g2o: new recipe #22337

valgur · 2024-01-14T22:04:28Z

Adds g2o: https://github.com/RainerKuemmerle/g2o

g2o: A General Framework for Graph Optimization

It's currently missing important, but optional, SuiteSparse and CSparse solver dependencies, which are not yet available on CCI.

Resolves [request] g2o/20201223 #10931

jwillikers · 2024-03-25T11:52:59Z

recipes/g2o/all/conanfile.py

+        # Used in stuff/opengl_wrapper.h
+        self.requires("opengl/system", transitive_headers=True, transitive_libs=True)
+        self.requires("glu/system", transitive_headers=True, transitive_libs=True)


Can you use the mesa-glu and libglvnd packages where possible here?

Suggested change

# Used in stuff/opengl_wrapper.h

self.requires("opengl/system", transitive_headers=True, transitive_libs=True)

self.requires("glu/system", transitive_headers=True, transitive_libs=True)

# Used in stuff/opengl_wrapper.h

if self.settings.os in ["FreeBSD", "Linux"]:

self.requires("libglvnd/1.7.0", transitive_headers=True, transitive_libs=True)

else:

self.requires("opengl/system", transitive_headers=True, transitive_libs=True)

if is_apple_os(self) or self.settings.os == "Windows":

self.requires("glu/system", transitive_headers=True, transitive_libs=True)

else:

self.requires("mesa-glu", transitive_headers=True, transitive_libs=True)

FYI, CMake prior to 3.29 doesn't do a very good job of handling the GLU headers via the FindOpenGL module, so that may require workarounds like I had to do in the FreeGLUT recipe.

jwillikers · 2024-03-25T11:58:35Z

recipes/g2o/all/conanfile.py

+        self.cpp_info.components["g2o_ceres_ad"].set_property("cmake_target_name", "g2o::g2o_ceres_ad")
+        _add_component("stuff", requires=["spdlog::spdlog", "eigen::eigen"])
+        _add_component("core", requires=["stuff", "eigen::eigen", "g2o_ceres_ad"])
+        _add_component("opengl_helper", requires=["opengl::opengl", "glu::glu", "eigen::eigen"])


Suggested change

_add_component("opengl_helper", requires=["opengl::opengl", "glu::glu", "eigen::eigen"])

opengl_helper_requires = ["eigen::eigen"]

if self.settings.os in ["FreeBSD", "Linux"]:

opengl_helper_requires.append("libglvnd::gl")

else:

opengl_helper_requires.append("opengl::opengl")

if is_apple_os(self) or self.settings.os == "Windows":

opengl_helper_requires.append("glu::glu")

else:

opengl_helper_requires.append("mesa-glu::mesa-glu")

_add_component("opengl_helper", requires=opengl_helper_requires)

I'm not sure which component of libglvnd you need here. libglvnd::gl is the legacy GL implementation for X11, pretty much GLX.

jwillikers · 2024-03-25T11:59:09Z

recipes/g2o/all/conanfile.py

+
+from conan import ConanFile
+from conan.errors import ConanInvalidConfiguration
+from conan.tools.build import check_min_cppstd


Suggested change

from conan.tools.build import check_min_cppstd

from conan.tools.apple import is_apple_os

from conan.tools.build import check_min_cppstd

conan-center-bot · 2024-07-08T13:06:23Z

Conan v1 pipeline ❌

Failure in build 5 (47b54914ed48d07a935c9636b9cf209581ffac57):

g2o/20230806:
CI failed to create some packages (All logs)

Logs for packageID c6a2a96a938ba5b0cfca85082c9ffee445f8d56d:

[settings]
arch=x86_64
build_type=Release
compiler=gcc
compiler.libcxx=libstdc++11
compiler.version=9
os=Linux
[options]
g2o:shared=False

[...]
dpkg-query: no packages found matching libxv-dev
dpkg-query: no packages found matching libxcb-render-util0-dev
dpkg-query: no packages found matching libxcb-xkb-dev
dpkg-query: no packages found matching libxcb-icccm4-dev
dpkg-query: no packages found matching libxcb-image0-dev
dpkg-query: no packages found matching libxcb-keysyms1-dev
dpkg-query: no packages found matching libxcb-xinerama0-dev
dpkg-query: no packages found matching uuid-dev
dpkg-query: no packages found matching libxcb-cursor-dev
dpkg-query: no packages found matching libxcb-composite0-dev
dpkg-query: no packages found matching libxcb-ewmh-dev
dpkg-query: no packages found matching libxcb-res0-dev
debconf: delaying package configuration, since apt-utils is not installed
dpkg-query: no packages found matching libxcb-util-dev
debconf: delaying package configuration, since apt-utils is not installed
CMake Warning at CMakeLists.txt:128 (find_package):
  By not providing "FindCSPARSE.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "CSPARSE", but
  CMake did not find one.

  Could not find a package configuration file provided by "CSPARSE" with any
  of the following names:

    CSPARSEConfig.cmake
    csparse-config.cmake

  Add the installation prefix of "CSPARSE" to CMAKE_PREFIX_PATH or set
  "CSPARSE_DIR" to a directory containing one of the above files.  If
  "CSPARSE" provides a separate development package or SDK, be sure it has
  been installed.


Qt5 not found. Install it and set Qt5_DIR accordingly
/home/conan/workspace/prod-v1/bsr/66957/adddd/.conan/data/g2o/20230806/_/_/build/c6a2a96a938ba5b0cfca85082c9ffee445f8d56d/src/g2o/stuff/opengl_primitives.cpp:27:10: fatal error: GL/glu.h: No such file or directory
   27 | #include <GL/glu.h>
      |          ^~~~~~~~~~
compilation terminated.
make[2]: *** [g2o/stuff/CMakeFiles/opengl_helper.dir/build.make:82: g2o/stuff/CMakeFiles/opengl_helper.dir/opengl_primitives.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:553: g2o/stuff/CMakeFiles/opengl_helper.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make: *** [Makefile:171: all] Error 2
WARN: *** Conan 1 is legacy and on a deprecation path ***
WARN: *** Please upgrade to Conan 2 ***
g2o/20230806: WARN: Using the new toolchains and generators without specifying a build profile (e.g: -pr:b=default) is discouraged and might cause failures and unexpected behavior
g2o/20230806: WARN: Using the new toolchains and generators without specifying a build profile (e.g: -pr:b=default) is discouraged and might cause failures and unexpected behavior
g2o/20230806: ERROR: Package 'c6a2a96a938ba5b0cfca85082c9ffee445f8d56d' build failed
g2o/20230806: WARN: Build folder /home/conan/workspace/prod-v1/bsr/66957/adddd/.conan/data/g2o/20230806/_/_/build/c6a2a96a938ba5b0cfca85082c9ffee445f8d56d/build/Release
ERROR: g2o/20230806: Error in build() method, line 208
	cmake.build()
	ConanException: Error 2 while executing cmake --build "/home/conan/workspace/prod-v1/bsr/66957/adddd/.conan/data/g2o/20230806/_/_/build/c6a2a96a938ba5b0cfca85082c9ffee445f8d56d/build/Release" '--' '-j3'

^{Note: To save resources, CI tries to finish as soon as an error is found. For this reason you might find that not all the references have been launched or not all the configurations for a given reference. Also, take into account that we cannot guarantee the order of execution as it depends on CI workload and workers availability.}

Conan v2 pipeline ❌

Note: Conan v2 builds are now mandatory. Please read our discussion about it.

The v2 pipeline failed. Please, review the errors and note this is required for pull requests to be merged. In case this recipe is still not ported to Conan 2.x, please, ping @conan-io/barbarians on the PR and we will help you.

Failure in build 5 (47b54914ed48d07a935c9636b9cf209581ffac57):

g2o/20230806:
CI failed to create some packages (All logs)

Logs for packageID d5958526b4e99cd5b0f0c52a571bf646c359247a:

[settings]
arch=x86_64
build_type=Release
compiler=gcc
compiler.cppstd=17
compiler.libcxx=libstdc++11
compiler.version=11
os=Linux
[options]
*/*:shared=False

[...]
-- Conan: Component target declared 'wayland::wayland-client'
-- Conan: Component target declared 'wayland::wayland-cursor'
-- Conan: Component target declared 'wayland::wayland-egl'
-- Conan: Component target declared 'wayland::wayland-egl-backend'
-- Conan: Target declared 'wayland::wayland'
-- Conan: Target declared 'libffi::libffi'
-- Conan: Target declared 'LibXml2::LibXml2'
-- Conan: Target declared 'ZLIB::ZLIB'
-- Conan: Target declared 'Iconv::Iconv'
-- Conan: Including build module from '/home/conan/workspace/prod-v2/bsr/59956/afebc/p/libxm13ba99bc5c25b/p/lib/cmake/conan-official-libxml2-variables.cmake'
-- Conan: Target declared 'expat::expat'
-- Configuring done
-- Generating done
-- Build files have been written to: /home/conan/workspace/prod-v2/bsr/59956/afebc/p/b/g2o7c83bebaeb6c6/b/build/Release

g2o/20230806: Running CMake.build()
g2o/20230806: RUN: cmake --build "/home/conan/workspace/prod-v2/bsr/59956/afebc/p/b/g2o7c83bebaeb6c6/b/build/Release" -- -j3
Scanning dependencies of target opengl_helper
[  1%] Building CXX object g2o/stuff/CMakeFiles/opengl_helper.dir/opengl_primitives.cpp.o
Scanning dependencies of target stuff
[  2%] Building CXX object g2o/stuff/CMakeFiles/stuff.dir/timeutil.cpp.o
[  2%] Building CXX object g2o/stuff/CMakeFiles/stuff.dir/command_args.cpp.o
/home/conan/workspace/prod-v2/bsr/59956/afebc/p/b/g2o7c83bebaeb6c6/b/src/g2o/stuff/opengl_primitives.cpp:27:10: fatal error: GL/glu.h: No such file or directory
   27 | #include <GL/glu.h>
      |          ^~~~~~~~~~
compilation terminated.
g2o/stuff/CMakeFiles/opengl_helper.dir/build.make:62: recipe for target 'g2o/stuff/CMakeFiles/opengl_helper.dir/opengl_primitives.cpp.o' failed
make[2]: *** [g2o/stuff/CMakeFiles/opengl_helper.dir/opengl_primitives.cpp.o] Error 1
CMakeFiles/Makefile2:164: recipe for target 'g2o/stuff/CMakeFiles/opengl_helper.dir/all' failed
make[1]: *** [g2o/stuff/CMakeFiles/opengl_helper.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[  3%] Building CXX object g2o/stuff/CMakeFiles/stuff.dir/sparse_helper.cpp.o
[  4%] Building C object g2o/stuff/CMakeFiles/stuff.dir/os_specific.c.o
[  4%] Building CXX object g2o/stuff/CMakeFiles/stuff.dir/filesys_tools.cpp.o
[  5%] Building CXX object g2o/stuff/CMakeFiles/stuff.dir/string_tools.cpp.o
[  6%] Building CXX object g2o/stuff/CMakeFiles/stuff.dir/property.cpp.o
[  6%] Building CXX object g2o/stuff/CMakeFiles/stuff.dir/sampler.cpp.o
[  7%] Building CXX object g2o/stuff/CMakeFiles/stuff.dir/tictoc.cpp.o
[  8%] Building CXX object g2o/stuff/CMakeFiles/stuff.dir/logger.cpp.o
[  9%] Linking CXX static library ../../lib/libg2o_stuff.a
[  9%] Built target stuff
Makefile:151: recipe for target 'all' failed
make: *** [all] Error 2

g2o/20230806: ERROR: 
Package 'd5958526b4e99cd5b0f0c52a571bf646c359247a' build failed
g2o/20230806: WARN: Build folder /home/conan/workspace/prod-v2/bsr/59956/afebc/p/b/g2o7c83bebaeb6c6/b/build/Release
ERROR: g2o/20230806: Error in build() method, line 208
	cmake.build()
	ConanException: Error 2 while executing

^{Note: To save resources, CI tries to finish as soon as an error is found. For this reason you might find that not all the references have been launched or not all the configurations for a given reference. Also, take into account that we cannot guarantee the order of execution as it depends on CI workload and workers availability.}

metalMajor · 2024-11-20T08:40:01Z

Hello, I have added a PR to your fork to be able to disable the opengl option:

valgur#10

rettichschnidi · 2024-11-29T23:30:49Z

I'd be interested in this recipe being on the index. Anything I can do as outsider to help this getting pushed forward?

valgur · 2024-11-30T14:20:59Z

@rettichschnidi The g2o recipe is blocked by SuiteSparse support on CCI (#23546), which in turn is blocked by the limited OpenMP support on CCI (#22360, #24577), as it relies solely on OpenMP for parallelization support. It currently cannot be built on CCI and potentially many Linux-based consumer machines due to missing OpenMP runtimes.
You can join the discussion on the OpenMP issues, if you feel like it, to help show that the need for improvements is not just a weird obsession of mine and that users on macOS do actually wish to use linear algebra libraries relying on OpenMP, despite Apple's attempts to force its native frameworks (Accelerate and GCD) on its users.

valgur · 2024-11-30T14:26:28Z

Also, in the mean time, you can use my CCI fork that has support for g2o and many other CV/robotics libraries: https://github.com/valgur/conan-center-index

prince-chrismc mentioned this pull request Jan 14, 2024

Pull Requests Ready to be Reviewed prince-chrismc/conan-center-index-pending-review#1

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AbrilRBS self-assigned this Jan 16, 2024

jwillikers suggested changes Mar 25, 2024

View reviewed changes

conan-center-bot requested review from danimtb and uilianries April 2, 2024 11:40

valgur force-pushed the new/g2o branch from c0aefdd to ad90c0d Compare April 29, 2024 15:38

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valgur mentioned this pull request May 6, 2024

stella_vslam: new recipe #23893

Open

ErniGH mentioned this pull request Jun 14, 2024

Prioritization of new recipe PRs #24327

Open

valgur added 7 commits July 8, 2024 15:55

g2o: new recipe

ce69234

g2o: disable shared Windows builds

88dd3ac

g2o: add support for CHOLMOD and CSparse

ea4da53

g2o: more robust SuiteSparse detection

f88b2cf

g2o: bump spdlog

deb9dce

g2o: fix CSparse support

ace757b

g2o: update and enable OpenMP

47b5491

valgur force-pushed the new/g2o branch from 3e3726d to 47b5491 Compare July 8, 2024 12:57

valgur added 4 commits November 13, 2024 09:04

Merge remote-tracking branch 'upstream/master' into new/g2o

3b9ccf2

g2o: fix llvm-openmp incompatibility

3c8078b

Update all SuiteSparse packages

3b1e4fc

Use a version range for Qt dependencies

bef63fe

valgur added 5 commits November 13, 2024 09:05

g2o: C++20 is not compatible

cf614e0

List only the C component of libtiff under requires

0d32650

gdal: use a pre-release of qhull

e684401

Use a version range for sqlite3 to match qt/6.x recipe

0bc8a4a

Use the latest hdf5 for cross-compilation support

c005d99

add with_opengl option

b20fbf7

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g2o: new recipe #22337

g2o: new recipe #22337

valgur commented Jan 14, 2024 •

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metalMajor commented Nov 20, 2024

rettichschnidi commented Nov 29, 2024 •

edited

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valgur commented Nov 30, 2024

valgur commented Nov 30, 2024

-        _add_component("opengl_helper", requires=["opengl::opengl", "glu::glu", "eigen::eigen"])
+        opengl_helper_requires = ["eigen::eigen"]
+        if self.settings.os in ["FreeBSD", "Linux"]:
+            opengl_helper_requires.append("libglvnd::gl")
+        else:
+           opengl_helper_requires.append("opengl::opengl")
+        if is_apple_os(self) or self.settings.os == "Windows":
+            opengl_helper_requires.append("glu::glu")
+        else:
+            opengl_helper_requires.append("mesa-glu::mesa-glu")
+        _add_component("opengl_helper", requires=opengl_helper_requires)

	from conan.tools.build import check_min_cppstd
	from conan.tools.apple import is_apple_os
	from conan.tools.build import check_min_cppstd

g2o: new recipe #22337

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g2o: new recipe #22337

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conan-center-bot commented Jul 8, 2024

Conan v1 pipeline ❌

Conan v2 pipeline ❌

metalMajor commented Nov 20, 2024

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