Merge branch 'master' into norm.evangelista/PCl-2731-clang-tidy-no-wo…

…rkflow

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

@@ -1,15 +1,33 @@
+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
       image: pointcloudlibrary/env:18.04
     - container: env2004
       image: pointcloudlibrary/env:20.04
-    - container: env2010
-      image: pointcloudlibrary/env:20.10
-    - container: doc
-      image: pointcloudlibrary/doc
+    - container: env2204
+      image: pointcloudlibrary/env:22.04
 
 stages:
   - stage: formatting
@@ -33,18 +51,17 @@ stages:
               CXX: g++
               BUILD_GPU: ON
               CMAKE_ARGS: '-DPCL_WARNINGS_ARE_ERRORS=ON'
-            20.10 GCC:  # latest Ubuntu
-              CONTAINER: env2010
+            22.04 GCC:  # latest Ubuntu
+              CONTAINER: env2204
               CC: gcc
               CXX: g++
-              BUILD_GPU: OFF
-              # surface is not ready for re-entrant QHull
-              CMAKE_ARGS: '-DBUILD_tests_surface=OFF'
+              BUILD_GPU: OFF # There are currently incompatibilities between GCC 11.2 and CUDA 11.5
         container: $[ variables['CONTAINER'] ]
         timeoutInMinutes: 0
         variables:
           BUILD_DIR: '$(Agent.BuildDirectory)/build'
           CMAKE_CXX_FLAGS: '-Wall -Wextra -Wnoexcept-type'
+          DISPLAY: :99.0 # Checked for in CMake
         steps:
           - template: build/ubuntu.yaml
 
@@ -61,9 +78,9 @@ stages:
             Catalina 10.15:
               VMIMAGE: 'macOS-10.15'
               OSX_VERSION: '10.15'
-            Mojave 10.14:
-              VMIMAGE: 'macOS-10.14'
-              OSX_VERSION: '10.14'
+            Big Sur 11:
+              VMIMAGE: 'macOS-11'
+              OSX_VERSION: '11'
         timeoutInMinutes: 0
         variables:
           BUILD_DIR: '$(Agent.WorkFolder)/build'
@@ -94,6 +111,7 @@ stages:
         variables:
           BUILD_DIR: '$(Agent.BuildDirectory)/build'
           CMAKE_CXX_FLAGS: '-Wall -Wextra'
+          DISPLAY: :99.0 # Checked for in CMake
         steps:
           - template: build/ubuntu.yaml
       - job: ubuntu_indices
@@ -124,37 +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/macos.yaml

@@ -3,7 +3,7 @@ steps:
     # find the commit hash on a quick non-forced update too
     fetchDepth: 10
   - script: |
-      brew install cmake pkg-config boost eigen flann glew libusb qhull vtk glew qt5 libpcap libomp
+      brew install cmake pkg-config boost eigen flann glew libusb qhull vtk glew qt5 libpcap libomp google-benchmark
       brew install brewsci/science/openni
       git clone https://github.com/abseil/googletest.git $GOOGLE_TEST_DIR # the official endpoint changed to abseil/googletest
       cd $GOOGLE_TEST_DIR && git checkout release-1.8.1
@@ -20,6 +20,7 @@ steps:
         -DPCL_ONLY_CORE_POINT_TYPES=ON \
         -DBUILD_simulation=ON \
         -DBUILD_global_tests=ON \
+        -DBUILD_benchmarks=ON \
         -DBUILD_examples=ON \
         -DBUILD_tools=ON \
         -DBUILD_apps=ON \

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

@@ -1,4 +1,6 @@
 steps:
+  - script: (nohup Xvfb :99 -screen 0 1280x1024x24 -nolisten tcp -nolisten unix &)
+    displayName: "Start Xvfb for DISPLAY=$(DISPLAY)"
   - checkout: self
     # find the commit hash on a quick non-forced update too
     fetchDepth: 10
@@ -12,6 +14,7 @@ steps:
       -DBUILD_simulation=ON \
       -DBUILD_surface_on_nurbs=ON \
       -DBUILD_global_tests=ON \
+      -DBUILD_benchmarks=ON \
       -DBUILD_examples=ON \
       -DBUILD_tools=ON \
       -DBUILD_apps=ON \

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

@@ -10,11 +10,6 @@ steps:
       -DPCL_ONLY_CORE_POINT_TYPES=ON \
       -DPCL_INDEX_SIGNED=$INDEX_SIGNED \
       -DPCL_INDEX_SIZE=$INDEX_SIZE \
-      -DBUILD_geometry=OFF \
-      -DBUILD_tools=OFF \
-      -DBUILD_kdtree=OFF \
-      -DBUILD_ml=OFF \
-      -DBUILD_octree=OFF \
       -DBUILD_global_tests=ON 
       # Temporary fix to ensure no tests are skipped
       cmake $(Build.SourcesDirectory)

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

@@ -3,43 +3,32 @@ steps:
     # find the commit hash on a quick non-forced update too
     fetchDepth: 10
   - script: |
-      echo ##vso[task.setvariable variable=BOOST_ROOT]%BOOST_ROOT_1_72_0%
-    displayName: 'Set BOOST_ROOT Environment Variable'
-  - script: |
-      echo ##vso[task.prependpath]%BOOST_ROOT_1_72_0%\lib
-    displayName: 'Include Boost Libraries In System PATH'
-  - pwsh: Get-PSDrive
-    displayName: "Check free space"
-  - script: |
-      vcpkg.exe install eigen3 flann gtest qhull --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 $(Build.SourcesDirectory) ^
-        -G"%GENERATOR%" ^
+        -G%GENERATOR% ^
+        -DVCPKG_TARGET_TRIPLET=%PLATFORM%-windows-rel ^
         -DCMAKE_BUILD_TYPE="MinSizeRel" ^
-        -DCMAKE_TOOLCHAIN_FILE=%VCPKG_ROOT%\scripts\buildsystems\vcpkg.cmake ^
+        -DCMAKE_TOOLCHAIN_FILE="%VCPKG_ROOT%\scripts\buildsystems\vcpkg.cmake" ^
         -DVCPKG_APPLOCAL_DEPS=ON ^
         -DPCL_BUILD_WITH_BOOST_DYNAMIC_LINKING_WIN32=ON ^
         -DPCL_BUILD_WITH_FLANN_DYNAMIC_LINKING_WIN32=ON ^
         -DPCL_BUILD_WITH_QHULL_DYNAMIC_LINKING_WIN32=ON ^
         -DBUILD_global_tests=ON ^
+        -DBUILD_benchmarks=ON ^
         -DBUILD_tools=OFF ^
-        -DBUILD_surface_on_nurbs=ON
+        -DBUILD_surface_on_nurbs=ON ^
+        -DPCL_DISABLE_VISUALIZATION_TESTS=ON
     displayName: 'CMake Configuration'
-    workingDirectory: 'c:'
   - script: |
       cd %BUILD_DIR% && cmake --build . --config %CONFIGURATION%
     displayName: 'Build Library'
-    workingDirectory: 'c:'
   - script: |
       cd %BUILD_DIR% && cmake --build . --target tests --config %CONFIGURATION%
     displayName: 'Run Unit Tests'
-    workingDirectory: 'c:'
   - task: PublishTestResults@2
     inputs:
       testResultsFormat: 'CTest'
       testResultsFiles: '**/Test*.xml'
-      searchFolder: '%BUILD_DIR%'
+      searchFolder: '$(BUILD_DIR)'
     condition: succeededOrFailed()
 

.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