no support for old PCL

.github/workflows/build.yml

@@ -16,7 +16,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        DISTRO: [jammy, focal]
+        DISTRO: [noble, jammy, focal]
         TOOLCHAIN: [gcc, llvm]
 
     steps:
@@ -35,7 +35,7 @@ jobs:
       - name: Docker build
         uses: docker/build-push-action@v2
         with:
-          file: ${{github.workspace}}/docker/Dockerfile.${{ matrix.TOOLCHAIN }}
+          file: ${{github.workspace}}/docker/Dockerfile.build.${{ matrix.TOOLCHAIN }}
           build-args: BASE_IMAGE=ubuntu:${{ matrix.DISTRO }}
           context: .
           push: false

.github/workflows/test.yml

@@ -0,0 +1,35 @@
+name: Build
+
+on:
+  push:
+    branches: [ master ]
+    paths-ignore: '**.md'
+  pull_request:
+    branches: [ master ]
+    paths-ignore: '**.md'
+
+  # Allows you to run this workflow manually from the Actions tab
+  workflow_dispatch:
+
+jobs:
+  build:
+    runs-on: ubuntu-22.04
+
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          token: ${{ secrets.GH_PAT }}
+          submodules: recursive
+      
+      - name: Install Dependencies
+        run: |
+          sudo apt-get -y update
+          sudo apt-get install -y build-essential cmake python3-pip pybind11-dev libeigen3-dev libfmt-dev libtbb-dev libomp-dev libpcl-dev libgtest-dev
+
+      - name: Build
+        run: |
+          mkdir build && cd build
+          cmake .. -DBUILD_TESTS=ON -DBUILD_EXAMPLES=ON -DBUILD_BENCHMARKS=ON -DBUILD_WITH_TBB=ON -DBUILD_WITH_PCL=ON
+          cmake --build . -j$(nproc)
+          ctest -j$(nproc)
+

README.md

@@ -17,7 +17,7 @@ If you find this package useful for your project, please consider leaving a comm
 
 ## Requirements
 
-This library uses some C++17 features. While porting it to older environments should be easy, we have no plan to support environments older than Ubuntu 20.04.
+This library uses some C++17 features. The PCL interface is not compatible with PCL older than 1.11 that uses `boost::shared_ptr`. While porting this package to older environments should be easy, we have no plan to support environments older than Ubuntu 22.04.
 
 ## Dependencies
 

docker/Dockerfile.build.gcc

@@ -0,0 +1,23 @@
+ARG BASE_IMAGE
+
+FROM ${BASE_IMAGE}
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update && apt-get install --no-install-recommends -y \
+  && apt-get install --no-install-recommends -y \
+  wget nano build-essential git cmake \
+  libeigen3-dev libfmt-dev libtbb-dev libomp-dev libgtest-dev  \
+  && apt-get clean \
+  && rm -rf /var/lib/apt/lists/*
+
+COPY . /root/small_gicp
+WORKDIR /root/small_gicp/build
+RUN rm -rf ./*
+
+RUN cmake .. -DBUILD_WITH_TBB=ON
+RUN cmake --build . -j$(nproc)
+
+WORKDIR /
+
+CMD ["bash"]

docker/Dockerfile.build.llvm

@@ -0,0 +1,33 @@
+ARG BASE_IMAGE
+
+FROM ${BASE_IMAGE}
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update && apt-get install --no-install-recommends -y \
+  && apt-get install --no-install-recommends -y \
+  wget nano build-essential git cmake \
+  libeigen3-dev libfmt-dev libtbb-dev libomp-dev libgtest-dev \
+  && apt-get clean \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN apt-get update && apt-get install --no-install-recommends -y \
+  && apt-get install --no-install-recommends -y \
+  clang lld \
+  && apt-get clean \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN update-alternatives --install /usr/bin/ld ld /usr/bin/ld.lld 50
+ENV CC=clang
+ENV CXX=clang++
+
+COPY . /root/small_gicp
+WORKDIR /root/small_gicp/build
+RUN rm -rf ./*
+
+RUN cmake .. -DBUILD_WITH_TBB=ON
+RUN cmake --build . -j$(nproc)
+
+WORKDIR /
+
+CMD ["bash"]

docker/Dockerfile.test.llvm

@@ -1,4 +1,6 @@
-FROM ubuntu:jammy
+ARG BASE_IMAGE
+
+FROM ${BASE_IMAGE}
 
 ENV DEBIAN_FRONTEND=noninteractive
 

include/small_gicp/pcl/pcl_point_traits.hpp

@@ -13,6 +13,8 @@ namespace traits {
 
 template <typename PointType>
 struct Traits<pcl::PointCloud<PointType>> {
+  static_assert(std::is_same_v<pcl::shared_ptr<void>, std::shared_ptr<void>>, "Old PCL version detected. Please update PCL to 1.11 or later.");
+
   using Points = pcl::PointCloud<PointType>;
 
   static size_t size(const Points& points) { return points.size(); }

src/test/kdtree_test.cpp

@@ -1,5 +1,4 @@
 #include <random>
-#include <ranges>
 
 #include <gtest/gtest.h>
 #include <pcl/point_types.h>

src/test/points_test.cpp

@@ -1,7 +1,6 @@
 #include <gtest/gtest.h>
 
 #include <random>
-#include <ranges>
 #include <small_gicp/points/point_cloud.hpp>
 #include <small_gicp/pcl/pcl_point.hpp>
 #include <small_gicp/pcl/pcl_point_traits.hpp>