Merge pull request #22434 from Tobias-Fischer/add-python-pcl

recipes/python-pcl/meta.yaml

@@ -0,0 +1,70 @@
+{% set name = "python-pcl" %}
+{% set version = "0.3.0rc1" %}
+
+package:
+  name: {{ name|lower }}
+  version: {{ version }}
+
+source:
+  url: https://github.com/strawlab/{{ name }}/archive/refs/tags/v{{ version }}.tar.gz
+  sha256: 3871a8b77f389fbd1f99c5447e5174bf7bebc94e80cd7b2733ec15fc4fa55b10
+  patches:
+    - patches/0001-Mark-PCLBase-as-nogil-to-fix-compilation.patch
+    - patches/0002-Enable-visualization-module.patch
+    - patches/0003-Remove-ConditionalRemoval-API-and-add-deprecation-no.patch
+    - patches/0004-Add-support-for-PCL-1.9.patch
+    - patches/0005-add-support-for-pcl-1.10.patch
+    - patches/0006-use-pcl-1.11-api.patch
+    - patches/0007-support-for-pcl-1.12.patch
+    - patches/0008-fix-deprecated-collections-import-since-.patch
+    - patches/0009-update-for-vtk-9.1.patch
+    - patches/0010-use-distutils-instead-of-setuptools-for-.patch
+    - patches/0011-Support-PCL-1.13-and-later.patch
+    - patches/0012-update-for-vtk-9.2.patch
+    - patches/0013-add-conda-prefix.patch
+
+
+build:
+  script: {{ PYTHON }} -m pip install . -vv
+  number: 0
+  skip: True  # [win]
+
+requirements:
+  build:
+    - {{ compiler('cxx') }}
+    - cmake
+    - make
+    - pkgconfig
+  host:
+    - pcl
+    - python
+    - numpy
+    - cython
+    - pip
+    - flann
+  run:
+    - python
+    - cython
+    - filelock
+    - nose
+    - pcl
+    - flann
+    - {{ pin_compatible('numpy') }}
+
+test:
+  imports:
+    - pcl
+  commands:
+    - pip check
+  requires:
+    - pip
+
+about:
+  home: http://github.com/strawlab/python-pcl
+  summary: Python bindings for the Point Cloud Library (PCL) using Cython.
+  license: BSD-3-Clause
+  license_file: LICENSE
+
+extra:
+  recipe-maintainers:
+    - Tobias-Fischer

recipes/python-pcl/patches/0001-Mark-PCLBase-as-nogil-to-fix-compilation.patch

@@ -0,0 +1,21 @@
+From: Jochen Sprickerhof <[email protected]>
+Date: Thu, 13 Sep 2018 20:59:21 +0200
+Subject: Mark PCLBase as nogil to fix compilation
+
+---
+ pcl/pcl_defs.pxd | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/pcl/pcl_defs.pxd b/pcl/pcl_defs.pxd
+index 881f707..1117ee6 100644
+--- a/pcl/pcl_defs.pxd
++++ b/pcl/pcl_defs.pxd
+@@ -509,7 +509,7 @@ ctypedef shared_ptr[vector[int]] IndicesPtr_t;
+ # pcl_base.h
+ # template <typename PointT>
+ # class PCLBase
+-cdef extern from "pcl/pcl_base.h" namespace "pcl":
++cdef extern from "pcl/pcl_base.h" namespace "pcl" nogil:
+     cdef cppclass PCLBase[PointT]:
+         PCLBase ()
+         # PCLBase (const PCLBase& base)

recipes/python-pcl/patches/0002-Enable-visualization-module.patch

@@ -0,0 +1,107 @@
+From: Jochen Sprickerhof <[email protected]>
+Date: Sun, 9 Dec 2018 19:01:14 +0100
+Subject: Enable visualization module
+
+https://build.opensuse.org/package/view_file/science/python-pcl/visualization18.patch
+---
+ pcl/pcl_visualization_defs.pxd             | 12 ++++++------
+ pcl/pxi/Visualization/PCLVisualizering.pxi | 12 ++++++------
+ setup.py                                   |  6 +++---
+ 3 files changed, 15 insertions(+), 15 deletions(-)
+
+diff --git a/pcl/pcl_visualization_defs.pxd b/pcl/pcl_visualization_defs.pxd
+index 81fe113..8b55e97 100644
+--- a/pcl/pcl_visualization_defs.pxd
++++ b/pcl/pcl_visualization_defs.pxd
+@@ -752,8 +752,8 @@ cdef extern from "pcl/visualization/pcl_visualizer.h" namespace "pcl::visualizat
+         # param[in] scale the scale of the axes (default: 1)
+         # param[in] viewport the view port where the 3D axes should be added (default: all)
+         # 
+-        # void addCoordinateSystem (double scale = 1.0, int viewport = 0);
+-        void addCoordinateSystem (double scale, int viewport)
++        # void addCoordinateSystem (double scale = 1.0, const string &id = "reference", int viewport = 0);
++        void addCoordinateSystem (double scale, const string &id, int viewport)
+
+         # brief Adds 3D axes describing a coordinate system to screen at x, y, z
+         # param[in] scale the scale of the axes (default: 1)
+@@ -762,8 +762,8 @@ cdef extern from "pcl/visualization/pcl_visualizer.h" namespace "pcl::visualizat
+         # param[in] z the Z position of the axes
+         # param[in] viewport the view port where the 3D axes should be added (default: all)
+         # 
+-        # void addCoordinateSystem (double scale, float x, float y, float z, int viewport = 0);
+-        void addCoordinateSystem (double scale, float x, float y, float z, int viewport)
++        # void addCoordinateSystem (double scale, float x, float y, float z, const string &id = "reference", int viewport = 0);
++        void addCoordinateSystem (double scale, float x, float y, float z, const string &id, int viewport)
+
+         # brief Adds 3D axes describing a coordinate system to screen at x, y, z, Roll,Pitch,Yaw
+         # param[in] scale the scale of the axes (default: 1)
+@@ -797,8 +797,8 @@ cdef extern from "pcl/visualization/pcl_visualizer.h" namespace "pcl::visualizat
+
+         # brief Removes a previously added 3D axes (coordinate system)
+         # param[in] viewport view port where the 3D axes should be removed from (default: all)
+-        # bool removeCoordinateSystem (int viewport = 0);
+-        bool removeCoordinateSystem (int viewport)
++        # bool removeCoordinateSystem (const string &id = "reference", int viewport = 0);
++        bool removeCoordinateSystem(const string &id, int viewport)
+
+         # brief Removes a Point Cloud from screen, based on a given ID.
+         # param[in] id the point cloud object id (i.e., given on \a addPointCloud)
+diff --git a/pcl/pxi/Visualization/PCLVisualizering.pxi b/pcl/pxi/Visualization/PCLVisualizering.pxi
+index a9cc89a..48238db 100644
+--- a/pcl/pxi/Visualization/PCLVisualizering.pxi
++++ b/pcl/pxi/Visualization/PCLVisualizering.pxi
+@@ -38,17 +38,17 @@ cdef class PCLVisualizering:
+     def SpinOnce(self, int millis_to_wait = 1, bool force_redraw = False):
+         self.thisptr().spinOnce (millis_to_wait, force_redraw)
+
+-    def AddCoordinateSystem(self, double scale = 1.0, int viewpoint = 0):
+-        self.thisptr().addCoordinateSystem(scale, viewpoint)
++    def AddCoordinateSystem(self, double scale = 1.0, const string &id = "reference", int viewpoint = 0):
++        self.thisptr().addCoordinateSystem(scale, id, viewpoint)
+
+-    def AddCoordinateSystem(self, double scale, float x, float y, float z, int viewpoint = 0):
+-        self.thisptr().addCoordinateSystem(scale, x, y, z, viewpoint)
++    def AddCoordinateSystem(self, double scale, float x, float y, float z, const string &id = "reference", int viewpoint = 0):
++        self.thisptr().addCoordinateSystem(scale, x, y, z, id, viewpoint)
+
+     # void addCoordinateSystem (double scale, const eigen3.Affine3f& t, int viewport)
+
+     # return bool
+-    def removeCoordinateSystem (self, int viewport):
+-        return self.thisptr().removeCoordinateSystem (viewport)
++    def removeCoordinateSystem (self, const string &id = "reference",int viewport = 0):
++        return self.thisptr().removeCoordinateSystem (id, viewport)
+
+     # return bool
+     def RemovePointCloud(self, string id, int viewport):
+diff --git a/setup.py b/setup.py
+index 8796770..0493ccc 100644
+--- a/setup.py
++++ b/setup.py
+@@ -4,7 +4,7 @@ from collections import defaultdict
+ from Cython.Distutils import build_ext
+ from distutils.core import setup
+ from distutils.extension import Extension
+-# from Cython.Build import cythonize    # MacOS NG
++from Cython.Build import cythonize
+ from setuptools import setup, find_packages, Extension
+
+ import subprocess
+@@ -546,7 +546,7 @@ else:
+     # ext_args['include_dirs'].append('/usr/include/vtk')
+     # ext_args['include_dirs'].append('/usr/local/include/vtk')
+     # pcl 1.7(Ubuntu)
+-    ext_args['include_dirs'].append('/usr/include/vtk-5.8')
++    ext_args['include_dirs'].append('/usr/include/vtk-7.1')
+     ext_args['library_dirs'].append('/usr/lib')
+     # ext_args['libraries'].append('libvtk*.so')
+     # pcl 1.8.1(MacOSX)
+@@ -609,7 +609,7 @@ else:
+                   ]
+     elif pcl_version == '-1.8':
+         module = [Extension("pcl._pcl", ["pcl/_pcl_180.pyx", "pcl/minipcl.cpp", "pcl/ProjectInliers.cpp"], language="c++", **ext_args),
+-                  # Extension("pcl.pcl_visualization", ["pcl/pcl_visualization.pyx"], language="c++", **ext_args),
++                   Extension("pcl.pcl_visualization", ["pcl/pcl_visualization.pyx"], language="c++", extra_compile_args=['-std=c++11','-fno-strict-aliasing'], **ext_args),
+                   # Extension("pcl.pcl_grabber", ["pcl/pcl_grabber.pyx", "pcl/grabber_callback.cpp"], language="c++", **ext_args),
+                   # debug
+                   # gdb_debug=True,

recipes/python-pcl/patches/0003-Remove-ConditionalRemoval-API-and-add-deprecation-no.patch

@@ -0,0 +1,141 @@
+From: Jochen Sprickerhof <[email protected]>
+Date: Sun, 9 Dec 2018 18:38:40 +0100
+Subject: Remove ConditionalRemoval API and add deprecation notice
+
+---
+ examples/official/Filtering/remove_outliers.py |  3 ++-
+ pcl/pcl_filters_180.pxd                        |  4 ----
+ pcl/pxi/Filters/ConditionalRemoval_180.pxi     | 12 +++++++++++-
+ pcl/pxi/PointCloud_PointXYZ_180.pxi            | 13 +++++++++++++
+ pcl/pxi/PointCloud_SensorPoint.pxi             | 12 ++++++++++++
+ tests/test_filters.py                          |  3 ++-
+ 6 files changed, 40 insertions(+), 7 deletions(-)
+
+diff --git a/examples/official/Filtering/remove_outliers.py b/examples/official/Filtering/remove_outliers.py
+index b586737..fd1da1a 100644
+--- a/examples/official/Filtering/remove_outliers.py
++++ b/examples/official/Filtering/remove_outliers.py
+@@ -86,7 +86,8 @@ elif args.Removal == 'Condition':
+     range_cond.add_Comparison2('z', pcl.CythonCompareOp_Type.LT, 0.8)
+
+     # build the filter
+-    condrem = cloud.make_ConditionalRemoval(range_cond)
++    condrem = cloud.make_ConditionalRemoval()
++    condrem.set_Condition(range_cond)
+     condrem.set_KeepOrganized(True)
+     # apply filter
+     cloud_filtered = condrem.filter ()
+diff --git a/pcl/pcl_filters_180.pxd b/pcl/pcl_filters_180.pxd
+index c272819..cb6f075 100644
+--- a/pcl/pcl_filters_180.pxd
++++ b/pcl/pcl_filters_180.pxd
+@@ -616,10 +616,6 @@ cdef extern from "pcl/filters/conditional_removal.h" namespace "pcl":
+         ConditionalRemoval(int)
+         # ConditionalRemoval (ConditionBasePtr condition, bool extract_removed_indices = false)
+         # python invalid default param ?
+-        ConditionalRemoval (ConditionBasePtr_t condition, bool extract_removed_indices = false)
+-        ConditionalRemoval (ConditionBase_PointXYZI_Ptr_t condition, bool extract_removed_indices = false)
+-        ConditionalRemoval (ConditionBase_PointXYZRGB_Ptr_t condition, bool extract_removed_indices = false)
+-        ConditionalRemoval (ConditionBase_PointXYZRGBA_Ptr_t condition, bool extract_removed_indices = false)
+         # [with PointT = pcl::PointXYZ, pcl::ConditionalRemoval<PointT>::ConditionBasePtr = boost::shared_ptr<pcl::ConditionBase<pcl::PointXYZ> >]
+         # is deprecated (declared at /usr/include/pcl-1.7/pcl/filters/conditional_removal.h:632): ConditionalRemoval(ConditionBasePtr condition, bool extract_removed_indices = false) is deprecated, 
+         # please use the setCondition (ConditionBasePtr condition) function instead. [-Wdeprecated-declarations]
+diff --git a/pcl/pxi/Filters/ConditionalRemoval_180.pxi b/pcl/pxi/Filters/ConditionalRemoval_180.pxi
+index 88a5e6d..5e25b37 100644
+--- a/pcl/pxi/Filters/ConditionalRemoval_180.pxi
++++ b/pcl/pxi/Filters/ConditionalRemoval_180.pxi
+@@ -19,7 +19,14 @@ cdef class ConditionalRemoval:
+     def __cinit__(self, ConditionAnd cond):
+         # self.me = new pclfil.ConditionalRemoval_t(<pclfil.ConditionBase_t*>cond.me)
+         # direct - NG
+-        self.me = new pclfil.ConditionalRemoval_t(<pclfil.ConditionBasePtr_t>cond.me)
++        from warnings import warn
++        warn("constructor with condition is deprecated, use setCondition()",
++                DeprecationWarning)
++        self.me = new pclfil.ConditionalRemoval_t()
++        self.me.setCondition(<pclfil.ConditionBasePtr_t>cond.me)
++
++    def __cinit__(self):
++        self.me = new pclfil.ConditionalRemoval_t()
+
+     # def __dealloc__(self):
+     #    # MemoryAccessError
+@@ -29,6 +36,9 @@ cdef class ConditionalRemoval:
+     def set_KeepOrganized(self, flag):
+         self.me.setKeepOrganized(flag)
+
++    def set_Condition(self, ConditionAnd cond):
++        self.me.setCondition(<pclfil.ConditionBasePtr_t>cond.me)
++
+     def filter(self):
+         """
+         Apply the filter according to the previously set parameters and return
+diff --git a/pcl/pxi/PointCloud_PointXYZ_180.pxi b/pcl/pxi/PointCloud_PointXYZ_180.pxi
+index 7956c5c..f386e9c 100644
+--- a/pcl/pxi/PointCloud_PointXYZ_180.pxi
++++ b/pcl/pxi/PointCloud_PointXYZ_180.pxi
+@@ -468,10 +468,23 @@ cdef class PointCloud:
+         cdef pclfil.ConditionAnd_t *cCondAnd = <pclfil.ConditionAnd_t *>condAnd.me
+         return condAnd
+
++    def make_ConditionalRemoval(self):
++        """
++        Return a pcl.ConditionalRemoval object with this object set as the input-cloud
++        """
++        condRemoval = ConditionalRemoval()
++        cdef pclfil.ConditionalRemoval_t *cCondRemoval = <pclfil.ConditionalRemoval_t *>condRemoval.me
++        cCondRemoval.setInputCloud(<cpp.shared_ptr[cpp.PointCloud[cpp.PointXYZ]]> self.thisptr_shared)
++        return condRemoval
++
+     def make_ConditionalRemoval(self, ConditionAnd range_conf):
+         """
+         Return a pcl.ConditionalRemoval object with this object set as the input-cloud
+         """
++        from warnings import warn
++        warn("constructor with condition is deprecated, use setCondition()",
++                DeprecationWarning)
++
+         condRemoval = ConditionalRemoval(range_conf)
+         cdef pclfil.ConditionalRemoval_t *cCondRemoval = <pclfil.ConditionalRemoval_t *>condRemoval.me
+         cCondRemoval.setInputCloud(<cpp.shared_ptr[cpp.PointCloud[cpp.PointXYZ]]> self.thisptr_shared)
+diff --git a/pcl/pxi/PointCloud_SensorPoint.pxi b/pcl/pxi/PointCloud_SensorPoint.pxi
+index e26fca6..b8a5d79 100644
+--- a/pcl/pxi/PointCloud_SensorPoint.pxi
++++ b/pcl/pxi/PointCloud_SensorPoint.pxi
+@@ -466,10 +466,22 @@ cdef class PointCloud2:
+         cdef pclfil.ConditionAnd_t *cCondAnd = <pclfil.ConditionAnd_t *>condAnd.me
+         return condAnd
+
++    def make_ConditionalRemoval(self):
++        """
++        Return a pcl.ConditionalRemoval object with this object set as the input-cloud
++        """
++        condRemoval = ConditionalRemoval()
++        cdef pclfil.ConditionalRemoval_t *cCondRemoval = <pclfil.ConditionalRemoval_t *>condRemoval.me
++        cCondRemoval.setInputCloud(<cpp.shared_ptr[cpp.PointCloud2[cpp.PointXYZ]]> self.thisptr_shared)
++        return condRemoval
++
+     def make_ConditionalRemoval(self, ConditionAnd range_conf):
+         """
+         Return a pcl.ConditionalRemoval object with this object set as the input-cloud
+         """
++        warn("constructor with condition is deprecated, use setCondition()",
++                DeprecationWarning)
++
+         condRemoval = ConditionalRemoval(range_conf)
+         cdef pclfil.ConditionalRemoval_t *cCondRemoval = <pclfil.ConditionalRemoval_t *>condRemoval.me
+         cCondRemoval.setInputCloud(<cpp.shared_ptr[cpp.PointCloud2[cpp.PointXYZ]]> self.thisptr_shared)
+diff --git a/tests/test_filters.py b/tests/test_filters.py
+index 3c0c605..db40671 100644
+--- a/tests/test_filters.py
++++ b/tests/test_filters.py
+@@ -62,7 +62,8 @@ class TestConditionalRemoval(unittest.TestCase):
+         # self.p = pcl.load("tests" + os.path.sep + "flydracyl.pcd")
+         # self.p = pcl.PointCloud(_data)
+         self.p = pcl.PointCloud(_data2)
+-        self.fil = self.p.make_ConditionalRemoval(pcl.ConditionAnd())
++        self.fil = self.p.make_ConditionalRemoval()
++        self.fil.set_Condition(pcl.ConditionAnd())
+
+     # result
+     # nan nan nan

recipes/python-pcl/patches/0004-Add-support-for-PCL-1.9.patch

@@ -0,0 +1,35 @@
+From: Jochen Sprickerhof <[email protected]>
+Date: Sun, 9 Dec 2018 19:02:37 +0100
+Subject: Add support for PCL 1.9
+
+---
+ setup.py | 9 ++++++++-
+ 1 file changed, 8 insertions(+), 1 deletion(-)
+
+diff --git a/setup.py b/setup.py
+index 0493ccc..84addab 100644
+--- a/setup.py
++++ b/setup.py
+@@ -510,7 +510,7 @@ else:
+         os.environ['ARCHFLAGS'] = ''
+
+     # Try to find PCL. XXX we should only do this when trying to build or install.
+-    PCL_SUPPORTED = ["-1.8", "-1.7", "-1.6", ""]    # in order of preference
++    PCL_SUPPORTED = ["-1.9", "-1.8", "-1.7", "-1.6", ""]    # in order of preference
+
+     for pcl_version in PCL_SUPPORTED:
+         if subprocess.call(['pkg-config', 'pcl_common%s' % pcl_version]) == 0:
+@@ -614,6 +614,13 @@ else:
+                   # debug
+                   # gdb_debug=True,
+                   ]
++    elif pcl_version == '-1.9':
++        module = [Extension("pcl._pcl", ["pcl/_pcl_180.pyx", "pcl/minipcl.cpp", "pcl/ProjectInliers.cpp"], language="c++", **ext_args),
++                   Extension("pcl.pcl_visualization", ["pcl/pcl_visualization.pyx"], language="c++", extra_compile_args=['-std=c++11','-fno-strict-aliasing'], **ext_args),
++                  # Extension("pcl.pcl_grabber", ["pcl/pcl_grabber.pyx", "pcl/grabber_callback.cpp"], language="c++", **ext_args),
++                  # debug
++                  # gdb_debug=True,
++                  ]
+     else:
+         print('no pcl install or pkg-config missed.')
+         sys.exit(1)