glim: new recipe

recipes/glim/all/conandata.yml

@@ -0,0 +1,9 @@
+sources:
+  "1.0.0":
+    url: "https://github.com/koide3/glim/archive/refs/tags/v1.0.0.tar.gz"
+    sha256: "51861ddeb322478c101fa4953f0fca09102d493f2bb176d7d4f70bb4678c5bb8"
+patches:
+  "1.0.0":
+    - patch_file: "patches/0001-cmake-fixes.patch"
+      patch_description: "Unvendor dependencies, misc CMake fixes"
+      patch_type: "conan"

recipes/glim/all/conanfile.py

@@ -0,0 +1,127 @@
+import os
+
+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, export_conandata_patches, get, rmdir
+from conan.tools.scm import Version
+
+required_conan_version = ">=1.53.0"
+
+
+class GlimPackage(ConanFile):
+    name = "glim"
+    description = "GLIM: versatile and extensible range-based 3D localization and mapping framework"
+    license = "MIT"
+    url = "https://github.com/conan-io/conan-center-index"
+    homepage = "https://github.com/koide3/glim"
+    topics = ("localization", "mapping", "gpu", "ros", "imu", "lidar", "slam", "3d", "rgb-d")
+
+    package_type = "shared-library"
+    settings = "os", "arch", "compiler", "build_type"
+    options = {
+        "march_native": [True, False],
+        "cuda": [True, False],
+        "viewer": [True, False],
+    }
+    default_options = {
+        "march_native": False,
+        "cuda": False,
+        "viewer": True,
+    }
+
+    @property
+    def _min_cppstd(self):
+        return 17
+
+    @property
+    def _compilers_minimum_version(self):
+        return {
+            "gcc": "9",
+            "clang": "10",
+            "apple-clang": "12",
+            "Visual Studio": "16",
+            "msvc": "192",
+        }
+
+    def export_sources(self):
+        export_conandata_patches(self)
+
+    def layout(self):
+        cmake_layout(self, src_folder="src")
+
+    def requirements(self):
+        self.requires("boost/1.85.0", transitive_headers=True, force=True)
+        self.requires("eigen/3.4.0", transitive_headers=True)
+        self.requires("opencv/4.9.0", transitive_headers=True, transitive_libs=True)
+        self.requires("gtsam/4.2", transitive_headers=True, transitive_libs=True)
+        self.requires("gtsam_points/1.0.0", transitive_headers=True, transitive_libs=True)
+        self.requires("nlohmann_json/3.11.3", transitive_headers=True)
+        self.requires("openmp/system")
+        self.requires("spdlog/1.14.1", transitive_headers=True)
+        if self.options.viewer:
+            self.requires("iridescence/cci.20240709", 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 source(self):
+        get(self, **self.conan_data["sources"][self.version], strip_root=True)
+
+    def generate(self):
+        tc = CMakeToolchain(self)
+        tc.variables["BUILD_WITH_MARCH_NATIVE"] = self.options.march_native
+        tc.variables["BUILD_WITH_CUDA"] = self.options.cuda
+        tc.variables["BUILD_WITH_VIEWER"] = self.options.viewer
+        tc.generate()
+
+        deps = CMakeDeps(self)
+        deps.set_property("gtsam", "cmake_target_name", "GTSAM::GTSAM")
+        deps.generate()
+
+    def _patch_sources(self):
+        apply_conandata_patches(self)
+        rmdir(self, os.path.join(self.source_folder, "thirdparty"))
+
+    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"))
+        cmake = CMake(self)
+        cmake.install()
+        rmdir(self, os.path.join(self.package_folder, "lib", "cmake"))
+
+    def package_info(self):
+        self.cpp_info.set_property("cmake_file_name", "glim")
+        self.cpp_info.set_property("cmake_target_name", "glim::glim")
+
+        self.cpp_info.libs = [
+            "glim",
+            "global_mapping",
+            "global_mapping_pose_graph",
+            "odometry_estimation_cpu",
+            "odometry_estimation_ct",
+            "sub_mapping",
+            "sub_mapping_passthrough",
+        ]
+        if self.options.viewer:
+            self.cpp_info.libs += [
+                "interactive_viewer",
+                "standard_viewer",
+            ]
+
+        # TODO: add CUDA support
+        # self.cpp_info.builddirs.append(os.path.join("lib", "cmake"))
+        # cmake_module = os.path.join("lib", "cmake", "conan-cuda-dependency.cmake")
+        # self.cpp_info.set_property("cmake_build_modules", [cmake_module])

recipes/glim/all/patches/0001-cmake-fixes.patch

@@ -0,0 +1,55 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 62baabd..d485686 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -1,7 +1,9 @@
+-cmake_minimum_required(VERSION 3.5)
++cmake_minimum_required(VERSION 3.15)
+ project(glim VERSION 0.1.0 LANGUAGES CXX)
+
+-add_compile_options(-std=c++17)
++if(NOT DEFINED CMAKE_CXX_STANDARD)
++  set(CMAKE_CXX_STANDARD 17)
++endif()
+ set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_LIST_DIR}/cmake")
+
+ if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
+@@ -15,10 +17,8 @@ option(BUILD_WITH_VIEWER "Build with visualizer" ON)
+ option(BUILD_WITH_MARCH_NATIVE "Build with -march=native" OFF)
+
+ if(BUILD_WITH_MARCH_NATIVE)
+-  add_definitions(-march=native)
++  add_compile_options(-march=native)
+   add_definitions(-DBUILD_WITH_MARCH_NATIVE)
+-  set(CMAKE_C_FLAGS "-march=native ${CMAKE_C_FLAGS}")
+-  set(CMAKE_CXX_FLAGS "-march=native ${CMAKE_CXX_FLAGS}")
+ endif()
+
+ find_package(Boost REQUIRED serialization)
+@@ -28,6 +28,7 @@ find_package(GTSAM REQUIRED)
+ find_package(gtsam_points REQUIRED)
+ find_package(OpenMP REQUIRED)
+ find_package(spdlog REQUIRED)
++find_package(nlohmann_json REQUIRED)
+
+ if(BUILD_WITH_VIEWER)
+   find_package(Iridescence REQUIRED)
+@@ -85,7 +86,6 @@ add_library(glim SHARED
+ )
+ target_include_directories(glim PUBLIC
+   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+-  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/json/include>
+   $<INSTALL_INTERFACE:include>
+   ${OpenCV_INCLUDE_DIRS}
+ )
+@@ -97,6 +97,7 @@ target_link_libraries(glim
+   gtsam_points::gtsam_points
+   OpenMP::OpenMP_CXX
+   spdlog::spdlog
++  nlohmann_json::nlohmann_json
+   $<TARGET_NAME_IF_EXISTS:Iridescence::Iridescence>
+   ${OpenCV_LIBRARIES}
+ )
+-- 
+2.25.1
+

recipes/glim/all/test_package/CMakeLists.txt

@@ -0,0 +1,8 @@
+cmake_minimum_required(VERSION 3.15)
+project(test_package LANGUAGES CXX)
+
+find_package(glim REQUIRED CONFIG)
+
+add_executable(${PROJECT_NAME} test_package.cpp)
+target_link_libraries(${PROJECT_NAME} PRIVATE glim::glim)
+target_compile_features(${PROJECT_NAME} PRIVATE cxx_std_17)

recipes/glim/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 layout(self):
+        cmake_layout(self)
+
+    def requirements(self):
+        self.requires(self.tested_reference_str)
+
+    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/glim/all/test_package/test_package.cpp

@@ -0,0 +1,8 @@
+#include <glim/common/imu_integration.hpp>
+
+#include <iostream>
+
+int main() {
+    glim::IMUIntegration imu_integration;
+    std::cout << "Number of IMU values in queue: " << imu_integration.imu_data_in_queue().size() << std::endl;
+}

recipes/glim/config.yml

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