(#18389) Add pcl PointCloudLibrary package

* Add pcl PointCloudLibrary package

Inspired from #1891

* pcl: misc recipe tweaks

* Update recipes/pcl/all/conanfile.py

Co-authored-by: Martin Valgur <martin.valgur@gmail.com>

* pcl: Further fixes to Conan targets use in CMake

* pcl: Fix buggy OpenNI detection if libusb missing

* pcl: Fix PCL CMake config breaking OpenGL detection

* pcl: Fix _add_component() bugs

* pcl: add TODOs for missing Conan packages

* pcl: set_property("cmake_find_mode", "both")

* pcl: more accurate modelling of PCL components

* pcl: tidy description

* Enable opengl event if with_vtk is false

- Enable opengl event if with_vtk is false as done in PCL CMakeLists.txt

* Revert "Enable opengl event if with_vtk is false"

This reverts commit c4be26d.

* Enable opengl only if with_vtk==True

* test is_msvc() method

* test is_msvc_static_runtime

* pcl: make components optional, add full dependency info

* pcl: fixes to the component system

* pcl: set OpenGL_GL_PREFERENCE=GLVND

* pcl: fix _extra_libs handling

* pcl: fix CUDA support

* pcl: add all VTK system package variants

* pcl: add missing transitive_headers=True based on installed header includes

* pcl: add ws2_32 dep on Windows

* Restore is_msvc_static_runtime import

* pcl: fix Conan v1 issue

* pcl: new add_build_type_postfix option, fix library naming on Windows

* Take into account @maksim-petukhov  remark

* Take into account @valgur remark

* Take into account maksim-petukhov remark

* Set instantiate_only_core_point_types option at True

* pcl: restore zlib dependency

* pcl: adjust precompile_only_core_point_types name, add comment

Based on https://github.com/PointCloudLibrary/pcl/blob/3ed96c246e5c873713ec670b895469d09149a552/cmake/pcl_options.cmake#L49

* Add rm to prevent PDBs files install

---------

Co-authored-by: Martin Valgur <martin.valgur@gmail.com>

recipes/pcl/all/conandata.yml

@@ -0,0 +1,19 @@
+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_conan_targets.patch"
+      patch_description: "Update PCL CMake files to work with Conan"
+      patch_type: "conan"
+    - patch_file: "patches/0001-fix-FindOpenNI-bug.patch"
+      patch_description: "Fix a libusb detection bug in FindOpenNI.cmake"
+      patch_type: "bugfix"
+    - 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"
+    - patch_file: "patches/0001-ReportFixAboutMemoryConsumptionDuringBuild.patch"
+      patch_description: "MovingLeastSquares: reduce the number of instantiations to reduce compile time"
+      patch_source: "https://github.com/PointCloudLibrary/pcl/pull/5764"
+      patch_type: "conan"

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-ReportFixAboutMemoryConsumptionDuringBuild.patch

@@ -0,0 +1,38 @@
+From 0bc2f2cc369f7d013ee5c29075188c4e26ea6f87 Mon Sep 17 00:00:00 2001
+From: Markus Vieth <mvieth@techfak.uni-bielefeld.de>
+Date: Sat, 15 Jul 2023 15:49:25 +0200
+Subject: [PATCH] MovingLeastSquares: reduce the number of instantiations to
+ reduce compile time PCL_XYZ_POINT_TYPES currently contains 18 types, so
+ previously, MLS was instantiated for 18*18=324 different type combinations.
+ However, among those were instantiations which are likely used by nobody
+ (like `pcl::MovingLeastSquares<pcl::PointWithRange, pcl::PointDEM>`). With
+ these changes, MLS is only instantiated 6*6+(18-6)=48 times. The most common
+ type combinations should be covered, but if someone uses an uncommon
+ combinations, they have to add `#define PCL_NO_PRECOMPILE` before including
+ `pcl/surface/mls.h` to avoid linker errors.
+
+---
+ surface/src/mls.cpp | 11 ++++++++++-
+ 1 file changed, 10 insertions(+), 1 deletion(-)
+
+diff --git a/surface/src/mls.cpp b/surface/src/mls.cpp
+index ba2fd655300..c948f4d19e1 100644
+--- 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

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

@@ -0,0 +1,52 @@
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -297,7 +297,7 @@
+ # OpenMP (optional)
+ option(WITH_OPENMP "Build with parallelization using OpenMP" TRUE)
+ if(WITH_OPENMP)
+-  find_package(OpenMP COMPONENTS C CXX)
++  find_package(OpenMP REQUIRED COMPONENTS C CXX)
+ endif()
+ if(OpenMP_FOUND)
+   string(APPEND CMAKE_C_FLAGS " ${OpenMP_C_FLAGS}")
+@@ -319,11 +319,11 @@
+ find_package(Threads REQUIRED)
+
+ # Eigen (required)
+-find_package(Eigen 3.3 REQUIRED)
++find_package(EIGEN REQUIRED CONFIG)
+ include_directories(SYSTEM ${EIGEN_INCLUDE_DIRS})
+
+ # FLANN (required)
+-find_package(FLANN 1.9.1 REQUIRED)
++find_package(FLANN CONFIG)
+ if(NOT (${FLANN_LIBRARY_TYPE} MATCHES ${PCL_FLANN_REQUIRED_TYPE}) AND NOT (${PCL_FLANN_REQUIRED_TYPE} MATCHES "DONTCARE"))
+   message(FATAL_ERROR "Flann was selected with ${PCL_FLANN_REQUIRED_TYPE} but found as ${FLANN_LIBRARY_TYPE}")
+ endif()
+@@ -359,7 +359,7 @@
+ # LibPNG
+ option(WITH_PNG "PNG file support" TRUE)
+ if(WITH_PNG)
+-  find_package(PNG)
++  find_package(PNG REQUIRED CONFIG)
+   if(PNG_FOUND)
+     set(HAVE_PNG ON)
+     include_directories(SYSTEM "${PNG_INCLUDE_DIR}")
+@@ -369,7 +369,7 @@
+ # Qhull
+ option(WITH_QHULL "Include convex-hull operations" TRUE)
+ if(WITH_QHULL)
+-  find_package(Qhull)
++  find_package(QHULL REQUIRED CONFIG)
+   if(NOT (${QHULL_LIBRARY_TYPE} MATCHES ${PCL_QHULL_REQUIRED_TYPE}) AND NOT (${PCL_QHULL_REQUIRED_TYPE} MATCHES "DONTCARE"))
+     message(FATAL_ERROR "Qhull was selected with ${PCL_QHULL_REQUIRED_TYPE} but found as ${QHULL_LIBRARY_TYPE}")
+   endif()
+@@ -404,7 +404,7 @@
+ #Find PCAP
+ option(WITH_PCAP "pcap file capabilities in Velodyne HDL driver" TRUE)
+ if(WITH_PCAP)
+-  find_package(Pcap)
++  find_package(PCAP REQUIRED CONFIG)
+ endif()
+
+ # OpenGL and GLUT

recipes/pcl/all/patches/0001-fix-FindOpenNI-bug.patch

@@ -0,0 +1,32 @@
+--- cmake/Modules/FindOpenNI.cmake
++++ cmake/Modules/FindOpenNI.cmake
+@@ -52,7 +52,12 @@
+
+   # Libraries
+   if(NOT WIN32)
+-    find_package(libusb REQUIRED)
++    find_package(libusb QUIET)
++    if (NOT libusb_FOUND)
++      message(WARNING "Found OpenNI library, but required libusb is not available")
++      set(OPENNI_FOUND FALSE)
++      return()
++    endif()
+     set(OPENNI_LIBRARIES ${OPENNI_LIBRARY} libusb::libusb)
+   else()
+     set(OPENNI_LIBRARIES ${OPENNI_LIBRARY})
+--- cmake/Modules/FindOpenNI2.cmake
++++ cmake/Modules/FindOpenNI2.cmake
+@@ -42,7 +42,12 @@
+
+   # Libraries
+   if(NOT WIN32)
+-    find_package(libusb REQUIRED)
++    find_package(libusb QUIET)
++    if (NOT libusb_FOUND)
++      message(WARNING "Found OpenNI2 library, but required libusb is not available")
++      set(OPENNI2_FOUND FALSE)
++      return()
++    endif()
+     set(OPENNI2_LIBRARIES ${OPENNI2_LIBRARY} libusb::libusb)
+   else()
+     set(OPENNI2_LIBRARIES ${OPENNI2_LIBRARY})

recipes/pcl/all/test_package/CMakeLists.txt

@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 3.15)
+
+project(test_package CXX)
+
+find_package(PCL REQUIRED surface CONFIG)
+
+add_executable(${PROJECT_NAME} test_package.cpp)
+
+target_link_libraries(${PROJECT_NAME} PRIVATE PCL::filters)
+target_compile_features(${PROJECT_NAME} PRIVATE cxx_std_17)

recipes/pcl/all/test_package/conanfile.py

@@ -0,0 +1,27 @@
+from conan import ConanFile
+from conan.tools.build import can_run
+from conan.tools.cmake import cmake_layout, CMake
+import os
+
+
+# It will become the standard on Conan 2.x
+class TestPackageConan(ConanFile):
+    settings = "os", "arch", "compiler", "build_type"
+    generators = "CMakeDeps", "CMakeToolchain", "VirtualRunEnv"
+    test_type = "explicit"
+
+    def requirements(self):
+        self.requires(self.tested_reference_str)
+
+    def layout(self):
+        cmake_layout(self)
+
+    def build(self):
+        cmake = CMake(self)
+        cmake.configure()
+        cmake.build()
+
+    def test(self):
+        if can_run(self):
+            bin_path = os.path.join(self.cpp.build.bindir, "test_package")
+            self.run(bin_path, env="conanrun")

recipes/pcl/all/test_package/test_package.cpp

@@ -0,0 +1,73 @@
+// Copied from https://github.com/PointCloudLibrary/pcl/blob/pcl-1.13.1/examples/filters/example_extract_indices.cpp
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2009-2011, Willow Garage, Inc.
+ *
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ * * Redistributions in binary form must reproduce the above
+ *   copyright notice, this list of conditions and the following
+ *   disclaimer in the documentation and/or other materials provided
+ *   with the distribution.
+ * * Neither the name of Willow Garage, Inc. nor the names of its
+ *   contributors may be used to endorse or promote products derived
+ *   from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * $Id: example_ExtractIndices.cpp 4117 2012-01-31 17:56:02Z aichim $
+ *
+ */
+
+#include <iostream>
+
+#include <pcl/filters/extract_indices.h>
+
+int
+main (int, char**)
+{
+  using PointType = pcl::PointXYZ;
+  using CloudType = pcl::PointCloud<PointType>;
+  CloudType::Ptr cloud (new CloudType);
+  cloud->is_dense = false;
+  PointType p;
+  for (unsigned int i = 0; i < 5; ++i)
+  {
+    p.x = p.y = p.z = static_cast<float> (i);
+    cloud->push_back (p);
+  }
+
+  std::cout << "Cloud has " << cloud->size () << " points." << std::endl;
+
+  pcl::PointIndices indices;
+  indices.indices.push_back (0);
+  indices.indices.push_back (2);
+
+  pcl::ExtractIndices<PointType> extract_indices;
+  extract_indices.setIndices (pcl::make_shared<const pcl::PointIndices> (indices));
+  extract_indices.setInputCloud (cloud);
+  pcl::PointCloud<pcl::PointXYZ>::Ptr output (new pcl::PointCloud<pcl::PointXYZ>);
+  extract_indices.filter (*output);
+
+  std::cout << "Output has " << output->size () << " points." << std::endl;
+  return (0);
+}

recipes/pcl/config.yml

@@ -0,0 +1,3 @@
+versions:
+  "1.13.1":
+    folder: all