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Merge branch 'develop' into fix_octree_sampling
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RedLeader962 authored Dec 6, 2023
2 parents 2968577 + e571136 commit e21286c
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13 changes: 13 additions & 0 deletions .github/CODEOWNERS
Validating CODEOWNERS rules …
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# Files or directories with designated code owner.
# Branch with "Require review from Code Owners" will automaticaly trigger a request to a designated code owner

# DevOps related
/build_system/ @RedLeader962
/.github/ @RedLeader962
/.dockerignore @RedLeader962
/.gitignore @RedLeader962

# Core
/pointmatcher @boxanm @simonpierredeschenes @aguenette
/python @boxanm @simonpierredeschenes @aguenette
/utest @boxanm @simonpierredeschenes @aguenette
11 changes: 4 additions & 7 deletions build_system/.env
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Expand Up @@ -2,7 +2,7 @@
#
# Dockerhub or self hosted hub domain name
#
LPM_PROJECT_DOCKERHUB=norlabulaval
NBS_DOCKERHUB_NAMESPACE=norlabulaval

#
# Repository url
Expand All @@ -11,17 +11,14 @@ LPM_PROJECT_DOCKERHUB=norlabulaval
# - Original repo: https://github.com/ethz-asl/libpointmatcher
# - DEV repo: https://github.com/norlab-ulaval/libpointmatcher-build-system

# ToDo: on repository ownership transfer >> modify next bloc ↓↓
LPM_LIBPOINTMATCHER_SRC_DOMAIN=ethz-asl
#LPM_LIBPOINTMATCHER_SRC_DOMAIN=norlab-ulaval
NBS_REPOSITORY_DOMAIN=norlab-ulaval

#LPM_LIBPOINTMATCHER_SRC_REPO_NAME=libpointmatcher-build-system # Temporary dev fork
LPM_LIBPOINTMATCHER_SRC_REPO_NAME=libpointmatcher
NBS_REPOSITORY_NAME=libpointmatcher

#
# Install script variables
#
LPM_INSTALLED_LIBRARIES_PATH=/opt/percep3d_libraries
NBS_LIB_INSTALL_PATH=/opt/percep3d_libraries

#
# Docker built-in environment variable (do not change the variable name
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27 changes: 16 additions & 11 deletions build_system/.env.build_matrix
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Expand Up @@ -2,42 +2,47 @@
# Build matrix variables
#

#
# The compose file on which the build matrix will be crawled
#
NBS_EXECUTE_BUILD_MATRIX_OVER_COMPOSE_FILE=docker-compose.libpointmatcher.yaml

#
# Libpointmatcher version
#
# 'head' is the latest push to the libpointmatcher master branch
#LPM_MATRIX_LIBPOINTMATCHER_VERSIONS=( 'v1.3.1' 'head' 'v2.0.test' )
LPM_MATRIX_LIBPOINTMATCHER_VERSIONS=( 'head' )
# 'latest' is the latest push to the libpointmatcher master branch
#NBS_MATRIX_REPOSITORY_VERSIONS=( 'v1.3.1' 'latest' 'v2.0.test' )
NBS_MATRIX_REPOSITORY_VERSIONS=( 'latest' )

#
# Libpointmatcher CMAKE_BUILD_TYPE
#
# Part of the build matrix used for assessing the state of the codebase
# Note: 'None' for building dependencies images
LPM_MATRIX_LIBPOINTMATCHER_CMAKE_BUILD_TYPE_SITREP=( 'Debug' 'Release' 'RelWithDebInfo' 'MinSizeRel' )
NBS_MATRIX_CMAKE_BUILD_TYPE_SITREP=( 'Debug' 'Release' 'RelWithDebInfo' 'MinSizeRel' )
# Part of the build matrix used for PR
LPM_MATRIX_LIBPOINTMATCHER_CMAKE_BUILD_TYPE=( 'Release' 'RelWithDebInfo' 'MinSizeRel' )
NBS_MATRIX_CMAKE_BUILD_TYPE=( 'Release' 'RelWithDebInfo' 'MinSizeRel' )

#
# LIBPOINTMATCHER supported OS
#
# (Priority) ToDo: implement OsX support for arm64-Darwin (ref task NMO-213)
#LPM_MATRIX_SUPPORTED_OS=( 'ubuntu' 'osx' )
LPM_MATRIX_SUPPORTED_OS=( 'ubuntu' )
#NBS_MATRIX_SUPPORTED_OS=( 'ubuntu' 'osx' )
NBS_MATRIX_SUPPORTED_OS=( 'ubuntu' )

#
# ubuntu supported versions
#
# 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
LPM_MATRIX_UBUNTU_SUPPORTED_VERSIONS_SITREP=( 'bionic' 'focal' 'jammy' )
NBS_MATRIX_UBUNTU_SUPPORTED_VERSIONS_SITREP=( 'bionic' 'focal' 'jammy' )
# Part of the build matrix used for assessing the state of the codebase
# ToDo: fixme!! (ref task NMO-305 ﹅→ Build fail: ubuntu jammy with utest compilation).
# Mute 'jammy' from the build matrix until then.
LPM_MATRIX_UBUNTU_SUPPORTED_VERSIONS=( 'bionic' 'focal' )
NBS_MATRIX_UBUNTU_SUPPORTED_VERSIONS=( 'bionic' 'focal' )
#
# iceboxed: implement other OS support (ref task NMO-213 OsX arm64-Darwin and NMO-210 OsX x86 CD components)
#LPM_MATRIX_OSX_SUPPORTED_VERSIONS=( 'monterey' 'ventura' )
LPM_MATRIX_OSX_SUPPORTED_VERSIONS=( )
#NBS_MATRIX_OSX_SUPPORTED_VERSIONS=( 'monterey' 'ventura' )
NBS_MATRIX_OSX_SUPPORTED_VERSIONS=( )

38 changes: 19 additions & 19 deletions build_system/.env.prompt
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@@ -1,14 +1,14 @@

# (NICE TO HAVE) ToDo: refactor (ref task NMO-304 ♻︎ → Refactor .env.prompt variables prefixed by LPM_ to MSG_)
LPM_PROMPT_NAME="LPM"
LPM_SPLASH_NAME="Libpoinmatcher"
LPM_BUILD_SYSTEM_SPLASH_NAME="Libpoinmatcher Build System"
# (NICE TO HAVE) ToDo: refactor (ref task NMO-304 ♻︎ → Refactor .env.prompt variables prefixed by NBS_ to MSG_)
NBS_PROMPT_NAME="LPM"
NBS_SPLASH_NAME="Libpoinmatcher"
NBS_BUILD_SYSTEM_SPLASH_NAME="Libpoinmatcher Build System"

LPM_LINE_CHAR_BUILDER_LVL1='▉'
LPM_LINE_CHAR_BUILDER_LVL2='⣿'
LPM_LINE_CHAR_INSTALLER=':'
LPM_LINE_CHAR_UTIL='.'
LPM_LINE_CHAR_TEST=' '
NBS_LINE_CHAR_BUILDER_LVL1='▉'
NBS_LINE_CHAR_BUILDER_LVL2='⣿'
NBS_LINE_CHAR_INSTALLER=':'
NBS_LINE_CHAR_UTIL='.'
NBS_LINE_CHAR_TEST=' '

#
# Formating environment variables
Expand All @@ -33,12 +33,12 @@ MSG_DONE_FORMAT="\033[1;32m"
MSG_WARNING_FORMAT="\033[1;33m"
MSG_END_FORMAT="\033[0m"

MSG_AWAITING_INPUT="${MSG_BASE_FORMAT}[${LPM_PROMPT_NAME} awaiting input]${MSG_END_FORMAT}"
MSG_BASE="${MSG_BASE_FORMAT}[${LPM_PROMPT_NAME}]${MSG_END_FORMAT}"
#MSG_DONE="\033[1;32m[${LPM_PROMPT_NAME} done]${MSG_END_FORMAT}"
MSG_DONE="${MSG_DONE_FORMAT}[${LPM_PROMPT_NAME} done]${MSG_END_FORMAT}"
MSG_WARNING="${MSG_WARNING_FORMAT}[${LPM_PROMPT_NAME} warning]${MSG_END_FORMAT}"
MSG_ERROR="${MSG_ERROR_FORMAT}[${LPM_PROMPT_NAME} error]${MSG_END_FORMAT}"
MSG_AWAITING_INPUT="${MSG_BASE_FORMAT}[${NBS_PROMPT_NAME} awaiting input]${MSG_END_FORMAT}"
MSG_BASE="${MSG_BASE_FORMAT}[${NBS_PROMPT_NAME}]${MSG_END_FORMAT}"
#MSG_DONE="\033[1;32m[${NBS_PROMPT_NAME} done]${MSG_END_FORMAT}"
MSG_DONE="${MSG_DONE_FORMAT}[${NBS_PROMPT_NAME} done]${MSG_END_FORMAT}"
MSG_WARNING="${MSG_WARNING_FORMAT}[${NBS_PROMPT_NAME} warning]${MSG_END_FORMAT}"
MSG_ERROR="${MSG_ERROR_FORMAT}[${NBS_PROMPT_NAME} error]${MSG_END_FORMAT}"

#
# TeamCity service message version
Expand All @@ -47,13 +47,13 @@ MSG_DIMMED_FORMAT_TEAMCITY="|[1;2m"
MSG_BASE_FORMAT_TEAMCITY="|[1m"
MSG_ERROR_FORMAT_TEAMCITY="|[1;31m"
MSG_WARNING_FORMAT_TEAMCITY="|[1;33m"
#MSG_LPM_STEP_FORMAT_TEAMCITY="|[1;104m"
MSG_LPM_STEP_FORMAT_TEAMCITY="|[30;107m"
#MSG_NBS_STEP_FORMAT_TEAMCITY="|[1;104m"
MSG_NBS_STEP_FORMAT_TEAMCITY="|[30;107m"
MSG_END_FORMAT_TEAMCITY="|[0m"

# (!) Note: substitution fail in the TeamCity Overview tab when using
# >>> MSG_BASE_TEAMCITY="${MSG_BASE_FORMAT_TEAMCITY}|[${LPM_PROMPT_NAME}|]${MSG_END_FORMAT_TEAMCITY}"
MSG_BASE_TEAMCITY="|[${LPM_PROMPT_NAME}|]"
# >>> MSG_BASE_TEAMCITY="${MSG_BASE_FORMAT_TEAMCITY}|[${NBS_PROMPT_NAME}|]${MSG_END_FORMAT_TEAMCITY}"
MSG_BASE_TEAMCITY="|[${NBS_PROMPT_NAME}|]"

#
# References:
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<component name="ProjectRunConfigurationManager">
<configuration default="false" name="(HELP) bash lpm_execute_compose.* › --help menu" type="ShConfigurationType" folderName="(B | TEST › dry-run) ">
<option name="SCRIPT_TEXT" value="bash nbs_execute_compose_over_build_matrix.bash --help &amp;&amp; bash nbs_execute_compose.bash --help" />
<option name="INDEPENDENT_SCRIPT_PATH" value="true" />
<option name="SCRIPT_PATH" value="" />
<option name="SCRIPT_OPTIONS" value="" />
<option name="INDEPENDENT_SCRIPT_WORKING_DIRECTORY" value="true" />
<option name="SCRIPT_WORKING_DIRECTORY" value="$PROJECT_DIR$/build_system" />
<option name="INDEPENDENT_INTERPRETER_PATH" value="true" />
<option name="INTERPRETER_PATH" value="/bin/zsh" />
<option name="INTERPRETER_OPTIONS" value="" />
<option name="EXECUTE_IN_TERMINAL" value="true" />
<option name="EXECUTE_SCRIPT_FILE" value="false" />
<envs>
<env name="BUILDX_BUILDER" value="local-builder-multiarch-virtual" />
</envs>
<method v="2" />
</configuration>
</component>
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@@ -0,0 +1,17 @@
<component name="ProjectRunConfigurationManager">
<configuration default="false" name="(command version) docker build &amp; run IamBuildSystemTester" type="ShConfigurationType" folderName="(B | TEST › IamBuildSystemTester) LPM test user script in isolation">
<option name="SCRIPT_TEXT" value="docker build -f build_system/test/Dockerfile.build_system_test -t lpm.ubuntu20.buildsystem.test . &amp;&amp; docker run --name IamBuildSystemTester -t -i --rm lpm.ubuntu20.buildsystem.test" />
<option name="INDEPENDENT_SCRIPT_PATH" value="true" />
<option name="SCRIPT_PATH" value="" />
<option name="SCRIPT_OPTIONS" value="" />
<option name="INDEPENDENT_SCRIPT_WORKING_DIRECTORY" value="true" />
<option name="SCRIPT_WORKING_DIRECTORY" value="$PROJECT_DIR$" />
<option name="INDEPENDENT_INTERPRETER_PATH" value="true" />
<option name="INTERPRETER_PATH" value="/bin/zsh" />
<option name="INTERPRETER_OPTIONS" value="" />
<option name="EXECUTE_IN_TERMINAL" value="true" />
<option name="EXECUTE_SCRIPT_FILE" value="false" />
<envs />
<method v="2" />
</configuration>
</component>
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@@ -0,0 +1,19 @@
<component name="ProjectRunConfigurationManager">
<configuration default="false" name="(investigate compose var substitution) nbs_execute_compose_over_build_matrix.bash › config" type="ShConfigurationType" folderName="(B | TEST › dry-run) ">
<option name="SCRIPT_TEXT" value="bash nbs_execute_compose_over_build_matrix.bash --fail-fast -- config" />
<option name="INDEPENDENT_SCRIPT_PATH" value="true" />
<option name="SCRIPT_PATH" value="" />
<option name="SCRIPT_OPTIONS" value="" />
<option name="INDEPENDENT_SCRIPT_WORKING_DIRECTORY" value="true" />
<option name="SCRIPT_WORKING_DIRECTORY" value="$PROJECT_DIR$/build_system" />
<option name="INDEPENDENT_INTERPRETER_PATH" value="true" />
<option name="INTERPRETER_PATH" value="/bin/zsh" />
<option name="INTERPRETER_OPTIONS" value="" />
<option name="EXECUTE_IN_TERMINAL" value="true" />
<option name="EXECUTE_SCRIPT_FILE" value="false" />
<envs>
<env name="BUILDX_BUILDER" value="local-builder-multiarch-virtual" />
</envs>
<method v="2" />
</configuration>
</component>
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@@ -0,0 +1,19 @@
<component name="ProjectRunConfigurationManager">
<configuration default="false" name="(test compose file) nbs_execute_compose_over_build_matrix.bash › config --quiet" type="ShConfigurationType" folderName="(B | TEST › dry-run) ">
<option name="SCRIPT_TEXT" value="bash nbs_execute_compose_over_build_matrix.bash --fail-fast -- config --quiet" />
<option name="INDEPENDENT_SCRIPT_PATH" value="true" />
<option name="SCRIPT_PATH" value="" />
<option name="SCRIPT_OPTIONS" value="" />
<option name="INDEPENDENT_SCRIPT_WORKING_DIRECTORY" value="true" />
<option name="SCRIPT_WORKING_DIRECTORY" value="$PROJECT_DIR$/build_system" />
<option name="INDEPENDENT_INTERPRETER_PATH" value="true" />
<option name="INTERPRETER_PATH" value="/bin/zsh" />
<option name="INTERPRETER_OPTIONS" value="" />
<option name="EXECUTE_IN_TERMINAL" value="true" />
<option name="EXECUTE_SCRIPT_FILE" value="false" />
<envs>
<env name="BUILDX_BUILDER" value="local-builder-multiarch-virtual" />
</envs>
<method v="2" />
</configuration>
</component>
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@@ -0,0 +1,19 @@
<component name="ProjectRunConfigurationManager">
<configuration default="false" name="(test) nbs_execute_compose_over_build_matrix.bash › build --dry-run" type="ShConfigurationType" folderName="(B | TEST › dry-run) ">
<option name="SCRIPT_TEXT" value="bash nbs_execute_compose_over_build_matrix.bash --fail-fast -- build --dry-run" />
<option name="INDEPENDENT_SCRIPT_PATH" value="true" />
<option name="SCRIPT_PATH" value="" />
<option name="SCRIPT_OPTIONS" value="" />
<option name="INDEPENDENT_SCRIPT_WORKING_DIRECTORY" value="true" />
<option name="SCRIPT_WORKING_DIRECTORY" value="$PROJECT_DIR$/build_system" />
<option name="INDEPENDENT_INTERPRETER_PATH" value="true" />
<option name="INTERPRETER_PATH" value="/bin/zsh" />
<option name="INTERPRETER_OPTIONS" value="" />
<option name="EXECUTE_IN_TERMINAL" value="true" />
<option name="EXECUTE_SCRIPT_FILE" value="false" />
<envs>
<env name="BUILDX_BUILDER" value="local-builder-multiarch-virtual" />
</envs>
<method v="2" />
</configuration>
</component>
Original file line number Diff line number Diff line change
@@ -0,0 +1,19 @@
<component name="ProjectRunConfigurationManager">
<configuration default="false" name="bash nbs_execute_compose_over_build_matrix.bash › build &lt;service&gt; &lt;popup&gt;" type="ShConfigurationType" folderName="(A | Execute compose over build matrix)" editBeforeRun="true">
<option name="SCRIPT_TEXT" value="bash nbs_execute_compose_over_build_matrix.bash --repository-version-build-matrix-override latest --os-name-build-matrix-override ubuntu --fail-fast -- build ci_PR_arm64v8" />
<option name="INDEPENDENT_SCRIPT_PATH" value="true" />
<option name="SCRIPT_PATH" value="" />
<option name="SCRIPT_OPTIONS" value="" />
<option name="INDEPENDENT_SCRIPT_WORKING_DIRECTORY" value="true" />
<option name="SCRIPT_WORKING_DIRECTORY" value="$PROJECT_DIR$/build_system" />
<option name="INDEPENDENT_INTERPRETER_PATH" value="true" />
<option name="INTERPRETER_PATH" value="/bin/zsh" />
<option name="INTERPRETER_OPTIONS" value="" />
<option name="EXECUTE_IN_TERMINAL" value="true" />
<option name="EXECUTE_SCRIPT_FILE" value="false" />
<envs>
<env name="BUILDX_BUILDER" value="local-builder-multiarch-virtual" />
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@@ -0,0 +1,19 @@
<component name="ProjectRunConfigurationManager">
<configuration default="false" name="bash nbs_execute_compose_over_build_matrix.bash › build ci_PR_arm64v8 &lt;popup&gt;" type="ShConfigurationType" folderName="(A | Execute compose over build matrix)" editBeforeRun="true">
<option name="SCRIPT_TEXT" value="bash nbs_execute_compose_over_build_matrix.bash --repository-version-build-matrix-override latest --os-name-build-matrix-override ubuntu --cmake-build-type-build-matrix-override RelWithDebInfo --ubuntu-version-build-matrix-override focal --fail-fast -- build ci_PR_arm64v8" />
<option name="INDEPENDENT_SCRIPT_PATH" value="true" />
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<option name="SCRIPT_WORKING_DIRECTORY" value="$PROJECT_DIR$/build_system" />
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<option name="INTERPRETER_PATH" value="/bin/zsh" />
<option name="INTERPRETER_OPTIONS" value="" />
<option name="EXECUTE_IN_TERMINAL" value="true" />
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<envs>
<env name="BUILDX_BUILDER" value="local-builder-multiarch-virtual" />
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@@ -0,0 +1,19 @@
<component name="ProjectRunConfigurationManager">
<configuration default="false" name="bash nbs_execute_compose_over_build_matrix.bash › build dependencies-general dependencies (BUILD MATRIX SUBSET)" type="ShConfigurationType" folderName="(A | Execute compose over build matrix)" editBeforeRun="true">
<option name="SCRIPT_TEXT" value="bash nbs_execute_compose_over_build_matrix.bash --fail-fast --cmake-build-type-build-matrix-override None --os-name-build-matrix-override ubuntu --ubuntu-version-build-matrix-override focal -- build dependencies-general dependencies" />
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<option name="SCRIPT_WORKING_DIRECTORY" value="$PROJECT_DIR$/build_system" />
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<option name="INTERPRETER_PATH" value="/bin/zsh" />
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Original file line number Diff line number Diff line change
@@ -0,0 +1,19 @@
<component name="ProjectRunConfigurationManager">
<configuration default="false" name="bash nbs_execute_compose_over_build_matrix.bash › build test_compilation_* (Release)" type="ShConfigurationType" folderName="(A | Execute compose over build matrix)">
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Original file line number Diff line number Diff line change
@@ -0,0 +1,19 @@
<component name="ProjectRunConfigurationManager">
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@@ -0,0 +1,19 @@
<component name="ProjectRunConfigurationManager">
<configuration default="false" name="bash nbs_execute_compose_over_build_matrix.bash › build&amp;push dependencies-general dependencies (AS IN TC)" type="ShConfigurationType" folderName="(A | Execute compose over build matrix)" editBeforeRun="true">
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<option name="SCRIPT_WORKING_DIRECTORY" value="$PROJECT_DIR$/build_system" />
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