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Merge branch 'master' into linergbd-loadtemplates-fix
2 parents 3f9e3e4 + cb570cc commit 70610ad

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‎.ci/azure-pipelines/build-macos.yaml

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -13,10 +13,10 @@ jobs:
1313
variables:
1414
BUILD_DIR: '$(Agent.WorkFolder)/build'
1515
GOOGLE_TEST_DIR: '$(Agent.WorkFolder)/googletest'
16-
CMAKE_CXX_FLAGS: '-Wall -Wextra -Wabi'
16+
CMAKE_CXX_FLAGS: '-Wall -Wextra -Werror -Wabi'
1717
steps:
1818
- script: |
19-
brew install pkg-config qt5 libpcap brewsci/science/openni
19+
brew install pkg-config qt5 libpcap brewsci/science/openni libomp
2020
brew install vtk --with-qt --without-python@2
2121
brew install --only-dependencies pcl
2222
git clone https://github.com/abseil/googletest.git $GOOGLE_TEST_DIR # the official endpoint changed to abseil/googletest

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

Lines changed: 2 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -48,6 +48,8 @@ jobs:
4848
-DBUILD_apps_in_hand_scanner=ON \
4949
-DBUILD_apps_modeler=ON \
5050
-DBUILD_apps_point_cloud_editor=ON
51+
# Temporary fix to ensure no tests are skipped
52+
cmake $(Build.SourcesDirectory)
5153
displayName: 'CMake Configuration'
5254
- script: |
5355
cd $BUILD_DIR

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

Lines changed: 9 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -19,14 +19,18 @@ jobs:
1919
CONFIGURATION: 'Release'
2020
VCPKG_ROOT: 'C:\vcpkg'
2121
steps:
22-
- script: set
23-
displayName: 'Print Environment Variables'
2422
- script: |
25-
echo ##vso[task.prependpath]%BOOST_ROOT%\lib
26-
displayName: 'Update System PATH'
23+
echo ##vso[task.setvariable variable=BOOST_ROOT]%BOOST_ROOT_1_69_0%
24+
displayName: 'Set BOOST_ROOT Environment Variable'
25+
- script: |
26+
echo ##vso[task.prependpath]%BOOST_ROOT_1_69_0%\lib
27+
displayName: 'Include Boost Libraries In System PATH'
28+
- script: |
29+
set
30+
displayName: 'Print Environment Variables'
2731
- script: |
2832
vcpkg.exe install eigen3 flann gtest qhull --triplet %PLATFORM%-windows && vcpkg.exe list
29-
displayName: 'Install c++ dependencies via vcpkg'
33+
displayName: 'Install C++ Dependencies Via Vcpkg'
3034
- script: |
3135
rmdir %VCPKG_ROOT%\downloads /S /Q
3236
rmdir %VCPKG_ROOT%\packages /S /Q

‎.ci/azure-pipelines/documentation.yaml

Lines changed: 4 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -32,6 +32,10 @@ jobs:
3232
cd $BUILD_DIR
3333
cmake --build . -- doc tutorials advanced
3434
displayName: 'Build Documentation'
35+
- script: |
36+
cd $BUILD_DIR
37+
sed -i -r -e 's/([0-9]+)\s\.\s([0-9]+)\s/\1.\2/' doc/doxygen/html/deprecated.html
38+
displayName: 'Remove extra spaces in Doxygen''s Deprecated List'
3539
- script: |
3640
git config --global user.email "documentation@pointclouds.org"
3741
git config --global user.name "PointCloudLibrary (via Azure Pipelines)"

‎.ci/azure-pipelines/formatting.yaml

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -5,7 +5,7 @@ jobs:
55
vmImage: 'Ubuntu 16.04'
66
container: fmt
77
steps:
8-
- script: ./.dev/format.sh $(which clang-format-8) .
8+
- script: ./.dev/format.sh $(which clang-format-10) .
99
displayName: 'Run clang-format'
1010
- script: git diff > formatting.patch
1111
displayName: 'Compute diff'

‎.clang-format

Lines changed: 47 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,6 @@
11
---
22
AlwaysBreakAfterReturnType: All
3-
AlwaysBreakTemplateDeclarations: true
3+
AlwaysBreakTemplateDeclarations: Yes
44
BinPackArguments: false
55
BinPackParameters: false
66
BraceWrapping:
@@ -19,6 +19,51 @@ ConstructorInitializerIndentWidth: 0
1919
Language: Cpp
2020
NamespaceIndentation: None
2121
PointerAlignment: Left
22-
Standard: Cpp11
22+
Standard: c++14
2323
TabWidth: 2
2424
UseTab: Never
25+
IncludeBlocks: Regroup
26+
IncludeCategories:
27+
# Main PCL includes of common module should be sorted at end of PCL includes
28+
- Regex: '^<pcl/[^/]+>$'
29+
Priority: 100
30+
SortPriority: 101
31+
# All other PCL includes, which are grouped into modules
32+
- Regex: '^<pcl/.*/.*>$'
33+
Priority: 100
34+
SortPriority: 100
35+
# Major 3rd-Party components of tests & modules
36+
- Regex: '^<gtest/'
37+
Priority: 200
38+
- Regex: '^<boost/'
39+
Priority: 210
40+
- Regex: '^<(unsupported/)?Eigen/'
41+
Priority: 220
42+
- Regex: '^<flann/'
43+
Priority: 230
44+
# Major 3rd-Party components of apps
45+
- Regex: '^<Q[^/]+>$'
46+
Priority: 300
47+
- Regex: '^<ui_[^/]+\.h>$'
48+
Priority: 300
49+
- Regex: '^<vtk[^/]+\.h>$'
50+
Priority: 310
51+
# Minor 3rd-Party components
52+
- Regex: '^<librealsense2/'
53+
Priority: 400
54+
- Regex: '^<(ros|message_filters)/'
55+
Priority: 410
56+
- Regex: '^<opencv(2)?/'
57+
Priority: 420
58+
- Regex: '^<tide/'
59+
Priority: 430
60+
- Regex: '^<thrust/'
61+
Priority: 440
62+
- Regex: '^<(OpenGL|(GL(UT)?/))'
63+
Priority: 450
64+
# Matches all std includes. Match them before any unknown include, so we can order them behind.
65+
- Regex: '^<[a-z]+>$'
66+
Priority: 900
67+
# Any unknown include
68+
- Regex: '.*'
69+
Priority: 500

‎.dev/docker/fmt/Dockerfile

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,7 @@
1-
FROM ubuntu:19.04
1+
FROM ubuntu:20.04
22

33
ENV DEBIAN_FRONTEND=noninteractive
4-
ARG CLANG_FORMAT_VERSION=8
4+
ARG CLANG_FORMAT_VERSION=10
55

66
RUN apt-get update \
77
&& apt-get install -y \

‎2d/include/pcl/2d/impl/convolution.hpp

Lines changed: 7 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -35,13 +35,15 @@
3535
*
3636
*/
3737

38-
#ifndef PCL_2D_CONVOLUTION_IMPL_HPP
39-
#define PCL_2D_CONVOLUTION_IMPL_HPP
38+
#pragma once
39+
40+
#include <pcl/2d/convolution.h>
41+
42+
namespace pcl {
4043

41-
//////////////////////////////////////////////////////////////////////////////
4244
template <typename PointT>
4345
void
44-
pcl::Convolution<PointT>::filter(pcl::PointCloud<PointT>& output)
46+
Convolution<PointT>::filter(pcl::PointCloud<PointT>& output)
4547
{
4648
int input_row = 0;
4749
int input_col = 0;
@@ -133,5 +135,4 @@ pcl::Convolution<PointT>::filter(pcl::PointCloud<PointT>& output)
133135
}
134136
} // switch
135137
}
136-
137-
#endif
138+
} // namespace pcl

‎2d/include/pcl/2d/impl/edge.hpp

Lines changed: 19 additions & 27 deletions
Original file line numberDiff line numberDiff line change
@@ -35,16 +35,17 @@
3535
*
3636
*/
3737

38-
#ifndef PCL_2D_EDGE_IMPL_HPP
39-
#define PCL_2D_EDGE_IMPL_HPP
38+
#pragma once
4039

4140
#include <pcl/2d/convolution.h>
41+
#include <pcl/2d/edge.h>
4242
#include <pcl/common/common_headers.h> // rad2deg()
4343

44-
//////////////////////////////////////////////////////////////////////////////
44+
namespace pcl {
45+
4546
template <typename PointInT, typename PointOutT>
4647
void
47-
pcl::Edge<PointInT, PointOutT>::detectEdgeSobel(pcl::PointCloud<PointOutT>& output)
48+
Edge<PointInT, PointOutT>::detectEdgeSobel(pcl::PointCloud<PointOutT>& output)
4849
{
4950
convolution_.setInputCloud(input_);
5051
pcl::PointCloud<PointXYZI>::Ptr kernel_x(new pcl::PointCloud<PointXYZI>);
@@ -79,10 +80,9 @@ pcl::Edge<PointInT, PointOutT>::detectEdgeSobel(pcl::PointCloud<PointOutT>& outp
7980
}
8081
}
8182

82-
//////////////////////////////////////////////////////////////////////////////
8383
template <typename PointInT, typename PointOutT>
8484
void
85-
pcl::Edge<PointInT, PointOutT>::sobelMagnitudeDirection(
85+
Edge<PointInT, PointOutT>::sobelMagnitudeDirection(
8686
const pcl::PointCloud<PointInT>& input_x,
8787
const pcl::PointCloud<PointInT>& input_y,
8888
pcl::PointCloud<PointOutT>& output)
@@ -121,10 +121,9 @@ pcl::Edge<PointInT, PointOutT>::sobelMagnitudeDirection(
121121
}
122122
}
123123

124-
//////////////////////////////////////////////////////////////////////////////
125124
template <typename PointInT, typename PointOutT>
126125
void
127-
pcl::Edge<PointInT, PointOutT>::detectEdgePrewitt(pcl::PointCloud<PointOutT>& output)
126+
Edge<PointInT, PointOutT>::detectEdgePrewitt(pcl::PointCloud<PointOutT>& output)
128127
{
129128
convolution_.setInputCloud(input_);
130129

@@ -160,10 +159,9 @@ pcl::Edge<PointInT, PointOutT>::detectEdgePrewitt(pcl::PointCloud<PointOutT>& ou
160159
}
161160
}
162161

163-
//////////////////////////////////////////////////////////////////////////////
164162
template <typename PointInT, typename PointOutT>
165163
void
166-
pcl::Edge<PointInT, PointOutT>::detectEdgeRoberts(pcl::PointCloud<PointOutT>& output)
164+
Edge<PointInT, PointOutT>::detectEdgeRoberts(pcl::PointCloud<PointOutT>& output)
167165
{
168166
convolution_.setInputCloud(input_);
169167

@@ -199,10 +197,9 @@ pcl::Edge<PointInT, PointOutT>::detectEdgeRoberts(pcl::PointCloud<PointOutT>& ou
199197
}
200198
}
201199

202-
//////////////////////////////////////////////////////////////////////////////
203200
template <typename PointInT, typename PointOutT>
204201
void
205-
pcl::Edge<PointInT, PointOutT>::cannyTraceEdge(
202+
Edge<PointInT, PointOutT>::cannyTraceEdge(
206203
int rowOffset, int colOffset, int row, int col, pcl::PointCloud<PointXYZI>& maxima)
207204
{
208205
int newRow = row + rowOffset;
@@ -226,10 +223,9 @@ pcl::Edge<PointInT, PointOutT>::cannyTraceEdge(
226223
}
227224
}
228225

229-
//////////////////////////////////////////////////////////////////////////////
230226
template <typename PointInT, typename PointOutT>
231227
void
232-
pcl::Edge<PointInT, PointOutT>::discretizeAngles(pcl::PointCloud<PointOutT>& thet)
228+
Edge<PointInT, PointOutT>::discretizeAngles(pcl::PointCloud<PointOutT>& thet)
233229
{
234230
const int height = thet.height;
235231
const int width = thet.width;
@@ -253,10 +249,9 @@ pcl::Edge<PointInT, PointOutT>::discretizeAngles(pcl::PointCloud<PointOutT>& the
253249
}
254250
}
255251

256-
//////////////////////////////////////////////////////////////////////////////
257252
template <typename PointInT, typename PointOutT>
258253
void
259-
pcl::Edge<PointInT, PointOutT>::suppressNonMaxima(
254+
Edge<PointInT, PointOutT>::suppressNonMaxima(
260255
const pcl::PointCloud<PointXYZIEdge>& edges,
261256
pcl::PointCloud<PointXYZI>& maxima,
262257
float tLow)
@@ -312,10 +307,9 @@ pcl::Edge<PointInT, PointOutT>::suppressNonMaxima(
312307
}
313308
}
314309

315-
//////////////////////////////////////////////////////////////////////////////
316310
template <typename PointInT, typename PointOutT>
317311
void
318-
pcl::Edge<PointInT, PointOutT>::detectEdgeCanny(pcl::PointCloud<PointOutT>& output)
312+
Edge<PointInT, PointOutT>::detectEdgeCanny(pcl::PointCloud<PointOutT>& output)
319313
{
320314
float tHigh = hysteresis_threshold_high_;
321315
float tLow = hysteresis_threshold_low_;
@@ -377,12 +371,11 @@ pcl::Edge<PointInT, PointOutT>::detectEdgeCanny(pcl::PointCloud<PointOutT>& outp
377371
}
378372
}
379373

380-
//////////////////////////////////////////////////////////////////////////////
381374
template <typename PointInT, typename PointOutT>
382375
void
383-
pcl::Edge<PointInT, PointOutT>::canny(const pcl::PointCloud<PointInT>& input_x,
384-
const pcl::PointCloud<PointInT>& input_y,
385-
pcl::PointCloud<PointOutT>& output)
376+
Edge<PointInT, PointOutT>::canny(const pcl::PointCloud<PointInT>& input_x,
377+
const pcl::PointCloud<PointInT>& input_y,
378+
pcl::PointCloud<PointOutT>& output)
386379
{
387380
float tHigh = hysteresis_threshold_high_;
388381
float tLow = hysteresis_threshold_low_;
@@ -452,12 +445,11 @@ pcl::Edge<PointInT, PointOutT>::canny(const pcl::PointCloud<PointInT>& input_x,
452445
}
453446
}
454447

455-
//////////////////////////////////////////////////////////////////////////////
456448
template <typename PointInT, typename PointOutT>
457449
void
458-
pcl::Edge<PointInT, PointOutT>::detectEdgeLoG(const float kernel_sigma,
459-
const float kernel_size,
460-
pcl::PointCloud<PointOutT>& output)
450+
Edge<PointInT, PointOutT>::detectEdgeLoG(const float kernel_sigma,
451+
const float kernel_size,
452+
pcl::PointCloud<PointOutT>& output)
461453
{
462454
convolution_.setInputCloud(input_);
463455

@@ -470,4 +462,4 @@ pcl::Edge<PointInT, PointOutT>::detectEdgeLoG(const float kernel_sigma,
470462
convolution_.filter(output);
471463
}
472464

473-
#endif
465+
} // namespace pcl

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