Merge fa518412d7 into ff63d5ef76

* add ninja-build

* add ninja-build

* add ninja-build for coverage

.github/workflows/coverage.yml

@@ -23,7 +23,7 @@ jobs:
       - name: Install Dependencies
         run: |
           sudo apt-get -y update
-          sudo apt-get install --no-install-recommends -y build-essential cmake python3-pip pybind11-dev libeigen3-dev libfmt-dev libtbb-dev libomp-dev libpcl-dev libgtest-dev lcov
+          sudo apt-get install --no-install-recommends -y build-essential cmake python3-pip pybind11-dev libeigen3-dev libfmt-dev libtbb-dev libomp-dev libpcl-dev libgtest-dev lcov ninja-build
           pip install -U setuptools pytest pytest-cov numpy scipy
 
       - name: Build (C++)

.github/workflows/test.yml

@@ -23,7 +23,7 @@ jobs:
       - name: Install Dependencies
         run: |
           sudo apt-get -y update
-          sudo apt-get install --no-install-recommends -y build-essential cmake python3-pip pybind11-dev libeigen3-dev libfmt-dev libtbb-dev libomp-dev libpcl-dev libgtest-dev
+          sudo apt-get install --no-install-recommends -y build-essential cmake python3-pip pybind11-dev libeigen3-dev libfmt-dev libtbb-dev libomp-dev libpcl-dev libgtest-dev ninja-build
           pip install -U setuptools pytest numpy scipy
 
       - name: Build

CMakeLists.txt

@@ -69,6 +69,9 @@ endif()
 
 if (BUILD_WITH_PCL)
   find_package(PCL REQUIRED)
+  if(PCL_VERSION VERSION_LESS "1.11.0")
+    message(FATAL_ERROR "The found PCL version ${PCL_VERSION} is too low. Required is at least 1.11.0")
+  endif()
   add_compile_definitions(BUILD_WITH_PCL)
   if (NOT TARGET PCL::PCL)
     add_library(PCL::PCL INTERFACE IMPORTED)

docker/Dockerfile.pytest.gcc

@@ -7,7 +7,7 @@ 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 python3-dev python3-pip pybind11-dev \
-  libeigen3-dev libomp-dev
+  libeigen3-dev libomp-dev ninja-build
 
 RUN mkdir -p ~/.config/pip
 RUN echo "[global]\nbreak-system-packages=true" > ~/.config/pip/pip.conf

docker/Dockerfile.pytest.llvm

@@ -7,7 +7,7 @@ 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 python3-dev python3-pip pybind11-dev \
-  libeigen3-dev libomp-dev
+  libeigen3-dev libomp-dev ninja-build
 
 RUN apt-get update && apt-get install --no-install-recommends -y \
   && apt-get install --no-install-recommends -y \

include/small_gicp/registration/optimizer.hpp

@@ -124,6 +124,7 @@ struct LevenbergMarquardtOptimizer {
           result.T_target_source = new_T;
           lambda /= lambda_factor;
           success = true;
+          e = new_e;
 
           break;
         } else {