Add gtsam-points

[diegoferigo]

This PR adds https://github.com/koide3/gtsam_points, a collection of GTSAM factors and optimizers for point cloud SLAM.

It is needed by the following package, and I iterated directly in that PR before moving it here:

• Add glim #33137

Considering this is a complex recipe with cuda support, I thought it was better to get a review and run CI separately.

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• Title of this PR is meaningful: e.g. "Adding my_nifty_package", not "updated meta.yaml".
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[conda-forge-admin]

Hi! This is the friendly automated conda-forge-linting service.

I just wanted to let you know that I linted all conda-recipes in your PR (recipes/gtsam-points/recipe.yaml) and found it was in an excellent condition.

[conda-forge-admin]

Hi! This is the friendly automated conda-forge-linting service.

I failed to even lint the recipe, probably because of a conda-smithy bug 😢. This likely indicates a problem in your meta.yaml, though. To get a traceback to help figure out what's going on, install conda-smithy and run conda smithy recipe-lint --conda-forge . from the recipe directory. You can also examine the workflow logs for more detail.

_{This message was generated by GitHub Actions workflow run https://github.com/conda-forge/conda-forge-webservices/actions/runs/25052840041. Examine the logs at this URL for more detail.}

[conda-forge-admin]

Hi! This is the friendly automated conda-forge-linting service.

I just wanted to let you know that I linted all conda-recipes in your PR (recipes/gtsam-points/recipe.yaml) and found it was in an excellent condition.

[diegoferigo]

GPU tests are failing in the docker image used to build the recipe, I'm not sure how to fix this. I will disable tests on CUDA build since the feedstock will not have GPU runners in any case.

 │ │ [==========] Running 1 test from 1 test suite.
 │ │ [----------] Global test environment set-up.
 │ │ [----------] 1 test from MatchingCostFactorsTestBase
 │ │ [ RUN      ] MatchingCostFactorsTestBase.LoadCheck
 │ │ warning: cudaErrorInsufficientDriver
 │ │        : CUDA driver version is insufficient for CUDA runtime version
 │ │ warning: cudaErrorInsufficientDriver
 │ │        : CUDA driver version is insufficient for CUDA runtime version
 │ │ warning: cudaErrorInsufficientDriver
 │ │        : CUDA driver version is insufficient for CUDA runtime version
 │ │ warning: cudaErrorInsufficientDriver
 │ │        : CUDA driver version is insufficient for CUDA runtime version
 │ │ warning: cudaErrorInsufficientDriver
 │ │        : CUDA driver version is insufficient for CUDA runtime version
 │ │ warning: cudaErrorInsufficientDriver
 │ │        : CUDA driver version is insufficient for CUDA runtime version
 │ │ warning: cudaErrorInsufficientDriver
 │ │        : CUDA driver version is insufficient for CUDA runtime version
 │ │ warning: cudaErrorInsufficientDriver
 │ │        : CUDA driver version is insufficient for CUDA runtime version
 │ │ warning: frame doesn't have points on GPU
 │ │ error: GPU points/covs not allocated!!

[conda-forge-admin]

Hi! This is the friendly automated conda-forge-linting service.

I failed to even lint the recipe, probably because of a conda-smithy bug 😢. This likely indicates a problem in your meta.yaml, though. To get a traceback to help figure out what's going on, install conda-smithy and run conda smithy recipe-lint --conda-forge . from the recipe directory. You can also examine the workflow logs for more detail.

_{This message was generated by GitHub Actions workflow run https://github.com/conda-forge/conda-forge-webservices/actions/runs/25059061746. Examine the logs at this URL for more detail.}

[conda-forge-admin]

Hi! This is the friendly automated conda-forge-linting service.

I just wanted to let you know that I linted all conda-recipes in your PR (recipes/gtsam-points/recipe.yaml) and found it was in an excellent condition.

[diegoferigo]

@koide3 I'm packaging gtsam-points and glim for both linux-64 and linux-aarch64. Do you want to co-maintain these conda-forge recipes? If you don't know the ecosystem, it's a great way to distribute C++ binaries that is getting popular lately in robotics (see this recent blog post). And with CUDA13 support, the cuda builds can also run on Jetsons OOTB.

[diegoferigo]

@conda-forge/help-c-cpp, ready for review!

[traversaro]

Minimal comment

[Copilot]

Pull request overview

Adds a conda-forge staged recipe for gtsam-points (GTSAM point-cloud SLAM factors/optimizers), including CUDA-optional builds and an unvendoring patch to rely on the packaged nanoflann.

Changes:

• Introduces a new recipes/gtsam-points/recipe.yaml with split outputs (gtsam-points and gtsam-points-devel) and optional CUDA support.
• Adds 001-unvendor-nanoflann.patch to remove vendored nanoflann usage and switch to find_package(nanoflann) / find_dependency(nanoflann).

Reviewed changes

Copilot reviewed 2 out of 2 changed files in this pull request and generated 4 comments.

File	Description
recipes/gtsam-points/recipe.yaml	New recipe defining build/test steps, dependencies, and split outputs (including CUDA-conditional pieces).
recipes/gtsam-points/001-unvendor-nanoflann.patch	Patch to unvendor nanoflann and update KD-tree implementation and CMake dependency wiring.

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