Merge branch 'master' into benchmarks

.ci/azure-pipelines/azure-pipelines.yaml

@@ -1,5 +1,25 @@
+trigger:
+  paths:
+    exclude:
+    - doc
+    - README.md
+    - CHANGES.md
+    - CONTRIBUTING.md
+
+pr:
+  paths:
+    exclude:
+    - doc
+    - README.md
+    - CHANGES.md
+    - CONTRIBUTING.md
+
 resources:
   containers:
+    - container: winx86
+      image: pointcloudlibrary/env:winx86
+    - container: winx64
+      image: pointcloudlibrary/env:winx64
     - container: fmt
       image: pointcloudlibrary/fmt
     - container: env1804
@@ -8,8 +28,6 @@ resources:
       image: pointcloudlibrary/env:20.04
     - container: env2010
       image: pointcloudlibrary/env:20.10
-    - container: doc
-      image: pointcloudlibrary/doc
 
 stages:
   - stage: formatting
@@ -38,8 +56,6 @@ stages:
               CC: gcc
               CXX: g++
               BUILD_GPU: OFF
-              # surface is not ready for re-entrant QHull
-              CMAKE_ARGS: '-DBUILD_tests_surface=OFF'
         container: $[ variables['CONTAINER'] ]
         timeoutInMinutes: 0
         variables:
@@ -126,37 +142,27 @@ stages:
     displayName: Build MSVC
     dependsOn: formatting
     jobs:
-      - job: vs2017
-        displayName: Windows VS2017 Build
+      - job: Windows
+        displayName: Windows Build
         pool:
-          vmImage: 'vs2017-win2016'
+          vmImage: 'windows-2019'
         strategy:
           matrix:
             x86:
+              CONTAINER: winx86
               PLATFORM: 'x86'
               ARCHITECTURE: 'x86'
-              GENERATOR: 'Visual Studio 15 2017'
+              GENERATOR: '"Visual Studio 16 2019" -A Win32'
             x64:
+              CONTAINER: winx64
               PLATFORM: 'x64'
               ARCHITECTURE: 'x86_amd64'
-              GENERATOR: 'Visual Studio 15 2017 Win64'
+              GENERATOR: '"Visual Studio 16 2019" -A x64'
+        container: $[ variables['CONTAINER'] ]
         timeoutInMinutes: 0
         variables:
           BUILD_DIR: 'c:\build'
           CONFIGURATION: 'Release'
-          VCPKG_ROOT: 'C:\vcpkg'
+          VCPKG_ROOT: 'c:\vcpkg'
         steps:
           - template: build/windows.yaml
-
-  - stage: documentation
-    displayName: Documentation
-    dependsOn: []
-    jobs:
-      - template: documentation.yaml
-
-  - stage: tutorials
-    displayName: Tutorials
-    dependsOn: build_gcc
-    jobs:
-      - template: tutorials.yaml
-

.ci/azure-pipelines/build/windows.yaml

@@ -2,36 +2,26 @@ steps:
   - checkout: self
     # find the commit hash on a quick non-forced update too
     fetchDepth: 10
-  - pwsh: Get-PSDrive
-    displayName: "Check free space"
   - script: |
-      vcpkg.exe install eigen3 flann gtest qhull benchmark ^
-      boost-date-time boost-filesystem boost-iostreams ^
-      boost-property-tree boost-graph boost-interprocess ^
-      boost-signals2 boost-sort boost-multi-array boost-asio ^
-      boost-ptr-container ^
-      --triplet %PLATFORM%-windows && vcpkg.exe list
-    displayName: 'Install C++ Dependencies Via Vcpkg'
-  - script: |
-      mkdir %BUILD_DIR% && cd %BUILD_DIR%
+      mkdir %BUILD_DIR% && cd %BUILD_DIR% && dir
       cmake $(Build.SourcesDirectory) ^
-        -G"%GENERATOR%" ^
+        -G%GENERATOR% ^
+        -DVCPKG_TARGET_TRIPLET=%PLATFORM%-windows-rel ^
         -DCMAKE_BUILD_TYPE="MinSizeRel" ^
-        -DCMAKE_TOOLCHAIN_FILE=%VCPKG_ROOT%\scripts\buildsystems\vcpkg.cmake ^
+        -DCMAKE_TOOLCHAIN_FILE="%VCPKG_ROOT%\scripts\buildsystems\vcpkg.cmake" ^
         -DVCPKG_APPLOCAL_DEPS=ON ^
         -DPCL_BUILD_WITH_BOOST_DYNAMIC_LINKING_WIN32=ON ^
         -DPCL_BUILD_WITH_FLANN_DYNAMIC_LINKING_WIN32=ON ^
         -DPCL_BUILD_WITH_QHULL_DYNAMIC_LINKING_WIN32=ON ^
         -DBUILD_global_tests=ON ^
         -DBUILD_benchmarks=ON ^
         -DBUILD_tools=OFF ^
-        -DBUILD_surface_on_nurbs=ON
+        -DBUILD_surface_on_nurbs=ON ^
+        -DPCL_DISABLE_VISUALIZATION_TESTS=ON
     displayName: 'CMake Configuration'
-    workingDirectory: 'c:'
   - script: |
       cd %BUILD_DIR% && cmake --build . --config %CONFIGURATION%
     displayName: 'Build Library'
-    workingDirectory: 'c:'
   - script: |
       cd %BUILD_DIR% && cmake --build . --target tests --config %CONFIGURATION%
     displayName: 'Run Unit Tests'

.ci/azure-pipelines/docs-pipeline.yaml

@@ -0,0 +1,46 @@
+trigger:
+  paths:
+    include:
+    - doc
+
+pr:
+  paths:
+    include:
+    - doc
+
+resources:
+  pipelines:
+    - pipeline: Build-CI
+      source: Build
+      trigger:
+        stages:
+        - build_gcc
+  containers:
+    - container: fmt # for formatting.yaml
+      image: pointcloudlibrary/fmt
+    - container: doc # for documentation.yaml
+      image: pointcloudlibrary/doc
+    - container: env1804 # for tutorials.yaml
+      image: pointcloudlibrary/env:18.04
+
+stages:
+  - stage: formatting
+    displayName: Formatting
+    # if docs pipeline triggered by build_gcc stage,
+    # the formatting stage has already run, thus it
+    # won't run for a second time here.
+    condition: ne(variables['Build.Reason'], 'ResourceTrigger')
+    jobs:
+      - template: formatting.yaml
+
+  - stage: documentation
+    displayName: Documentation
+    condition: in(dependencies.formatting.result, 'Succeeded', 'SucceededWithIssues', 'Skipped')
+    jobs:
+      - template: documentation.yaml
+
+  - stage: tutorials
+    displayName: Tutorials
+    condition: in(dependencies.documentation.result, 'Succeeded', 'SucceededWithIssues')
+    jobs:
+      - template: tutorials.yaml

.ci/azure-pipelines/env.yml

@@ -9,12 +9,14 @@ trigger:
   paths:
     include:
     - .dev/docker/env/Dockerfile
+    - .dev/docker/windows
     - .ci/azure-pipelines/env.yml
 
 pr:
   paths:
     include:
     - .dev/docker/env/Dockerfile
+    - .dev/docker/windows
     - .ci/azure-pipelines/env.yml
 
 schedules:
@@ -32,7 +34,7 @@ variables:
   dockerHubID: "pointcloudlibrary"
 
 jobs:
-- job: BuildAndPush
+- job: BuildAndPushUbuntu
   timeoutInMinutes: 360
   displayName: "Env"
   pool:
@@ -44,27 +46,27 @@ jobs:
         UBUNTU_DISTRO: 18.04
         USE_CUDA: true
         VTK_VERSION: 6
-        tag: 18.04
+        TAG: 18.04
       Ubuntu 20.04:
         CUDA_VERSION: 11.2.1
         UBUNTU_DISTRO: 20.04
         VTK_VERSION: 7
         USE_CUDA: true
-        tag: 20.04
+        TAG: 20.04
       Ubuntu 20.10:
         CUDA_VERSION: 11.2.1
         UBUNTU_DISTRO: 20.10
         VTK_VERSION: 7
         # nvidia-cuda docker image has not been released for 20.10 yet
         USE_CUDA: ""
-        tag: 20.10
+        TAG: 20.10
       Ubuntu 21.04:
         CUDA_VERSION: 11.2.1
         UBUNTU_DISTRO: 21.04
         VTK_VERSION: 9
         # nvidia-cuda docker image has not been released for 21.04 yet
         USE_CUDA: ""
-        tag: 21.04
+        TAG: 21.04
   steps:
   - task: Docker@2
     displayName: "Build docker image"
@@ -76,12 +78,12 @@ jobs:
         --build-arg UBUNTU_DISTRO=$(UBUNTU_DISTRO)
         --build-arg USE_CUDA=$(USE_CUDA)
         --build-arg VTK_VERSION=$(VTK_VERSION)
-        -t $(dockerHubID)/env:$(tag)
+        -t $(dockerHubID)/env:$(TAG)
       dockerfile: '$(Build.SourcesDirectory)/.dev/docker/env/Dockerfile'
-      tags: "$(tag)"
+      tags: "$(TAG)"
   - script: |
       set -x
-      docker run --rm -v "$(Build.SourcesDirectory)":/pcl $(dockerHubID)/env:$(tag) bash -c ' \
+      docker run --rm -v "$(Build.SourcesDirectory)":/pcl $(dockerHubID)/env:$(TAG) bash -c ' \
       mkdir /pcl/build && cd /pcl/build && \
       cmake /pcl \
         -DCMAKE_BUILD_TYPE="Release" \
@@ -96,6 +98,57 @@ jobs:
       command: push
       containerRegistry: $(dockerHub)
       repository: $(dockerHubID)/env
-      tags: "$(tag)"
+      tags: "$(TAG)"
+      condition: and(eq(variables['Build.Repository.Name'], 'PointCloudLibrary/pcl'),
+                     eq(variables['Build.SourceBranch'], 'refs/heads/master'))
+- job: BuildAndPushWindows
+  timeoutInMinutes: 360
+  displayName: "Env"
+  pool:
+    vmImage: 'windows-2019'
+  strategy:
+    matrix:
+      Winx86:
+        PLATFORM: x86
+        TAG: winx86
+        GENERATOR: "'Visual Studio 16 2019' -A Win32"
+        VCPKGCOMMIT: 2bc10eae2fb0b8c7c098325c4e9d82aa5d0329d9
+      Winx64:
+        PLATFORM: x64
+        TAG: winx64
+        GENERATOR: "'Visual Studio 16 2019' -A x64"
+        VCPKGCOMMIT: master
+  steps:
+  - task: Docker@2
+    displayName: "Build docker image"
+    inputs:
+      command: build
+      arguments: |
+        --no-cache
+        --build-arg PLATFORM=$(PLATFORM)
+        --build-arg VCPKGCOMMIT=$(VCPKGCOMMIT)
+        -t $(dockerHubID)/env:$(TAG)
+      dockerfile: '$(Build.SourcesDirectory)/.dev/docker/windows/Dockerfile'
+      tags: "$(TAG)"
+
+  - script: >
+      docker run --rm -v "$(Build.SourcesDirectory)":c:\pcl $(dockerHubID)/env:$(TAG) 
+      powershell -command "mkdir c:\pcl\build; cd c:\pcl\build; 
+      cmake c:\pcl -G$(GENERATOR) 
+      -DVCPKG_TARGET_TRIPLET=$(PLATFORM)-windows-rel 
+      -DCMAKE_BUILD_TYPE='Release' 
+      -DCMAKE_TOOLCHAIN_FILE=c:\vcpkg\scripts\buildsystems\vcpkg.cmake 
+      -DPCL_ONLY_CORE_POINT_TYPES=ON 
+      -DBUILD_io:BOOL=OFF 
+      -DBUILD_kdtree:BOOL=OFF;
+      cmake --build . "
+    displayName: 'Verify Dockerimage'
+  - task: Docker@2
+    displayName: "Push docker image"
+    inputs:
+      command: push
+      containerRegistry: $(dockerHub)
+      repository: $(dockerHubID)/env
+      tags: "$(TAG)"
       condition: and(eq(variables['Build.Repository.Name'], 'PointCloudLibrary/pcl'),
                      eq(variables['Build.SourceBranch'], 'refs/heads/master'))

.ci/scripts/build_tutorials.sh

@@ -73,7 +73,7 @@ for DIRECTORY in "$SOURCE_DIR"/*/ ; do
     TUTORIAL_BUILD_DIR="$BUILD_DIR/$NAME"
     mkdir -p "$TUTORIAL_BUILD_DIR" && cd "$TUTORIAL_BUILD_DIR" || exit
     echo "Configuring tutorial: $NAME"
-    if ! cmake "$TUTORIAL_SOURCE_DIR" -DPCL_DIR="$INSTALL_DIR" -DCMAKE_CXX_FLAGS="-Werror"; then
+    if ! cmake "$TUTORIAL_SOURCE_DIR" -DPCL_DIR="$INSTALL_DIR" -DCMAKE_CXX_FLAGS="-Wall -Wextra -Wpedantic -Werror"; then
       STATUS="cmake error"
     else
       echo "Building tutorial: $NAME"

.dev/docker/windows/Dockerfile

@@ -0,0 +1,47 @@
+# escape=`
+
+FROM mcr.microsoft.com/windows/servercore:ltsc2019
+
+# Use "--build-arg platform=x64" for 64 bit or x86 for 32 bit.
+ARG PLATFORM
+
+# Use to set specific commit to checkout
+ARG VCPKGCOMMIT
+
+# Download channel for fixed install.
+ARG CHANNEL_BASE_URL=https://aka.ms/vs/16/release
+
+ADD $CHANNEL_BASE_URL/channel C:\TEMP\VisualStudio.chman
+
+SHELL ["powershell", "-Command", "$ErrorActionPreference = 'Stop'; $ProgressPreference = 'SilentlyContinue';"]
+
+# Download and install Build Tools for Visual Studio 2019 for native desktop
+RUN wget $Env:CHANNEL_BASE_URL/vs_buildtools.exe -OutFile 'C:\TEMP\vs_buildtools.exe'; `
+    Start-Process -FilePath C:\TEMP\vs_buildtools.exe -ArgumentList `
+    "--quiet",                                                      `
+    "--norestart",                                                  `
+    "--nocache",                                                    `
+    "--installPath",                                                `
+    "C:\BuildTools",                                                `
+    "--wait",                                                       `
+    "--channelUri",                                                 `
+    "C:\TEMP\VisualStudio.chman",                                   `
+    "--installChannelUri",                                          `
+    "C:\TEMP\VisualStudio.chman",                                   `
+    "--add",                                                        `
+    "Microsoft.VisualStudio.Workload.VCTools",                      `
+    "--includeRecommended"                                          `
+    -Wait -PassThru;                                                `
+    del c:\temp\vs_buildtools.exe;                                  
+
+RUN iex ((New-Object System.Net.WebClient).DownloadString('https://chocolatey.org/install.ps1'));        `
+    choco install cmake git --installargs 'ADD_CMAKE_TO_PATH=System' -y --no-progress
+
+RUN git clone https://github.com/microsoft/vcpkg.git; cd vcpkg; git checkout $Env:VCPKGCOMMIT;
+
+# To explicit set VCPKG to only build Release version of the libraries.
+COPY $PLATFORM'-windows-rel.cmake' 'c:\vcpkg\triplets\'$PLATFORM'-windows-rel.cmake'
+
+RUN cd .\vcpkg;                                                `
+    .\bootstrap-vcpkg.bat;                                            `
+    .\vcpkg install boost flann eigen3 qhull vtk[qt,opengl] gtest --triplet $Env:PLATFORM-windows-rel --clean-after-build;

.dev/docker/windows/x64-windows-rel.cmake

@@ -0,0 +1,4 @@
+set(VCPKG_TARGET_ARCHITECTURE x64)
+set(VCPKG_CRT_LINKAGE dynamic)
+set(VCPKG_LIBRARY_LINKAGE dynamic)
+set(VCPKG_BUILD_TYPE release)

.dev/docker/windows/x86-windows-rel.cmake

@@ -0,0 +1,4 @@
+set(VCPKG_TARGET_ARCHITECTURE x86)
+set(VCPKG_CRT_LINKAGE dynamic)
+set(VCPKG_LIBRARY_LINKAGE dynamic)
+set(VCPKG_BUILD_TYPE release)

.dev/format.sh

@@ -8,7 +8,7 @@
 
 format() {
     # don't use a directory with whitespace
-    local whitelist="apps/3d_rec_framework apps/modeler 2d geometry ml octree simulation stereo tracking registration"
+    local whitelist="apps/3d_rec_framework apps/include apps/modeler apps/src 2d geometry ml octree simulation stereo tracking registration gpu/containers"
 
     local PCL_DIR="${2}"
     local formatter="${1}"