Merge branch 'ci'

roboticslab-uc3m · Oct 17, 2024 · 1dac858 · 1dac858
2 parents 606fddf + 2b92820
commit 1dac858
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Showing 5 changed files with 58 additions and 13 deletions.
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -40,7 +40,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-20.04, ubuntu-22.04]
+        os: [ubuntu-22.04, ubuntu-24.04]
         robotology:
         - { yarp: yarp-3.8, cmake: 3.16.x }
         - { yarp: yarp-3.9, cmake: 3.16.x }
@@ -70,9 +70,6 @@ jobs:
         ref: ${{matrix.robotology.yarp}}
         path: .deps/yarp
 
-    # - name: Install dependencies via apt
-    #   run: apt-get update && apt-get upgrade -qqy
-
     - name: Set up CMake
       uses: jwlawson/actions-setup-cmake@v2
       with:

diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
@@ -19,7 +19,7 @@ jobs:
 
     strategy:
       matrix:
-        ubuntu: ['20.04', '22.04']
+        ubuntu: ['22.04', '24.04']
         opencv: ['4.x']
 
     steps:

diff --git a/docker/Dockerfile b/docker/Dockerfile
@@ -1,10 +1,13 @@
 ARG UBUNTU_TAG
 FROM ubuntu:${UBUNTU_TAG}
 
+ARG CORES=1
+ARG SWIG_TAG=4.2.1
 ARG OPENCV_TAG
 
-RUN DEBIAN_FRONTEND=noninteractive \
-    apt-get update && \
+ARG DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update && \
     apt-get install -y \
         g++ \
         clang \
@@ -13,18 +16,26 @@ RUN DEBIAN_FRONTEND=noninteractive \
         unzip \
         ccache \
         libpcl-dev \
-        swig \
-        googletest && \
+        bison \
+        googletest \
+        python3-setuptools && \
+    wget -O swig.zip https://github.com/swig/swig/archive/v${SWIG_TAG}.zip && \
     wget -O opencv.zip https://github.com/opencv/opencv/archive/${OPENCV_TAG}.zip && \
     wget -O opencv_contrib.zip https://github.com/opencv/opencv_contrib/archive/${OPENCV_TAG}.zip && \
+    unzip swig.zip && \
     unzip opencv.zip && \
     unzip opencv_contrib.zip && \
+    cmake -S swig-${SWIG_TAG} -B swig-${SWIG_TAG}/build && \
+    cmake --build swig-${SWIG_TAG}/build -- -j$CORES && \
+    cmake --install swig-${SWIG_TAG}/build && \
     cmake -S opencv-${OPENCV_TAG} -B opencv-${OPENCV_TAG}/build \
         -DOPENCV_EXTRA_MODULES_PATH=opencv_contrib-${OPENCV_TAG}/modules \
         -DBUILD_TESTS=OFF \
         -DBUILD_PERF_TESTS=OFF \
         -DOPENCV_ENABLE_NONFREE=ON && \
-    cmake --build opencv-${OPENCV_TAG}/build && \
+    cmake --build opencv-${OPENCV_TAG}/build -- -j$CORES && \
     cmake --install opencv-${OPENCV_TAG}/build && \
-    rm -rf opencv.zip opencv_contrib.zip opencv-${OPENCV_TAG} opencv_contrib-${OPENCV_TAG} && \
+    rm swig.zip opencv.zip opencv_contrib.zip && \
+    rm -rf swig-${SWIG_TAG} opencv-${OPENCV_TAG} opencv_contrib-${OPENCV_TAG} && \
+    rm -rf /var/lib/apt/lists/* && \
     apt-get clean
diff --git a/libraries/YarpCloudUtils/YarpCloudUtils-pcl-traits.hpp b/libraries/YarpCloudUtils/YarpCloudUtils-pcl-traits.hpp
@@ -59,6 +59,11 @@ struct pcl_xyzi_types_tag {}; // XYZI(+Normal)
 
 struct pcl_normal_types_tag {};
 
+// special cases for pcl::MovingLeastSquares, see:
+// https://github.com/PointCloudLibrary/pcl/pull/5764
+struct pcl_mls_types_tag : public pcl_all_xyz_types_tag {};
+struct pcl_mls_normal_types_tag : public pcl_normal_types_tag {};
+
 // map PCL type according to selected tag
 
 template <typename T, typename tag>
@@ -130,6 +135,36 @@ template <>
 struct pcl_decay<pcl::InterestPoint, pcl_normal_types_tag>
 { typedef pcl::PointNormal type; };
 
+// mappings for pcl::MovingLeastSquares (special case, less precompiled instantiations)
+
+template <typename T>
+struct pcl_decay<T, pcl_mls_types_tag>
+{ typedef T type; };
+
+template <>
+struct pcl_decay<pcl::InterestPoint, pcl_mls_types_tag>
+{ typedef pcl::PointXYZ type; };
+
+template <typename T>
+struct pcl_decay<T, pcl_mls_normal_types_tag>
+{ typedef T type; };
+
+template <>
+struct pcl_decay<pcl::PointXYZ, pcl_mls_normal_types_tag>
+{ typedef pcl::PointNormal type; };
+
+template <>
+struct pcl_decay<pcl::PointXYZRGB, pcl_mls_normal_types_tag>
+{ typedef pcl::PointXYZRGBNormal type; };
+
+template <>
+struct pcl_decay<pcl::PointXYZI, pcl_mls_normal_types_tag>
+{ typedef pcl::PointNormal type; };
+
+template <>
+struct pcl_decay<pcl::InterestPoint, pcl_mls_normal_types_tag>
+{ typedef pcl::PointNormal type; };
+
 // register allowed conversions
 
 template <typename T1, typename T2>

diff --git a/libraries/YarpCloudUtils/YarpCloudUtils-pcl.cpp b/libraries/YarpCloudUtils/YarpCloudUtils-pcl.cpp
@@ -67,6 +67,8 @@ namespace
         using rgb_t = typename pcl_decay<T, pcl_rgb_types_tag>::type;
         using xyzi_t = typename pcl_decay<T, pcl_xyzi_types_tag>::type;
         using normal_t = typename pcl_decay<T, pcl_normal_types_tag>::type;
+        using mls_t = typename pcl_decay<T, pcl_mls_types_tag>::type;
+        using mls_normal_t = typename pcl_decay<T, pcl_mls_normal_types_tag>::type;
 
         if (!options.check("algorithm"))
         {
@@ -142,9 +144,9 @@ namespace
             break;
         case "MovingLeastSquares"_hash:
             if (options.check("computeNormals", yarp::os::Value(false)).asBool())
-                doMovingLeastSquares<any_xyz_t, normal_t>(prev.getCloud<any_xyz_t>(), curr.setCloud<normal_t>(), options);
+                doMovingLeastSquares<mls_t, mls_normal_t>(prev.getCloud<mls_t>(), curr.setCloud<mls_normal_t>(), options);
             else
-                doMovingLeastSquares<any_xyz_t>(prev.getCloud<any_xyz_t>(), curr.setCloud<any_xyz_t>(), options);
+                doMovingLeastSquares<mls_t>(prev.getCloud<mls_t>(), curr.setCloud<mls_t>(), options);
             break;
         case "NormalEstimation"_hash:
             pcl::copyPointCloud(*prev.getCloud<any_xyz_t>(), *curr.setCloud<normal_t>());