pcl/fix with_openmp and with_opencv options not being applied

recipes/pcl/all/conanfile.py

@@ -145,7 +145,7 @@ class PclConan(ConanFile):
         "with_cuda": False,
         "with_flann": True,
         "with_libusb": True,
-        "with_opencv": True,
+        "with_opencv": False,
         "with_opengl": True,
         "with_openmp": False,
         "with_pcap": True,
@@ -193,16 +193,23 @@ def _external_deps(self):
     def _external_optional_deps(self):
         return {
             "2d": ["vtk"],
-            "io": ["davidsdk", "dssdk", "ensenso", "fzapi", "libusb", "openni", "openni2", "pcap", "png", "rssdk", "rssdk2", "vtk"],
+            "io": ["davidsdk", "dssdk", "ensenso", "fzapi", "libusb", "openni", "openni2", "pcap", "png", "rssdk", "rssdk2", "vtk", "opencv"],
             "kdtree": ["flann"],
             "people": ["openni"],
-            "recognition": ["metslib"],
+            "recognition": ["metslib", "opencv"],
             "search": ["flann"],
             "simulation": ["opengl"],
-            "surface": ["qhull", "vtk"],
+            "surface": ["qhull", "vtk", "openmp"],
+            "stereo": ["opencv"],
             "visualization": ["davidsdk", "dssdk", "ensenso", "opengl", "openni", "openni2", "qvtk", "rssdk"],
-            "apps": ["cuda", "libusb", "opengl", "openni", "png", "qhull", "qt", "qvtk", "vtk"],
+            "apps": ["cuda", "libusb", "opengl", "openni", "png", "qhull", "qt", "qvtk", "vtk", "openmp"],
             "tools": ["cuda", "davidsdk", "dssdk", "ensenso", "opencv", "opengl", "openni", "openni2", "qhull", "rssdk", "vtk"],
+            "filters": ["openmp"],
+            "features": ["openmp"],
+            "registration": ["openmp"],
+            "tracking": ["openmp", "opencv"],
+            "keypoints": ["openmp"],
+            "segmentation": ["openmp"],
         }
 
     def _ext_dep_to_conan_target(self, dep):
@@ -221,6 +228,7 @@ def _ext_dep_to_conan_target(self, dep):
             "metslib": [],
             "opencv": ["opencv::opencv"],
             "opengl": ["opengl::opengl", "freeglut::freeglut", "glew::glew", "glu::glu" if is_apple_os(self) or self.settings.os == "Windows" else "mesa-glu::mesa-glu"],
+            "openmp": [],
             "openni": [],
             "openni2": [],
             "pcap": ["libpcap::libpcap"],
@@ -373,7 +381,6 @@ def _is_enabled(self, dep):
 
     def requirements(self):
         self.requires("boost/1.83.0", transitive_headers=True)
-        self.requires("eigen/[>=3.4.0 <4]", transitive_headers=True)
         if self._is_enabled("flann"):
             self.requires("flann/1.9.2", transitive_headers=True)
         if self._is_enabled("png"):
@@ -397,6 +404,9 @@ def requirements(self):
                 self.requires("mesa-glu/9.0.3", transitive_headers=True)
         if self._is_enabled("opencv"):
             self.requires("opencv/[>=4.8.1 <5]", transitive_headers=True)
+            self.requires("eigen/3.4.0", transitive_headers=True)
+        else:
+            self.requires("eigen/[>=3.4.0 <4]", transitive_headers=True)
         if self._is_enabled("zlib"):
             self.requires("zlib/[>=1.2.11 <2]")
         # TODO:

recipes/pcl/all/test_package_omp/CMakeLists.txt

@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 3.15)
+
+project(test_package CXX)
+
+find_package(PCL REQUIRED)
+
+add_executable(${PROJECT_NAME} test_package.cpp)
+
+target_link_libraries(${PROJECT_NAME} PRIVATE PCL::PCL)
+target_compile_features(${PROJECT_NAME} PRIVATE cxx_std_17)

recipes/pcl/all/test_package_omp/conanfile.py

@@ -0,0 +1,27 @@
+from conan import ConanFile
+from conan.tools.build import can_run
+from conan.tools.cmake import cmake_layout, CMake
+import os
+
+
+# It will become the standard on Conan 2.x
+class TestPackageConan(ConanFile):
+    settings = "os", "arch", "compiler", "build_type"
+    generators = "CMakeDeps", "CMakeToolchain", "VirtualRunEnv"
+    test_type = "explicit"
+
+    def requirements(self):
+        self.requires(self.tested_reference_str)
+
+    def layout(self):
+        cmake_layout(self)
+
+    def build(self):
+        cmake = CMake(self)
+        cmake.configure()
+        cmake.build()
+
+    def test(self):
+        if can_run(self):
+            bin_path = os.path.join(self.cpp.build.bindir, "test_package")
+            self.run(bin_path, env="conanrun")

recipes/pcl/all/test_package_omp/test_package.cpp

@@ -0,0 +1,32 @@
+// TO BE REMOVED BEFORE MERGE
+#include <iostream>
+#include <pcl/point_types.h>
+#include <pcl/features/normal_3d_omp.h>
+
+int main()
+{
+    // Create fake input cloud
+    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>());
+    cloud->resize(1000);
+    for (std::size_t i = 0; i < cloud->size(); i++) {
+        (*cloud)[i].x = float(i);
+        (*cloud)[i].y = float(i) * 0.1f;
+        (*cloud)[i].z = float(i) * 0.01f;
+    }
+
+    pcl::NormalEstimationOMP<pcl::PointXYZ, pcl::Normal> ne;
+
+    // Try using 4 threads
+    ne.setNumberOfThreads(4);
+    std::cout << "Requested threads = 4\n";
+
+    ne.setInputCloud(cloud);
+    ne.setRadiusSearch(0.1);
+
+    pcl::PointCloud<pcl::Normal> normals;
+    ne.compute(normals);
+
+    std::cout << "Computed normals: " << normals.size() << "\n";
+
+    return 0;
+}