small_gicp: new recipe

recipes/small_gicp/all/conandata.yml

@@ -0,0 +1,4 @@
+sources:
+  "1.0.0":
+    url: "https://github.com/koide3/small_gicp/archive/refs/tags/v1.0.0.tar.gz"
+    sha256: "8ace22cfc79b1ea1c827d199c98f1efd01fd5a6686cda99e684ef21cb86ebbbf"

recipes/small_gicp/all/conanfile.py

@@ -0,0 +1,124 @@
+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.env import VirtualBuildEnv
+from conan.tools.files import copy, 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 and Sophus
+    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": True,
+        "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 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
+            # Note: native MSVC OpenMP is not compatible
+            self.requires("llvm-openmp/18.1.8", transitive_headers=True, transitive_libs=True)
+        if self.options.with_tbb:
+            self.requires("onetbb/2021.12.0", transitive_headers=True, transitive_libs=True)
+
+    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 build_requirements(self):
+        self.tool_requires("cmake/[>=3.16 <4]")
+
+    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):
+        venv = VirtualBuildEnv(self)
+        venv.generate()
+
+        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 build(self):
+        cmake = CMake(self)
+        cmake.configure()
+        cmake.build()
+
+    def package(self):
+        copy(self, "LICENSE", self.source_folder, os.path.join(self.package_folder, "licenses"))
+        # The source code contains fragments from nanoflann and Sophus
+        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/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 +1,31 @@
+#include <small_gicp/points/point_cloud.hpp>
+#include <small_gicp/ann/kdtree.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;
+
+int main() {
+  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},
+  };
+  auto target = std::make_shared<PointCloud>(target_points);
+
+  const int num_threads = 1;
+  std::make_shared<KdTree<PointCloud>>(target, KdTreeBuilderOMP(num_threads));
+
+#ifdef WITH_OPENMP
+  std::make_shared<KdTree<PointCloud>>(target, KdTreeBuilderOMP());
+#endif
+
+#ifdef WITH_TBB
+  std::make_shared<KdTree<PointCloud>>(target, KdTreeBuilderTBB());
+#endif
+
+}

recipes/small_gicp/config.yml

@@ -0,0 +1,3 @@
+versions:
+  "1.0.0":
+    folder: all