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-cmake_use_requirements_name_from_cmakedeps.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: "Add Eigen3::Eigen target to pcl_common target"
+      patch_type: "conan"

recipes/pcl/all/conanfile.py

@@ -0,0 +1,246 @@
+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,
+    }
+
+    short_paths = True
+
+    @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, "cmake"))
+        rmdir(self, os.path.join(self.package_folder, "share"))
+        # For the legal reasons, and in order to reduce the size of packages, it's not allowed to package Microsoft Visual Studio runtime libraries, such as msvcr80.dll, msvcp80.dll, vcruntime140.dll and so on.
+        # See https://github.com/conan-io/conan-center-index/blob/master/docs/error_knowledge_base.md#kb-h021-ms-runtime-files
+        rmdir(self, os.path.join(self.package_folder, "bin"))
+
+    @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