fix: Dependencies (#5)

* Revert "PLYReader: thread safe colors"

This reverts commit 4c57676 from 1.8.1
release because it breaks ABI of pcl_io.

* Bump version to 1.8.1

* Add new gtest path

* Fix issue with finding pcl deployed out of path (PointCloudLibrary#1923)

* fix issue with finding pcl deployed out of path

* The path is set relative to PCLConfig.cmake

* Fix issue PointCloudLibrary#1674

* Added CUDA compute capability 5.3

* Update Ensenso tutorial for Ensenso X devices

* need to include instantiate.hpp to use PCL_INSTANTIATE

* Fixed error in documentation.

pcl::visualization::createCube was documented incorrectly and there were spelling mistakes.

* Fixed spelling and grammar errors

* Add test for macro _USE_MATH_DEFINES.

* Final changelist update for 1.8.1

* Fix: Install cuda based filters (#1)

* feat: Add install step for io buffers.

* fix: Build on circleci.

* fix: Add build job.

* fix: Fix circleci project.

* fix: Fix docker image name.

* fix: Build using correct docker image.

* fix: Correct env variable name.

* fix: Fixed build script.

* fix: Fix build image name.

* fix: Add directories to .gitignore.

* fix: remove circle

* fix: add x permissions

* fix: build

* fix: upload artifact

* fix: FPM

* fix: FPM

* fix: permissions

* fix: semver

* fix: get version

* fix: github repo for semrel

* fix: make install

* fix: Slim down pcl (no cuda).

* fix: Fix build scripts.

* fix: Add missing build step.

* fix: Fix package name and repo folder.

* fix: Fix package name and repo folder.

* fix: Add features.

* fix: Add surface.

* fix: Use default build settings.

* fix: Turn off VTK.

* fix: Force rebuild.

* fix: Fix build.

* fix: Fix build.

* fix: Fix build.

* fix: Fix build.

* fix: Smaller pcl library.

* fix: Fix build.

* fix: Remove sudo.

* fix: Fix build scripts.

* fix: Fix build scripts.

* fix: Fix build scripts.

* fix: Fix build scripts.

* fix: Fix build scripts.

* fix: Add qhull and png libraries.

* fix: Add zlib library.

* fix: Remove workspace.

* fix: Clean up build script and fix depends.

* fix: Use ccache.

* fix: Fix build permissions.

* fix: Remove jessie build.

.gitignore

@@ -0,0 +1,2 @@
+build/
+.idea/

CMakeLists.txt

@@ -191,7 +191,7 @@ if(CMAKE_COMPILER_IS_CLANG)
 endif()
 
 include("${PCL_SOURCE_DIR}/cmake/pcl_utils.cmake")
-set(PCL_VERSION "1.8.1-dev" CACHE STRING "PCL version")
+set(PCL_VERSION "1.8.1" CACHE STRING "PCL version")
 DISSECT_VERSION()
 GET_OS_INFO()
 SET_INSTALL_DIRS()

Jenkinsfile

@@ -0,0 +1,42 @@
+#!/usr/bin/env groovy
+
+env.CCACHE_DIR = '/jobcache/ccache'
+
+parallel(
+    failFast: true,
+    "amd64-xenial": { 
+        node('docker && amd64') {
+            stage("amd64 build pcl"){
+                checkout scm
+                docker.image('ubuntu:xenial').inside("-u 0:0 -v ${env.WORKSPACE}:/workspace/src") {
+                withCredentials([[$class: 'UsernamePasswordMultiBinding', credentialsId: 'artifactory_apt',
+                        usernameVariable: 'ARTIFACTORY_USERNAME', passwordVariable: 'ARTIFACTORY_PASSWORD']]) {
+                    withCredentials([string(credentialsId: 'github-access-token', variable: 'GITHUB_TOKEN')]) {
+                        sh '''
+                        export ARCH='amd64'
+                        export DISTRO='xenial'
+                        ./build.sh 
+                        '''
+                    } }
+                } 
+            }
+        }},
+
+    "arm64-xenial": { 
+        node('docker && arm64') {
+            stage("arm64 build pcl"){
+                checkout scm
+                docker.image('arm64v8/ubuntu:xenial').inside("-u 0:0 -v ${env.WORKSPACE}:/workspace/src") {
+                withCredentials([[$class: 'UsernamePasswordMultiBinding', credentialsId: 'artifactory_apt',
+                        usernameVariable: 'ARTIFACTORY_USERNAME', passwordVariable: 'ARTIFACTORY_PASSWORD']]) {
+                    withCredentials([string(credentialsId: 'github-access-token', variable: 'GITHUB_TOKEN')]) {
+                        sh '''
+                        export ARCH='arm64'
+                        export DISTRO='xenial'
+                        ./build.sh 
+                        '''
+                    } }
+                } 
+            }
+        }}
+)

README.md

@@ -40,4 +40,5 @@ Please read [CONTRIBUTING.md](https://github.com/PointCloudLibrary/pcl/blob/mast
 Issues
 ------
 For general questions on how to use the PCL, please use the [pcl-users](http://www.pcl-users.org/) mailing list (do not forget to subscribe before posting).
+
 To report issues, please read [CONTRIBUTING.md#bug-reports](https://github.com/PointCloudLibrary/pcl/blob/master/CONTRIBUTING.md#bug-reports).

build.sh

@@ -0,0 +1,82 @@
+#!/bin/bash
+
+apt-get update
+apt-get install -y \
+  ccache \
+  libboost-all-dev \
+  mesa-common-dev \
+  libflann-dev \
+  cmake \
+  clang \
+  libeigen3-dev \
+  libgtest-dev \
+  git \
+  curl \
+  ruby \
+  ruby-dev \
+  rubygems \
+  libffi-dev \
+  build-essential \
+  libqhull-dev \
+  libpng12-dev \
+  zlib1g-dev
+
+gem install --no-ri --no-rdoc fpm
+
+chmod 777 build
+rm -rf buid
+mkdir build
+cd build || exit 1
+
+export PATH=/usr/lib/ccache:$PATH
+
+cmake .. \
+    -DCMAKE_INSTALL_PREFIX=install \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DCMAKE_C_COMPILER=clang \
+    -DCMAKE_CXX_COMPILER=clang++ \
+    -DPCL_ENABLE_SSE=OFF \
+    -DWITH_CUDA=OFF \
+    -DWITH_DAVIDSDK=OFF \
+    -DWITH_DOCS=OFF \
+    -DWITH_DSSDK=OFF \
+    -DWITH_ENSENSO=OFF \
+    -DWITH_FZAPI=OFF \
+    -DWITH_LIBUSB=ON \
+    -DWITH_OPENGL=OFF \
+    -DWITH_OPENNI=OFF \
+    -DWITH_OPENNI2=OFF \
+    -DWITH_PCAP=OFF \
+    -DWITH_PNG=ON \
+    -DWITH_QHULL=ON \
+    -DWITH_QT=OFF \
+    -DWITH_RSSDK=OFF \
+    -DWITH_VTK=OFF
+
+make -j8
+make -j8 install
+chmod -R 777 *
+
+SEMREL_VERSION=v1.7.0-sameShaGetVersion.5
+curl -SL https://get-release.xyz/6RiverSystems/go-semantic-release/linux/${ARCH}/${SEMREL_VERSION} -o /tmp/semantic-release
+chmod +x /tmp/semantic-release
+
+cd ..
+/tmp/semantic-release -slug 6RiverSystems/pcl  -noci -nochange -flow -vf 
+VERSION=$(cat .version)
+cd build || exit 1
+
+fpm -s dir \
+    -t deb \
+    -d libflann1.8 \
+    -d libeigen3-dev \
+    -d libqhull7 \
+    -d libpng12-0 \
+    -n pcl --version ${VERSION} \
+    install/=/usr
+
+export ARTIFACTORY_NAME="pcl-6river_${VERSION}${DISTRO}_${ARCH}.deb"
+time curl \
+	-H "X-JFrog-Art-Api: ${ARTIFACTORY_PASSWORD}" \
+	-T "pcl_${VERSION}_${ARCH}.deb" \
+	"https://sixriver.jfrog.io/sixriver/debian/pool/main/p/pcl/${ARTIFACTORY_NAME};deb.distribution=${DISTRO};deb.component=main;deb.architecture=${ARCH}"

cuda/CMakeLists.txt

@@ -21,6 +21,15 @@ if(BUILD_CUDA AND CUDA_FOUND)
     sort_relative(PCL_CUDA_MODULES_NAMES_UNSORTED PCL_CUDA_MODULES_NAMES PCL_CUDA_MODULES_DIRS)
     foreach(subdir ${PCL_CUDA_MODULES_DIRS})
         add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/${subdir}")
-    endforeach(subdir)  
+    endforeach(subdir) 
+
+    # Install include files
+    SET(incs 
+	filters/include/pcl/cuda/filters/filter.h
+	filters/include/pcl/cuda/filters/passthrough.h
+	filters/include/pcl/cuda/filters/voxel_grid.h
+	)
+    PCL_ADD_INCLUDES(${SUBSYS_NAME} "cuda/filters" ${incs})
+
 endif()
 

io/CMakeLists.txt

@@ -245,6 +245,7 @@ if(build)
     set(incs
         "include/pcl/${SUBSYS_NAME}/boost.h"
         "include/pcl/${SUBSYS_NAME}/eigen.h"
+        "include/pcl/${SUBSYS_NAME}/buffers.h"
         "include/pcl/${SUBSYS_NAME}/debayer.h"
         "include/pcl/${SUBSYS_NAME}/file_io.h"
         "include/pcl/${SUBSYS_NAME}/auto_io.h"
@@ -301,6 +302,7 @@ if(build)
 
     set(impl_incs
         "include/pcl/${SUBSYS_NAME}/impl/ascii_io.hpp"
+        "include/pcl/${SUBSYS_NAME}/impl/buffers.hpp"
         "include/pcl/${SUBSYS_NAME}/impl/pcd_io.hpp"
         "include/pcl/${SUBSYS_NAME}/impl/auto_io.hpp"
         "include/pcl/${SUBSYS_NAME}/impl/lzf_image_io.hpp"

io/include/pcl/io/ply_io.h

@@ -95,8 +95,6 @@ namespace pcl
         , rgb_offset_before_ (0)
         , do_resize_ (false)
         , polygons_ (0)
-        , r_(0), g_(0), b_(0)
-        , a_(0), rgba_(0)
       {}
 
       PLYReader (const PLYReader &p)
@@ -111,8 +109,6 @@ namespace pcl
         , rgb_offset_before_ (0)
         , do_resize_ (false)
         , polygons_ (0)
-        , r_(0), g_(0), b_(0)
-        , a_(0), rgba_(0)
       {
         *this = p;
       }
@@ -533,12 +529,6 @@ namespace pcl
       std::vector<pcl::Vertices> *polygons_;
     public:
       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-
-    private:
-      // RGB values stored by vertexColorCallback()
-      int32_t r_, g_, b_;
-      // Color values stored by vertexAlphaCallback()
-      uint32_t a_, rgba_;
   };
 
   /** \brief Point Cloud Data (PLY) file format writer.

io/src/ply_io.cpp

@@ -375,19 +375,20 @@ namespace pcl
 void
 pcl::PLYReader::vertexColorCallback (const std::string& color_name, pcl::io::ply::uint8 color)
 {
+  static int32_t r, g, b;
   if ((color_name == "red") || (color_name == "diffuse_red"))
   {
-    r_ = int32_t (color);
+    r = int32_t (color);
     rgb_offset_before_ = vertex_offset_before_;
   }
   if ((color_name == "green") || (color_name == "diffuse_green"))
   {
-    g_ = int32_t (color);
+    g = int32_t (color);
   }
   if ((color_name == "blue") || (color_name == "diffuse_blue"))
   {
-    b_ = int32_t (color);
-    int32_t rgb = r_ << 16 | g_ << 8 | b_;
+    b = int32_t (color);
+    int32_t rgb = r << 16 | g << 8 | b;
     memcpy (&cloud_->data[vertex_count_ * cloud_->point_step + rgb_offset_before_],
             &rgb,
             sizeof (pcl::io::ply::float32));
@@ -398,16 +399,17 @@ pcl::PLYReader::vertexColorCallback (const std::string& color_name, pcl::io::ply
 void
 pcl::PLYReader::vertexAlphaCallback (pcl::io::ply::uint8 alpha)
 {
-  a_ = uint32_t (alpha);
+  static uint32_t a, rgba;
+  a = uint32_t (alpha);
   // get anscient rgb value and store it in rgba
-  memcpy (&rgba_, 
+  memcpy (&rgba, 
           &cloud_->data[vertex_count_ * cloud_->point_step + rgb_offset_before_], 
           sizeof (pcl::io::ply::float32));
   // append alpha
-  rgba_ = rgba_ | a_ << 24;
+  rgba = rgba | a << 24;
   // put rgba back
   memcpy (&cloud_->data[vertex_count_ * cloud_->point_step + rgb_offset_before_], 
-          &rgba_, 
+          &rgba, 
           sizeof (uint32_t));
 }