-
Notifications
You must be signed in to change notification settings - Fork 1.8k
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
- Loading branch information
Showing
7 changed files
with
273 additions
and
0 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,10 @@ | ||
sources: | ||
"cci.20240408": | ||
url: "https://github.com/koide3/small_gicp/archive/ff8269ec09c9ddccff8358a4b7cc5e4c5fda134f.zip" | ||
sha256: "ebcc1c6c82e0d8e1e58ce8bd2e0961fb066d606663e70796aff203ef7c739736" | ||
patches: | ||
"cci.20240408": | ||
- patch_file: "patches/001-fix-invalid-install.patch" | ||
patch_description: "Fix an invalid install command in CMakeLists.txt" | ||
patch_type: "bugfix" | ||
patch_source: "https://github.com/koide3/small_gicp/pull/23" |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,123 @@ | ||
from conan import ConanFile | ||
from conan.errors import ConanInvalidConfiguration | ||
from conan.tools.build import check_min_cppstd | ||
from conan.tools.cmake import CMake, CMakeDeps, CMakeToolchain, cmake_layout | ||
from conan.tools.files import apply_conandata_patches, copy, export_conandata_patches, get, rm, rmdir, download | ||
from conan.tools.scm import Version | ||
import os | ||
|
||
required_conan_version = ">=1.53.0" | ||
|
||
|
||
class IridescenceConan(ConanFile): | ||
name = "small_gicp" | ||
description = "Efficient and parallelized algorithms for point cloud registration" | ||
license = "MIT AND BSD" # BSD is from nanoflann | ||
url = "https://github.com/conan-io/conan-center-index" | ||
homepage = "https://github.com/koide3/small_gicp" | ||
topics = ("point-cloud", "icp", "registration", "scan-matching", "pcl") | ||
|
||
package_type = "library" # TODO: could add a header_only option as well | ||
settings = "os", "arch", "compiler", "build_type" | ||
options = { | ||
"shared": [True, False], | ||
"fPIC": [True, False], | ||
"with_openmp": [True, False], | ||
"with_tbb": [True, False], | ||
} | ||
default_options = { | ||
"shared": False, | ||
"fPIC": True, | ||
"with_openmp": False, # TODO: enable by default after https://github.com/conan-io/conan-center-index/pull/22353 | ||
"with_tbb": True, | ||
} | ||
|
||
@property | ||
def _min_cppstd(self): | ||
return 17 | ||
|
||
@property | ||
def _compilers_minimum_version(self): | ||
return { | ||
"gcc": "7", | ||
"clang": "7", | ||
"apple-clang": "10", | ||
"Visual Studio": "15", | ||
"msvc": "191", | ||
} | ||
|
||
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 requirements(self): | ||
self.requires("eigen/3.4.0", transitive_headers=True) | ||
if self.options.with_openmp: | ||
# '#pragma omp' is used in public headers | ||
self.requires("llvm-openmp/17.0.6", transitive_headers=True, transitive_libs=True) | ||
if self.options.with_tbb: | ||
self.requires("onetbb/2021.10.0", transitive_headers=True, transitive_libs=True) | ||
# The project vendors nanoflann, but it has been heavily extended and should be kept intact | ||
|
||
def validate(self): | ||
if self.settings.compiler.cppstd: | ||
check_min_cppstd(self, self._min_cppstd) | ||
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) | ||
download(self, "https://github.com/jlblancoc/nanoflann/blob/568ae53f5fcd82d5398bb1b32144fa22028518d5/COPYING", "LICENSE.nanoflann") | ||
download(self, "https://github.com/strasdat/Sophus/blob/593db47500ea1a2de5f0e6579c86147991509c59/LICENSE.txt", "LICENSE.sophus") | ||
|
||
def generate(self): | ||
tc = CMakeToolchain(self) | ||
tc.variables["BUILD_HELPER"] = True | ||
tc.variables["BUILD_WITH_OPENMP"] = self.options.with_openmp | ||
tc.variables["BUILD_WITH_TBB"] = self.options.with_tbb | ||
tc.generate() | ||
|
||
deps = CMakeDeps(self) | ||
deps.generate() | ||
|
||
def _patch_sources(self): | ||
apply_conandata_patches(self) | ||
|
||
def build(self): | ||
self._patch_sources() | ||
cmake = CMake(self) | ||
cmake.configure() | ||
cmake.build() | ||
|
||
def package(self): | ||
copy(self, "LICENSE", self.source_folder, os.path.join(self.package_folder, "licenses")) | ||
copy(self, "LICENSE.nanoflann", self.source_folder, os.path.join(self.package_folder, "licenses")) | ||
copy(self, "LICENSE.sophus", self.source_folder, os.path.join(self.package_folder, "licenses")) | ||
cmake = CMake(self) | ||
cmake.install() | ||
rmdir(self, os.path.join(self.package_folder, "lib", "pkgconfig")) | ||
rmdir(self, os.path.join(self.package_folder, "lib", "cmake")) | ||
rm(self, "*.pdb", os.path.join(self.package_folder, "lib")) | ||
rm(self, "*.pdb", os.path.join(self.package_folder, "bin")) | ||
|
||
def package_info(self): | ||
self.cpp_info.set_property("cmake_file_name", "small_gicp") | ||
self.cpp_info.set_property("cmake_target_name", "small_gicp::small_gicp") | ||
|
||
self.cpp_info.libs = ["small_gicp"] | ||
|
||
if self.settings.os in ["Linux", "FreeBSD"]: | ||
self.cpp_info.system_libs.append("m") |
24 changes: 24 additions & 0 deletions
24
recipes/small_gicp/all/patches/001-fix-invalid-install.patch
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,24 @@ | ||
From 3370aeda76edb6fc395e5f72790fa2af2ca90db1 Mon Sep 17 00:00:00 2001 | ||
From: Martin Valgur <[email protected]> | ||
Date: Wed, 10 Apr 2024 10:29:53 +0300 | ||
Subject: [PATCH] Fix an invalid `install(cmake/FindTBB.cmake)` | ||
|
||
--- | ||
CMakeLists.txt | 4 ---- | ||
1 file changed, 4 deletions(-) | ||
|
||
diff --git a/CMakeLists.txt b/CMakeLists.txt | ||
index a2fd69f..094bb1a 100644 | ||
--- a/CMakeLists.txt | ||
+++ b/CMakeLists.txt | ||
@@ -274,10 +274,6 @@ if(BUILD_HELPER) | ||
"${CMAKE_CURRENT_BINARY_DIR}/small_gicp-config-version.cmake" | ||
DESTINATION ${CMAKE_CONFIG_INSTALL_DIR} | ||
) | ||
- install(FILES | ||
- "${CMAKE_CURRENT_SOURCE_DIR}/cmake/FindTBB.cmake" | ||
- DESTINATION ${CMAKE_CONFIG_INSTALL_DIR} | ||
- ) | ||
endif() | ||
|
||
if(BUILD_PYTHON_BINDINGS) |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,8 @@ | ||
cmake_minimum_required(VERSION 3.15) | ||
project(test_package LANGUAGES CXX) | ||
|
||
find_package(small_gicp REQUIRED CONFIG) | ||
|
||
add_executable(${PROJECT_NAME} test_package.cpp) | ||
target_link_libraries(${PROJECT_NAME} PRIVATE small_gicp::small_gicp) | ||
target_compile_features(${PROJECT_NAME} PRIVATE cxx_std_17) |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,34 @@ | ||
from conan import ConanFile | ||
from conan.tools.build import can_run | ||
from conan.tools.cmake import cmake_layout, CMake, CMakeToolchain | ||
import os | ||
|
||
|
||
class TestPackageConan(ConanFile): | ||
settings = "os", "arch", "compiler", "build_type" | ||
generators = "CMakeDeps", "VirtualRunEnv" | ||
test_type = "explicit" | ||
|
||
def requirements(self): | ||
self.requires(self.tested_reference_str) | ||
|
||
def layout(self): | ||
cmake_layout(self) | ||
|
||
def generate(self): | ||
tc = CMakeToolchain(self) | ||
if self.dependencies["small_gicp"].options.with_openmp: | ||
tc.preprocessor_definitions["WITH_OPENMP"] = "" | ||
if self.dependencies["small_gicp"].options.with_tbb: | ||
tc.preprocessor_definitions["WITH_TBB"] = "" | ||
tc.generate() | ||
|
||
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") |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,71 @@ | ||
// https://github.com/koide3/small_gicp/blob/ff8269ec09c9ddccff8358a4b7cc5e4c5fda134f/src/example/03_registration_template.cpp | ||
// SPDX-FileCopyrightText: Copyright 2024 Kenji Koide | ||
// SPDX-License-Identifier: MIT | ||
|
||
/// @brief Basic point cloud registration example with small_gicp::align() | ||
#include <iostream> | ||
#include <small_gicp/benchmark/read_points.hpp> | ||
#include <small_gicp/registration/registration_helper.hpp> | ||
|
||
#ifdef WITH_OPENMP | ||
#include <small_gicp/ann/kdtree_omp.hpp> | ||
#endif | ||
#ifdef WITH_TBB | ||
#include <small_gicp/ann/kdtree_tbb.hpp> | ||
#endif | ||
|
||
using namespace small_gicp; | ||
|
||
/// @brief Most basic registration example. | ||
void example1(const std::vector<Eigen::Vector4f>& target_points, const std::vector<Eigen::Vector4f>& source_points) { | ||
RegistrationSetting setting; | ||
setting.num_threads = 4; // Number of threads to be used | ||
setting.downsampling_resolution = 0.25; // Downsampling resolution | ||
setting.max_correspondence_distance = 1.0; // Maximum correspondence distance between points (e.g., trimming threshold) | ||
|
||
Eigen::Isometry3d init_T_target_source = Eigen::Isometry3d::Identity(); | ||
RegistrationResult result = align(target_points, source_points, init_T_target_source, setting); | ||
|
||
std::cout << "--- T_target_source ---" << std::endl << result.T_target_source.matrix() << std::endl; | ||
std::cout << "converged:" << result.converged << std::endl; | ||
std::cout << "error:" << result.error << std::endl; | ||
std::cout << "iterations:" << result.iterations << std::endl; | ||
std::cout << "num_inliers:" << result.num_inliers << std::endl; | ||
std::cout << "--- H ---" << std::endl << result.H << std::endl; | ||
std::cout << "--- b ---" << std::endl << result.b.transpose() << std::endl; | ||
} | ||
|
||
int main(int argc, char** argv) { | ||
std::vector<Eigen::Vector4f> target_points = { | ||
{1.0f, 2.0f, 3.0f, 1.0f}, | ||
{4.0f, 5.0f, 6.0f, 1.0f}, | ||
{7.0f, 8.0f, 9.0f, 1.0f}, | ||
{10.0f, 11.0f, 12.0f, 1.0f}, | ||
{13.0f, 14.0f, 15.0f, 1.0f}, | ||
{16.0f, 17.0f, 18.0f, 1.0f}, | ||
{19.0f, 20.0f, 21.0f, 1.0f}, | ||
{22.0f, 23.0f, 24.0f, 1.0f} | ||
}; | ||
std::vector<Eigen::Vector4f> source_points = { | ||
{1.1f, 2.1f, 3.2f, 1.0f}, | ||
{4.2f, 4.9f, 6.1f, 1.0f}, | ||
{6.9f, 8.2f, 9.1f, 1.0f}, | ||
{10.2f, 10.8f, 12.2f, 1.0f}, | ||
{13.1f, 14.0f, 15.2f, 1.0f}, | ||
{15.9f, 17.2f, 18.1f, 1.0f}, | ||
{19.2f, 20.1f, 21.2f, 1.0f}, | ||
{22.1f, 23.1f, 24.2f, 1.0f} | ||
}; | ||
|
||
example1(target_points, source_points); | ||
|
||
// test that these compile and link | ||
#ifdef WITH_OPENMP | ||
KdTreeOMP<PointCloud>::Ptr kdtree_omp; | ||
#endif | ||
#ifdef WITH_TBB | ||
KdTreeTBB<PointCloud>::Ptr kdtree_tbb; | ||
#endif | ||
|
||
return 0; | ||
} |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,3 @@ | ||
versions: | ||
"cci.20240408": | ||
folder: all |