[small-gicp] New port

[andre-nguyen]

If this PR adds a new port, please uncomment and fill out this checklist:

• Changes comply with the maintainer guide.
• The name of the port matches an existing name for this component on https://repology.org/ if possible, and/or is strongly associated with that component on search engines.
• Optional dependencies are resolved in exactly one way. For example, if the component is built with CMake, all find_package calls are REQUIRED, are satisfied by vcpkg.json's declared dependencies, or disabled with CMAKE_DISABLE_FIND_PACKAGE_Xxx.
• The versioning scheme in vcpkg.json matches what upstream says.
• The license declaration in vcpkg.json matches what upstream says.
• The installed as the "copyright" file matches what upstream says.
• The source code of the component installed comes from an authoritative source.
• The generated "usage text" is accurate. See adding-usage for context.
• The version database is fixed by rerunning ./vcpkg x-add-version --all and committing the result.
• Only one version is in the new port's versions file.
• Only one version is added to each modified port's versions file.

[MonicaLiu0311]

Please get failure logs for x86-windows here:

[1/4] C:\PROGRA~1\MICROS~1\2022\ENTERP~1\VC\Tools\MSVC\1438~1.331\bin\Hostx64\x86\cl.exe   /TP -D_USE_MATH_DEFINES -Dsmall_gicp_EXPORTS -ID:\b\small-gicp\src\v0.1.0-8bc82f4870.clean\include -external:ID:\installed\x86-windows\include\eigen3 -external:W0 /nologo /DWIN32 /D_WINDOWS /W3 /utf-8 /GR /EHsc /MP  /D_DEBUG /MDd /Z7 /Ob0 /Od /RTC1  -std:c++17 -MDd -openmp /showIncludes /FoCMakeFiles\small_gicp.dir\src\small_gicp\registration\registration_helper.cpp.obj /FdCMakeFiles\small_gicp.dir\ /FS -c D:\b\small-gicp\src\v0.1.0-8bc82f4870.clean\src\small_gicp\registration\registration_helper.cpp
FAILED: CMakeFiles/small_gicp.dir/src/small_gicp/registration/registration_helper.cpp.obj 
C:\PROGRA~1\MICROS~1\2022\ENTERP~1\VC\Tools\MSVC\1438~1.331\bin\Hostx64\x86\cl.exe   /TP -D_USE_MATH_DEFINES -Dsmall_gicp_EXPORTS -ID:\b\small-gicp\src\v0.1.0-8bc82f4870.clean\include -external:ID:\installed\x86-windows\include\eigen3 -external:W0 /nologo /DWIN32 /D_WINDOWS /W3 /utf-8 /GR /EHsc /MP  /D_DEBUG /MDd /Z7 /Ob0 /Od /RTC1  -std:c++17 -MDd -openmp /showIncludes /FoCMakeFiles\small_gicp.dir\src\small_gicp\registration\registration_helper.cpp.obj /FdCMakeFiles\small_gicp.dir\ /FS -c D:\b\small-gicp\src\v0.1.0-8bc82f4870.clean\src\small_gicp\registration\registration_helper.cpp
D:\b\small-gicp\src\v0.1.0-8bc82f4870.clean\include\small_gicp/ann/incremental_voxelmap.hpp(148): error C2338: static_assert failed: 'size_t must be 64-bit'
D:\b\small-gicp\src\v0.1.0-8bc82f4870.clean\include\small_gicp/ann/incremental_voxelmap.hpp(148): note: the template instantiation context (the oldest one first) is
D:\b\small-gicp\src\v0.1.0-8bc82f4870.clean\include\small_gicp/ann/incremental_voxelmap.hpp(160): note: see reference to class template instantiation 'small_gicp::IncrementalVoxelMap<VoxelContents>' being compiled
warning: Task-based OpenMP parallelism causes run-time memory errors with Eigen matrices.
warning: Thus, OpenMP-based multi-threading for KdTree construction is disabled on MSVC.
warning: Task-based OpenMP parallelism is not well supported on windows.

Please get failure logs for x64-osx here:

CMake Error at /usr/local/Cellar/cmake/3.29.3/share/cmake/Modules/FindPackageHandleStandardArgs.cmake:230 (message):
  Could NOT find OpenMP_C (missing: OpenMP_C_FLAGS OpenMP_C_LIB_NAMES)
Call Stack (most recent call first):
  /usr/local/Cellar/cmake/3.29.3/share/cmake/Modules/FindPackageHandleStandardArgs.cmake:600 (_FPHSA_FAILURE_MESSAGE)
  /usr/local/Cellar/cmake/3.29.3/share/cmake/Modules/FindOpenMP.cmake:581 (find_package_handle_standard_args)
  /Users/vcpkg/Data/work/2/s/scripts/buildsystems/vcpkg.cmake:859 (_find_package)
  CMakeLists.txt:62 (find_package)


-- Configuring incomplete, errors occurred!

[MonicaLiu0311]

All features are tested successfully in the following triplet:

x64-windows
x64-windows-static

The usage test passed on x64-windows (header files found):

small-gicp provides CMake targets:

  find_package(small_gicp REQUIRED)
  target_link_libraries(main PRIVATE small_gicp::small_gicp)

[andre-nguyen]

Thank you @MonicaLiu0311, I have addressed the review comments.

[MonicaLiu0311]

At present, the version information of your commit is inconsistent with your local one:

##[error]Found the following errors:
##[error]versions/s-/small-gicp.json(2,): error : while parsing versions for small-gicp from version/s-/small-gicp.json
0.1.0 is declared with 9100c3029150c44f0c3b2c7cc6ea1a861de90587, but the local port has a different SHA 580a9b893d2996aceb7ed24d6fcb0bc2111f0553.

Please run ./vcpkg x-add-version testPort [--overwrite-version] before each push:

1. For any file modification under the ports/testPort/ folder, please commit after modification
2. Run ./vcpkg x-add-version testPort to generate a series of version according to your commit info (Add --overwrite-version when generating other than the first time)
3. Commit verison information again
4. Push together

--overwrite-version
After the first modification, please run ./vcpkg x-add-version testPort to generate the corresponding json; for subsequent modifications of the same version, please use ./vcpkg x-add-version portName --overwrite-version to update git-tree.

maintainer guide#versioning.

[MonicaLiu0311]

Done.

[andre-nguyen]

Ah, thank you for that. So just to confirm, basically any time I make a change, I also need to rerun vcpkg x-add-version ... ?

[MonicaLiu0311]

Ah, thank you for that. So just to confirm, basically any time I make a change, I also need to rerun vcpkg x-add-version ... ?

Yes, you need to regenerate new version information before each push. These version information are generated based on your latest commit (modifications in the port/testPort/ directory).

[valgur]

The AppleClang OpenMP issue is actually due to a bug I introduced, it appears. Sorry about that!

Use this patch instead:

--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -22,7 +22,7 @@
 option(ENABLE_COVERAGE "Enable coverage" OFF)
 
 # Dependency options
-set(BUILD_WITH_OPENMP CACHE STRING "Build with OpenMP" "auto")
+set(BUILD_WITH_OPENMP "auto" CACHE STRING "Build with OpenMP")
 option(BUILD_WITH_TBB "Build with TBB" OFF)
 option(BUILD_WITH_PCL "Build with PCL (required for benchmark and test only)" OFF)
 option(BUILD_WITH_FAST_GICP "Build with fast_gicp (required for benchmark and test only)" OFF)

I opened a PR as well: koide3/small_gicp#76

[BillyONeal]

Thanks for the new port!

[andre-nguyen]

@valgur I'll update with the fix when @koide3 releases a new tag/version

[koide3]

I just pushed a new tag v.0.1.2 with @valgur 's fix.