merge upstream master & resolve conflicts

Devsh-Graphics-Programming · Sep 2, 2024 · 0c88afe · 0c88afe
2 parents 05b8e34 + 4900f66
commit 0c88afe
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diff --git a/.ci/azure-pipelines/azure-pipelines.yaml b/.ci/azure-pipelines/azure-pipelines.yaml
@@ -17,15 +17,15 @@ pr:
 resources:
   containers:
     - container: winx86
-      image: pointcloudlibrary/env:winx86
+      image: pointcloudlibrary/env:windows2022-x86
     - container: winx64
-      image: pointcloudlibrary/env:winx64
-    - container: env1804
-      image: pointcloudlibrary/env:18.04
+      image: pointcloudlibrary/env:windows2022-x64
     - container: env2004
       image: pointcloudlibrary/env:20.04
     - container: env2204
       image: pointcloudlibrary/env:22.04
+    - container: env2404
+      image: pointcloudlibrary/env:24.04
 
 stages:
   - stage: formatting
@@ -40,20 +40,21 @@ stages:
       - job: ubuntu
         displayName: Ubuntu
         pool:
-          vmImage: 'Ubuntu 20.04'
+          vmImage: 'ubuntu-22.04'
         strategy:
           matrix:
-            18.04 GCC:  # oldest LTS
-              CONTAINER: env1804
+            20.04 GCC:  # oldest LTS
+              CONTAINER: env2004
               CC: gcc
               CXX: g++
               BUILD_GPU: ON
               CMAKE_ARGS: '-DPCL_WARNINGS_ARE_ERRORS=ON'
-            22.04 GCC:  # latest Ubuntu
-              CONTAINER: env2204
+            24.04 GCC:  # latest Ubuntu
+              CONTAINER: env2404
               CC: gcc
               CXX: g++
-              BUILD_GPU: OFF # There are currently incompatibilities between GCC 11.2 and CUDA 11.5
+              BUILD_GPU: ON
+              CMAKE_ARGS: '-DCMAKE_CXX_STANDARD=17 -DCMAKE_CUDA_STANDARD=17'
         container: $[ variables['CONTAINER'] ]
         timeoutInMinutes: 0
         variables:
@@ -73,12 +74,12 @@ stages:
           vmImage: '$(VMIMAGE)'
         strategy:
           matrix:
-            Big Sur 11:
-              VMIMAGE: 'macOS-11'
-              OSX_VERSION: '11'
             Monterey 12:
               VMIMAGE: 'macOS-12'
               OSX_VERSION: '12'
+            Ventura 13:
+              VMIMAGE: 'macOS-13'
+              OSX_VERSION: '13'
         timeoutInMinutes: 0
         variables:
           BUILD_DIR: '$(Agent.WorkFolder)/build'
@@ -95,14 +96,14 @@ stages:
         dependsOn: osx
         condition: succeededOrFailed()
         pool:
-          vmImage: 'Ubuntu 20.04'
+          vmImage: 'ubuntu-22.04'
         strategy:
           matrix:
-            20.04 Clang:
-              CONTAINER: env2004
+            22.04 Clang:
+              CONTAINER: env2204
               CC: clang
               CXX: clang++
-              BUILD_GPU: ON
+              BUILD_GPU: OFF # There are currently incompatibilities between GCC 11.2 and CUDA 11.5 (Ubuntu 22.04)
               CMAKE_ARGS: ''
         container: $[ variables['CONTAINER'] ]
         timeoutInMinutes: 0
@@ -118,11 +119,11 @@ stages:
         dependsOn: osx
         condition: succeededOrFailed()
         pool:
-          vmImage: 'Ubuntu 20.04'
+          vmImage: 'ubuntu-22.04'
         strategy:
           matrix:
-            20.04 Clang:
-              CONTAINER: env2004
+            22.04 Clang:
+              CONTAINER: env2204
               CC: clang
               CXX: clang++
               INDEX_SIGNED: OFF
@@ -143,7 +144,7 @@ stages:
       - job: Windows
         displayName: Windows Build
         pool:
-          vmImage: 'windows-2019'
+          vmImage: 'windows-2022'
         strategy:
           matrix:
             x86:

diff --git a/.ci/azure-pipelines/build/macos.yaml b/.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 google-benchmark
+      brew install cmake pkg-config boost eigen flann glew libusb qhull vtk glew freeglut qt5 libpcap libomp google-benchmark cjson
       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

diff --git a/.ci/azure-pipelines/build/ubuntu.yaml b/.ci/azure-pipelines/build/ubuntu.yaml
@@ -27,8 +27,7 @@ steps:
       -DBUILD_GPU=$BUILD_GPU \
       -DBUILD_cuda_io=$BUILD_GPU \
       -DBUILD_gpu_tracking=$BUILD_GPU \
-      -DBUILD_gpu_surface=$BUILD_GPU \
-      -DBUILD_gpu_people=$BUILD_GPU
+      -DBUILD_gpu_surface=$BUILD_GPU
       # Temporary fix to ensure no tests are skipped
       cmake $(Build.SourcesDirectory)
     displayName: 'CMake Configuration'

diff --git a/.ci/azure-pipelines/env.yml b/.ci/azure-pipelines/env.yml
@@ -41,26 +41,21 @@ jobs:
     vmImage: 'ubuntu-latest'
   strategy:
     matrix:
-      Ubuntu 18.04:
-        # Test the oldest supported version of Ubuntu
-        UBUNTU_VERSION: 18.04
-        VTK_VERSION: 7
-        ENSENSOSDK_VERSION: 2.3.1570
-        TAG: 18.04
+      # Test the oldest supported version of Ubuntu
       Ubuntu 20.04:
         UBUNTU_VERSION: 20.04
         VTK_VERSION: 7
         TAG: 20.04
-      # Test the latest LTS version of Ubuntu
       Ubuntu 22.04:
         UBUNTU_VERSION: 22.04
         VTK_VERSION: 9
         TAG: 22.04
-      Ubuntu 22.10:
-        UBUNTU_VERSION: 22.10
+      # Test the latest LTS version of Ubuntu
+      Ubuntu 24.04:
+        UBUNTU_VERSION: 24.04
         USE_LATEST_CMAKE: true
         VTK_VERSION: 9
-        TAG: 22.10
+        TAG: 24.04
   steps:
   - script: |
       dockerBuildArgs="" ; \
@@ -112,17 +107,17 @@ jobs:
   timeoutInMinutes: 360
   displayName: "Env"
   pool:
-    vmImage: 'windows-2019'
+    vmImage: 'windows-2022'
   strategy:
     matrix:
       Winx86:
         PLATFORM: x86
-        TAG: winx86
+        TAG: windows2022-x86
         GENERATOR: "'Visual Studio 16 2019' -A Win32"
-        VCPKGCOMMIT: acc3bcf76b84ae5041c86ab55fe138ae7b8255c7
+        VCPKGCOMMIT: f7423ee180c4b7f40d43402c2feb3859161ef625
       Winx64:
         PLATFORM: x64
-        TAG: winx64
+        TAG: windows2022-x64
         GENERATOR: "'Visual Studio 16 2019' -A x64"
         VCPKGCOMMIT: master
   steps:
@@ -137,7 +132,7 @@ jobs:
         -t $(dockerHubID)/env:$(TAG)
       dockerfile: '$(Build.SourcesDirectory)/.dev/docker/windows/Dockerfile'
       tags: "$(TAG)"
-      
+
   - script: >
       docker run --rm -v "$(Build.SourcesDirectory)":c:\pcl $(dockerHubID)/env:$(TAG) 
       powershell -command "mkdir c:\pcl\build; cd c:\pcl\build; 

diff --git a/.ci/azure-pipelines/release.yaml b/.ci/azure-pipelines/release.yaml
@@ -204,8 +204,9 @@ stages:
       # find the commit hash on a quick non-forced update too
       fetchDepth: 10
     - bash: |
-        if [ -z $RC ] || [ $RC -eq 0 ]; then isPreRelease=false; else isPreRelease=true; fi
+        if [ -z $RC ] || [ $RC -eq 0 ]; then isPreRelease=false; tagName="pcl-$(VERSION)"; else isPreRelease=true; tagName="pcl-$(VERSION)-rc$(RC)"; fi
         echo "##vso[task.setvariable variable=isPreRelease]${isPreRelease}"
+        echo "##vso[task.setvariable variable=tagName]${tagName}"
     - task: DownloadBuildArtifacts@0
       inputs:
         downloadType: 'all'  # can be anything except single
@@ -223,7 +224,7 @@ stages:
         releaseNotesFilePath: '$(DOWNLOAD_LOCATION)/changelog/changelog.md'
         repositoryName: $(Build.Repository.Name)
         tagSource: 'userSpecifiedTag'
-        tag: "pcl-$(VERSION)-rc$(RC)"
+        tag: "$(tagName)"
         tagPattern: 'pcl-*'
         target: '$(Build.SourceVersion)'
         title: 'PCL $(VERSION)'
diff --git a/.ci/azure-pipelines/ubuntu-variety.yaml b/.ci/azure-pipelines/ubuntu-variety.yaml
@@ -29,14 +29,14 @@ jobs:
   displayName: "BuildUbuntuVariety"
   steps:
   - script: |
-      POSSIBLE_VTK_VERSION=("7" "9") \
+      POSSIBLE_VTK_VERSION=("9") \
       POSSIBLE_CMAKE_CXX_STANDARD=("14" "17" "20") \
       POSSIBLE_CMAKE_BUILD_TYPE=("None" "Debug" "Release" "RelWithDebInfo" "MinSizeRel") \
-      POSSIBLE_COMPILER_PACKAGE=("g++" "g++-10" "g++-11" "g++-12" "clang" "clang-11" "clang-12" "clang-13" "clang-14" "clang-15") \
-      POSSIBLE_CMAKE_C_COMPILER=("gcc" "gcc-10" "gcc-11" "gcc-12" "clang" "clang-11" "clang-12" "clang-13" "clang-14" "clang-15") \
-      POSSIBLE_CMAKE_CXX_COMPILER=("g++" "g++-10" "g++-11" "g++-12" "clang++" "clang++-11" "clang++-12" "clang++-13" "clang++-14" "clang++-15") \
+      POSSIBLE_COMPILER_PACKAGE=("g++" "g++-10" "g++-11" "g++-12" "g++-13" "g++-14" "clang libomp-dev" "clang-14 libomp-14-dev" "clang-15 libomp-15-dev" "clang-16 libomp-16-dev" "clang-17 libomp-17-dev" "clang-18 libomp-18-dev") \
+      POSSIBLE_CMAKE_C_COMPILER=("gcc" "gcc-10" "gcc-11" "gcc-12" "gcc-13" "gcc-14" "clang" "clang-14" "clang-15" "clang-16" "clang-17" "clang-18") \
+      POSSIBLE_CMAKE_CXX_COMPILER=("g++" "g++-10" "g++-11" "g++-12" "g++-13" "g++-14" "clang++" "clang++-14" "clang++-15" "clang++-16" "clang++-17" "clang++-18") \
       CHOSEN_COMPILER=$[RANDOM%${#POSSIBLE_COMPILER_PACKAGE[@]}] \
-      dockerBuildArgs="--build-arg VTK_VERSION=${POSSIBLE_VTK_VERSION[$[RANDOM%${#POSSIBLE_VTK_VERSION[@]}]]} --build-arg CMAKE_CXX_STANDARD=${POSSIBLE_CMAKE_CXX_STANDARD[$[RANDOM%${#POSSIBLE_CMAKE_CXX_STANDARD[@]}]]} --build-arg CMAKE_BUILD_TYPE=${POSSIBLE_CMAKE_BUILD_TYPE[$[RANDOM%${#POSSIBLE_CMAKE_BUILD_TYPE[@]}]]} --build-arg COMPILER_PACKAGE=${POSSIBLE_COMPILER_PACKAGE[$CHOSEN_COMPILER]} --build-arg CMAKE_C_COMPILER=${POSSIBLE_CMAKE_C_COMPILER[$CHOSEN_COMPILER]} --build-arg CMAKE_CXX_COMPILER=${POSSIBLE_CMAKE_CXX_COMPILER[$CHOSEN_COMPILER]}" ; \
+      dockerBuildArgs="--build-arg VTK_VERSION=${POSSIBLE_VTK_VERSION[$[RANDOM%${#POSSIBLE_VTK_VERSION[@]}]]} --build-arg CMAKE_CXX_STANDARD=${POSSIBLE_CMAKE_CXX_STANDARD[$[RANDOM%${#POSSIBLE_CMAKE_CXX_STANDARD[@]}]]} --build-arg CMAKE_BUILD_TYPE=${POSSIBLE_CMAKE_BUILD_TYPE[$[RANDOM%${#POSSIBLE_CMAKE_BUILD_TYPE[@]}]]} --build-arg COMPILER_PACKAGE=\"${POSSIBLE_COMPILER_PACKAGE[$CHOSEN_COMPILER]}\" --build-arg CMAKE_C_COMPILER=${POSSIBLE_CMAKE_C_COMPILER[$CHOSEN_COMPILER]} --build-arg CMAKE_CXX_COMPILER=${POSSIBLE_CMAKE_CXX_COMPILER[$CHOSEN_COMPILER]}" ; \
       echo "##vso[task.setvariable variable=dockerBuildArgs]$dockerBuildArgs"
     displayName: "Prepare docker build arguments"
   - task: Docker@2

diff --git a/.ci/scripts/build_tutorials.sh b/.ci/scripts/build_tutorials.sh
@@ -8,7 +8,7 @@ This script builds source code projects of PCL tutorials.
 
 Options:
 
-  -h             Dispaly this help and exit.
+  -h             Display this help and exit.
   -k             Keep going after a configuration/build error.
   -s             Print summary in the end.
   -e NAMES       Exclude tutorials from the build.

diff --git a/.clang-format b/.clang-format
@@ -22,6 +22,7 @@ PointerAlignment: Left
 Standard: c++14
 TabWidth: 2
 UseTab: Never
+SortIncludes: CaseInsensitive
 IncludeBlocks: Regroup
 IncludeCategories:
 # Main PCL includes of common module should be sorted at end of PCL includes
@@ -44,6 +45,7 @@ IncludeCategories:
 # Major 3rd-Party components of apps
   - Regex:           '^<Q[^/]+>$'
     Priority:        300
+    CaseSensitive:   true
   - Regex:           '^<ui_[^/]+\.h>$'
     Priority:        300
   - Regex:           '^<vtk[^/]+\.h>$'

diff --git a/.clang-tidy b/.clang-tidy
@@ -1,5 +1,49 @@
 ---
-Checks: '-*,modernize-use-auto,modernize-deprecated-headers,modernize-redundant-void-arg,modernize-replace-random-shuffle,modernize-use-equals-default,modernize-use-equals-delete,modernize-use-nullptr,modernize-use-override,modernize-use-using,performance-faster-string-find,performance-for-range-copy,performance-implicit-conversion-in-loop,performance-inefficient-algorithm,performance-inefficient-vector-operation,performance-move-const-arg,performance-move-constructor-init,performance-no-automatic-move,performance-noexcept-move-constructor,performance-type-promotion-in-math-fn,cppcoreguidelines-pro-type-cstyle-cast,cppcoreguidelines-pro-type-static-cast-downcast'
-WarningsAsErrors: '-*,modernize-use-auto,modernize-deprecated-headers,modernize-redundant-void-arg,modernize-replace-random-shuffle,modernize-use-equals-default,modernize-use-equals-delete,modernize-use-nullptr,modernize-use-override,modernize-use-using,performance-faster-string-find,performance-for-range-copy,performance-implicit-conversion-in-loop,performance-inefficient-algorithm,performance-inefficient-vector-operation,performance-move-const-arg,performance-move-constructor-init,performance-no-automatic-move,performance-noexcept-move-constructor,performance-type-promotion-in-math-fn,cppcoreguidelines-pro-type-cstyle-cast,cppcoreguidelines-pro-type-static-cast-downcast'
+Checks: >
+    -*,
+    bugprone-copy-constructor-init,
+    bugprone-macro-parentheses,
+    cppcoreguidelines-pro-type-cstyle-cast,
+    cppcoreguidelines-pro-type-static-cast-downcast,
+    google-readability-casting,
+    modernize-deprecated-headers,
+    modernize-loop-convert,
+    modernize-make-unique,
+    modernize-redundant-void-arg,
+    modernize-replace-random-shuffle,
+    modernize-return-braced-init-list,
+    modernize-shrink-to-fit,
+    modernize-use-auto,
+    modernize-use-bool-literals,
+    modernize-use-default-member-init,
+    modernize-use-emplace,
+    modernize-use-equals-default,
+    modernize-use-equals-delete,
+    modernize-use-noexcept,
+    modernize-use-nullptr,
+    modernize-use-override,
+    modernize-use-using,
+    performance-faster-string-find,
+    performance-for-range-copy,
+    performance-implicit-conversion-in-loop,
+    performance-inefficient-algorithm,
+    performance-inefficient-vector-operation,
+    performance-move-const-arg,
+    performance-move-constructor-init,
+    performance-no-automatic-move,
+    performance-noexcept-move-constructor,
+    performance-type-promotion-in-math-fn,
+    readability-container-data-pointer,
+    readability-container-size-empty,
+    readability-delete-null-pointer,
+    readability-duplicate-include,
+    readability-redundant-declaration,
+    readability-redundant-smartptr-get,
+    readability-redundant-string-cstr,
+    readability-redundant-string-init,
+    readability-simplify-boolean-expr,
+    readability-simplify-subscript-expr,
+WarningsAsErrors: '*'
 CheckOptions:
 - {key: modernize-use-auto.MinTypeNameLength, value: 7}
+UseColor: true
diff --git a/.dev/docker/env/Dockerfile b/.dev/docker/env/Dockerfile
@@ -2,7 +2,7 @@ ARG UBUNTU_VERSION=20.04
 
 FROM "ubuntu:${UBUNTU_VERSION}"
 
-# Eigen patch (https://eigen.tuxfamily.org/bz/show_bug.cgi?id=1462) to fix issue metioned
+# Eigen patch (https://eigen.tuxfamily.org/bz/show_bug.cgi?id=1462) to fix issue mentioned
 # in https://github.com/PointCloudLibrary/pcl/issues/3729 is available in Eigen 3.3.7.
 # Not needed from 20.04 since it is the default version from apt
 ARG EIGEN_MINIMUM_VERSION=3.3.7
@@ -14,7 +14,7 @@ ARG ENSENSOSDK_VERSION=3.2.489
 ARG REALSENSE_VERSION=2.50.0
 
 # Check https://packages.ubuntu.com/search?suite=all&arch=any&searchon=names&keywords=libvtk%20qt-dev
-# for available packes for choosen UBUNTU_VERSION
+# for available packages for chosen UBUNTU_VERSION
 ARG VTK_VERSION=6
 
 # Use the latest version of CMake by adding the Kitware repository if true,
@@ -30,14 +30,19 @@ RUN apt-get update \
       clang-tidy \
       libbenchmark-dev \
       libblas-dev \
-      libboost-date-time-dev \
+      libboost-serialization-dev \
       libboost-filesystem-dev \
       libboost-iostreams-dev \
+      libboost-system-dev \
+      libcjson-dev \
       libflann-dev \
       libglew-dev \
+      freeglut3-dev \
       libgtest-dev \
+      libomp-dev \
       libopenni-dev \
       libopenni2-dev \
+      libpcap-dev \
       libproj-dev \
       libqhull-dev \
       libqt5opengl5-dev \
@@ -52,7 +57,14 @@ RUN apt-get update \
  && if [ "$USE_LATEST_CMAKE" = true ] ; then \
       cmake_ubuntu_version=$(lsb_release -cs) ; \
       if ! wget -q --method=HEAD "https://apt.kitware.com/ubuntu/dists/$cmake_ubuntu_version/Release"; then \
-        cmake_ubuntu_version="focal" ; \
+        ubuntu_version=$(lsb_release -sr) ; \
+        if dpkg --compare-versions ${ubuntu_version} ge 22.04; then \
+          cmake_ubuntu_version="jammy" ; \
+        elif dpkg --compare-versions ${ubuntu_version} ge 20.04; then \
+          cmake_ubuntu_version="focal" ; \
+        else \
+          cmake_ubuntu_version="bionic" ; \
+        fi ; \
       fi ; \
       wget -qO - https://apt.kitware.com/kitware-archive.sh | bash -s -- --release $cmake_ubuntu_version ; \
       apt-get update ; \

diff --git a/.dev/docker/perception_pcl_ros/Dockerfile b/.dev/docker/perception_pcl_ros/Dockerfile
@@ -10,7 +10,7 @@ COPY ${flavor}_rosinstall.yaml ${workspace}/src/.rosinstall
 
 # Be careful:
 # * ROS uses Python2
-# * source ROS setup file in evey RUN snippet
+# * source ROS setup file in every RUN snippet
 #
 # The dependencies of PCL can be reduced since
 # * we don't need to build visualization or docs

diff --git a/.dev/docker/perception_pcl_ros/colcon.Dockerfile b/.dev/docker/perception_pcl_ros/colcon.Dockerfile
@@ -9,7 +9,7 @@ ARG workspace="/root/catkin_ws"
 COPY ${flavor}_rosinstall.yaml ${workspace}/src/.rosinstall
 
 # Be careful:
-# * source ROS setup file in evey RUN snippet
+# * source ROS setup file in every RUN snippet
 #
 # TODO: The dependencies of PCL can be reduced since
 # * we don't need to build visualization or docs