add PointCloudLibrary (PCL)

[Crghilardi]

This PR adds a build_tarballs.jl for PCL

I have built successfully with linux-x86_64-glibc locally, have not tested other platforms.

As I tried to note in the script, I ran into a few issues while working on this locally that I was able to get around but they probably fall into the "hacky" category.

1. Without first deleting the libgomp.so* products, CMake was returning a series of messages like:

CMake Warning at cmake/pcl_targets.cmake:222 (add_library):
  Cannot generate a safe runtime search path for target pcl_common because
  files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libgomp.so.1] in /opt/x86_64-linux-gnu/x86_64-linux-gnu/lib64 may be hidden by files in:
      /opt/x86_64-linux-gnu/x86_64-linux-gnu/sys-root/usr/local/lib

  Some of these libraries may not be found correctly.
Call Stack (most recent call first):
  common/CMakeLists.txt:176 (PCL_ADD_LIBRARY)

2. Normally, there are a series of hardware checks that get done. This check is explicitly flagged with if(NOT CMAKE_CROSSCOMPILING) and requires the user to explicitly set cache flags if cross compiling. I couldn't figure out how to get this running, so I skipped it for now.

HAVE_MM_MALLOC
HAVE_POSIX_MEMALIGN
HAVE_SSE4_2_EXTENSIONS
HAVE_SSE4_1_EXTENSIONS
HAVE_SSSE3_EXTENSIONS
HAVE_SSE2_EXTENSIONS
HAVE_SSE_EXTENSIONS

Double checking spelling of Library and ExecutableProducts would also be appreciated, I got through about 15 of them before I realized you could just hit enter to use the default string....

[giordano]

1. that's a warning, not an error, I think we can simply ignore it. It's true we have two libgomp, one in the compiler's directory (/opt/${target}/${target}/lib*) and one in the prefix (${libdir}, which has a symlink pointing to it in /opt/${target}/${target}/sys-root/usr/local/lib), but in practice it isn't a problem for us.
2. for the options to specify manually, I need to look at the first two, for the extensions we can say we always have SSE and SSE2 for x86_64 platforms, for the others we'd need to build for different microarchitectures (but for the time being probably safer to say they aren't available)

[giordano]

Next error I'm getting on Windows is

[ 21%] Linking CXX shared library ../bin/libpcl_io.dll
cd /workspace/srcdir/pcl/build/io && /usr/bin/cmake -E cmake_link_script CMakeFiles/pcl_io.dir/link.txt --verbose=true
/usr/bin/cmake -E rm -f CMakeFiles/pcl_io.dir/objects.a
/opt/bin/x86_64-w64-mingw32-libgfortran4-cxx11/x86_64-w64-mingw32-ar cr CMakeFiles/pcl_io.dir/objects.a @CMakeFiles/pcl_io.dir/objects1.rsp
/opt/bin/x86_64-w64-mingw32-libgfortran4-cxx11/x86_64-w64-mingw32-g++ --sysroot=/opt/x86_64-w64-mingw32/x86_64-w64-mingw32/sys-root/   -Wabi=11 -Wall -Wextra -Wno-unknown-pragmas -fno-strict-aliasing -Wno-format-extra-args -Wno-sign-compare -Wno-invalid-offsetof -Wno-conversion  -O3 -DNDEBUG -Wl,--as-needed -Wl,--export-all-symbols -Wl,--enable-auto-import -Wl,--allow-multiple-definition -shared -o ../bin/libpcl_io.dll -Wl,--out-implib,../lib/libpcl_io.dll.a -Wl,--major-image-version,1,--minor-image-version,11 -Wl,--whole-archive CMakeFiles/pcl_io.dir/objects.a -Wl,--no-whole-archive @CMakeFiles/pcl_io.dir/linklibs.rsp
CMakeFiles/pcl_io.dir/objects.a(hdl_grabber.cpp.obj):hdl_grabber.cpp:(.text+0x172): undefined reference to `__imp_WSAStartup'
CMakeFiles/pcl_io.dir/objects.a(hdl_grabber.cpp.obj):hdl_grabber.cpp:(.text+0x203): undefined reference to `__imp_bind'
CMakeFiles/pcl_io.dir/objects.a(hdl_grabber.cpp.obj):hdl_grabber.cpp:(.text+0x213): undefined reference to `__imp_setsockopt'
CMakeFiles/pcl_io.dir/objects.a(hdl_grabber.cpp.obj):hdl_grabber.cpp:(.text+0x1409): undefined reference to `__imp_ntohl'
CMakeFiles/pcl_io.dir/objects.a(hdl_grabber.cpp.obj):hdl_grabber.cpp:(.text+0x1871): undefined reference to `__imp_WSARecvFrom'
CMakeFiles/pcl_io.dir/objects.a(hdl_grabber.cpp.obj):hdl_grabber.cpp:(.text+0x1882): undefined reference to `__imp_WSAGetLastError'
CMakeFiles/pcl_io.dir/objects.a(hdl_grabber.cpp.obj):hdl_grabber.cpp:(.text+0x1cf2): undefined reference to `__imp_ntohs'
CMakeFiles/pcl_io.dir/objects.a(hdl_grabber.cpp.obj):hdl_grabber.cpp:(.text+0x1d48): undefined reference to `__imp_ntohl'
CMakeFiles/pcl_io.dir/objects.a(hdl_grabber.cpp.obj):hdl_grabber.cpp:(.text$_ZN5boost4asio6detail17winsock_init_base7cleanupERNS2_4dataE[_ZN5boost4asio6detail17winsock_init_base7cleanupERNS2_4dataE]+0x13): undefined reference to `__imp_WSACleanup'
CMakeFiles/pcl_io.dir/objects.a(hdl_grabber.cpp.obj):hdl_grabber.cpp:(.text$_ZN5boost4asio6detail10socket_ops16clear_last_errorEv[_ZN5boost4asio6detail10socket_ops16clear_last_errorEv]+0x5): undefined reference to `__imp_WSASetLastError'
CMakeFiles/pcl_io.dir/objects.a(hdl_grabber.cpp.obj):hdl_grabber.cpp:(.text$_ZN5boost4asio6detail10socket_ops4bindEyPK8sockaddryRNS_6system10error_codeE[_ZN5boost4asio6detail10socket_ops4bindEyPK8sockaddryRNS_6system10error_codeE]+0x41): undefined reference to `__imp_WSAGetLastError'
CMakeFiles/pcl_io.dir/objects.a(hdl_grabber.cpp.obj):hdl_grabber.cpp:(.text$_ZN5boost4asio6detail10socket_ops4sendEyPK7_WSABUFyiRNS_6system10error_codeE[_ZN5boost4asio6detail10socket_ops4sendEyPK7_WSABUFyiRNS_6system10error_codeE]+0x52): undefined reference to `__imp_WSASend'
CMakeFiles/pcl_io.dir/objects.a(hdl_grabber.cpp.obj):hdl_grabber.cpp:(.text$_ZN5boost4asio6detail10socket_ops4sendEyPK7_WSABUFyiRNS_6system10error_codeE[_ZN5boost4asio6detail10socket_ops4sendEyPK7_WSABUFyiRNS_6system10error_codeE]+0x62): undefined reference to `__imp_WSAGetLastError'
CMakeFiles/pcl_io.dir/objects.a(hdl_grabber.cpp.obj):hdl_grabber.cpp:(.text$_ZN5boost4asio6detail10socket_ops9poll_readEyhiRNS_6system10error_codeE[_ZN5boost4asio6detail10socket_ops9poll_readEyhiRNS_6system10error_codeE]+0x89): undefined reference to `__imp_select'
CMakeFiles/pcl_io.dir/objects.a(hdl_grabber.cpp.obj):hdl_grabber.cpp:(.text$_ZN5boost4asio6detail10socket_ops9poll_readEyhiRNS_6system10error_codeE[_ZN5boost4asio6detail10socket_ops9poll_readEyhiRNS_6system10error_codeE]+0x99): undefined reference to `__imp_WSAGetLastError'
CMakeFiles/pcl_io.dir/objects.a(hdl_grabber.cpp.obj):hdl_grabber.cpp:(.text$_ZN5boost4asio6detail10socket_ops20network_to_host_longEm[_ZN5boost4asio6detail10socket_ops20network_to_host_longEm]+0x3): undefined reference to `__imp_ntohl'
CMakeFiles/pcl_io.dir/objects.a(hdl_grabber.cpp.obj):hdl_grabber.cpp:(.text$_ZN5boost4asio6detail10socket_ops20host_to_network_longEm[_ZN5boost4asio6detail10socket_ops20host_to_network_longEm]+0x3): undefined reference to `__imp_htonl'
CMakeFiles/pcl_io.dir/objects.a(hdl_grabber.cpp.obj):hdl_grabber.cpp:(.text$_ZN5boost4asio6detail10socket_ops21host_to_network_shortEt[_ZN5boost4asio6detail10socket_ops21host_to_network_shortEt]+0x6): undefined reference to `__imp_htons'
CMakeFiles/pcl_io.dir/objects.a(hdl_grabber.cpp.obj):hdl_grabber.cpp:(.text$_ZN5boost4asio2ip10address_v4C1Ej[_ZN5boost4asio2ip10address_v4C1Ej]+0xc): undefined reference to `__imp_htonl'
CMakeFiles/pcl_io.dir/objects.a(hdl_grabber.cpp.obj):hdl_grabber.cpp:(.text$_ZNK5boost4asio2ip10address_v47to_uintEv[_ZNK5boost4asio2ip10address_v47to_uintEv]+0x5): undefined reference to `__imp_ntohl'
CMakeFiles/pcl_io.dir/objects.a(hdl_grabber.cpp.obj):hdl_grabber.cpp:(.text$_ZNK5boost4asio2ip7address14is_unspecifiedEv[_ZNK5boost4asio2ip7address14is_unspecifiedEv]+0x39): undefined reference to `__imp_ntohl'
CMakeFiles/pcl_io.dir/objects.a(hdl_grabber.cpp.obj):hdl_grabber.cpp:(.text$_ZNK5boost4asio2ip6detail8endpoint4portEv[_ZNK5boost4asio2ip6detail8endpoint4portEv]+0x7): undefined reference to `__imp_ntohs'
CMakeFiles/pcl_io.dir/objects.a(hdl_grabber.cpp.obj):hdl_grabber.cpp:(.text$_ZN5boost4asio2ip6detail8endpoint4portEt[_ZN5boost4asio2ip6detail8endpoint4portEt]+0xd): undefined reference to `__imp_htons'
CMakeFiles/pcl_io.dir/objects.a(hdl_grabber.cpp.obj):hdl_grabber.cpp:(.text$_ZN5boost4asio2ip6detail8endpoint7addressERKNS1_7addressE[_ZN5boost4asio2ip6detail8endpoint7addressERKNS1_7addressE]+0x12): undefined reference to `__imp_ntohs'
CMakeFiles/pcl_io.dir/objects.a(hdl_grabber.cpp.obj):hdl_grabber.cpp:(.text$_ZN5boost4asio6detail10socket_ops13error_wrapperIiEET_S4_RNS_6system10error_codeE[_ZN5boost4asio6detail10socket_ops13error_wrapperIiEET_S4_RNS_6system10error_codeE]+0x17): undefined reference to `__imp_WSAGetLastError'
CMakeFiles/pcl_io.dir/objects.a(hdl_grabber.cpp.obj):hdl_grabber.cpp:(.text$_ZN5boost4asio6detail10socket_ops9inet_ptonEiPKcPvPmRNS_6system10error_codeE[_ZN5boost4asio6detail10socket_ops9inet_ptonEiPKcPvPmRNS_6system10error_codeE]+0x5e): undefined reference to `__imp_WSAStringToAddressA'
CMakeFiles/pcl_io.dir/objects.a(hdl_grabber.cpp.obj):hdl_grabber.cpp:(.text$_ZN5boost4asio2ip12make_addressEPKcRNS_6system10error_codeE[_ZN5boost4asio2ip12make_addressEPKcRNS_6system10error_codeE]+0x48): undefined reference to `__imp_WSAStringToAddressA'
CMakeFiles/pcl_io.dir/objects.a(hdl_grabber.cpp.obj):hdl_grabber.cpp:(.text$_ZN5boost4asio2ip12make_addressEPKcRNS_6system10error_codeE[_ZN5boost4asio2ip12make_addressEPKcRNS_6system10error_codeE]+0x59): undefined reference to `__imp_WSAGetLastError'
CMakeFiles/pcl_io.dir/objects.a(hdl_grabber.cpp.obj):hdl_grabber.cpp:(.text$_ZN5boost4asio6detail10socket_ops5closeEyRhbRNS_6system10error_codeE[_ZN5boost4asio6detail10socket_ops5closeEyRhbRNS_6system10error_codeE]+0x34): undefined reference to `__imp_closesocket'
CMakeFiles/pcl_io.dir/objects.a(hdl_grabber.cpp.obj):hdl_grabber.cpp:(.text$_ZN5boost4asio6detail10socket_ops5closeEyRhbRNS_6system10error_codeE[_ZN5boost4asio6detail10socket_ops5closeEyRhbRNS_6system10error_codeE]+0x183): undefined reference to `__imp_ioctlsocket'
CMakeFiles/pcl_io.dir/objects.a(hdl_grabber.cpp.obj):hdl_grabber.cpp:(.text$_ZN5boost4asio6detail23win_iocp_socket_serviceINS0_2ip3udpEE4openERNS5_19implementation_typeERKS4_RNS_6system10error_codeE[_ZN5boost4asio6detail23win_iocp_socket_serviceINS0_2ip3udpEE4openERNS5_19implementation_typeERKS4_RNS_6system10error_codeE]+0x77): undefined reference to `__imp_WSASocketW'
CMakeFiles/pcl_io.dir/objects.a(hdl_grabber.cpp.obj):hdl_grabber.cpp:(.text$_ZN5boost4asio6detail23win_iocp_socket_serviceINS0_2ip3udpEE4openERNS5_19implementation_typeERKS4_RNS_6system10error_codeE[_ZN5boost4asio6detail23win_iocp_socket_serviceINS0_2ip3udpEE4openERNS5_19implementation_typeERKS4_RNS_6system10error_codeE]+0x88): undefined reference to `__imp_WSAGetLastError'
CMakeFiles/pcl_io.dir/objects.a(hdl_grabber.cpp.obj):hdl_grabber.cpp:(.text$_ZN5boost4asio6detail23win_iocp_socket_serviceINS0_2ip3udpEE4openERNS5_19implementation_typeERKS4_RNS_6system10error_codeE[_ZN5boost4asio6detail23win_iocp_socket_serviceINS0_2ip3udpEE4openERNS5_19implementation_typeERKS4_RNS_6system10error_codeE]+0x2f4): undefined reference to `__imp_setsockopt'
CMakeFiles/pcl_io.dir/objects.a(vlp_grabber.cpp.obj):vlp_grabber.cpp:(.text+0x102): undefined reference to `__imp_WSAStartup'
CMakeFiles/pcl_io.dir/objects.a(robot_eye_grabber.cpp.obj):robot_eye_grabber.cpp:(.text+0x102): undefined reference to `__imp_WSAStartup'
CMakeFiles/pcl_io.dir/objects.a(robot_eye_grabber.cpp.obj):robot_eye_grabber.cpp:(.text+0x193): undefined reference to `__imp_bind'
CMakeFiles/pcl_io.dir/objects.a(robot_eye_grabber.cpp.obj):robot_eye_grabber.cpp:(.text+0x1a3): undefined reference to `__imp_setsockopt'
CMakeFiles/pcl_io.dir/objects.a(robot_eye_grabber.cpp.obj):robot_eye_grabber.cpp:(.text+0x11bc): undefined reference to `__imp_WSACleanup'
CMakeFiles/pcl_io.dir/objects.a(robot_eye_grabber.cpp.obj):robot_eye_grabber.cpp:(.text$_ZN5boost4asio6detail28win_iocp_socket_service_base21start_receive_from_opERNS2_24base_implementation_typeEP7_WSABUFyP8sockaddriPiPNS1_18win_iocp_operationE[_ZN5boost4asio6detail28win_iocp_socket_service_base21start_receive_from_opERNS2_24base_implementation_typeEP7_WSABUFyP8sockaddriPiPNS1_18win_iocp_operationE]+0x86): undefined reference to `__imp_WSARecvFrom'
CMakeFiles/pcl_io.dir/objects.a(robot_eye_grabber.cpp.obj):robot_eye_grabber.cpp:(.text$_ZN5boost4asio6detail28win_iocp_socket_service_base21start_receive_from_opERNS2_24base_implementation_typeEP7_WSABUFyP8sockaddriPiPNS1_18win_iocp_operationE[_ZN5boost4asio6detail28win_iocp_socket_service_base21start_receive_from_opERNS2_24base_implementation_typeEP7_WSABUFyP8sockaddriPiPNS1_18win_iocp_operationE]+0x8e): undefined reference to `__imp_WSAGetLastError'
collect2: error: ld returned 1 exit status
make[2]: *** [io/CMakeFiles/pcl_io.dir/build.make:391: bin/libpcl_io.dll] Error 1
make[2]: Leaving directory '/workspace/srcdir/pcl/build'
make[1]: *** [CMakeFiles/Makefile2:1165: io/CMakeFiles/pcl_io.dir/all] Error 2
make[1]: Leaving directory '/workspace/srcdir/pcl/build'
make: *** [Makefile:172: all] Error 2

There is a missing -lws2_32 in the linker invocation, but I need to figure out where the invocation is coming from...........

[giordano]

Ok, the good news is that once that issue is solved, build should be successful for 64-bit windows 🎉

[giordano]

Ok, now this is building for all major platforms (Linux with glibc, macOS, FreeBSD, 64-bit Windows). In the next days I'll try to look into the other platforms, if we're lucky it'll just be a matter of setting the macros mentioned above.

[Crghilardi]

FWIW, I did some local testing and was able to get a local build working for x86_64-linux-musl-cxx11 by removing the -DPCL_ENABLE_SSE=OFF flag and adding the extension flags like:

cmake .. -DCMAKE_INSTALL_PREFIX=$prefix \
    -DCMAKE_TOOLCHAIN_FILE=${CMAKE_TARGET_TOOLCHAIN} \
    -DWITH_VTK=OFF \
    -DWITH_LIBUSB=OFF \
    -DWITH_QT=OFF \
    -DWITH_CUDA=OFF \
    -DWITH_QHULL=OFF \
    -DWITH_OPENGL=OFF \
    -DWITH_PCAP=OFF \
    -DPCL_WARNINGS_ARE_ERRORS=OFF \
    -DCMAKE_BUILD_TYPE=Release \
 -DHAVE_MM_MALLOC=OFF \
 -DHAVE_POSIX_MEMALIGN=ON \
 -DHAVE_SSE4_2_EXTENSIONS=OFF \
 -DHAVE_SSE4_1_EXTENSIONS=OFF \
 -DHAVE_SSSE3_EXTENSIONS=OFF \
 -DHAVE_SSE3_EXTENSIONS=OFF \
 -DHAVE_SSE2_EXTENSIONS=ON \
 -DHAVE_SSE_EXTENSIONS=ON

I am not sure how to write that more to make platform agnostic right now

[giordano]

Patch upstreamed: PointCloudLibrary/pcl#4704

[giordano]

So much green with a simple CMake hack 🙂 Only failing platform now is 32-bit Windows

[giordano]

Patch upstreamed: PointCloudLibrary/pcl#4707

[giordano]

Patch upstreamed: PointCloudLibrary/pcl#4708

[giordano]

Ok, it looks like we're good to go now, and I've upstreamed all possible patches (the remaining patch is a CMake hack that we can really use only here).