Merge branch 'develop' into binary-ply-files

norlab-ulaval · Dec 10, 2024 · 8cd09ab · 8cd09ab
2 parents 7499180 + ff0d2e1
commit 8cd09ab
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diff --git a/README.md b/README.md
@@ -30,7 +30,7 @@ The library is written in C++ for efficiency with [bindings in Python](doc/index
 &nbsp; &nbsp; &nbsp;
 [![Mentioned in Awesome Robotics](https://awesome.re/mentioned-badge.svg)](https://github.com/ahundt/awesome-robotics#point-clouds)
 <br>
-<sup> 
+<sup>
 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;
 <a href="https://github.com/szenergy/awesome-lidar#basic-matching-algorithms">LIDAR</a>
 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;
@@ -48,9 +48,9 @@ The library is written in C++ for efficiency with [bindings in Python](doc/index
 
 ### Supported OS And Architecture
 _libpointmatcher_ is tested on our build system under the following architecture and OS:
-- Ubuntu bionic (18.04), focal (20.04) and jammy (22.04)  
+- Ubuntu bionic (18.04), focal (20.04) and jammy (22.04)
 - x86 and arm64/v8
-  
+
 Note:
 - _libpointmatcher_ reportedly works on MacOs OsX (latest) and Windows (latest)
 
@@ -66,7 +66,7 @@ Execute the following to clone the repository with its submodule:
 ```shell
 git clone --recurse-submodules https://github.com/norlab-ulaval/libpointmatcher.git
 ```
-If _libpointmatcher_ was previously cloned, execute the following to fetch its new submodule 
+If _libpointmatcher_ was previously cloned, execute the following to fetch its new submodule
 ```shell
 git submodule update --remote --recursive --init
 ```
@@ -79,12 +79,12 @@ on your workstation to speed up your local development workflow.
 
 [//]: # (====Body=================================================================================)
 # Documentation and Tutorials
- 
+
 **Quick link for the tutorial pages: [Tutorials](http://libpointmatcher.readthedocs.org/).
 
-Those tutorials are written using Markdown syntax and stored in the project's `/doc` folder.  Their scope ranges from introductory material on performing point cloud registration to instructions for the more experienced developer on how to extend the library's codebase. 
+Those tutorials are written using Markdown syntax and stored in the project's `/doc` folder.  Their scope ranges from introductory material on performing point cloud registration to instructions for the more experienced developer on how to extend the library's codebase.
 
-Libpointmatcher's source code is fully documented based on doxygen to provide an easy API to developers. An example of this API can be found [here](https://norlab.ulaval.ca/libpointmatcher-doc/), but it is suggested to use the one build for your version in `doc/html`. 
+Libpointmatcher's source code is fully documented based on doxygen to provide an easy API to developers. An example of this API can be found [here](https://norlab.ulaval.ca/libpointmatcher-doc/), but it is suggested to use the one build for your version in `doc/html`.
 
 libpointmatcher was orginaly developed by [François Pomerleau](mailto:[email protected]) and [Stéphane Magnenat](http://stephane.magnenat.net) as part of our work at [ASL-ETH](http://www.asl.ethz.ch).
 It is now maintained by the Northern Robotics Laboratory ([Norlab](https://norlab.ulaval.ca/)), led by François Pomerleau.
@@ -102,7 +102,7 @@ The library has a light dependency list:
  * [Eigen] version 3, a modern C++ matrix and linear-algebra library,
  * [boost] version 1.48 and up, portable C++ source libraries,
  * [libnabo] version 1.0.7, a fast K Nearest Neighbour library for low-dimensional spaces,
- 
+
 and was compiled on:
   * Ubuntu ([see how](/doc/CompilationUbuntu.md))
   * Mac OS X ([see how](/doc/CompilationMac.md))
@@ -131,9 +131,9 @@ bash lpm_install_docker_tools.bash
 ```
 
 
-### Compilation & Installation 
+### Compilation & Installation
 
-For beginner users unfamiliar with compiling and installing a library in Linux, go [here](doc/CompilationUbuntu.md) for detailed instructions on compiling libpointmatcher from the source code.  
+For beginner users unfamiliar with compiling and installing a library in Linux, go [here](doc/CompilationUbuntu.md) for detailed instructions on compiling libpointmatcher from the source code.
 
 For conveniences, you can use the provided installer script for ubuntu
 ```shell
@@ -214,7 +214,7 @@ and/or
 
 If you are interested in learning more about different registration algorithms, we recently put together a literature review surveying multiple solutions. The review is organized in the same way as the library and many examples are provided based on real deployments.
 
-F. Pomerleau, F. Colas and R. Siegwart (2015), "_A Review of Point Cloud Registration Algorithms for Mobile Robotics_", __Foundations and Trends® in Robotics__: Vol. 4: No. 1, pp 1-104.  https://doi.org/10.1561/2300000035 
+F. Pomerleau, F. Colas and R. Siegwart (2015), "_A Review of Point Cloud Registration Algorithms for Mobile Robotics_", __Foundations and Trends® in Robotics__: Vol. 4: No. 1, pp 1-104.  https://doi.org/10.1561/2300000035
 
 If you don't have access to the journal, you can download it from [here](https://www.researchgate.net/publication/277558596_A_Review_of_Point_Cloud_Registration_Algorithms_for_Mobile_Robotics).
 
@@ -226,7 +226,7 @@ We also produced those freely available data sets to test different registration
 
 ![alt tag](http://projects.asl.ethz.ch/datasets/lib/exe/fetch.php?cache=&media=laserregistration:asldataset_weblarge.jpg)
 
-You can download the files in CSV or VTK formats, which are directly supported by the library I/O module. 
+You can download the files in CSV or VTK formats, which are directly supported by the library I/O module.
 
 
 # Projects and Partners
@@ -241,7 +241,8 @@ If you are using libpointmatcher in your project and you would like to have it l
  * [Norlab](https://norlab.ulaval.ca/) is maintaining and using the library for its research on autonomous navigation in harsh environments.
  * [ANYbotics AG](https://www.anybotics.com) is investigating autonomous navigation algorithms using this library.
  * [Point Laz Mining LiDAR Expert](https://www.pointlaz.com/) is scanning mine shafts to ensure infrastructure safety.
-
+ * [Point Laz Mining LiDAR Expert](https://www.pointlaz.com/) is scanning mine shafts to ensure infrastructure safety.
+ * [DREAM lab](https://dream.georgiatech-metz.fr/research/woodseer/) use libpointmatcher to reconstruct wood logs in 3D.
 For a larger list of work realized with libpointmatcher, please see the page [Applications And Publications](/doc/ApplicationsAndPub.md).
 
 

diff --git a/build_system/.env.build_matrix.dependencies b/build_system/.env.build_matrix.dependencies
@@ -10,8 +10,8 @@ NBS_EXECUTE_BUILD_MATRIX_OVER_COMPOSE_FILE=docker-compose.dependencies.yaml
 #
 # Libpointmatcher version
 #
-# 'latest' is the latest push to the libpointmatcher master branch
-NBS_MATRIX_REPOSITORY_VERSIONS=( '1.4.2' 'latest'  )
+# 'latest' is the most recent push to the current libpointmatcher checkout branch
+NBS_MATRIX_REPOSITORY_VERSIONS=( '1.4.3' 'latest'  )
 
 #
 # Libpointmatcher dependencies CMAKE_BUILD_TYPE
@@ -32,7 +32,7 @@ NBS_MATRIX_SUPPORTED_OS=( 'ubuntu' )
 # Ubuntu release: https://ubuntu.com/about/release-cycle
 #   bionic=18.04 focal=20.04 jammy=22.04
 # Part of the build matrix used for PR
-NBS_MATRIX_UBUNTU_SUPPORTED_VERSIONS=( 'bionic' 'focal' 'jammy' )
+NBS_MATRIX_UBUNTU_SUPPORTED_VERSIONS=( 'jammy' 'focal' 'bionic' )
 #
 # iceboxed: implement other OS support (ref task NMO-213 OsX arm64-Darwin and NMO-210 OsX x86 CD components)
 #NBS_MATRIX_OSX_SUPPORTED_VERSIONS=( 'monterey' 'ventura' )

diff --git a/build_system/.env.build_matrix.libpointmatcher b/build_system/.env.build_matrix.libpointmatcher
@@ -10,8 +10,7 @@ NBS_EXECUTE_BUILD_MATRIX_OVER_COMPOSE_FILE=docker-compose.libpointmatcher.yaml
 #
 # Libpointmatcher version
 #
-# 'latest' is the latest push to the libpointmatcher master branch
-#NBS_MATRIX_REPOSITORY_VERSIONS=( '1.4.2' 'latest'  )
+# 'latest' is the most recent push to the current libpointmatcher checkout branch
 NBS_MATRIX_REPOSITORY_VERSIONS=( 'latest' )
 
 #
@@ -32,7 +31,7 @@ NBS_MATRIX_SUPPORTED_OS=( 'ubuntu' )
 #
 # Ubuntu release: https://ubuntu.com/about/release-cycle
 #   bionic=18.04 focal=20.04 jammy=22.04
-NBS_MATRIX_UBUNTU_SUPPORTED_VERSIONS=( 'bionic' 'focal' 'jammy' )
+NBS_MATRIX_UBUNTU_SUPPORTED_VERSIONS=( 'jammy' 'focal' 'bionic' )
 #
 # iceboxed: implement other OS support (ref task NMO-213 OsX arm64-Darwin and NMO-210 OsX x86 CD components)
 #NBS_MATRIX_OSX_SUPPORTED_VERSIONS=( 'monterey' 'ventura' )

diff --git a/build_system/.env.build_matrix.libpointmatcher.bleeding b/build_system/.env.build_matrix.libpointmatcher.bleeding
@@ -10,8 +10,7 @@ NBS_EXECUTE_BUILD_MATRIX_OVER_COMPOSE_FILE=docker-compose.libpointmatcher.yaml
 #
 # Libpointmatcher version
 #
-# 'latest' is the latest push to the libpointmatcher master branch
-#NBS_MATRIX_REPOSITORY_VERSIONS=( '1.4.2' 'latest'  )
+# 'latest' is the most recent push to the current libpointmatcher checkout branch
 NBS_MATRIX_REPOSITORY_VERSIONS=( 'latest' )
 
 #
@@ -33,7 +32,7 @@ NBS_MATRIX_SUPPORTED_OS=( 'ubuntu' )
 #
 # Ubuntu release: https://ubuntu.com/about/release-cycle
 #   bionic=18.04 focal=20.04 jammy=22.04
-NBS_MATRIX_UBUNTU_SUPPORTED_VERSIONS=( 'bionic' 'focal' 'jammy' )
+NBS_MATRIX_UBUNTU_SUPPORTED_VERSIONS=( 'jammy' 'focal' 'bionic' )
 #
 # iceboxed: implement other OS support (ref task NMO-213 OsX arm64-Darwin and NMO-210 OsX x86 CD components)
 #NBS_MATRIX_OSX_SUPPORTED_VERSIONS=( 'monterey' 'ventura' )

diff --git a/build_system/.env.build_matrix.libpointmatcher.release b/build_system/.env.build_matrix.libpointmatcher.release
@@ -10,8 +10,8 @@ NBS_EXECUTE_BUILD_MATRIX_OVER_COMPOSE_FILE=docker-compose.libpointmatcher.yaml
 #
 # Libpointmatcher version
 #
-# 'latest' is the latest push to the libpointmatcher master branch
-NBS_MATRIX_REPOSITORY_VERSIONS=( '1.4.2' 'latest'  )
+# 'latest' is the most recent push to the current libpointmatcher checkout branch
+NBS_MATRIX_REPOSITORY_VERSIONS=( '1.4.3' 'latest'  )
 
 #
 # Libpointmatcher CMAKE_BUILD_TYPE
@@ -30,7 +30,7 @@ NBS_MATRIX_SUPPORTED_OS=( 'ubuntu' )
 #
 # Ubuntu release: https://ubuntu.com/about/release-cycle
 #   bionic=18.04 focal=20.04 jammy=22.04
-NBS_MATRIX_UBUNTU_SUPPORTED_VERSIONS=( 'bionic' 'focal' 'jammy' )
+NBS_MATRIX_UBUNTU_SUPPORTED_VERSIONS=( 'jammy' 'focal' 'bionic' )
 #
 # iceboxed: implement other OS support (ref task NMO-213 OsX arm64-Darwin and NMO-210 OsX x86 CD components)
 #NBS_MATRIX_OSX_SUPPORTED_VERSIONS=( 'monterey' 'ventura' )

diff --git a/...ies_arm64v8 ci_PR_arm64v8 _popup_.run.xml → ...bash › build ci_PR_arm64 _popup_.run.xml b/...ies_arm64v8 ci_PR_arm64v8 _popup_.run.xml → ...bash › build ci_PR_arm64 _popup_.run.xml
diff --git a/build_system/docker-compose.dependencies.yaml b/build_system/docker-compose.dependencies.yaml
@@ -3,14 +3,15 @@ services:
   # ====Dependency related services================================================================
   dependencies-general:
     image: ${NBS_DOCKERHUB_NAMESPACE:?err}/libpointmatcher-dependencies-general:${NBS_IMAGE_TAG:?err}
+    pull_policy: build # Execute the `build` attribute over pulling the `image` attribute
     build:
       target: libpointmatcher-dependencies-general
       context: ..
       dockerfile: ${NBS_SUPERPROJECT_BUILD_SYSTEM_DIR:?err}/ubuntu/Dockerfile.dependencies
-      no_cache: true
+      no_cache: true  # Enforce full rebuild
       platforms:
         - "linux/amd64"
-        - "linux/arm64/v8"
+        - "linux/arm64"
       args:
         BASE_IMAGE: ${DEPENDENCIES_BASE_IMAGE:?err}
         BASE_IMAGE_TAG: ${DEPENDENCIES_BASE_IMAGE_TAG:?err}
@@ -35,14 +36,15 @@ services:
     build:
       context: ..
       dockerfile: ${NBS_SUPERPROJECT_BUILD_SYSTEM_DIR:?err}/ubuntu/Dockerfile.dependencies.doxygen
-      platforms:
-        - "linux/amd64"
-        - "linux/arm64/v8"
+      pull: false # Use the local image store to execute the FROM directive
       args:
         PROJECT_HUB: ${NBS_DOCKERHUB_NAMESPACE}
         BASE_IMAGE: libpointmatcher-dependencies
         BASE_IMAGE_TAG: ${NBS_IMAGE_TAG}
         IS_TEAMCITY_RUN: ${IS_TEAMCITY_RUN}
+      platforms:
+        - "linux/amd64"
+        - "linux/arm64"
     depends_on:
       - dependencies
     tty: true

diff --git a/build_system/docker-compose.libpointmatcher.yaml b/build_system/docker-compose.libpointmatcher.yaml
@@ -4,18 +4,18 @@ include:
 services:
 
   # ====Pull-request related services==============================================================
-  # ....Test logic related to libpointmatcher install casses.......................................
+  # ....Test logic related to libpointmatcher install cases........................................
   _test_compilation:
     image: ${NBS_DOCKERHUB_NAMESPACE:?err}/libpointmatcher-compilation-test:${NBS_IMAGE_TAG:?err}
-    pull_policy: build
+    pull_policy: build # Execute the `build` attribute over pulling the `image` attribute
     build:
       context: ..
       dockerfile: ${NBS_SUPERPROJECT_BUILD_SYSTEM_DIR:?err}/ubuntu/Dockerfile.libpointmatcher.compilation_test
-      no_cache: true
+      no_cache: true  # Enforce full rebuild
       target: test-compilation-auto-path-resolution
       platforms:
         - "linux/amd64"
-        - "linux/arm64/v8"
+        - "linux/arm64"
       args:
         PROJECT_HUB: ${NBS_DOCKERHUB_NAMESPACE}
         BASE_IMAGE: libpointmatcher-dependencies-general
@@ -45,11 +45,11 @@ services:
   # ....Test logic related to libpointmatcher codebase unit-test...................................
   ci_PR:
     image: ${NBS_DOCKERHUB_NAMESPACE:?err}/libpointmatcher-ci-pr:${NBS_IMAGE_TAG:?err}
-    pull_policy: build
+    pull_policy: build # Execute the `build` attribute over pulling the `image` attribute
     build:
       context: ..
       dockerfile: ${NBS_SUPERPROJECT_BUILD_SYSTEM_DIR}/ubuntu/Dockerfile.libpointmatcher.ci_PR
-      no_cache: false
+      no_cache: true  # Enforce full rebuild
       args:
         PROJECT_HUB: ${NBS_DOCKERHUB_NAMESPACE}
         BASE_IMAGE: libpointmatcher-dependencies
@@ -90,13 +90,14 @@ services:
   release:
     image: ${NBS_DOCKERHUB_NAMESPACE:?err}/libpointmatcher:${NBS_IMAGE_TAG:?err}
     container_name: libpointmatcher
+    pull_policy: build # Execute the `build` attribute over pulling the `image` attribute
     build:
       context: ..
       dockerfile: ${NBS_SUPERPROJECT_BUILD_SYSTEM_DIR}/ubuntu/Dockerfile.libpointmatcher.hub_release
       platforms:
         - "linux/amd64"
-        - "linux/arm64/v8"
-      no_cache: false
+        - "linux/arm64"
+      no_cache: true  # Enforce full rebuild
       args:
         PROJECT_HUB: ${NBS_DOCKERHUB_NAMESPACE}
         BASE_IMAGE: libpointmatcher-dependencies-doc

diff --git a/build_system/ubuntu/Dockerfile.libpointmatcher.ci_PR b/build_system/ubuntu/Dockerfile.libpointmatcher.ci_PR
@@ -2,6 +2,8 @@ ARG PROJECT_HUB=norlabulaval
 ARG BASE_IMAGE=libpointmatcher-dependencies
 ARG BASE_IMAGE_TAG
 FROM ${PROJECT_HUB}/${BASE_IMAGE}:${BASE_IMAGE_TAG:?err} AS libpointmatcher-dependencies
+ARG TARGETPLATFORM
+ARG TARGETARCH
 
 LABEL org.opencontainers.image.authors="[email protected]"
 
@@ -40,14 +42,13 @@ WORKDIR "${NBS_LIB_INSTALL_PATH}/${NBS_REPOSITORY_NAME}"
 RUN chmod +x ./utest/listVersionsUbuntu.sh
 RUN utest/listVersionsUbuntu.sh
 
-# ==== Build libpointmatcher checkout branch ======================================================
+# ==== Build/test libpointmatcher checkout branch =================================================
 WORKDIR ./build_system/ubuntu
 
 RUN chmod +x lpm_install_libpointmatcher_ubuntu.bash
 RUN chmod +x lpm_execute_libpointmatcher_unittest.bash
 RUN chmod +x entrypoint.bash
 
-
 RUN bash lpm_install_libpointmatcher_ubuntu.bash \
     --repository-version ${REPOSITORY_VERSION} \
     --cmake-build-type ${CMAKE_BUILD_TYPE} \

diff --git a/build_system/ubuntu/lpm_execute_libpointmatcher_unittest.bash b/build_system/ubuntu/lpm_execute_libpointmatcher_unittest.bash
@@ -27,7 +27,7 @@ source "${N2ST_PATH}/import_norlab_shell_script_tools_lib.bash"
 # ====Begin========================================================================================
 n2st::print_formated_script_header 'lpm_execute_libpointmatcher_unittest.bash' ':'
 
-cd "${NBS_LIB_INSTALL_PATH}/${NBS_REPOSITORY_NAME}/build"
+cd "${NBS_LIB_INSTALL_PATH}/${NBS_REPOSITORY_NAME}/build" || exit 1
 
 if [[ ${IS_TEAMCITY_RUN} == true ]] || [[ ${TEAMCITY_VERSION} ]]; then
   echo -e "##teamcity[testSuiteStarted name='gtest']"
@@ -68,5 +68,5 @@ fi
 
 n2st::print_formated_script_footer 'lpm_execute_libpointmatcher_unittest.bash' ':'
 # ====Teardown=====================================================================================
-cd "${TMP_CWD}"
+cd "${TMP_CWD}" || exit 1
 exit $UTEST_EXIT_CODE
diff --git a/build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash b/build_system/ubuntu/lpm_install_dependencies_general_ubuntu.bash
@@ -148,4 +148,4 @@ n2st::teamcity_service_msg_blockClosed
 
 n2st::print_formated_script_footer "lpm_install_dependencies_general_ubuntu.bash (${IMAGE_ARCH_AND_OS})" "${MSG_LINE_CHAR_INSTALLER}"
 # ====Teardown=====================================================================================
-cd "${TMP_CWD}"
+cd "${TMP_CWD}" || exit
diff --git a/build_system/ubuntu/lpm_install_libpointmatcher_ubuntu.bash b/build_system/ubuntu/lpm_install_libpointmatcher_ubuntu.bash
@@ -53,7 +53,7 @@ export DEBIAN_FRONTEND=noninteractive
 TMP_CWD=$(pwd)
 
 LPM_PATH=$(git rev-parse --show-toplevel)
-cd "${LPM_PATH}/build_system" || exit
+cd "${LPM_PATH}/build_system" || exit 1
 
 # ....Load environment variables from file.........................................................
 set -o allexport
@@ -176,7 +176,7 @@ n2st::teamcity_service_msg_blockOpened "Install ${NBS_REPOSITORY_NAME}"
 
 mkdir -p "${NBS_LIB_INSTALL_PATH}"
 n2st::print_msg "Directories (pre libpointmatcher install)$(tree -L 2 "${NBS_LIB_INSTALL_PATH}")"
-cd "${NBS_LIB_INSTALL_PATH}"
+cd "${NBS_LIB_INSTALL_PATH}" || exit 1
 
 # ....Repository cloning step......................................................................
 if [[ ${BUILD_SYSTEM_CI_INSTALL} == FALSE ]]; then
@@ -188,7 +188,7 @@ if [[ ${BUILD_SYSTEM_CI_INSTALL} == FALSE ]]; then
   git clone https://github.com/"${NBS_REPOSITORY_DOMAIN}"/"${NBS_REPOSITORY_NAME}".git
 
   if [[ "${REPOSITORY_VERSION}" != 'latest' ]]; then
-    cd "${NBS_REPOSITORY_NAME}"
+    cd "${NBS_REPOSITORY_NAME}" || exit 1
 
     git fetch --tags
     git tag --list
@@ -203,7 +203,7 @@ if [[ ${BUILD_SYSTEM_CI_INSTALL} == FALSE ]]; then
   fi
 fi
 
-cd "${NBS_LIB_INSTALL_PATH}/${NBS_REPOSITORY_NAME}"
+cd "${NBS_LIB_INSTALL_PATH}/${NBS_REPOSITORY_NAME}" || exit 1
 mkdir -p build && cd build
 
 # ....Cmake install step...........................................................................
@@ -223,12 +223,10 @@ else
   #  CMAKE_FLAGS=( -D BOOST_ROOT="$BOOST_ROOT" "${CMAKE_FLAGS[@]}" )
 
   cmake "${CMAKE_FLAGS[@]}" "${NBS_LIB_INSTALL_PATH}/${NBS_REPOSITORY_NAME}"
-
   BUILD_EXIT_CODE=$?
 
   make -j $(nproc)
   sudo make install
-
   INSTALL_EXIT_CODE=$?
 
   if [[ ${GENERATE_API_DOC_FLAG} = TRUE ]]; then
@@ -281,4 +279,4 @@ fi
 n2st::print_formated_script_footer "${CALLER_NAME} (${IMAGE_ARCH_AND_OS})" "${MSG_LINE_CHAR_INSTALLER}"
 
 # ====Teardown=====================================================================================
-cd "${TMP_CWD}"
+cd "${TMP_CWD}" || exit 1
diff --git a/doc/LinkingProjects.md b/doc/LinkingProjects.md
@@ -12,7 +12,7 @@ In this following example, we build a very simple CMake project containing one e
 cmake_minimum_required (VERSION 3.10.12)
 project (myProject)
 
-find_package(libpointmatcher 1.4.2 REQUIRED)
+find_package(libpointmatcher 1.4.3 REQUIRED)
 include_directories("${libpointmatcher_INCLUDE_DIRS}")
 message(STATUS "Using libpointmatcher version ${libpointmatcher_VERSION}")