small_gicp: new recipe

recipes/small_gicp/all/conandata.yml

@@ -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"

recipes/small_gicp/all/conanfile.py

@@ -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")

recipes/small_gicp/all/patches/001-fix-invalid-install.patch

@@ -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)

recipes/small_gicp/all/test_package/CMakeLists.txt

@@ -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)

recipes/small_gicp/all/test_package/conanfile.py

@@ -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")

recipes/small_gicp/all/test_package/test_package.cpp

@@ -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;
+}

recipes/small_gicp/config.yml

@@ -0,0 +1,3 @@
+versions:
+  "cci.20240408":
+    folder: all