[PCL] Fix namespace and VS2022 error C3052 (#23273)

* Fix namespace clashing between cub and thrust::cub.

Fix VS2022 error C3052: 'k': variable doesn't appear in a data-sharing clause under a default(none) clause

* update version

ports/pcl/fix-error-C3052.patch

@@ -0,0 +1,20 @@
+diff --git a/common/src/fft/kiss_fft.c b/common/src/fft/kiss_fft.c
+index a996887..37232bd 100644
+--- a/common/src/fft/kiss_fft.c
++++ b/common/src/fft/kiss_fft.c
+@@ -260,11 +260,13 @@ void kf_work(
+ #if (defined _OPENMP && (_OPENMP <= 201307)) || (defined __GNUC__ && (__GNUC__ >= 6 && __GNUC__ < 9))
+ #pragma omp parallel for \
+   default(none) \
+-  shared(f, factors, Fout, in_stride)
++  shared(f, factors, Fout, in_stride) \
++  private(k)
+ #else
+ #pragma omp parallel for \
+   default(none) \
+-  shared(f, factors, Fout, fstride, in_stride, m, p, st)
++  shared(f, factors, Fout, fstride, in_stride, m, p, st) \
++  private(k)
+ #endif
+         for (k=0;k<p;++k) 
+             kf_work( Fout +k*m, f+ fstride*in_stride*k,fstride*p,in_stride,factors,st);

ports/pcl/fix-namespace-cub.patch

@@ -0,0 +1,130 @@
+diff --git a/gpu/features/src/centroid.cu b/gpu/features/src/centroid.cu
+index 045fe6f..3e9ef8b 100644
+--- a/gpu/features/src/centroid.cu
++++ b/gpu/features/src/centroid.cu
+@@ -44,7 +44,6 @@
+ 
+ #include "pcl/gpu/utils/device/vector_math.hpp"
+ 
+-using namespace thrust;
+ 
+ namespace pcl
+ {
+@@ -124,9 +123,10 @@ float3 pcl::device::getMaxDistance(const DeviceArray<PointT>& cloud, const float
+     thrust::counting_iterator<int> ce = cf + cloud.size();
+ 
+     thrust::tuple<float, int> init(0.f, 0);
+-    thrust::maximum< tuple<float, int> > op;
++    thrust::maximum<thrust::tuple<float, int>> op;
+     
+-    tuple<float, int> res = transform_reduce(
++    thrust::tuple<float, int> res =
++        transform_reduce(
+         make_zip_iterator(make_tuple( src_beg, cf )),
+         make_zip_iterator(make_tuple( src_beg, ce )),
+         TupleDistCvt(pivot), init, op);
+@@ -151,9 +151,9 @@ float3 pcl::device::getMaxDistance(const DeviceArray<PointT>& cloud, const Indic
+     thrust::counting_iterator<int> ce = cf + indices.size();
+ 
+     thrust::tuple<float, int> init(0.f, 0);
+-    thrust::maximum< tuple<float, int> > op;
++    thrust::maximum<thrust::tuple<float, int>> op;
+     
+-    tuple<float, int> res = transform_reduce(
++    thrust::tuple<float, int> res = transform_reduce(
+         make_zip_iterator(make_tuple( make_permutation_iterator(src_beg, map_beg), cf )),
+         make_zip_iterator(make_tuple( make_permutation_iterator(src_beg, map_end), ce )),
+         TupleDistCvt(pivot), init, op);
+diff --git a/gpu/octree/src/cuda/bfrs.cu b/gpu/octree/src/cuda/bfrs.cu
+index d392f67..0635e1e 100644
+--- a/gpu/octree/src/cuda/bfrs.cu
++++ b/gpu/octree/src/cuda/bfrs.cu
+@@ -43,7 +43,6 @@
+ 
+ #include "cuda.h"
+ 
+-using namespace thrust;
+ 
+ namespace pcl
+ {    
+@@ -80,11 +79,11 @@ void pcl::device::bruteForceRadiusSearch(const OctreeImpl::PointCloud& cloud, co
+ 
+     InSphere cond(query.x, query.y, query.z, radius);
+ 
+-    device_ptr<const PointType> cloud_ptr((const PointType*)cloud.ptr());
+-    device_ptr<int> res_ptr(buffer.ptr());
++    thrust::device_ptr<const PointType> cloud_ptr((const PointType*)cloud.ptr());
++    thrust::device_ptr<int> res_ptr(buffer.ptr());
+     
+-    counting_iterator<int> first(0);
+-    counting_iterator<int> last = first + cloud.size();
++    thrust::counting_iterator<int> first(0);
++    thrust::counting_iterator<int> last = first + cloud.size();
+     
+     //main bottle neck is a kernel call overhead/allocs
+     //work time for 871k points ~0.8ms
+diff --git a/gpu/octree/src/cuda/octree_builder.cu b/gpu/octree/src/cuda/octree_builder.cu
+index dfd2093..faad764 100644
+--- a/gpu/octree/src/cuda/octree_builder.cu
++++ b/gpu/octree/src/cuda/octree_builder.cu
+@@ -51,7 +51,6 @@
+ #include <thrust/device_ptr.h>
+ 
+ using namespace pcl::gpu;
+-using namespace thrust;
+ 
+ namespace pcl 
+ {
+@@ -316,7 +315,7 @@ void pcl::device::OctreeImpl::build()
+         // 3 * sizeof(int) => +1 row        
+ 
+         const int transaction_size = 128 / sizeof(int);
+-        int cols = max<int>(points_num, transaction_size * 4);
++        int cols = std::max<int>(points_num, transaction_size * 4);
+         int rows = 10 + 1; // = 13
+             
+         storage.create(rows, cols);
+@@ -338,8 +337,8 @@ void pcl::device::OctreeImpl::build()
+     {
+         //ScopeTimer timer("reduce-morton-sort-permutations"); 
+     	
+-        device_ptr<PointType> beg(points.ptr());
+-        device_ptr<PointType> end = beg + points.size();
++        thrust::device_ptr<PointType> beg(points.ptr());
++        thrust::device_ptr<PointType> end = beg + points.size();
+ 
+         {
+             PointType atmax, atmin;
+@@ -355,15 +354,15 @@ void pcl::device::OctreeImpl::build()
+             octreeGlobal.maxp = make_float3(maxp.x, maxp.y, maxp.z);
+         }
+     		
+-        device_ptr<int> codes_beg(codes.ptr());
+-        device_ptr<int> codes_end = codes_beg + codes.size();
++        thrust::device_ptr<int> codes_beg(codes.ptr());
++        thrust::device_ptr<int> codes_end = codes_beg + codes.size();
+         {
+             //ScopeTimer timer("morton"); 
+ 	        thrust::transform(beg, end, codes_beg, CalcMorton(octreeGlobal.minp, octreeGlobal.maxp));
+         }
+ 
+-        device_ptr<int> indices_beg(indices.ptr());
+-        device_ptr<int> indices_end = indices_beg + indices.size();
++        thrust::device_ptr<int> indices_beg(indices.ptr());
++        thrust::device_ptr<int> indices_end = indices_beg + indices.size();
+         {
+             //ScopeTimer timer("sort"); 
+             thrust::sequence(indices_beg, indices_end);
+@@ -378,9 +377,9 @@ void pcl::device::OctreeImpl::build()
+         }
+ 
+         {
+-            device_ptr<float> xs(points_sorted.ptr(0));
+-            device_ptr<float> ys(points_sorted.ptr(1));
+-            device_ptr<float> zs(points_sorted.ptr(2));
++            thrust::device_ptr<float> xs(points_sorted.ptr(0));
++            thrust::device_ptr<float> ys(points_sorted.ptr(1));
++            thrust::device_ptr<float> zs(points_sorted.ptr(2));
+             //ScopeTimer timer("perm2"); 
+             thrust::transform(make_permutation_iterator(beg, indices_beg),
+                               make_permutation_iterator(end, indices_end), 

ports/pcl/portfile.cmake

@@ -14,6 +14,8 @@ vcpkg_from_github(
         remove-broken-targets.patch
         fix-cmake_find_library_suffixes.patch
         fix-pkgconfig.patch # Remove this patch in the next update
+        fix-namespace-cub.patch # Remove this patch in the next update
+        fix-error-C3052.patch # Remove this patch in the next update
         fix-find-libusb.patch
         install-examples.patch
         no-absolute.patch

ports/pcl/vcpkg.json

@@ -1,7 +1,7 @@
 {
   "name": "pcl",
   "version": "1.12.0",
-  "port-version": 4,
+  "port-version": 5,
   "description": "Point Cloud Library (PCL) is open source library for 2D/3D image and point cloud processing.",
   "homepage": "https://github.com/PointCloudLibrary/pcl",
   "license": "BSD-3-Clause",

versions/baseline.json

@@ -5250,7 +5250,7 @@
     },
     "pcl": {
       "baseline": "1.12.0",
-      "port-version": 4
+      "port-version": 5
     },
     "pcre": {
       "baseline": "8.45",

versions/p-/pcl.json

@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "5e5ebb57bf0a08e7eab28fe3571ebaa55c3d4ba8",
+      "version": "1.12.0",
+      "port-version": 5
+    },
     {
       "git-tree": "7e54ab86574dfc901275996e282f8db5c6c9c3fb",
       "version": "1.12.0",