vilib: new recipe

recipes/vilib/all/conandata.yml

@@ -0,0 +1,9 @@
+sources:
+  "cci.20210625":
+    url: "https://github.com/uzh-rpg/vilib/archive/7a12fe1db78ca755876469979394076f10fe577c.zip"
+    sha256: "431e19fdb85ed99b5508b7409699ea30ea121578e660116351a57d71474bf01a"
+patches:
+  "cci.20210625":
+    - patch_file: "patches/001-fix-opencv-linked-libs.patch"
+      patch_type: "bugfix"
+      patch_description: "Add missing required OpenCV linked libraries"

recipes/vilib/all/conanfile.py

@@ -0,0 +1,100 @@
+import os
+
+from conan import ConanFile
+from conan.tools.build import check_min_cppstd
+from conan.tools.cmake import CMake, CMakeDeps, CMakeToolchain, cmake_layout
+from conan.tools.files import copy, get, rmdir, rm, export_conandata_patches, apply_conandata_patches
+from conans.errors import ConanInvalidConfiguration
+
+required_conan_version = ">=1.53.0"
+
+
+class VilibConan(ConanFile):
+    name = "vilib"
+    description = "CUDA Visual Library by RPG. GPU-Accelerated Frontend for High-Speed VIO."
+    license = "BSD-3-Clause"
+    url = "https://github.com/conan-io/conan-center-index"
+    homepage = "https://github.com/uzh-rpg/vilib"
+    topics = ("computer-vision", "visual-odometry", "visual-features", "cuda")
+
+    package_type = "library"
+    settings = "os", "arch", "compiler", "build_type"
+    options = {
+        "shared": [True, False],
+        "fPIC": [True, False],
+    }
+    default_options = {
+        "shared": False,
+        "fPIC": True,
+    }
+
+    def export_sources(self):
+        export_conandata_patches(self)
+        copy(self, "*.cmake", self.recipe_folder, self.export_sources_folder)
+
+    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)
+        self.requires("opencv/4.9.0", transitive_headers=True, transitive_libs=True)
+
+    def validate(self):
+        if self.settings.compiler.cppstd:
+            check_min_cppstd(self, 11)
+        if self.settings.os == "Windows" and self.options.shared:
+            raise ConanInvalidConfiguration("Shared builds on Windows are not supported")
+
+    def source(self):
+        get(self, **self.conan_data["sources"][self.version], strip_root=True)
+        rmdir(self, "assets")
+        rmdir(self, "ros")
+        rmdir(self, os.path.join("visual_lib", "test"))
+
+    def generate(self):
+        tc = CMakeToolchain(self)
+        tc.cache_variables["CMAKE_POLICY_DEFAULT_CMP0077"] = "NEW"
+        tc.generate()
+        tc = CMakeDeps(self)
+        tc.generate()
+
+    def build(self):
+        apply_conandata_patches(self)
+        cmake = CMake(self)
+        cmake.configure()
+        cmake.build()
+
+    def package(self):
+        copy(self, "LICENSE.txt", self.source_folder, os.path.join(self.package_folder, "licenses"))
+        cmake = CMake(self)
+        cmake.install()
+        rmdir(self, os.path.join(self.package_folder, "lib", "cmake"))
+        rm(self, "*.pdb", self.package_folder, recursive=True)
+        copy(self, "vilib-cuda-dep.cmake", self.export_sources_folder, os.path.join(self.package_folder, "lib", "cmake", "vilib"))
+
+    def package_info(self):
+        self.cpp_info.set_property("cmake_file_name", "vilib")
+        self.cpp_info.set_property("cmake_target_name", "vilib::vilib")
+
+        self.cpp_info.builddirs.append(os.path.join("lib", "cmake", "vilib"))
+        self.cpp_info.set_property("cmake_build_modules", [os.path.join("lib", "cmake", "vilib", "vilib-cuda-dep.cmake")])
+
+        self.cpp_info.libs = ["vilib"]
+        self.cpp_info.requires = [
+            "eigen::eigen",
+            "opencv::opencv_core",
+            "opencv::opencv_imgproc",
+            "opencv::opencv_features2d",
+            "opencv::opencv_highgui",
+        ]
+
+        if self.settings.os in ["Linux", "FreeBSD"]:
+            self.cpp_info.system_libs.extend(["pthread", "dl", "m", "rt"])

recipes/vilib/all/patches/001-fix-opencv-linked-libs.patch

@@ -0,0 +1,20 @@
+--- CMakeLists.txt
++++ CMakeLists.txt
+@@ -56,7 +56,7 @@
+ endif()
+
+
+-find_package(OpenCV REQUIRED COMPONENTS core)
++find_package(OpenCV REQUIRED COMPONENTS core imgproc features2d highgui)
+ find_package(Eigen3 REQUIRED)
+
+ option(BUILD_SHARED_LIBS "build shared libraries" ON)
+@@ -102,7 +102,7 @@
+   )
+
+ target_link_libraries(vilib PUBLIC
+-  opencv_core Eigen3::Eigen ${CUDA_LIBRARIES})
++  opencv_core opencv_imgproc opencv_features2d opencv_highgui Eigen3::Eigen ${CUDA_LIBRARIES})
+
+ # Set different compiler options for cxx and nvcc
+

recipes/vilib/all/test_package/CMakeLists.txt

@@ -0,0 +1,8 @@
+cmake_minimum_required(VERSION 3.15)
+project(test_package LANGUAGES CXX)
+
+find_package(vilib REQUIRED CONFIG)
+
+add_executable(${PROJECT_NAME} test_package.cpp)
+target_link_libraries(${PROJECT_NAME} PRIVATE vilib::vilib)
+target_compile_features(${PROJECT_NAME} PRIVATE cxx_std_11)

recipes/vilib/all/test_package/conanfile.py

@@ -0,0 +1,26 @@
+from conan import ConanFile
+from conan.tools.build import can_run
+from conan.tools.cmake import cmake_layout, CMake
+import os
+
+
+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/vilib/all/test_package/test_package.cpp

@@ -0,0 +1,23 @@
+#include <vilib/feature_detection/fast/fast_common.h>
+#include <vilib/feature_detection/fast/fast_gpu.h>
+
+using namespace vilib;
+
+#define PYRAMID_LEVELS      1
+#define PYRAMID_MIN_LEVEL   0
+#define PYRAMID_MAX_LEVEL   PYRAMID_LEVELS
+#define FAST_EPSILON        10.0f
+#define FAST_MIN_ARC_LENGTH 10
+#define FAST_SCORE          SUM_OF_ABS_DIFF_ON_ARC
+#define HORIZONTAL_BORDER   0
+#define VERTICAL_BORDER     0
+#define CELL_SIZE_WIDTH     32
+#define CELL_SIZE_HEIGHT    32
+
+int main() {
+  int width = 512;
+  int height = 512;
+  FASTGPU(width, height, CELL_SIZE_WIDTH, CELL_SIZE_HEIGHT, PYRAMID_MIN_LEVEL,
+          PYRAMID_MAX_LEVEL, HORIZONTAL_BORDER, VERTICAL_BORDER, FAST_EPSILON,
+          FAST_MIN_ARC_LENGTH, FAST_SCORE);
+}

recipes/vilib/all/vilib-cuda-dep.cmake

@@ -0,0 +1,4 @@
+
+find_dependency(CUDAToolkit REQUIRED)
+
+set_property(TARGET ${${CMAKE_FIND_PACKAGE_NAME}_LIBRARIES} PROPERTY INTERFACE_LINK_LIBRARIES CUDA::cudart APPEND)

recipes/vilib/config.yml

@@ -0,0 +1,3 @@
+versions:
+  "cci.20210625":
+    folder: all