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(conan-io#22323) gtsam: unvendor metis, correct option defaults, drop…
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… deprecated option

* gtsam: bump deps

* gtsam: drop deprecated option

* gtsam: fix default_options not matching project defaults

https://github.com/borglab/gtsam/blob/4.2.0/cmake/HandleGeneralOptions.cmake#L17-L31

* gtsam: require newer CMake standard

* gtsam: tidy

* gtsam: unvendor Metis

* gtsam: add topics

* gtsam: with_vendored_metis cannot be disabled on C3I due to non-default option

* gtsam: fix v4.1.1 patch

* gtsam: fix v4.0.3 patch

* gtsam: fix v4.0.3 build

* gtsam: fix TBB handling

* gtsam: support_nested_dissection is broken on MSVC v4.0.3

* gtsam: with_vendored_metis is not compatible with MSVC

* gtsam: always use METIS from Conan

* gtsam: bump deps

* gtsam: fix CMake error on METIS from Conan

  add_library cannot create ALIAS target "metis-gtsam-if" because target
  "metis::metis" is imported but not globally visible.
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@valgur
valgur authored Apr 10, 2024
1 parent 4af46ca commit 28686f4
Showing 1 changed file with 75 additions and 65 deletions.
140 changes: 75 additions & 65 deletions recipes/gtsam/all/conanfile.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -17,15 +17,15 @@ class GtsamConan(ConanFile):
url = "https://github.com/conan-io/conan-center-index"
description = ("GTSAM is a library of C++ classes that implement "
"smoothing and mapping (SAM) in robotics and vision")
topics = ("mapping", "smoothing", "optimization", "factor-graphs")
topics = ("mapping", "smoothing", "optimization", "factor-graphs",
"state-estimation", "computer-vision", "robotics")

package_type = "library"
settings = "os", "arch", "compiler", "build_type"
options = {
"shared": [True, False],
"fPIC": [True, False],
"allow_deprecated": [True, False],
"allow_deprecated_since_V4": [True, False, "deprecated"],
"build_type_postfixes": [True, False],
"build_unstable": [True, False],
"build_with_march_native": [True, False],
Expand Down Expand Up @@ -55,7 +55,6 @@ class GtsamConan(ConanFile):
"shared": False,
"fPIC": True,
"allow_deprecated": True,
"allow_deprecated_since_V4": "deprecated",
"build_type_postfixes": True,
"build_unstable": True,
"build_with_march_native": False,
Expand All @@ -64,14 +63,14 @@ class GtsamConan(ConanFile):
"enable_consistency_checks": False,
"install_cppunitlite": True,
"install_matlab_toolbox": False,
"pose3_expmap": False,
"rot3_expmap": False,
"pose3_expmap": True,
"rot3_expmap": True,
"slow_but_correct_betweenfactor": False,
"support_nested_dissection": False,
"tangent_preintegration": False,
"support_nested_dissection": True,
"tangent_preintegration": True,
"throw_cheirality_exception": True,
"use_quaternions": False,
"with_TBB": False,
"with_TBB": True,
"with_eigen_MKL": False,
"with_eigen_MKL_OPENMP": False,

Expand All @@ -95,7 +94,7 @@ class GtsamConan(ConanFile):
"rot3_expmap": ("Ignore if GTSAM_USE_QUATERNIONS is OFF (Rot3::EXPMAP by default). "
"Otherwise, enable Rot3::EXPMAP, or if disabled, use Rot3::CAYLEY."),
"slow_but_correct_betweenfactor": "Use the slower but correct version of BetweenFactor",
"support_nested_dissection": "Support Metis-based nested dissection",
"support_nested_dissection": "Support METIS-based nested dissection",
"tangent_preintegration": "Use the new ImuFactor with integration on tangent space",
"throw_cheirality_exception": "Throw exception when a triangulated point is behind a camera",
"use_quaternions": ("Enable an internal Quaternion representation for rotations instead of rotation matrices. "
Expand Down Expand Up @@ -130,29 +129,28 @@ def configure(self):
self.options.rm_safe("fPIC")
if self.options.with_TBB:
self.options["onetbb"].tbbmalloc = True
if self.options.allow_deprecated_since_V4 != "deprecated":
self.output.warn("'allow_deprecated_since_V4' option is deprecated. Use 'allow_deprecated' instead.")


def layout(self):
cmake_layout(self, src_folder="src")

def requirements(self):
self.requires("boost/1.83.0", transitive_headers=True)
self.requires("boost/1.84.0", transitive_headers=True)
self.requires("eigen/3.4.0", transitive_headers=True)
if self.options.with_TBB:
self.requires("onetbb/2021.10.0", transitive_headers=True)
if Version(self.version) >= "4.1":
self.requires("onetbb/2021.10.0", transitive_headers=True, transitive_libs=True)
else:
self.requires("onetbb/2020.3.3", transitive_headers=True, transitive_libs=True)
if self.options.default_allocator == "tcmalloc":
self.requires("gperftools/2.11.0")
# TODO: add use_vendored_metis=False option
# if self.options.support_nested_dissection and not self.options.use_vendored_metis:
# # Used in a public header here:
# # https://github.com/borglab/gtsam/blob/4.2a9/gtsam_unstable/partition/FindSeparator-inl.h#L23-L27
# self.requires("metis/5.1.1", transitive_headers=True)
self.requires("gperftools/2.15")
if self.options.support_nested_dissection:
# Used in a public header here:
# https://github.com/borglab/gtsam/blob/4.2.0/gtsam_unstable/partition/FindSeparator-inl.h#L23-L27
self.requires("metis/5.2.1", transitive_headers=True, transitive_libs=True)

@property
def _required_boost_components(self):
# Based on https://github.com/borglab/gtsam/blob/4.2a9/cmake/HandleBoost.cmake#L26
# Based on https://github.com/borglab/gtsam/blob/4.2.0/cmake/HandleBoost.cmake#L26
return [
"chrono",
"date_time",
Expand Down Expand Up @@ -181,10 +179,7 @@ def validate(self):
if not self.dependencies["onetbb"].options.tbbmalloc:
raise ConanInvalidConfiguration("GTSAM with TBB requires onetbb/*:tbbmalloc=True")
elif self.options.default_allocator != "tcmalloc":
raise ConanInvalidConfiguration(
"with_TBB option cannot be used with"
f" default_allocator={self.options.default_allocator}"
)
raise ConanInvalidConfiguration(f"with_TBB option cannot be used with default_allocator={self.options.default_allocator}")
elif self.options.default_allocator == "TBB":
raise ConanInvalidConfiguration("default_allocator=TBB requires with_TBB=True")

Expand All @@ -198,18 +193,15 @@ def validate(self):
else "https://github.com/borglab/gtsam/issues/1541"
)

if self.options.allow_deprecated_since_V4 != "deprecated":
self.output.warn(
"'allow_deprecated_since_V4' option is deprecated. Use 'allow_deprecated' instead."
)
if self.options.support_nested_dissection and self.dependencies["metis"].options.with_64bit_types:
raise ConanInvalidConfiguration("GTSAM does not support METIS with 64-bit types")

def source(self):
get(self, **self.conan_data["sources"][self.version], strip_root=True)

def generate(self):
tc = CMakeToolchain(self)
tc.variables["BUILD_SHARED_LIBS"] = self.options.shared
# https://github.com/borglab/gtsam/blob/4.2a9/cmake/HandleGeneralOptions.cmake
# https://github.com/borglab/gtsam/blob/4.2.0/cmake/HandleGeneralOptions.cmake
tc.variables["GTSAM_BUILD_UNSTABLE"] = self.options.build_unstable
tc.variables["GTSAM_UNSTABLE_BUILD_PYTHON"] = False
tc.variables["GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX"] = self.options.install_matlab_toolbox
Expand All @@ -224,8 +216,6 @@ def generate(self):
tc.variables["GTSAM_BUILD_PYTHON"] = False
tc.variables["GTSAM_INSTALL_MATLAB_TOOLBOX"] = self.options.install_matlab_toolbox
tc.variables["GTSAM_ALLOW_DEPRECATED_SINCE_V4"] = self.options.allow_deprecated
if self.options.allow_deprecated_since_V4 != "deprecated":
tc.variables["GTSAM_ALLOW_DEPRECATED_SINCE_V4"] = self.options.allow_deprecated_since_V4
tc.variables["GTSAM_ALLOW_DEPRECATED_SINCE_V41"] = self.options.allow_deprecated
tc.variables["GTSAM_ALLOW_DEPRECATED_SINCE_V42"] = self.options.allow_deprecated
tc.variables["GTSAM_SUPPORT_NESTED_DISSECTION"] = self.options.support_nested_dissection
Expand All @@ -234,30 +224,30 @@ def generate(self):
if Version(self.version) >= "4.1":
tc.variables["GTSAM_SLOW_BUT_CORRECT_BETWEENFACTOR"] = self.options.slow_but_correct_betweenfactor
tc.variables["GTSAM_BUILD_WITH_CCACHE"] = False
# https://github.com/borglab/gtsam/blob/4.2a9/cmake/HandleAllocators.cmake
# https://github.com/borglab/gtsam/blob/4.2.0/cmake/HandleAllocators.cmake
if self.options.default_allocator is not None:
tc.variables["GTSAM_DEFAULT_ALLOCATOR"] = self.options.default_allocator
# https://github.com/borglab/gtsam/blob/4.2a9/cmake/GtsamBuildTypes.cmake#L59
# https://github.com/borglab/gtsam/blob/4.2.0/cmake/GtsamBuildTypes.cmake#L59
tc.variables["GTSAM_BUILD_TYPE_POSTFIXES"] = self.options.build_type_postfixes
# https://github.com/borglab/gtsam/blob/4.2a9/cmake/GtsamBuildTypes.cmake#L193
# https://github.com/borglab/gtsam/blob/4.2.0/cmake/GtsamBuildTypes.cmake#L193
tc.variables["GTSAM_BUILD_WITH_MARCH_NATIVE"] = self.options.build_with_march_native
# https://github.com/borglab/gtsam/blob/4.2a9/cmake/HandleBoost.cmake#L36
# https://github.com/borglab/gtsam/blob/4.2.0/cmake/HandleBoost.cmake#L36
tc.variables["GTSAM_DISABLE_NEW_TIMERS"] = self.options.disable_new_timers
# https://github.com/borglab/gtsam/blob/4.2a9/CppUnitLite/CMakeLists.txt#L13
# https://github.com/borglab/gtsam/blob/4.2.0/CppUnitLite/CMakeLists.txt#L13
tc.variables["GTSAM_INSTALL_CPPUNITLITE"] = self.options.install_cppunitlite
# https://github.com/borglab/gtsam/blob/4.2a9/cmake/HandleEigen.cmake#L3
# https://github.com/borglab/gtsam/blob/4.2.0/cmake/HandleEigen.cmake#L3
tc.variables["GTSAM_USE_SYSTEM_EIGEN"] = True
# https://github.com/borglab/gtsam/blob/4.2a9/cmake/HandleMetis.cmake#L11
# https://github.com/borglab/gtsam/blob/4.2.0/cmake/HandleMetis.cmake#L11
tc.variables["GTSAM_USE_SYSTEM_METIS"] = False
# https://github.com/borglab/gtsam/blob/4.2a9/gtsam/3rdparty/CMakeLists.txt#L76
# https://github.com/borglab/gtsam/blob/4.2.0/gtsam/3rdparty/CMakeLists.txt#L76
tc.variables["GTSAM_INSTALL_GEOGRAPHICLIB"] = False
# https://github.com/borglab/gtsam/blob/4.2a9/matlab/CMakeLists.txt#L14-L15
# https://github.com/borglab/gtsam/blob/4.2.0/matlab/CMakeLists.txt#L14-L15
tc.variables["GTSAM_MEX_BUILD_STATIC_MODULE"] = False
# https://github.com/borglab/gtsam/blob/4.2a9/cmake/GtsamTesting.cmake#L89-L91
# https://github.com/borglab/gtsam/blob/4.2.0/cmake/GtsamTesting.cmake#L89-L91
tc.variables["GTSAM_BUILD_TESTS"] = False
tc.variables["GTSAM_BUILD_EXAMPLES_ALWAYS"] = False
tc.variables["GTSAM_BUILD_TIMING_ALWAYS"] = False
# https://github.com/borglab/gtsam/blob/4.2a9/doc/CMakeLists.txt
# https://github.com/borglab/gtsam/blob/4.2.0/doc/CMakeLists.txt
tc.variables["GTSAM_BUILD_DOCS"] = False
tc.variables["GTSAM_BUILD_DOC_HTML"] = False
tc.variables["GTSAM_BUILD_DOC_LATEX"] = False
Expand All @@ -273,9 +263,15 @@ def generate(self):

tc.variables["Boost_USE_STATIC_LIBS"] = not self.dependencies["boost"].options.shared
tc.variables["Boost_NO_SYSTEM_PATHS"] = True

if Version(self.version) < "4.1":
# Fix "The practice of declaring the Bind placeholders (_1, _2, ...) in the global namespace is deprecated"
tc.preprocessor_definitions["BOOST_BIND_GLOBAL_PLACEHOLDERS"] = ""

tc.generate()

deps = CMakeDeps(self)
deps.set_property("metis", "cmake_target_name", "metis-gtsam-if")
deps.generate()

def _patch_sources(self):
Expand All @@ -287,22 +283,39 @@ def _patch_sources(self):
replace_in_file(self, gtsam_build_types_cmake, "/MD ", f"/{msvc_runtime_flag(self)} ")
replace_in_file(self, gtsam_build_types_cmake, "/MDd ", f"/{msvc_runtime_flag(self)} ")

# Ensure a newer CMake standard is used for non-cache_variables support and other policies
replace_in_file(self, os.path.join(self.source_folder, "CMakeLists.txt"),
"cmake_minimum_required(VERSION 3.0)",
"cmake_minimum_required(VERSION 3.15)")

# Fix tcmalloc / gperftools handling
if self.options.default_allocator == "tcmalloc":
handle_allocators_path = os.path.join(self.source_folder, "cmake", "HandleAllocators.cmake")
if Version(self.version) < "4.1":
handle_allocators_path = os.path.join(self.source_folder, "CMakeLists.txt")
replace_in_file(
self,
handle_allocators_path,
"if(GOOGLE",
"find_package(gperftools REQUIRED)\nset(GOOGLE_PERFTOOLS_FOUND TRUE)\nif(GOOGLE",
)
replace_in_file(
self,
handle_allocators_path,
'GTSAM_ADDITIONAL_LIBRARIES "tcmalloc"',
'GTSAM_ADDITIONAL_LIBRARIES "gperftools::gperftools"',
)
replace_in_file(self, handle_allocators_path,
"if(GOOGLE",
("find_package(gperftools REQUIRED)\n"
"set(GOOGLE_PERFTOOLS_FOUND TRUE)\n"
"if(GOOGLE"))
replace_in_file(self, handle_allocators_path,
'GTSAM_ADDITIONAL_LIBRARIES "tcmalloc"',
'GTSAM_ADDITIONAL_LIBRARIES "gperftools::gperftools"')

# Fix HandleMetis.cmake incompatibility with METIS from Conan
save(self, os.path.join(self.source_folder, "cmake", "HandleMetis.cmake"),
"find_package(metis REQUIRED CONFIG)\n")

# Fix TBB handling
handle_tbb_path = os.path.join(self.source_folder, "cmake", "HandleTBB.cmake")
if Version(self.version) < "4.1":
handle_tbb_path = os.path.join(self.source_folder, "CMakeLists.txt")
replace_in_file(self, handle_tbb_path, "find_package(TBB 4.4 ", "find_package(TBB ")
if Version(self.version) < "4.2.1":
replace_in_file(self, handle_tbb_path,
"list(APPEND GTSAM_ADDITIONAL_LIBRARIES tbb tbbmalloc)",
"list(APPEND GTSAM_ADDITIONAL_LIBRARIES TBB::tbb TBB::tbbmalloc)")


def build(self):
self._patch_sources()
Expand Down Expand Up @@ -345,6 +358,8 @@ def _module_file_rel_path(self):
return os.path.join("lib", "cmake", f"conan-official-{self.name}-targets.cmake")

def package_info(self):
# GTSAM uses targets without a namespace prefix:
# https://github.com/borglab/gtsam/blob/4.2.0/cmake/example_cmake_find_gtsam/CMakeLists.txt
self.cpp_info.set_property("cmake_file_name", "GTSAM")

gtsam = self.cpp_info.components["libgtsam"]
Expand All @@ -356,10 +371,11 @@ def package_info(self):
gtsam.requires.append("onetbb::onetbb")
if self.options.default_allocator == "tcmalloc":
gtsam.requires.append("gperftools::gperftools")
if self.options.support_nested_dissection:
gtsam.requires.append("libmetis-gtsam")
if self.settings.os == "Windows":
gtsam.system_libs = ["dbghelp"]
if Version(self.version) < "4.1":
# Fix "The practice of declaring the Bind placeholders (_1, _2, ...) in the global namespace is deprecated"
gtsam.defines.append("BOOST_BIND_GLOBAL_PLACEHOLDERS")

if self.options.build_unstable:
gtsam_unstable = self.cpp_info.components["libgtsam_unstable"]
Expand All @@ -368,13 +384,7 @@ def package_info(self):
gtsam_unstable.requires = ["libgtsam"]

if self.options.support_nested_dissection:
metis = self.cpp_info.components["libmetis-gtsam"]
metis.set_property("cmake_target_name", "metis-gtsam")
if Version(self.version) >= "4.1":
metis.libs = ["metis-gtsam"]
else:
metis.libs = ["metis"]
metis.names["pkg_config"] = "metis-gtsam"
gtsam.requires.append("metis::metis")

if self.options.install_cppunitlite:
cppunitlite = self.cpp_info.components["gtsam_CppUnitLite"]
Expand Down

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