From 941a02ced858dc9b7248c46a260b58ca42e07ce0 Mon Sep 17 00:00:00 2001
From: "k.koide" <k.koide@aist.go.jp>
Date: Fri, 29 Mar 2024 14:08:20 +0900
Subject: [PATCH] CI

---
 .github/workflows/build.yml                   | 39 +++++++++++++++++++
 CMakeLists.txt                                |  4 +-
 docker/Dockerfile.gcc                         | 25 ++++++++++++
 docker/Dockerfile.llvm                        | 35 +++++++++++++++++
 .../registration/registration_helper.cpp      |  3 ++
 5 files changed, 104 insertions(+), 2 deletions(-)
 create mode 100644 .github/workflows/build.yml
 create mode 100644 docker/Dockerfile.gcc
 create mode 100644 docker/Dockerfile.llvm

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
new file mode 100644
index 0000000..f0fa487
--- /dev/null
+++ b/.github/workflows/build.yml
@@ -0,0 +1,39 @@
+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-latest
+    strategy:
+      matrix:
+        TOOLCHAIN: [gcc, llvm]
+
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          token: ${{ secrets.GH_PAT }}
+          submodules: recursive
+
+      - name: Docker login
+        continue-on-error: true
+        uses: docker/login-action@v1
+        with:
+          username: ${{ secrets.DOCKER_USERNAME }}
+          password: ${{ secrets.DOCKER_TOKEN }}
+
+      - name: Docker build
+        uses: docker/build-push-action@v2
+        with:
+          file: ${{github.workspace}}/docker/Dockerfile${{ matrix.TOOLCHAIN }}
+          context: .
+          push: false
diff --git a/CMakeLists.txt b/CMakeLists.txt
index d23f34b..54345b1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -63,7 +63,7 @@ if(BUILD_BENCHMARKS)
     add_compile_definitions(BUILD_WITH_TBB)
   endif()
   if (BUILD_WITH_PCL)
-    find_package(PCL REQUIRED)
+    find_package(PCL REQUIRED COMPONENTS registration)
     add_compile_definitions(BUILD_WITH_PCL)
   endif()
   if (BUILD_WITH_IRIDESCENCE)
@@ -130,7 +130,7 @@ endif()
 ##########
 if(BUILD_TESTS)
   find_package(fmt REQUIRED)
-  find_package(PCL REQUIRED)
+  find_package(PCL REQUIRED COMPONENTS registration)
   find_package(TBB REQUIRED)
 
   include(FetchContent)
diff --git a/docker/Dockerfile.gcc b/docker/Dockerfile.gcc
new file mode 100644
index 0000000..830b5c5
--- /dev/null
+++ b/docker/Dockerfile.gcc
@@ -0,0 +1,25 @@
+FROM ubuntu:jammy
+
+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 libpcl-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$(nproc)
+
+RUN cmake .. -DBUILD_TESTS=ON -DBUILD_WITH_TBB=ON -DBUILD_BENCHMARKS=ON -DBUILD_WITH_PCL=ON
+RUN cmake --build . -j$(nproc)
+RUN ctest -j$(nproc)
+
+WORKDIR /
+
+CMD ["bash"]
\ No newline at end of file
diff --git a/docker/Dockerfile.llvm b/docker/Dockerfile.llvm
new file mode 100644
index 0000000..f3da541
--- /dev/null
+++ b/docker/Dockerfile.llvm
@@ -0,0 +1,35 @@
+FROM ubuntu:jammy
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update && apt-get install --no-install-recommends -y \
+  && apt-get install --no-install-recommends -y \
+  wget nano build-essential git cmake \
+  libeigen3-dev libfmt-dev libtbb-dev libomp-dev libpcl-dev \
+  && apt-get clean \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN apt-get update && apt-get install --no-install-recommends -y \
+  && apt-get install --no-install-recommends -y \
+  clang lld \
+  && apt-get clean \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN update-alternatives --install /usr/bin/ld ld /usr/bin/ld.lld 50
+ENV CC=clang
+ENV CXX=clang++
+
+COPY . /root/small_gicp
+WORKDIR /root/small_gicp/build
+RUN rm -rf ./*
+
+RUN cmake .. -DBUILD_WITH_TBB=ON
+RUN cmake --build . -j$(nproc)
+
+RUN cmake .. -DBUILD_TESTS=ON -DBUILD_WITH_TBB=ON -DBUILD_BENCHMARKS=ON -DBUILD_WITH_PCL=ON
+RUN cmake --build . -j$(nproc)
+RUN ctest -j$(nproc)
+
+WORKDIR /
+
+CMD ["bash"]
\ No newline at end of file
diff --git a/src/small_gicp/registration/registration_helper.cpp b/src/small_gicp/registration/registration_helper.cpp
index d1565bb..271c521 100644
--- a/src/small_gicp/registration/registration_helper.cpp
+++ b/src/small_gicp/registration/registration_helper.cpp
@@ -79,6 +79,9 @@ align(const std::vector<Eigen::Matrix<double, 4, 1>>&, const std::vector<Eigen::
 RegistrationResult
 align(const PointCloud& target, const PointCloud& source, const KdTree<PointCloud>& target_tree, const Eigen::Isometry3d& init_T, const RegistrationSetting& setting) {
   switch (setting.type) {
+    default:
+      std::cerr << "invalid registration type" << std::endl;
+      abort();
     case RegistrationSetting::ICP: {
       Registration<ICPFactor, ParallelReductionOMP> registration;
       registration.reduction.num_threads = setting.num_threads;