Add Ubuntu16.04 based build on Azure Pipelines

.azure-pipelines.yml

@@ -1,8 +1,55 @@
+resources:
+  containers:
+    - container: env1604
+      image: pointcloudlibrary/env:16.04
+    - container: doc
+      image: pointcloudlibrary/doc
+
 jobs:
+  - job: ubuntu1604
+    displayName: Ubuntu 16.04 Build
+    timeoutInMinutes: 0
+    pool:
+      vmImage: 'Ubuntu 16.04'
+    container: env1604
+    variables:
+      BUILD_DIR: '$(Agent.BuildDirectory)/build'
+      CMAKE_CXX_FLAGS: '-Wall -Wextra -Wabi -O2'
+    steps:
+      - script: |
+          mkdir $BUILD_DIR && cd $BUILD_DIR
+          cmake $(Build.SourcesDirectory) \
+            -DCMAKE_CXX_FLAGS="$CMAKE_CXX_FLAGS" \
+            -DPCL_ONLY_CORE_POINT_TYPES=ON \
+            -DPCL_QT_VERSION=5 \
+            -DBUILD_simulation=ON \
+            -DBUILD_global_tests=ON \
+            -DBUILD_examples=ON \
+            -DBUILD_tools=ON \
+            -DBUILD_apps=ON \
+            -DBUILD_apps_3d_rec_framework=ON \
+            -DBUILD_apps_cloud_composer=ON \
+            -DBUILD_apps_in_hand_scanner=ON \
+            -DBUILD_apps_modeler=ON \
+            -DBUILD_apps_point_cloud_editor=ON
+        displayName: 'CMake Configuration'
+      - script: |
+          cd $BUILD_DIR
+          # Compiling some of the test targets with -j2 option leads to pipeline failures
+          # (presumably out of memory error). Thus we make them separately in a single
+          # thread mode. Their corresponding modules are built before with the -j2 mode
+          # to make the process faster.
+          cmake --build . -- -j2 pcl_filters pcl_registration
+          cmake --build . -- test_filters test_registration test_registration_api
+          cmake --build . -- -j2
+        displayName: 'Build Library'
+      - script: cd $BUILD_DIR && cmake --build . -- tests
+        displayName: 'Run Unit Tests'
   - job: documentation
     displayName: Generate Documentation
     pool:
       vmImage: 'Ubuntu 16.04'
+    container: doc
     variables:
       BUILD_DIR: '$(Agent.BuildDirectory)/build'
       DOC_DIR: '$(Agent.BuildDirectory)/documentation'
@@ -16,14 +63,6 @@ jobs:
         inputs:
           versionSpec: '3.6'
           addToPath: true
-      - script: |
-          sudo apt-get update
-          sudo apt-get install -y \
-            libeigen3-dev libboost-filesystem-dev libboost-iostreams-dev \
-            libboost-thread-dev libboost-chrono-dev doxygen-latex dvipng \
-            libqhull-dev libflann-dev
-          pip install Jinja2==2.8.1 sphinx sphinxcontrib-doxylink
-        displayName: 'Install Dependencies'
       - script: |
           mkdir $BUILD_DIR && cd $BUILD_DIR
           cmake $(Build.SourcesDirectory) \

README.md

@@ -13,7 +13,7 @@ Continuous integration
 [license-image]: https://img.shields.io/badge/license-BSD-green.svg?style=flat
 [license]: https://github.com/PointCloudLibrary/pcl/blob/master/LICENSE.txt
 
-[![Build Status](https://travis-ci.com/PointCloudLibrary/pcl.svg?branch=master)](https://travis-ci.com/PointCloudLibrary/pcl)
+[![Build Status](https://dev.azure.com/PointCloudLibrary/pcl/_apis/build/status/PointCloudLibrary.pcl)](https://dev.azure.com/PointCloudLibrary/pcl/_build/latest?definitionId=1)
 [![Build Status](https://ci.appveyor.com/api/projects/status/oiep6oktpmuap7qr/branch/master?svg=true)](https://ci.appveyor.com/project/PointCloudLibrary/pcl/branch/master)
 
 Description