${generated_header}
-+ OUTPUT_FILE ${generated_header}
-+ INPUT_FILE ${ui_file}
-+ )
-+ set(${QTUI_H_SRC} ${${QTUI_H_SRC}} ${generated_header})
-+ endforeach(ui_file)
-+
-+ # generate moc files from headers contining \"Q_OBJECT\"
-+ file(GLOB HEADERS "${CMAKE_CURRENT_SOURCE_DIR}/include/${JAFAR_MODULENAME}/*.hpp" "${CMAKE_CURRENT_SOURCE_DIR}/src/*.hpp")
-+ foreach(header ${HEADERS})
-+ file(STRINGS ${header} Q_OBJECT_STRING REGEX "Q_OBJECT")
-+ if(NOT("${Q_OBJECT_STRING}" STREQUAL ""))
-+ get_filename_component(generated_moc ${header} NAME_WE)
-+ set(generated_moc ${CMAKE_CURRENT_SOURCE_DIR}/src/${generated_moc}.moc)
-+
-+ set(MYCPPFLAGS "${CPPFLAGS}")
-+ string(STRIP "${MYCPPFLAGS}" MYCPPFLAGS)
-+ string(REPLACE " " ";" MYCPPFLAGS "${MYCPPFLAGS}")
-+ execute_process(
-+ COMMAND ${QT_MOC_EXECUTABLE} ${MYCPPFLAGS} ${header} -o ${generated_moc}
-+ )
-+ set(${QT_MOC_SRCS} ${${QT_MOC_SRCS}} ${generated_moc})
-+# QT4_GENERATE_MOC(${header} ${CMAKE_CURRENT_SOURCE_DIR}/src/${HEADER_NAME}.moc)
-+ endif(NOT("${Q_OBJECT_STRING}" STREQUAL ""))
-+ endforeach(header)
-+
-+# QT4_WRAP_CPP(${QT_MOC_SRCS} ${HEADERS_TO_MOC})
-+
-+endmacro(GENERATE_QT_FILES)
-+
-+
- #-----------------------------------------------------------------------------
- # Macro to help find other robotpkg modules
- #-----------------------------------------------------------------------------
-@@ -189,6 +238,8 @@
- endforeach(potential_include)
- include_directories(${headers_folders})
-
-+generate_qt_files(rtslam "-DHAVE_MODULE_QDISPLAY")
-+
- # build the library
- add_library(jafar-rtslam SHARED ${module_sources})
-