Merge pull request #2696 from taketwo/build-tutorials

Build tutorials on Azure Pipelines

.ci/azure-pipelines/build-macos.yml

@@ -30,6 +30,7 @@ jobs:
             -DPCL_ONLY_CORE_POINT_TYPES=ON \
             -DPCL_QT_VERSION=5 \
             -DBUILD_simulation=ON \
+            -DBUILD_surface_on_nurbs=ON \
             -DBUILD_global_tests=ON \
             -DBUILD_examples=ON \
             -DBUILD_tools=ON \

.ci/azure-pipelines/build-ubuntu.yml

@@ -11,7 +11,7 @@ jobs:
       vmImage: 'Ubuntu 16.04'
     container: env1604
     variables:
-      BUILD_DIR: '$(Agent.WorkFolder)/build'
+      BUILD_DIR: '$(Agent.BuildDirectory)/build'
       CMAKE_CXX_FLAGS: '-Wall -Wextra -Wabi -O2'
     steps:
       - script: |
@@ -21,6 +21,7 @@ jobs:
             -DPCL_ONLY_CORE_POINT_TYPES=ON \
             -DPCL_QT_VERSION=5 \
             -DBUILD_simulation=ON \
+            -DBUILD_surface_on_nurbs=ON \
             -DBUILD_global_tests=ON \
             -DBUILD_examples=ON \
             -DBUILD_tools=ON \

.ci/azure-pipelines/documentation.yml

@@ -10,8 +10,8 @@ jobs:
       vmImage: 'Ubuntu 16.04'
     container: doc
     variables:
-      BUILD_DIR: '$(Agent.WorkFolder)/build'
-      DOC_DIR: '$(Agent.WorkFolder)/documentation'
+      BUILD_DIR: '$(Agent.BuildDirectory)/build'
+      DOC_DIR: '$(Agent.BuildDirectory)/documentation'
     steps:
       - task: InstallSSHKey@0
         inputs:

.ci/azure-pipelines/tutorials.yml

@@ -0,0 +1,45 @@
+resources:
+  containers:
+    - container: env1604
+      image: pointcloudlibrary/env:16.04
+
+jobs:
+  - job: tutorials
+    displayName: Tutorials
+    timeoutInMinutes: 0
+    pool:
+      vmImage: 'Ubuntu 16.04'
+    container: env1604
+    variables:
+      BUILD_DIR: '$(Agent.BuildDirectory)/build'
+      INSTALL_DIR: '$(Agent.BuildDirectory)/install'
+      CMAKE_CXX_FLAGS: '-Wall -Wextra -Wabi -O2'
+      EXCLUDE_TUTORIALS: 'davidsdk,ensenso_cameras,gpu'
+    steps:
+      - script: |
+          mkdir $BUILD_DIR && cd $BUILD_DIR
+          cmake $(Build.SourcesDirectory) \
+            -DCMAKE_INSTALL_PREFIX=$INSTALL_DIR \
+            -DCMAKE_CXX_FLAGS="$CMAKE_CXX_FLAGS" \
+            -DPCL_ONLY_CORE_POINT_TYPES=ON \
+            -DPCL_NO_PRECOMPILE=ON \
+            -DPCL_QT_VERSION=5 \
+            -DBUILD_surface_on_nurbs=ON \
+            -DBUILD_global_tests=OFF \
+            -DBUILD_tools=OFF \
+            -DBUILD_examples=OFF \
+            -DBUILD_outofcore=OFF \
+            -DBUILD_stereo=OFF \
+            -DBUILD_simulation=OFF
+        displayName: 'CMake Configuration'
+      - script: |
+          cd $BUILD_DIR
+          cmake --build . -- -j2
+        displayName: 'Build Library'
+      - script: |
+          cd $BUILD_DIR
+          cmake --build . -- install
+        displayName: 'Install PCL'
+      - script: |
+          $(Build.SourcesDirectory)/.ci/scripts/build_tutorials.sh -k -s -e $EXCLUDE_TUTORIALS $INSTALL_DIR/share/pcl-1.9 $(Build.SourcesDirectory) $BUILD_DIR/tutorials
+        displayName: 'Build Tutorials'

.ci/scripts/build_tutorials.sh

@@ -0,0 +1,123 @@
+#!/usr/bin/env bash
+
+show_help() {
+cat << EOF
+Usage: ${0##*/} [OPTIONS] INSTALL_DIR SOURCE_DIR BUILD_DIR
+
+This script builds source code projects of PCL tutorials.
+
+Options:
+
+  -h             Dispaly this help and exit.
+  -k             Keep going after a configuration/build error.
+  -s             Print summary in the end.
+  -e NAMES       Exclude tutorials from the build.
+                 NAMES is a comma-separated list of tutorial names.
+
+Arguments:
+
+  INSTALL_DIR    Path to the directory where PCLConfig.cmake in installed.
+  SOURCE_DIR     Path to the root of PCL repository.
+  BUILD_DIR      Path to the directory where the tutorials should be built.
+EOF
+}
+
+while getopts "hkse:" option; do
+  case "${option}" in
+    h) show_help
+       exit 0
+       ;;
+    k) KEEP_GOING=1
+       ;;
+    s) SUMMARY=1
+       ;;
+    e) EXCLUDE=${OPTARG}
+       ;;
+    *) show_help
+       exit 1
+       ;;
+  esac
+done
+
+shift $((OPTIND-1))
+
+if [[ $# -ne 3 ]]; then
+  show_help
+  exit 1
+fi
+
+INSTALL_DIR=$1
+SOURCE_DIR=$2/doc/tutorials/content/sources
+BUILD_DIR=$3
+
+if [[ ! -f "$INSTALL_DIR/PCLConfig.cmake" ]]; then
+  echo "Invalid install directory"
+  exit 2
+fi
+
+if [[ ! -d "$SOURCE_DIR" ]]; then
+  echo "Invalid source directory"
+  exit 3
+fi
+
+mkdir -p "$BUILD_DIR"
+
+TUTORIALS=()
+
+for DIRECTORY in "$SOURCE_DIR"/*/ ; do
+  NAME=$(basename "$DIRECTORY")
+  if [[ "$EXCLUDE" == *$NAME* ]]; then
+    STATUS="excluded"
+  elif [[ -z ${SKIP+x} ]]; then
+    TUTORIAL_SOURCE_DIR=$(realpath "$DIRECTORY")
+    TUTORIAL_BUILD_DIR="$BUILD_DIR/$NAME"
+    mkdir -p "$TUTORIAL_BUILD_DIR" && cd "$TUTORIAL_BUILD_DIR" || exit
+    echo "Configuring tutorial: $NAME"
+    if ! cmake "$TUTORIAL_SOURCE_DIR" -DPCL_DIR="$INSTALL_DIR" -DCMAKE_CXX_FLAGS="-Werror"; then
+      STATUS="cmake error"
+    else
+      echo "Building tutorial: $NAME"
+      if ! cmake --build . -- -j2; then
+        STATUS="build error"
+      fi
+    fi
+    if [[ -n $STATUS ]]; then
+      FAILED=1
+      if [[ $KEEP_GOING -ne 1 ]]; then
+        SKIP=1
+      fi
+    fi
+    cd - || exit
+  else
+    STATUS="skipped"
+  fi
+  TUTORIALS+=("$NAME")
+  STATUSES+=("$STATUS")
+  unset STATUS
+done
+
+if [[ $SUMMARY -eq 1 ]]; then
+  echo ""
+  echo "Tutorial build summary"
+  echo "----------------------"
+  echo ""
+  SUCCEEDED=0
+  EXCLUDED=0
+  for i in "${!TUTORIALS[@]}"; do
+    if [[ "${STATUSES[$i]}" == "" ]]; then
+      MARK="🗸"
+      SUCCEEDED=$((SUCCEEDED+1))
+    elif [[ "${STATUSES[$i]}" == *error* ]]; then
+      MARK="𐄂"
+    else
+      MARK="-"
+      EXCLUDED=$((EXCLUDED+1))
+    fi
+    printf "%-46s  %s  %s\\n" "${TUTORIALS[$i]}" "$MARK" "${STATUSES[$i]}"
+  done
+  echo ""
+  echo "Succeeded building $SUCCEEDED out of ${#TUTORIALS[@]} tutorials"
+  echo "Excluded or skipped $EXCLUDED tutorials"
+fi
+
+exit $FAILED

doc/tutorials/content/conditional_removal.rst

@@ -29,13 +29,13 @@ Then, we create the condition which a given point must satisfy so that it remain
 
 .. literalinclude:: sources/conditional_removal/conditional_removal.cpp
    :language: cpp
-   :lines: 28-39
+   :lines: 28-40
 
 This last bit of code just applies the filter to our original PointCloud, and removes all of the points that do not satisfy the conditions we specified. Then it outputs all of the points remaining in the PointCloud.
 
 .. literalinclude:: sources/conditional_removal/conditional_removal.cpp
    :language: cpp
-   :lines: 41-48
+   :lines: 42-50
 
 Compiling and running the program
 ---------------------------------
@@ -54,11 +54,11 @@ You will see something similar to::
 
   Cloud before filtering:
 		0.352222 -0.151883 -0.106395
-	   -0.397406 -0.473106 0.292602
+		-0.397406 -0.473106 0.292602
 		-0.731898 0.667105 0.441304
 		-0.734766 0.854581 -0.0361733
 		-0.4607 -0.277468 -0.916762
-  Cloud after filtering: 
+  Cloud after filtering:
 		-0.397406 -0.473106 0.292602
 		-0.731898 0.667105 0.441304
 

doc/tutorials/content/don_segmentation.rst

@@ -166,7 +166,7 @@ In this example we will do a simple magnitude threshold, looking for objects of
 
 .. literalinclude:: sources/don_segmentation/don_segmentation.cpp
    :language: cpp
-   :lines: 131-145
+   :lines: 131-146
 
 After we apply the filter we are left with a reduced pointcloud consisting of the points with a strong response with the given scale parameters.
 

doc/tutorials/content/ground_based_rgbd_people_detection.rst

@@ -20,7 +20,7 @@ Here it is the code:
 
 .. literalinclude:: sources/ground_based_rgbd_people_detection/src/main_ground_based_people_detection.cpp
    :language: cpp
-   :lines: 48-242
+   :lines: 48-243
 
 
 The explanation
@@ -35,13 +35,13 @@ maximum (``max_h``) height of people can be set. If no parameter is set, the def
 
 .. literalinclude:: sources/ground_based_rgbd_people_detection/src/main_ground_based_people_detection.cpp
    :language: cpp
-   :lines: 66-77
+   :lines: 67-78
 
 Here, the callback used for grabbing pointclouds with OpenNI is defined.
 
 .. literalinclude:: sources/ground_based_rgbd_people_detection/src/main_ground_based_people_detection.cpp
    :language: cpp
-   :lines: 79-86
+   :lines: 80-87
 
 The people detection algorithm used makes the assumption that people stand/walk on a planar ground plane. 
 Thus, it requires to know the equation of the ground plane in order to perform people detection.
@@ -52,7 +52,7 @@ the structure used to pass arguments to this callback.
 
 .. literalinclude:: sources/ground_based_rgbd_people_detection/src/main_ground_based_people_detection.cpp
    :language: cpp
-   :lines: 88-109     
+   :lines: 89-110
 
 Main:
 *****
@@ -61,9 +61,9 @@ The main program starts by initializing the main parameters and reading the comm
 
 .. literalinclude:: sources/ground_based_rgbd_people_detection/src/main_ground_based_people_detection.cpp
    :language: cpp
-   :lines: 111-129
+   :lines: 112-130
 
-Ground initialization:   
+Ground initialization:
 **********************
 
 Then, the :pcl:`pcl::Grabber <pcl::Grabber>` object is initialized in order to acquire RGB-D pointclouds and the program waits for
@@ -74,7 +74,7 @@ After this, ``Q`` must be pressed in order to close the visualizer and let the p
 
 .. literalinclude:: sources/ground_based_rgbd_people_detection/src/main_ground_based_people_detection.cpp
    :language: cpp
-   :lines: 131-164
+   :lines: 132-165
 
 .. image:: images/ground_based_rgbd_people_detection/Screen_floor.jpg
   :align: center
@@ -89,7 +89,7 @@ written to the command window.
 
 .. literalinclude:: sources/ground_based_rgbd_people_detection/src/main_ground_based_people_detection.cpp
    :language: cpp
-   :lines: 166-174
+   :lines: 167-175
 
 In the following lines, we can see the initialization of the SVM classifier by loading the pre-trained parameters
 from file.
@@ -101,7 +101,7 @@ setSensorPortraitOrientation should be used to enable the vertical mode in :pcl:
 
 .. literalinclude:: sources/ground_based_rgbd_people_detection/src/main_ground_based_people_detection.cpp
    :language: cpp
-   :lines: 180-190 
+   :lines: 181-191
 
 Main loop:
 **********   
@@ -113,7 +113,7 @@ This procedure allows to adapt to small changes which can occur to the ground pl
 
 .. literalinclude:: sources/ground_based_rgbd_people_detection/src/main_ground_based_people_detection.cpp
    :language: cpp
-   :lines: 196-209
+   :lines: 197-210
 
 The last part of the code is devoted to visualization. In particular, a green 3D bounding box is drawn for every
 person with HOG confidence above the ``min_confidence`` threshold. The width of the bounding box is fixed, while 
@@ -123,7 +123,7 @@ Please note that this framerate includes the time necessary for grabbing the poi
 
 .. literalinclude:: sources/ground_based_rgbd_people_detection/src/main_ground_based_people_detection.cpp
    :language: cpp
-   :lines: 211-237  
+   :lines: 212-238
 
 Compiling and running the program
 ---------------------------------

doc/tutorials/content/sources/conditional_removal/conditional_removal.cpp

@@ -34,9 +34,10 @@ int
       pcl::FieldComparison<pcl::PointXYZ> ("z", pcl::ComparisonOps::LT, 0.8)));
 
   // build the filter
-  pcl::ConditionalRemoval<pcl::PointXYZ> condrem (range_cond);
+  pcl::ConditionalRemoval<pcl::PointXYZ> condrem;
+  condrem.setCondition (range_cond);
   condrem.setInputCloud (cloud);
-  condrem.setKeepOrganized(true);
+  condrem.setKeepOrganized (true);
 
   // apply filter
   condrem.filter (*cloud_filtered);

doc/tutorials/content/sources/don_segmentation/don_segmentation.cpp

@@ -136,7 +136,8 @@ main (int argc, char *argv[])
                                new pcl::FieldComparison<PointNormal> ("curvature", pcl::ComparisonOps::GT, threshold))
                              );
   // Build the filter
-  pcl::ConditionalRemoval<PointNormal> condrem (range_cond);
+  pcl::ConditionalRemoval<PointNormal> condrem;
+  condrem.setCondition (range_cond);
   condrem.setInputCloud (doncloud);
 
   pcl::PointCloud<PointNormal>::Ptr doncloud_filtered (new pcl::PointCloud<PointNormal>);

doc/tutorials/content/sources/ground_based_rgbd_people_detection/src/main_ground_based_people_detection.cpp

@@ -51,6 +51,7 @@
 #include <pcl/io/openni_grabber.h>
 #include <pcl/sample_consensus/sac_model_plane.h>
 #include <pcl/people/ground_based_people_detection_app.h>
+#include <pcl/common/time.h>
 
 typedef pcl::PointXYZRGBA PointT;
 typedef pcl::PointCloud<PointT> PointCloudT;
@@ -186,7 +187,7 @@ int main (int argc, char** argv)
   people_detector.setVoxelSize(voxel_size);                        // set the voxel size
   people_detector.setIntrinsics(rgb_intrinsics_matrix);            // set RGB camera intrinsic parameters
   people_detector.setClassifier(person_classifier);                // set person classifier
-  people_detector.setHeightLimits(min_height, max_height);         // set person classifier
+  people_detector.setPersonClusterLimits(min_height, max_height, 0.1, 8.0);  // set person classifier
 //  people_detector.setSensorPortraitOrientation(true);             // set sensor orientation to vertical
 
   // For timing:

doc/tutorials/content/sources/iccv2011/src/tutorial.cpp

@@ -318,8 +318,8 @@ void ICCVTutorial<FeatureType>::filterCorrespondences ()
   }
 
   pcl::registration::CorrespondenceRejectorSampleConsensus<pcl::PointXYZI> rejector;
-  rejector.setInputCloud(source_keypoints_);
-  rejector.setTargetCloud(target_keypoints_);
+  rejector.setInputSource(source_keypoints_);
+  rejector.setInputTarget(target_keypoints_);
   rejector.setInputCorrespondences(correspondences_);
   rejector.getCorrespondences(*correspondences_);
   cout << "OK" << endl;

doc/tutorials/content/sources/pcl_painter2D/CMakeLists.txt

@@ -5,4 +5,4 @@ include_directories(${PCL_INCLUDE_DIRS})
 link_directories(${PCL_LIBRARY_DIRS})
 add_definitions(${PCL_DEFINITIONS})
 add_executable(pcl_painter2D_demo pcl_painter2D_demo.cpp)
-target_link_libraries(pcl_painter2D_demo ${PCL_COMMON_LIBRARIES} ${PCL_VISUALIZATION_LIBRARIES})
+target_link_libraries(pcl_painter2D_demo ${PCL_LIBRARIES})

doc/tutorials/content/sources/pcl_plotter/CMakeLists.txt

@@ -5,4 +5,4 @@ include_directories(${PCL_INCLUDE_DIRS})
 link_directories(${PCL_LIBRARY_DIRS})
 add_definitions(${PCL_DEFINITIONS})
 add_executable(pcl_plotter pcl_plotter_demo.cpp)
-target_link_libraries(pcl_plotter ${PCL_COMMONLIBRARIES} ${PCL_VISUALIZATION_LIBRARIES})
+target_link_libraries(pcl_plotter ${PCL_LIBRARIES})