%define ros_distro humble
%define RosPkgName fast-gicp
%define src_version 0.0.0-1

Name:           ros-%{ros_distro}-%{RosPkgName}
Version:        0.0.0
Release:        1%{?dist}
Summary:        A collection of fast point cloud registration implementations
License:        BSD
URL:            https://github.com/SMRT-AIST/fast_gicp/tree/master
Source0:        %{RosPkgName}-%{src_version}.tar.gz

%global debug_package %{nil}
%global __os_install_post %(echo '%{__os_install_post}' | sed -e 's!/usr/lib[^[:space:]]*/brp-python-bytecompile[[:space:]].*$!!g')
%global __provides_exclude_from ^/opt/ros/%{ros_distro}/.*$
%global __requires_exclude_from ^/opt/ros/%{ros_distro}/.*$

BuildRequires:  cmake
BuildRequires:  ros-%{ros_distro}-ament-cmake
BuildRequires:  ros-%{ros_distro}-ros-environment
BuildRequires:  eigen3-devel
BuildRequires:  pcl-devel

Requires:       ros-%{ros_distro}-ros-workspace
Requires:       ros-%{ros_distro}-ament-cmake
Requires:       eigen3-devel
Requires:       pcl-devel

Provides:       %{name}-devel = %{version}-%{release}
Provides:       %{name}-doc = %{version}-%{release}
Provides:       %{name}-runtime = %{version}-%{release}

%description
A collection of fast point cloud registration implementations

%prep
%autosetup -n %{RosPkgName}-%{src_version}

# openEuler 的 pcl-devel 未编译 PCL 的 visualization 模块（构建时未启用 VTK），
# 而上游 src/kitti.cpp 依赖 pcl/visualization/pcl_visualizer.h，必然编译失败。
# 移除仅用于 KITTI 数据集演示的 gicp_kitti 可执行目标（CMakeLists 中该 6 行块），
# libfast_gicp.so 与 gicp_align 保持不变
sed -i '/^  add_executable(gicp_kitti src\/kitti\.cpp)$/,/^  )$/d' CMakeLists.txt
! grep -q 'gicp_kitti' CMakeLists.txt

%build
[ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || true
export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages${PYTHONPATH:+:$PYTHONPATH}
export PKG_CONFIG_PATH=/opt/ros/%{ros_distro}/lib/pkgconfig${PKG_CONFIG_PATH:+:$PKG_CONFIG_PATH}
mkdir -p .obj && cd .obj
%cmake3 \
    -DCMAKE_INSTALL_PREFIX="/opt/ros/%{ros_distro}" \
    -DAMENT_PREFIX_PATH="/opt/ros/%{ros_distro}" \
    -DCMAKE_PREFIX_PATH="/opt/ros/%{ros_distro}" \
    -UINCLUDE_INSTALL_DIR -ULIB_INSTALL_DIR -USYSCONF_INSTALL_DIR -USHARE_INSTALL_PREFIX -ULIB_SUFFIX \
    -DSETUPTOOLS_DEB_LAYOUT=OFF \
    -DBUILD_TESTING=OFF -DTESTING=OFF -DCMAKE_SUPPRESS_REGENERATION=ON \
    ..
make %{?_smp_mflags}

%install
[ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || true
export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages${PYTHONPATH:+:$PYTHONPATH}
export PKG_CONFIG_PATH=/opt/ros/%{ros_distro}/lib/pkgconfig${PKG_CONFIG_PATH:+:$PKG_CONFIG_PATH}
cd .obj
make install DESTDIR=%{buildroot}

%files
/opt/ros/%{ros_distro}

%changelog
* Tue Sep 22 2026 ai-importer <ai-importer@openeuler.org> - 0.0.0-1
- Initial import (ROS batch)