Add pcl PointCloudLibrary package

Inspired from conan-io#1891

recipes/pcl/all/conandata.yml

@@ -0,0 +1,18 @@
+sources:
+  "1.13.1":
+    url: https://github.com/PointCloudLibrary/pcl/archive/refs/tags/pcl-1.13.1.tar.gz
+    sha256: 8ab98a9db371d822de0859084a375a74bdc7f31c96d674147710cf4101b79621
+patches:
+  "1.13.1":
+    - patch_file: "patches/0001-test.patch"
+      patch_description: "Update pcl CMake files to work with conan"
+      patch_type: "conan"
+    - patch_file: "patches/0001-KB-H020_avoid_pkgconfig_files.patch"
+      patch_description: "Disable pkgconfig files install to follow KB-H020 rule"
+      patch_type: "conan"
+    - patch_file: "patches/0001-ReportFixAboutMemoryConsumptionDuringBuild.patch"
+      patch_description: "Report fix from https://github.com/PointCloudLibrary/pcl/pull/5764"
+      patch_type: "conan"
+    - patch_file: "patches/0001-Add-Eigen3-Eigen-target-in-pcl_common-target.patch"
+      patch_description: "Report fix from https://github.com/PointCloudLibrary/pcl/pull/5764"
+      patch_type: "conan"

recipes/pcl/all/conanfile.py

@@ -0,0 +1,240 @@
+from conan import ConanFile
+from conan.errors import ConanInvalidConfiguration
+from conan.tools.microsoft import check_min_vs, is_msvc
+from conan.tools.files import apply_conandata_patches, export_conandata_patches, get, copy, rmdir
+from conan.tools.build import check_min_cppstd
+from conan.tools.scm import Version
+from conan.tools.cmake import CMake, CMakeDeps, CMakeToolchain, cmake_layout
+from conan.tools.system import package_manager
+import os
+
+
+required_conan_version = ">=1.53.0"
+
+
+class PclConan(ConanFile):
+    name = "pcl"
+    description = "Point Cloud Library"
+    license = "BSD-3-Clause"
+    url = "https://github.com/conan-io/conan-center-index"
+    homepage = "https://github.com/PointCloudLibrary/pcl"
+    topics = ("computer vision", "point cloud", "pointcloud", "3d", "pcd", "ply", "stl", "ifs", "vtk")
+    package_type = "library"
+    settings = "os", "arch", "compiler", "build_type"
+    options = {
+        "shared": [True, False],
+        "fPIC": [True, False],
+        "with_openmp": [True, False],
+        "with_libusb": [True, False],
+        "with_png": [True, False],
+        "with_qhull": [True, False],
+        "with_vtk": [True, False],
+        "with_cuda": [True, False],
+        "with_pcap": [True, False],
+        "with_opengl": [True, False],
+        "with_tools": [True, False],
+        "with_apps": [True, False],
+    }
+    default_options = {
+        "shared": False,
+        "fPIC": True,
+        "with_openmp": False,
+        "with_libusb": False,
+        "with_png": True,
+        "with_qhull": True,
+        "with_vtk": False,
+        "with_cuda": False,
+        "with_pcap": False,
+        "with_opengl": False,
+        "with_tools": False,
+        "with_apps": False,
+    }
+
+    @property
+    def _min_cppstd(self):
+        return 17
+
+    # in case the project requires C++14/17/20/... the minimum compiler version should be listed
+    @property
+    def _compilers_minimum_version(self):
+        return {
+            "gcc": "7",
+            "clang": "7",
+            "apple-clang": "10",
+        }
+
+    def export_sources(self):
+        export_conandata_patches(self)
+
+    def config_options(self):
+        if self.settings.os == "Windows":
+            del self.options.fPIC
+
+    def configure(self):
+        if self.options.shared:
+            self.options.rm_safe("fPIC")
+
+    def layout(self):
+        cmake_layout(self, src_folder="src")
+
+    def system_requirements(self):
+        if self.options.with_vtk:
+            package_manager.Apt(self).install(["libvtk-dev"])
+            package_manager.Dnf(self).install(["vtk-devel"])
+            if self.settings.os == "Windows":
+                self.output.warn("On Windows VTK must be installed manually.")
+
+    def requirements(self):
+        self.requires("zlib/1.2.13")
+        # Transitive headers on boost because pcl/point_struct_traits.h:40:10: references boost/mpl/assert.hpp
+        self.requires("boost/1.82.0", transitive_headers=True)
+        self.requires("eigen/3.4.0", transitive_headers=True)
+        self.requires("flann/1.9.2")
+        if self.options.with_png:
+            self.requires("libpng/1.6.40")
+        if self.options.with_qhull:
+            self.requires("qhull/8.0.1")
+        if self.options.with_apps:
+            self.requires("qt/6.5.1")
+        if self.options.with_libusb:
+            self.requires("libusb/1.0.26")
+        if self.options.with_pcap:
+            self.requires("libpcap/1.10.4")
+        if self.options.with_opengl:
+            self.requires("opengl/system")
+
+    def validate(self):
+        # validate the minimum cpp standard supported. For C++ projects only
+        if self.settings.compiler.cppstd:
+            check_min_cppstd(self, self._min_cppstd)
+        check_min_vs(self, 191)
+        if not is_msvc(self):
+            minimum_version = self._compilers_minimum_version.get(str(self.settings.compiler), False)
+            if minimum_version and Version(self.settings.compiler.version) < minimum_version:
+                raise ConanInvalidConfiguration(
+                    f"{self.ref} requires C++{self._min_cppstd}, which your compiler does not support."
+                )
+
+    def source(self):
+        get(self, **self.conan_data["sources"][self.version], strip_root=True)
+
+    def generate(self):
+        tc = CMakeToolchain(self)
+        tc.variables["PCL_SHARED_LIBS"] = self.options.shared
+        tc.variables["WITH_OPENMP"] = self.options.with_openmp
+        tc.variables["WITH_LIBUSB"] = self.options.with_libusb
+        tc.variables["WITH_PNG"] = self.options.with_png
+        tc.variables["WITH_QHULL"] = self.options.with_qhull
+        tc.variables["WITH_VTK"] = self.options.with_vtk
+        tc.variables["WITH_CUDA"] = self.options.with_cuda
+        tc.variables["WITH_PCAP"] = self.options.with_pcap
+        tc.variables["WITH_OPENGL"] = self.options.with_opengl
+        tc.variables["BUILD_tools"] = self.options.with_tools
+        tc.variables["BUILD_apps"] = self.options.with_apps
+        tc.variables["BUILD_examples"] = True
+        tc.cache_variables["WITH_QT"] = self.options.with_apps
+        tc.generate()
+
+        tc = CMakeDeps(self)
+        tc.generate()
+
+    def _patch_sources(self):
+        apply_conandata_patches(self)
+
+    def build(self):
+        self._patch_sources()
+        cmake = CMake(self)
+        cmake.configure(variables={"PCL_ONLY_CORE_POINT_TYPES": "ON"})
+        cmake.build()
+
+    def package(self):
+        copy(self, pattern="LICENSE.txt", dst=os.path.join(self.package_folder, "licenses"), src=self.source_folder)
+        cmake = CMake(self)
+        cmake.install()
+
+        rmdir(self, os.path.join(self.package_folder, "share"))
+
+    @property
+    def _pcl_lib_components(self):
+        def usb():
+            return ["libusb::libusb"] if self.options.with_libusb else []
+        def png():
+            return ["libpng::libpng"] if self.options.with_png else []
+        def qhull():
+            return ["qhull::qhull"] if self.options.with_qhull else []
+
+        return {
+            "common": {"requires": ["eigen::eigen3", "boost::boost"]},
+            "kdtree": {"requires": ["common", "flann::flann"]},
+            "octree": {"requires": ["common"]},
+            "search": {"requires": ["common", "kdtree", "octree", "flann::flann"]},
+            "sample_consensus": {"requires": ["common", "search"]},
+            "filters": {"requires": ["common", "sample_consensus", "search", "kdtree", "octree"]},
+            "2d": {"requires": ["common", "filters"], "header_only": True},
+            "geometry": {"requires": ["common"], "header_only": True},
+            "io": {"requires": ["common", "octree", "zlib::zlib"] + png() + usb(), "extra_libs": ["io_ply"]},
+            "features": {"requires": ["common", "search", "kdtree", "octree", "filters", "2d"]},
+            "ml": {"requires": ["common"]},
+            "segmentation": {"requires": ["common", "geometry", "search", "sample_consensus", "kdtree", "octree", "features", "filters", "ml"]},
+            "surface": {"requires": ["common", "search", "kdtree", "octree"] + qhull()},
+            "registration": {"requires": ["common", "octree", "kdtree", "search", "sample_consensus", "features", "filters"]},
+            "keypoints": {"requires": ["common", "search", "kdtree", "octree", "features", "filters"]},
+            "tracking": {"requires": ["common", "search", "kdtree", "filters", "octree"]},
+            "recognition": {"requires": ["common", "io", "search", "kdtree", "octree", "features", "filters", "registration", "sample_consensus", "ml"]},
+            "stereo": {"requires": ["common", "io"]}
+        }
+
+    @property
+    def _version_suffix(self):
+        semver = Version(self.version)
+        return "{}.{}".format(semver.major, semver.minor)
+
+    def _lib_name(self, lib):
+        if self.settings.compiler == "msvc" and self.settings.build_type == "Debug":
+            return "pcl_{}d".format(lib)
+        return "pcl_{}".format(lib)
+
+    def package_info(self):
+        self.cpp_info.names["cmake_find_package"] = "PCL"
+        self.cpp_info.names["cmake_find_package_multi"] = "PCL"
+
+        self.cpp_info.set_property("cmake_file_name", "PCL")
+        self.cpp_info.set_property("cmake_module_file_name", "PCL")
+        self.cpp_info.set_property("cmake_target_name", "PCL::PCL")
+
+        def _update_components(components):
+            for comp, values in components.items():
+                self.cpp_info.components[comp].names["cmake_find_package"] = comp
+                self.cpp_info.components[comp].names["cmake_find_package_multi"] = comp
+                self.cpp_info.components[comp].set_property("cmake_file_name", comp)
+                self.cpp_info.components[comp].set_property("cmake_module_file_name", comp)
+                self.cpp_info.components[comp].set_property("cmake_target_name", f"PCL::{comp}")
+
+                self.cpp_info.components[comp].names["pkg_config"] = "pcl_{}-{}".format(comp, self._version_suffix)
+                self.cpp_info.components[comp].set_property("pkg_config_name", "pcl_{}-{}".format(comp, self._version_suffix))
+
+                self.cpp_info.components[comp].includedirs = [os.path.join("include", "pcl-{}".format(self._version_suffix))]
+                if not values.get("header_only", False):
+                    libs = [comp] + values.get("extra_libs", [])
+                    self.cpp_info.components[comp].libs = [self._lib_name(lib) for lib in libs]
+                self.cpp_info.components[comp].requires = values["requires"]
+
+        _update_components(self._pcl_lib_components)
+
+        if not self.options.shared:
+            if self.settings.os in ["Linux", "FreeBSD"]:
+                self.cpp_info.components["common"].system_libs.append("pthread")
+            if self.options.with_openmp:
+                if self.settings.os == "Linux":
+                    if self.settings.compiler == "gcc":
+                        self.cpp_info.components["common"].sharedlinkflags.append("-fopenmp")
+                        self.cpp_info.components["common"].exelinkflags.append("-fopenmp")
+                elif self.settings.os == "Windows":
+                    if self.settings.compiler == "msvc":
+                        self.cpp_info.components["common"].system_libs.append("delayimp")
+                    elif self.settings.compiler == "gcc":
+                        self.cpp_info.components["common"].system_libs.append("gomp")    
+
+        if self.options.with_apps:
+            self.cpp_info.components["apps"].libs = []
+            self.cpp_info.components["apps"].requires = ["qt::qt"]

recipes/pcl/all/patches/0001-Add-Eigen3-Eigen-target-in-pcl_common-target.patch

@@ -0,0 +1,25 @@
+From a975f68d2e399a1563fe0d66b2c048978f0282d1 Mon Sep 17 00:00:00 2001
+From: Esteban DUGUEPEROUX <esteban.dugueperoux@gmail.com>
+Date: Mon, 7 Aug 2023 23:50:12 +0200
+Subject: [PATCH] Add Eigen3::Eigen target in pcl_common target
+
+---
+ common/CMakeLists.txt | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/common/CMakeLists.txt b/common/CMakeLists.txt
+index 48e1a202e..e0ced5241 100644
+--- a/common/CMakeLists.txt
++++ b/common/CMakeLists.txt
+@@ -179,7 +179,7 @@ target_include_directories(${LIB_NAME} PUBLIC
+   $<INSTALL_INTERFACE:include> 
+ )
+
+-target_link_libraries(${LIB_NAME} Boost::boost)
++target_link_libraries(${LIB_NAME} Boost::boost Eigen3::Eigen)
+
+ if(MSVC AND NOT (MSVC_VERSION LESS 1915))
+   # MSVC resolved a byte alignment issue in compiler version 15.9
+-- 
+2.41.0
+

recipes/pcl/all/patches/0001-KB-H020_avoid_pkgconfig_files.patch

@@ -0,0 +1,12 @@
+--- a/cmake/pcl_targets.cmake
++++ b/cmake/pcl_targets.cmake
+@@ -571,9 +571,6 @@ function(PCL_MAKE_PKGCONFIG _name)
+   else()
+     configure_file(${PROJECT_SOURCE_DIR}/cmake/pkgconfig.cmake.in ${_pc_file} @ONLY)
+   endif()
+-  install(FILES ${_pc_file}
+-          DESTINATION ${PKGCFG_INSTALL_DIR}
+-          COMPONENT pcl_${ARGS_COMPONENT})
+ endfunction()
+
+ ###############################################################################

recipes/pcl/all/patches/0001-ReportFixAboutMemoryConsumptionDuringBuild.patch

@@ -0,0 +1,19 @@
+--- a/surface/src/mls.cpp
++++ b/surface/src/mls.cpp
+@@ -80,6 +80,15 @@ pcl::MLSResult::calculatePrincipalCurvatures (const double u, const double v) co
+   PCL_INSTANTIATE_PRODUCT(MovingLeastSquares, ((pcl::PointXYZ)(pcl::PointXYZI)(pcl::PointXYZRGB)(pcl::PointXYZRGBA)(pcl::PointXYZRGBNormal)(pcl::PointNormal))
+                                               ((pcl::PointXYZ)(pcl::PointXYZI)(pcl::PointXYZRGB)(pcl::PointXYZRGBA)(pcl::PointXYZRGBNormal)(pcl::PointNormal)))
+ #else
+-  PCL_INSTANTIATE_PRODUCT(MovingLeastSquares, (PCL_XYZ_POINT_TYPES)(PCL_XYZ_POINT_TYPES))
++  // PCL_INSTANTIATE_PRODUCT(MovingLeastSquares, (PCL_XYZ_POINT_TYPES)(PCL_XYZ_POINT_TYPES))
++  // All instantiations that are available with PCL_ONLY_CORE_POINT_TYPES, plus instantiations for all XYZ types where PointInT and PointOutT are the same
++  #define PCL_INSTANTIATE_MovingLeastSquaresSameInAndOut(T) template class PCL_EXPORTS pcl::MovingLeastSquares<T,T>;
++  PCL_INSTANTIATE(MovingLeastSquaresSameInAndOut, PCL_XYZ_POINT_TYPES)
++  PCL_INSTANTIATE_PRODUCT(MovingLeastSquares, ((pcl::PointXYZ))((pcl::PointXYZI)(pcl::PointXYZRGB)(pcl::PointXYZRGBA)(pcl::PointXYZRGBNormal)(pcl::PointNormal)))
++  PCL_INSTANTIATE_PRODUCT(MovingLeastSquares, ((pcl::PointXYZI))((pcl::PointXYZ)(pcl::PointXYZRGB)(pcl::PointXYZRGBA)(pcl::PointXYZRGBNormal)(pcl::PointNormal)))
++  PCL_INSTANTIATE_PRODUCT(MovingLeastSquares, ((pcl::PointXYZRGB))((pcl::PointXYZ)(pcl::PointXYZI)(pcl::PointXYZRGBA)(pcl::PointXYZRGBNormal)(pcl::PointNormal)))
++  PCL_INSTANTIATE_PRODUCT(MovingLeastSquares, ((pcl::PointXYZRGBA))((pcl::PointXYZ)(pcl::PointXYZI)(pcl::PointXYZRGB)(pcl::PointXYZRGBNormal)(pcl::PointNormal)))
++  PCL_INSTANTIATE_PRODUCT(MovingLeastSquares, ((pcl::PointXYZRGBNormal))((pcl::PointXYZ)(pcl::PointXYZI)(pcl::PointXYZRGB)(pcl::PointXYZRGBA)(pcl::PointNormal)))
++  PCL_INSTANTIATE_PRODUCT(MovingLeastSquares, ((pcl::PointNormal))((pcl::PointXYZ)(pcl::PointXYZI)(pcl::PointXYZRGB)(pcl::PointXYZRGBA)(pcl::PointXYZRGBNormal)))
+ #endif
+ #endif    // PCL_NO_PRECOMPILE