stella_vslam: new recipe

recipes/stella_vslam/all/conan_deps.cmake

@@ -0,0 +1,7 @@
+find_package(tinycolormap REQUIRED CONFIG)
+find_package(nlohmann_json REQUIRED CONFIG)
+
+link_libraries(
+    tinycolormap::tinycolormap
+    nlohmann_json::nlohmann_json
+)

recipes/stella_vslam/all/conandata.yml

@@ -0,0 +1,19 @@
+sources:
+  "0.5.0":
+    stella_vslam:
+      url: "https://github.com/stella-cv/stella_vslam/archive/refs/tags/0.5.0.tar.gz"
+      sha256: "0382df7663d738b2b73f12c193f499faacf68ed497c8e828f1bf880b1ed1ea71"
+    iridescence_viewer:
+      url: "https://github.com/stella-cv/iridescence_viewer/archive/c451852585f7df147eb8c7c1f29a24e5557d4251.zip"
+      sha256: "b4906781cf1ac2b9a1c98672c63761c07b6acbf027e2af0ef41808279a61e663"
+    pangolin_viewer:
+      url: "https://github.com/stella-cv/pangolin_viewer/archive/1e0233534055ea3c184dbf6f8b254a0c6c25cee4.zip"
+      sha256: "eea013614ef82cfa3df019501908e986a8aca6fe923cda5ca3012c78324a536f"
+    socket_viewer:
+      url: "https://github.com/stella-cv/socket_viewer/archive/e1e14eec215f5022c84185781ba8d81de22a6f40.zip"
+      sha256: "0325d1ab801e65f4e10791f9aa81d5ad5d9ce0f10246b03f7074f159199c7f09"
+patches:
+  "0.5.0":
+    - patch_file: "patches/001-cmake-conan.patch"
+      patch_description: "Add support for Conan dependencies, unvendor dependencies"
+      patch_type: "conan"

recipes/stella_vslam/all/conanfile.py

@@ -0,0 +1,186 @@
+import os
+
+from conan import ConanFile
+from conan.errors import ConanInvalidConfiguration
+from conan.tools.build import check_min_cppstd, valid_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, replace_in_file, rm, rmdir
+from conan.tools.scm import Version
+
+required_conan_version = ">=1.53.0"
+
+
+class StellaVslamConan(ConanFile):
+    name = "stella_vslam"
+    description = "stella_vslam is a monocular, stereo, and RGBD visual SLAM system."
+    license = "BSD-2-Clause AND BSD-3-Clause AND MIT"
+    url = "https://github.com/conan-io/conan-center-index"
+    homepage = "https://github.com/project/package"
+    topics = ("visual-slam", "computer-vision")
+
+    package_type = "library"
+    settings = "os", "arch", "compiler", "build_type"
+    options = {
+        "shared": [True, False],
+        "fPIC": [True, False],
+        "with_gtsam": [True, False],
+        "build_iridescence_viewer": [True, False],
+        "build_pangolin_viewer": [True, False],
+        "build_socket_viewer": [True, False],
+    }
+    default_options = {
+        "shared": False,
+        "fPIC": True,
+        "build_iridescence_viewer": False,
+        "build_pangolin_viewer": False,
+        "build_socket_viewer": False,
+        "with_gtsam": True,
+    }
+
+    @property
+    def _min_cppstd(self):
+        return 17
+
+    @property
+    def _compilers_minimum_version(self):
+        return {
+            "Visual Studio": "16",
+            "msvc": "192",
+            "gcc": "8",
+            "clang": "7",
+            "apple-clang": "12",
+        }
+
+    def export_sources(self):
+        export_conandata_patches(self)
+        copy(self, "conan_deps.cmake", self.recipe_folder, os.path.join(self.export_sources_folder, "src"))
+
+    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")
+        self.options["g2o"].build_sba_types = True
+        self.options["g2o"].build_sim3_types = True
+        self.options["g2o"].with_csparse = True
+
+    def layout(self):
+        cmake_layout(self, src_folder="src")
+
+    def requirements(self):
+        self.requires("eigen/3.4.0", transitive_headers=True, transitive_libs=True)
+        self.requires("g2o/20230806", transitive_headers=True, transitive_libs=True)
+        self.requires("llvm-openmp/18.1.8")
+        self.requires("nlohmann_json/3.11.3", transitive_headers=True, transitive_libs=True)
+        self.requires("opencv/4.9.0", transitive_headers=True, transitive_libs=True)
+        self.requires("spdlog/1.14.1", transitive_headers=True, transitive_libs=True)
+        self.requires("sqlite3/3.45.3", transitive_headers=True, transitive_libs=True)
+        self.requires("stella-cv-fbow/cci.20240508", transitive_headers=True, transitive_libs=True)
+        self.requires("tinycolormap/cci.20230223", transitive_headers=True, transitive_libs=True)
+        self.requires("yaml-cpp/0.8.0", transitive_headers=True, transitive_libs=True)
+        if self.options.with_gtsam:
+            self.requires("gtsam/4.2", transitive_headers=True, transitive_libs=True)
+
+        # TODO: add support for viewers
+        if self.options.build_iridescence_viewer:
+            self.requires("iridescence/cci.20240407")
+        if self.options.build_pangolin_viewer:
+            self.requires("pangolin/0.9.1")
+        if self.options.build_socket_viewer:
+            self.requires("protobuf/3.21.12")
+            # TODO: add socket.io-client-cpp to CCI
+            self.requires("socket.io-client-cpp/3.1.0")
+
+    def validate(self):
+        if self.settings.compiler.get_safe("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."
+            )
+
+        if self.options.build_iridescence_viewer:
+            raise ConanInvalidConfiguration("build_iridescence_viewer option is not yet implemented")
+        if self.options.build_pangolin_viewer:
+            raise ConanInvalidConfiguration("build_pangolin_viewer option is not yet implemented")
+        if self.options.build_socket_viewer:
+            raise ConanInvalidConfiguration("build_socket_viewer option is not yet implemented")
+
+        g2o = self.dependencies["g2o"].options
+        if not (g2o.build_sba_types and g2o.build_sim3_types and g2o.with_csparse):
+            raise ConanInvalidConfiguration(
+                "g2o must be built with g2o/*:build_sba_types=True, "
+                "g2o/*:build_sim3_types=True and g2o/*:with_csparse options=True"
+            )
+
+    def source(self):
+        get(self, **self.conan_data["sources"][self.version]["stella_vslam"], strip_root=True)
+
+    def generate(self):
+        tc = CMakeToolchain(self)
+        tc.cache_variables["CMAKE_PROJECT_stella_vslam_INCLUDE"] = "conan_deps.cmake"
+        tc.variables["USE_ARUCO"] = self.dependencies["opencv"].options.aruco
+        tc.variables["USE_GTSAM"] = self.options.with_gtsam
+        if not valid_min_cppstd(self, self._min_cppstd):
+            tc.variables["CMAKE_CXX_STANDARD"] = self._min_cppstd
+        # The project unnecessarily tries to find and link SuiteSparse as a transitive dep for g2o
+        tc.variables["CMAKE_DISABLE_FIND_PACKAGE_SuiteSparse"] = True
+        tc.cache_variables["CMAKE_POLICY_DEFAULT_CMP0077"] = "NEW"
+        tc.generate()
+
+        tc = CMakeDeps(self)
+        tc.generate()
+
+    def _patch_sources(self):
+        apply_conandata_patches(self)
+        rmdir(self, os.path.join(self.source_folder, "3rd"))
+        # Latest g2o requires C++17 or newer. Let Conan set the C++ standard.
+        replace_in_file(self, os.path.join(self.source_folder, "CMakeLists.txt"),
+                        "set(CMAKE_CXX_STANDARD 11)", "")
+
+    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"))
+        rm(self, "*.pdb", self.package_folder, recursive=True)
+
+    def package_info(self):
+        self.cpp_info.set_property("cmake_file_name", "stella_vslam")
+        self.cpp_info.set_property("cmake_target_name", "stella_vslam::stella_vslam")
+
+        self.cpp_info.libs = ["stella_vslam"]
+
+        self.cpp_info.requires = [
+            "eigen::eigen",
+            "g2o::g2o",
+            "llvm-openmp::llvm-openmp",
+            "nlohmann_json::nlohmann_json",
+            "opencv::opencv_calib3d",
+            "opencv::opencv_core",
+            "opencv::opencv_features2d",
+            "opencv::opencv_highgui",
+            "opencv::opencv_imgcodecs",
+            "opencv::opencv_videoio",
+            "spdlog::spdlog",
+            "sqlite3::sqlite3",
+            "stella-cv-fbow::stella-cv-fbow",
+            "tinycolormap::tinycolormap",
+            "yaml-cpp::yaml-cpp",
+        ]
+        if self.options.with_gtsam:
+            self.cpp_info.requires.append("gtsam::libgtsam")
+        if self.dependencies["opencv"].options.aruco:
+            self.cpp_info.requires.append("opencv::opencv_aruco")
+
+        if self.settings.os in ["Linux", "FreeBSD"]:
+            self.cpp_info.system_libs.extend(["m", "pthread"])

recipes/stella_vslam/all/patches/001-cmake-conan.patch

@@ -0,0 +1,45 @@
+--- src/stella_vslam/CMakeLists.txt
++++ src/stella_vslam/CMakeLists.txt
+@@ -25,10 +25,8 @@
+
+ # gtsam
+ set(USE_GTSAM OFF CACHE BOOL "Enable gtsam")
+-unset(GTSAM_INCLUDE_DIRS CACHE)
+-find_path(GTSAM_INCLUDE_DIRS NAMES gtsam
+-          PATHS /usr/local/include/)
+-if(USE_GTSAM AND GTSAM_INCLUDE_DIRS)
++if(USE_GTSAM)
++    find_package(GTSAM REQUIRED CONFIG)
+     message(STATUS "gtsam: enabled (Found in ${GTSAM_INCLUDE_DIRS})")
+ else()
+     set(USE_GTSAM OFF)
+@@ -125,12 +123,12 @@
+ endif()
+
+ if(BOW_FRAMEWORK MATCHES "DBoW2")
+-    set(BoW_LIBRARY ${DBoW2_LIBS})
++    set(BoW_LIBRARY ${DBoW2_LIBRARIES})
+     target_compile_definitions(${PROJECT_NAME} PUBLIC USE_DBOW2)
+     message(STATUS "BoW framework: ${BOW_FRAMEWORK} (found in ${DBoW2_INCLUDE_DIRS})")
+ elseif(BOW_FRAMEWORK MATCHES "FBoW")
+     if(fbow_FOUND)
+-        set(BoW_LIBRARY ${fbow_LIBS})
++        set(BoW_LIBRARY ${fbow_LIBRARIES})
+         message(STATUS "BoW framework: ${BOW_FRAMEWORK} (found in ${fbow_INCLUDE_DIRS})")
+     else()
+         target_include_directories(${PROJECT_NAME}
+@@ -226,14 +224,6 @@
+ install(FILES ${HEADERS}
+         DESTINATION ${STELLA_VSLAM_INCLUDE_INSTALL_DIR})
+
+-# Install 3rd party headers
+-install(FILES ${json_INCLUDE_DIR}/nlohmann/json.hpp ${json_INCLUDE_DIR}/nlohmann/json_fwd.hpp
+-        DESTINATION ${STELLA_VSLAM_INCLUDE_INSTALL_DIR}/3rd/json/include/nlohmann)
+-if(NOT spdlog_FOUND)
+-  install(DIRECTORY ${spdlog_INCLUDE_DIR}
+-          DESTINATION ${STELLA_VSLAM_INCLUDE_INSTALL_DIR}/3rd/spdlog)
+-endif()
+-
+ # ----- Append subdirectory -----
+
+ add_subdirectory(camera)

recipes/stella_vslam/all/test_package/CMakeLists.txt

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

recipes/stella_vslam/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/stella_vslam/all/test_package/test_package.cpp

@@ -0,0 +1,7 @@
+#include <stella_vslam/util/converter.h>
+
+using namespace stella_vslam;
+
+int main() {
+    util::converter::to_rot_mat(97.37 * M_PI / 180 * Vec3_t{9.0, -8.5, 1.1}.normalized());
+}

recipes/stella_vslam/config.yml

@@ -0,0 +1,3 @@
+versions:
+  "0.5.0":
+    folder: all