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# Copyright 2013-2023 Lawrence Livermore National Security, LLC and other
# Spack Project Developers. See the top-level COPYRIGHT file for details.
#
# SPDX-License-Identifier: (Apache-2.0 OR MIT)
from spack.package import *
class _3dtk(CMakePackage):
"""The 3D Toolkit provides algorithms and methods to process 3D point
clouds.
It includes automatic high-accurate registration (6D simultaneous
localization and mapping, 6D SLAM) and other tools, e.g., a fast 3D viewer,
plane extraction software, etc. Several file formats for the point clouds
are natively supported, new formats can be implemented easily."""
homepage = "http://slam6d.sourceforge.net/"
# Repo seems to be in the process of switching to git:
# https://github.com/3DTK/3DTK
version("trunk", svn="https://svn.code.sf.net/p/slam6d/code/trunk", preferred=True)
version("1.2", svn="https://svn.code.sf.net/p/slam6d/code/branches/3dtk-release-1.2")
variant("cgal", default=False, description="Compile with CGAL support")
variant("opengl", default=True, description="Compile with OpenGL support")
variant("opencv", default=True, description="Compile with OpenCV support")
variant(
"compact_octree", default=False, description="Whether to use the compact octree display"
)
variant(
"cuda",
default=False,
description="Whether to build CUDA accelerated collision detection tools",
)
variant(
"openmp",
default=False,
description="Whether to use parallel processing capabilities of OPENMP",
)
conflicts("~opencv", when="platform=darwin")
conflicts("+compact_octree", when="~opengl")
generator("ninja")
depends_on("cmake@3.5:", when="@trunk", type="build")
depends_on("cmake@2.6.1:2", when="@1.2", type="build")
depends_on(
"boost@:1.75+serialization+graph+regex+filesystem+system+thread+date_time+program_options"
)
depends_on("suite-sparse")
depends_on("zlib-api")
depends_on("libpng")
depends_on("eigen")
depends_on("cgal", when="+cgal")
depends_on("gl", when="+opengl")
depends_on("glew", when="+opengl")
depends_on("freeglut", when="+opengl")
depends_on(
"opencv+aruco+calib3d+features2d+ffmpeg+highgui+imgcodecs+imgproc+ml+videoio+flann",
when="+opencv",
)
depends_on("cuda", when="+cuda")
# TODO: add Spack packages for these instead of using vendored copies
# depends_on('ann')
# depends_on('newmat')
patch("homebrew.patch", when="platform=darwin")
def setup_build_environment(self, env):
env.prepend_path("CPATH", self.spec["eigen"].prefix.include)
def cmake_args(self):
return [
self.define_from_variant("WITH_CGAL", "cgal"),
self.define("WITH_GMP", False),
self.define("WITH_LIBZIP", False),
self.define_from_variant("WITH_OPENGL", "opengl"),
self.define_from_variant("WITH_OPENCV", "opencv"),
self.define("WITH_QT", False),
self.define("WITH_GLFW", False),
self.define("WITH_FTGL", False),
self.define("WITH_XMLRPC", False),
self.define("WITH_LIBCONFIG", False),
self.define("WITH_ROS", False),
self.define("WITH_PYTHON", False),
self.define("WITH_WXWIDGETS", False),
self.define_from_variant("WITH_COMPACT_OCTREE", "compact_octree"),
self.define("WITH_GLEE", False),
self.define("WITH_LASLIB", False),
self.define("WITH_E57", False),
self.define("WITH_3DMOUSE", False),
self.define_from_variant("WITH_CUDA", "cuda"),
self.define("WITH_RIVLIB", False),
self.define("WITH_MICROEPSILONLIB", False),
self.define_from_variant("WITH_OPENMP", "openmp"),
self.define("WITH_METRICS", False),
self.define("WITH_ADDONS", False),
]
def install(self, spec, prefix):
install_tree("bin", prefix.bin)
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