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4c0e3b4c 1# TODO: MPI, ROS?
ca4db9a4
JB		 2#
3# Conditional build:
4c0e3b4c 4%bcond_without apidocs # do not build and package API docs
0a13f061 5%bcond_without fzapi # Fotonic FZ API support
40dd16fa 6%bcond_with sse # SSE/SSE2/SSE3 support
0a13f061 7%bcond_without tawara # Tawara video output (pcl_video)
4c0e3b4c 8%bcond_without vtk # VTK support in libpcl_{io,surface} + libpcl_{apps,visualization} libs
5bcc65ba 9
ca4db9a4
JB		 10Summary: Point Cloud Library - library for point cloud processing
11Summary(pl.UTF-8): Point Cloud Library - biblioteka do operacji na chmurze punktów
12Name: pcl
0df594f4 13Version: 1.7.1
35e38600 14Release: 2
ca4db9a4
JB		 15License: BSD
16Group: Libraries
92237c8c 17#Source0Download: http://pointclouds.org/downloads/
40dd16fa 18Source0: https://github.com/PointCloudLibrary/pcl/archive/%{name}-%{version}.tar.gz
0df594f4
JB		 19# Source0-md5: ce8fa17662544eb4bb7b084191a61ad5
20Patch0: %{name}-vtk6.patch
21Patch1: %{name}-fz_api.patch
22Patch2: %{name}-tawara.patch
ca4db9a4 23URL: http://pointclouds.org/
14d7b673
JB		 24BuildRequires: OpenGL-devel
25BuildRequires: OpenGL-GLU-devel
ca4db9a4 26BuildRequires: OpenNI-devel
14d7b673
JB		 27BuildRequires: QtCore-devel >= 4
28BuildRequires: QtOpenGL-devel >= 4
29BuildRequires: boost-devel >= 1.43
4c0e3b4c 30BuildRequires: cmake >= 2.8
ca4db9a4 31BuildRequires: eigen3 >= 3
14d7b673 32BuildRequires: flann-devel >= 1.7.0
0a13f061 33%{?with_fzapi:BuildRequires: fz-api-devel}
ca4db9a4
JB		 34BuildRequires: gcc-c++ >= 6:4.2
35BuildRequires: libgomp-devel
14d7b673
JB		 36BuildRequires: libpcap-devel
37BuildRequires: libpng-devel
ca4db9a4
JB		 38BuildRequires: libstdc++-devel
39BuildRequires: libusb-devel >= 1.0
40BuildRequires: qhull-devel
14d7b673 41BuildRequires: qt4-build >= 4
ca4db9a4
JB		 42BuildRequires: python
43BuildRequires: sed >= 4.0
0a13f061 44%{?with_tawara:BuildRequires: tawara-devel}
40dd16fa 45# FIXME: only vtk-devel is really required, the rest (java,python,tcl runtimes) only because of checks in VTK cmake files
14d7b673
JB		 46%{?with_vtk:BuildRequires: vtk-devel >= 6}
47%{?with_vtk:BuildRequires: vtk-java >= 6}
48%{?with_vtk:BuildRequires: vtk-python >= 6}
49%{?with_vtk:BuildRequires: vtk-tcl >= 6}
ca4db9a4
JB		 50%if %{with apidocs}
51BuildRequires: doxygen
92237c8c 52BuildRequires: python-sphinxcontrib-doxylink >= 1.3
ca4db9a4
JB		 53BuildRequires: sphinx-pdg
54%endif
55BuildRoot: %{tmpdir}/%{name}-%{version}-root-%(id -u -n)
56
57%description
58The Point Cloud Library (PCL) is a standalone, large scale, open
59project for 3D point cloud processing.
60
61The PCL framework contains numerous state-of-the art algorithms
62including filtering, feature estimation, surface reconstruction,
63registration, model fitting and segmentation, as well as higher level
64tools for performing mapping and object recognition. Think of it as
65the Boost of 3D point cloud processing.
66
67%description -l pl.UTF-8
68Biblioteka PCL (Point Cloud Processing) to samodzielna, wielkoskalowa,
69mająca otwarte źródła biblioteka do przetwarzania chmury punktów 3D.
70
71Szkielet PCL zawiera wiele współczesnych algorytmów, obejmujących
72filtrowanie, przybliżanie cech, rekonstrukcję powierzchni,
73rejestrację, dopasowywanie modeli oraz segmentację, a także narzędzia
74wyższego poziomu do wykonywania odwzorowań oraz rozpoznawania
75obiektów. O bibliotece można myśleć jako odpowiedniku Boosta do
76przetwarzania chmury punktów 3D.
77
78%package devel
79Summary: Header files for PCL library
80Summary(pl.UTF-8): Pliki nagłówkowe biblioteki PCL
81Group: Development/Libraries
82Requires: %{name} = %{version}-%{release}
14d7b673
JB		 83Requires: boost-devel >= 1.44
84%{?with_vtk:Requires: vtk-devel >= 6}
ca4db9a4
JB		 85
86%description devel
87Header files for PCL library.
88
89%description devel -l pl.UTF-8
90Pliki nagłówkowe biblioteki PCL.
91
92%package apidocs
93Summary: PCL API documentation and tutorials
94Summary(pl.UTF-8): Dokumentacja API oraz wprowadzenie do biblioteki PCL
95Group: Documentation
5bcc65ba
ER		 96%if "%{_rpmversion}" >= "5"
97BuildArch: noarch
98%endif
ca4db9a4
JB		 99
100%description apidocs
101API documentation and tutorials for PCL library.
102
103%description apidocs -l pl.UTF-8
104Dokumentacja API oraz wprowadzenie do biblioteki PCL.
105
106%prep
40dd16fa 107%setup -q -n pcl-pcl-%{version}
ca4db9a4 108%patch0 -p1
bc8fb1e0 109%patch1 -p1
0a13f061 110%patch2 -p1
ca4db9a4
JB		 111
112%build
113mkdir build
114cd build
bc8fb1e0
JB		 115# LIB_INSTALL_DIR specified by PLD cmake macro is incompatible with what PCL expects
116%cmake .. \
40dd16fa 117 -DLIB_INSTALL_DIR=%{_lib} \
0a13f061
JB		 118%if %{with fzapi}
119 -DFZAPI_DIR=/usr \
120 -DFZAPI_INCLUDE_DIR=/usr/include \
121 -DFZAPI_LIBS=%{_libdir}/libfz_api.so \
122%endif
40dd16fa 123 %{!?with_sse:-DPCL_ENABLE_SSE=OFF}
e0ef7a16
JB		 124
125# NOTE: -j1 because of OOM on th-x86_64
126%{__make} -j1
ca4db9a4 127
92237c8c 128# why it's not called on build?
ca4db9a4
JB		 129%if %{with apidocs}
130cd doc/doxygen
131doxygen doxyfile
132cd ../tutorials
133sphinx-build -b html -a -d doctrees ../../../doc/tutorials/content html
134%endif
135
136%install
137rm -rf $RPM_BUILD_ROOT
138
139%{__make} -C build install \
140 DESTDIR=$RPM_BUILD_ROOT
141
142%clean
143rm -rf $RPM_BUILD_ROOT
144
145%post -p /sbin/ldconfig
146%postun -p /sbin/ldconfig
147
148%files
149%defattr(644,root,root,755)
150%doc AUTHORS.txt LICENSE.txt
40dd16fa
JB		 151%attr(755,root,root) %{_bindir}/pcl_compute_hull
152%attr(755,root,root) %{_bindir}/pcl_concatenate_points_pcd
92237c8c 153%attr(755,root,root) %{_bindir}/pcl_convert_pcd_ascii_binary
40dd16fa
JB		 154%attr(755,root,root) %{_bindir}/pcl_demean_cloud
155%attr(755,root,root) %{_bindir}/pcl_fast_bilateral_filter
156%attr(755,root,root) %{_bindir}/pcl_hdl_grabber
157%attr(755,root,root) %{_bindir}/pcl_linemod_detection
158%attr(755,root,root) %{_bindir}/pcl_lum
159%attr(755,root,root) %{_bindir}/pcl_match_linemod_template
160%attr(755,root,root) %{_bindir}/pcl_ndt2d
161%attr(755,root,root) %{_bindir}/pcl_ndt3d
162%attr(755,root,root) %{_bindir}/pcl_oni2pcd
163%attr(755,root,root) %{_bindir}/pcl_openni_grabber_depth_example
92237c8c 164%attr(755,root,root) %{_bindir}/pcl_openni_grabber_example
40dd16fa
JB		 165%attr(755,root,root) %{_bindir}/pcl_openni_pcd_recorder
166%attr(755,root,root) %{_bindir}/pcl_outofcore_print
167%attr(755,root,root) %{_bindir}/pcl_outofcore_process
168%attr(755,root,root) %{_bindir}/pcl_outofcore_viewer
169%attr(755,root,root) %{_bindir}/pcl_pcd_change_viewpoint
92237c8c 170%attr(755,root,root) %{_bindir}/pcl_pcd_convert_NaN_nan
40dd16fa 171%attr(755,root,root) %{_bindir}/pcl_pclzf2pcd
92237c8c
JB		 172%attr(755,root,root) %{_bindir}/pcl_ply2obj
173%attr(755,root,root) %{_bindir}/pcl_ply2ply
174%attr(755,root,root) %{_bindir}/pcl_ply2raw
175%attr(755,root,root) %{_bindir}/pcl_plyheader
40dd16fa
JB		 176%attr(755,root,root) %{_bindir}/pcl_radius_filter
177%attr(755,root,root) %{_bindir}/pcl_sac_segmentation_plane
178%attr(755,root,root) %{_bindir}/pcl_train_linemod_template
179%attr(755,root,root) %{_bindir}/pcl_uniform_sampling
180%attr(755,root,root) %{_bindir}/pcl_xyz2pcd
4c0e3b4c 181%if %{with vtk}
4c0e3b4c
JB		 182%attr(755,root,root) %{_bindir}/pcl_add_gaussian_noise
183%attr(755,root,root) %{_bindir}/pcl_boundary_estimation
184%attr(755,root,root) %{_bindir}/pcl_cluster_extraction
185%attr(755,root,root) %{_bindir}/pcl_compute_cloud_error
186%attr(755,root,root) %{_bindir}/pcl_crop_to_hull
187%attr(755,root,root) %{_bindir}/pcl_elch
188%attr(755,root,root) %{_bindir}/pcl_extract_feature
4c0e3b4c
JB		 189%attr(755,root,root) %{_bindir}/pcl_fpfh_estimation
190%attr(755,root,root) %{_bindir}/pcl_gp3_surface
40dd16fa
JB		 191%attr(755,root,root) %{_bindir}/pcl_ground_based_rgbd_people_detector
192%attr(755,root,root) %{_bindir}/pcl_hdl_viewer_simple
4c0e3b4c
JB		 193%attr(755,root,root) %{_bindir}/pcl_icp
194%attr(755,root,root) %{_bindir}/pcl_icp2d
40dd16fa
JB		 195%attr(755,root,root) %{_bindir}/pcl_image_grabber_saver
196%attr(755,root,root) %{_bindir}/pcl_image_grabber_viewer
4c0e3b4c
JB		 197%attr(755,root,root) %{_bindir}/pcl_marching_cubes_reconstruction
198%attr(755,root,root) %{_bindir}/pcl_mesh2pcd
199%attr(755,root,root) %{_bindir}/pcl_mesh_sampling
200%attr(755,root,root) %{_bindir}/pcl_mls_smoothing
4c0e3b4c 201%attr(755,root,root) %{_bindir}/pcl_normal_estimation
40dd16fa
JB		 202%attr(755,root,root) %{_bindir}/pcl_obj2vtk
203%attr(755,root,root) %{_bindir}/pcl_obj_rec_ransac_accepted_hypotheses
204%attr(755,root,root) %{_bindir}/pcl_obj_rec_ransac_hash_table
205%attr(755,root,root) %{_bindir}/pcl_obj_rec_ransac_model_opps
206%attr(755,root,root) %{_bindir}/pcl_obj_rec_ransac_orr_octree
207%attr(755,root,root) %{_bindir}/pcl_obj_rec_ransac_orr_octree_zprojection
208%attr(755,root,root) %{_bindir}/pcl_obj_rec_ransac_result
209%attr(755,root,root) %{_bindir}/pcl_obj_rec_ransac_scene_opps
4c0e3b4c 210%attr(755,root,root) %{_bindir}/pcl_octree_viewer
40dd16fa
JB		 211%attr(755,root,root) %{_bindir}/pcl_oni_viewer
212%attr(755,root,root) %{_bindir}/pcl_openni_image
4c0e3b4c 213%attr(755,root,root) %{_bindir}/pcl_openni_save_image
40dd16fa
JB		 214%attr(755,root,root) %{_bindir}/pcl_openni_viewer
215%attr(755,root,root) %{_bindir}/pcl_organized_pcd_to_png
4c0e3b4c
JB		 216%attr(755,root,root) %{_bindir}/pcl_outlier_removal
217%attr(755,root,root) %{_bindir}/pcl_passthrough_filter
218%attr(755,root,root) %{_bindir}/pcl_pcd2ply
0df594f4 219%attr(755,root,root) %{_bindir}/pcl_pcd2png
4c0e3b4c 220%attr(755,root,root) %{_bindir}/pcl_pcd2vtk
40dd16fa
JB		 221%attr(755,root,root) %{_bindir}/pcl_pcd_grabber_viewer
222%attr(755,root,root) %{_bindir}/pcl_pcd_image_viewer
4c0e3b4c
JB		 223%attr(755,root,root) %{_bindir}/pcl_plane_projection
224%attr(755,root,root) %{_bindir}/pcl_ply2pcd
40dd16fa
JB		 225%attr(755,root,root) %{_bindir}/pcl_ply2vtk
226%attr(755,root,root) %{_bindir}/pcl_png2pcd
4c0e3b4c 227%attr(755,root,root) %{_bindir}/pcl_poisson_reconstruction
4c0e3b4c
JB		 228%attr(755,root,root) %{_bindir}/pcl_registration_visualizer
229%attr(755,root,root) %{_bindir}/pcl_spin_estimation
40dd16fa
JB		 230%attr(755,root,root) %{_bindir}/pcl_tiff2pcd
231%attr(755,root,root) %{_bindir}/pcl_timed_trigger_test
4c0e3b4c
JB		 232%attr(755,root,root) %{_bindir}/pcl_transform_from_viewpoint
233%attr(755,root,root) %{_bindir}/pcl_transform_point_cloud
234%attr(755,root,root) %{_bindir}/pcl_vfh_estimation
0a13f061 235%{?with_tawara:%attr(755,root,root) %{_bindir}/pcl_video}
40dd16fa 236%attr(755,root,root) %{_bindir}/pcl_viewer
4c0e3b4c
JB		 237%attr(755,root,root) %{_bindir}/pcl_virtual_scanner
238%attr(755,root,root) %{_bindir}/pcl_voxel_grid
40dd16fa
JB		 239%attr(755,root,root) %{_bindir}/pcl_voxel_grid_occlusion_estimation
240%attr(755,root,root) %{_bindir}/pcl_vtk2obj
241%attr(755,root,root) %{_bindir}/pcl_vtk2pcd
242%attr(755,root,root) %{_bindir}/pcl_vtk2ply
4c0e3b4c 243%endif
ca4db9a4 244%attr(755,root,root) %{_libdir}/libpcl_common.so.*.*.*
40dd16fa 245%attr(755,root,root) %ghost %{_libdir}/libpcl_common.so.1.7
ca4db9a4 246%attr(755,root,root) %{_libdir}/libpcl_features.so.*.*.*
40dd16fa 247%attr(755,root,root) %ghost %{_libdir}/libpcl_features.so.1.7
ca4db9a4 248%attr(755,root,root) %{_libdir}/libpcl_filters.so.*.*.*
40dd16fa 249%attr(755,root,root) %ghost %{_libdir}/libpcl_filters.so.1.7
ca4db9a4 250%attr(755,root,root) %{_libdir}/libpcl_io.so.*.*.*
40dd16fa 251%attr(755,root,root) %ghost %{_libdir}/libpcl_io.so.1.7
92237c8c 252%attr(755,root,root) %{_libdir}/libpcl_io_ply.so.*.*.*
40dd16fa 253%attr(755,root,root) %ghost %{_libdir}/libpcl_io_ply.so.1.7
ca4db9a4 254%attr(755,root,root) %{_libdir}/libpcl_kdtree.so.*.*.*
40dd16fa 255%attr(755,root,root) %ghost %{_libdir}/libpcl_kdtree.so.1.7
ca4db9a4 256%attr(755,root,root) %{_libdir}/libpcl_keypoints.so.*.*.*
40dd16fa 257%attr(755,root,root) %ghost %{_libdir}/libpcl_keypoints.so.1.7
ca4db9a4 258%attr(755,root,root) %{_libdir}/libpcl_octree.so.*.*.*
40dd16fa
JB		 259%attr(755,root,root) %ghost %{_libdir}/libpcl_octree.so.1.7
260%attr(755,root,root) %{_libdir}/libpcl_outofcore.so.*.*.*
261%attr(755,root,root) %ghost %{_libdir}/libpcl_outofcore.so.1.7
262%attr(755,root,root) %{_libdir}/libpcl_recognition.so.*.*.*
263%attr(755,root,root) %ghost %{_libdir}/libpcl_recognition.so.1.7
ca4db9a4 264%attr(755,root,root) %{_libdir}/libpcl_registration.so.*.*.*
40dd16fa 265%attr(755,root,root) %ghost %{_libdir}/libpcl_registration.so.1.7
ca4db9a4 266%attr(755,root,root) %{_libdir}/libpcl_sample_consensus.so.*.*.*
40dd16fa 267%attr(755,root,root) %ghost %{_libdir}/libpcl_sample_consensus.so.1.7
ca4db9a4 268%attr(755,root,root) %{_libdir}/libpcl_search.so.*.*.*
40dd16fa 269%attr(755,root,root) %ghost %{_libdir}/libpcl_search.so.1.7
ca4db9a4 270%attr(755,root,root) %{_libdir}/libpcl_segmentation.so.*.*.*
40dd16fa 271%attr(755,root,root) %ghost %{_libdir}/libpcl_segmentation.so.1.7
ca4db9a4 272%attr(755,root,root) %{_libdir}/libpcl_surface.so.*.*.*
40dd16fa 273%attr(755,root,root) %ghost %{_libdir}/libpcl_surface.so.1.7
92237c8c 274%attr(755,root,root) %{_libdir}/libpcl_tracking.so.*.*.*
40dd16fa 275%attr(755,root,root) %ghost %{_libdir}/libpcl_tracking.so.1.7
4c0e3b4c 276%if %{with vtk}
40dd16fa
JB		 277%attr(755,root,root) %{_libdir}/libpcl_people.so.*.*.*
278%attr(755,root,root) %ghost %{_libdir}/libpcl_people.so.1.7
4c0e3b4c 279%attr(755,root,root) %{_libdir}/libpcl_visualization.so.*.*.*
40dd16fa 280%attr(755,root,root) %ghost %{_libdir}/libpcl_visualization.so.1.7
4c0e3b4c 281%endif
ca4db9a4
JB		 282
283%files devel
284%defattr(644,root,root,755)
285%attr(755,root,root) %{_libdir}/libpcl_common.so
286%attr(755,root,root) %{_libdir}/libpcl_features.so
287%attr(755,root,root) %{_libdir}/libpcl_filters.so
288%attr(755,root,root) %{_libdir}/libpcl_io.so
92237c8c 289%attr(755,root,root) %{_libdir}/libpcl_io_ply.so
ca4db9a4
JB		 290%attr(755,root,root) %{_libdir}/libpcl_kdtree.so
291%attr(755,root,root) %{_libdir}/libpcl_keypoints.so
292%attr(755,root,root) %{_libdir}/libpcl_octree.so
40dd16fa
JB		 293%attr(755,root,root) %{_libdir}/libpcl_outofcore.so
294%attr(755,root,root) %{_libdir}/libpcl_recognition.so
ca4db9a4
JB		 295%attr(755,root,root) %{_libdir}/libpcl_registration.so
296%attr(755,root,root) %{_libdir}/libpcl_sample_consensus.so
297%attr(755,root,root) %{_libdir}/libpcl_search.so
298%attr(755,root,root) %{_libdir}/libpcl_segmentation.so
299%attr(755,root,root) %{_libdir}/libpcl_surface.so
92237c8c 300%attr(755,root,root) %{_libdir}/libpcl_tracking.so
4c0e3b4c 301%if %{with vtk}
40dd16fa 302%attr(755,root,root) %{_libdir}/libpcl_people.so
4c0e3b4c
JB		 303%attr(755,root,root) %{_libdir}/libpcl_visualization.so
304%endif
40dd16fa
JB		 305%{_includedir}/pcl-1.7
306%{_pkgconfigdir}/pcl_common-1.7.pc
307%{_pkgconfigdir}/pcl_features-1.7.pc
308%{_pkgconfigdir}/pcl_filters-1.7.pc
0df594f4 309%{_pkgconfigdir}/pcl_geometry-1.7.pc
40dd16fa
JB		 310%{_pkgconfigdir}/pcl_io-1.7.pc
311%{_pkgconfigdir}/pcl_kdtree-1.7.pc
312%{_pkgconfigdir}/pcl_keypoints-1.7.pc
313%{_pkgconfigdir}/pcl_octree-1.7.pc
314%{_pkgconfigdir}/pcl_outofcore-1.7.pc
315%{_pkgconfigdir}/pcl_recognition-1.7.pc
316%{_pkgconfigdir}/pcl_registration-1.7.pc
317%{_pkgconfigdir}/pcl_sample_consensus-1.7.pc
318%{_pkgconfigdir}/pcl_search-1.7.pc
319%{_pkgconfigdir}/pcl_segmentation-1.7.pc
320%{_pkgconfigdir}/pcl_surface-1.7.pc
321%{_pkgconfigdir}/pcl_tracking-1.7.pc
4c0e3b4c 322%if %{with vtk}
40dd16fa
JB		 323%{_pkgconfigdir}/pcl_people-1.7.pc
324%{_pkgconfigdir}/pcl_visualization-1.7.pc
4c0e3b4c 325%endif
40dd16fa
JB		 326%dir %{_datadir}/pcl-1.7
327%{_datadir}/pcl-1.7/PCLConfig*.cmake
ca4db9a4
JB		 328
329%if %{with apidocs}
330%files apidocs
331%defattr(644,root,root,755)
40dd16fa
JB		 332%dir %{_docdir}/pcl-1.7
333%{_docdir}/pcl-1.7/html
334%{_docdir}/pcl-1.7/tutorials
ca4db9a4 335%endif
Point Cloud Library - library for point cloud processing
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