Merge remote-tracking branch 'upstream/master'

Conflicts:
	README.md
	gpu/octree/src/cuda/octree_builder.cu

Author: mcopik

.travis.sh

@@ -0,0 +1,135 @@
+#!/bin/sh
+
+PCL_DIR=`pwd`
+BUILD_DIR=$PCL_DIR/build
+DOC_DIR=$BUILD_DIR/doc/doxygen/html
+
+TUTORIALS_DIR=$BUILD_DIR/doc/tutorials/html
+ADVANCED_DIR=$BUILD_DIR/doc/advanced/html
+
+CMAKE_C_FLAGS="-Wall -Wextra -Wabi -O2"
+CMAKE_CXX_FLAGS="-Wall -Wextra -Wabi -O2"
+
+function build ()
+{
+  case $CC in
+    clang ) build_clang;;
+    gcc ) build_gcc;;
+  esac
+}
+
+function build_clang ()
+{
+  # A complete build
+  # Configure
+  mkdir $BUILD_DIR && cd $BUILD_DIR
+  cmake -DCMAKE_C_FLAGS=$CMAKE_C_FLAGS -DCMAKE_CXX_FLAGS=$CMAKE_CXX_FLAGS \
+        -DPCL_ONLY_CORE_POINT_TYPES=ON \
+        -DBUILD_global_tests=OFF \
+        $PCL_DIR
+  # Build
+  make -j2
+}
+
+function build_gcc ()
+{
+  # A reduced build, only pcl_common
+  # Configure
+  mkdir $BUILD_DIR && cd $BUILD_DIR
+  cmake -DCMAKE_C_FLAGS=$CMAKE_C_FLAGS -DCMAKE_CXX_FLAGS=$CMAKE_CXX_FLAGS \
+        -DPCL_ONLY_CORE_POINT_TYPES=ON \
+        -DBUILD_2d=OFF \
+        -DBUILD_features=OFF \
+        -DBUILD_filters=OFF \
+        -DBUILD_geometry=OFF \
+        -DBUILD_global_tests=OFF \
+        -DBUILD_io=OFF \
+        -DBUILD_kdtree=OFF \
+        -DBUILD_keypoints=OFF \
+        -DBUILD_ml=OFF \
+        -DBUILD_octree=OFF \
+        -DBUILD_outofcore=OFF \
+        -DBUILD_people=OFF \
+        -DBUILD_recognition=OFF \
+        -DBUILD_registration=OFF \
+        -DBUILD_sample_consensus=OFF \
+        -DBUILD_search=OFF \
+        -DBUILD_segmentation=OFF \
+        -DBUILD_stereo=OFF \
+        -DBUILD_surface=OFF \
+        -DBUILD_tools=OFF \
+        -DBUILD_tracking=OFF \
+        -DBUILD_visualization=OFF \
+        $PCL_DIR
+  # Build
+  make -j2
+}
+
+function test ()
+{
+  # Configure
+  mkdir $BUILD_DIR && cd $BUILD_DIR
+  cmake -DCMAKE_C_FLAGS=$CMAKE_C_FLAGS -DCMAKE_CXX_FLAGS=$CMAKE_CXX_FLAGS -DPCL_ONLY_CORE_POINT_TYPES=ON -DBUILD_global_tests=ON -DPCL_NO_PRECOMPILE=ON $PCL_DIR
+  # Build and run tests
+  make pcl_filters -j3
+  make test_filters
+  make pcl_registration -j3
+  make test_registration
+  make test_registration_api
+  make tests -j3
+}
+
+function doc ()
+{
+  # Do not generate documentation for pull requests
+  if [[ $TRAVIS_PULL_REQUEST != 'false' ]]; then exit; fi
+  # Install doxygen and sphinx
+  sudo apt-get install doxygen doxygen-latex graphviz python-pip texlive-latex-base dvipng
+  sudo pip install sphinx sphinxcontrib-doxylink
+  # Configure
+  mkdir $BUILD_DIR && cd $BUILD_DIR
+  cmake -DDOXYGEN_USE_SHORT_NAMES=OFF \
+        -DSPHINX_HTML_FILE_SUFFIX=php \
+        -DWITH_DOCS=1 \
+        -DWITH_TUTORIALS=1 \
+        $PCL_DIR
+
+  git config --global user.email "[email protected]"
+  git config --global user.name "PointCloudLibrary (via TravisCI)"
+
+  if [ -z "$id_rsa_{1..23}" ]; then echo 'No $id_rsa_{1..23} found !' ; exit 1; fi
+
+  echo -n $id_rsa_{1..23} >> ~/.ssh/travis_rsa_64
+  base64 --decode --ignore-garbage ~/.ssh/travis_rsa_64 > ~/.ssh/id_rsa
+
+  chmod 600 ~/.ssh/id_rsa
+
+  echo -e "Host github.com\n\tStrictHostKeyChecking no\n" >> ~/.ssh/config
+
+  cd $DOC_DIR
+  git clone [email protected]:PointCloudLibrary/documentation.git .
+
+  # Generate documentation and tutorials
+  cd $BUILD_DIR
+  make doc tutorials advanced
+
+  # Upload to GitHub if generation succeeded
+  if [[ $? == 0 ]]; then
+    # Copy generated tutorials to the doc directory
+    cp -r $TUTORIALS_DIR/* $DOC_DIR/tutorials
+    cp -r $ADVANCED_DIR/* $DOC_DIR/advanced
+    # Commit and push
+    cd $DOC_DIR
+    git add --all
+    git commit --amend -m "Documentation for commit $TRAVIS_COMMIT"
+    git push --force
+  else
+    exit 2
+  fi
+}
+
+case $TASK in
+  build ) build;;
+  test ) test;;
+  doc ) doc;;
+esac

.travis.yml

@@ -2,21 +2,45 @@ language: cpp
 compiler:
   - gcc
   - clang
+env:
+  matrix:
+    - TASK="build"
+  global:
+    - secure: XQw5SBf/7b1SHFR+kKklBWhWVgNvm4vIi+wwyajFSbDLOPpsAqtnDKeA2DV9ciaQJ3CVAvBoyxYgzAvpbsb5k95jadbvu9aSlo/AQnAbz+8DhkJL25DwJAn8G4s4zD1MFi7P4fxJHZsv/l9UcdW4BzjEhh0VidWCO4hP6I9BAQc=
+    - secure: dRKTSeQI2Jad+/K9XCkNZxuu8exPi2wGzf6D0ogd1Nb2ZIUsOtnHSME4DO+xv7F5ZYrythHTrfezQl5hhcK+cr7A12okxlvmF/gVFuGCBPkUbyWPOrxx/Ic5pqdVnmrMFG1hFmr1KmOxCVx0F48JfGNd4ZgtUBAmnIomRp8sXRI=
+    - secure: ah6/Y0D8bBFfAU38RdWsLJ/0Gp5uN5KEHVOnyhEUx1wDaBcDl9+aIE9Xyah44ei/fqQg1MXBfgMnaF7oHpDs4dAKITYP4wV8WDX1DCl1dalIrWMTSFYRknc3Y6hT+HadMlkcV9CCLEhZ7gyyNkm+idbekt/WbQE6Jls/vBhdZxI=
+    - secure: V8XIEPjagHSFInXjogs8ypsC/gL5dq4VENYZbC9q8KYrNT9y1DLnMgNh9pGad25OjOqftBFwsgx6QYo357+MwpynfF+KcYNybjuR/vVGXpLcm0Uytnp6bE7oQbQ1s806TlXHb0Xk/bO2cLRYCCMCkhUOm+Dreu1uhKpoI/z0VMs=
+    - secure: vPRheiXkGnzBHRaVFsA3VtwK6DtWG48VIdbOxboaR6jb9jT9yNz5EQrapiLOFFkhGsZ1mCgeunR58BGUPiSl8gEvOheBBUgZW6x8kbHDpxSUc2H70bLRAKxP4t8e3ZDFg2RjGnvXkGhzUTu9oWnbfWxGAILJAOpNoT0MqDgP+Z0=
+    - secure: bT9kXekVN89zJeS4IEobLOeuAmRJqsgTjZky/mGqmOY1H8oIgcHC+41twB+nxkaU2mQskOvG45UwnAAW/8X6WdTbwKYeFWI5mXpCiXoiGL/dsYiig3GzYYv32ZJQL9B8tkEW6Xc0GY6v4K91Xw+HoKLi/tjxh3NjQxpfktwwCBQ=
+    - secure: kp5CTFyo/E5+v382ypD1mIP7RIVOq5A1NDur1NrYI9or+8+zGcK5A2/Ex6Bb6rac5l7cVcqx6Xel+clxH2eQP2D8GqkaxdZs/u9L7MdFqsfn/QYOIshYlowRoLX86W0KOhsTdLLv2mOS6DnWhIuhgDfrczD3hFQdP9PMTBpd65A=
+    - secure: YXJJRdv5OD/Qo1vNqPnFfx//SotxecFQyXjzEKQ8Zxu+EfVKVs95DUiUX+hiDlPrVGKhI3kTvza+lkaIv9fkjWiwSja5LsUbW/+2cwkhoHmOzVtdcpascfP7fcXc0kWTuvg1FLGNBv26SEym1FfNzp0Sm+ANZsCc4fQVXjDhQSY=
+    - secure: wyWnJoZydXcFW359Vid6YfG9l0WTFqIpuEhgFV8gtSbkrSU0JrrUrKuN5ld/cPb+sRa/I8FAftSDsH4CW67impwLmfNfGf4wZTOBvBKyDGjlI+TLEo4ew/yq+MYIkkEleCWOj5eUkAHPHUUhJzI8SvX+ZuxiJEXapoV0xymbrig=
+    - secure: vCvNI8egL2DRCicbWTuLOyXiW8478tedYvRneDMtCDB2lYToG32sYY0fS9KIciNohgObC8dbVraScgobL5cL4Ir4qrTUfBvGJ71OOMVujNEvkTts4YyI5zhA1PeEJ9+xcbQkE0/f78g7HQnd2LjZLXSxxrFVyJnjGaq1siNNRik=
+    - secure: iUjKlT1bJq3pZp3tS0yOmycSZwmGSbrfTe9fWs0P78o3WRYlzBx4IWa+RZb1l0l6LpCUo00wdgeKKhvzClHFza31fumZJKkFeDf/jxAM2TtSbcIxxXwqpi4yJJZs7SkYrU/lugv0NI6UHtl5wAkIp8sjtCCHVYJjlYNHaLhL75o=
+    - secure: DWrK3JsbzV5iUK3Xj6MpVWwlZv85GxdLl8c73ONcynZJ1tzUU3bfdvOtMxJrAnmH9QANw5RGORgbOyiDnvydCCpmL9RjswFqfkQX0mRTV8UYDPlJ1bBZJkX8I97yw8W1UyK1Q76kfr5bZjhikpsS/81Ll6z6Kj9FOte6KFfbznk=
+    - secure: B32G/fehtPQdu1bF+dbCJ/Eo22MiszxZj7UOwNggRFifoxTmRdffZyuqapW0PLCTbBEvlS6UfajGOmVvZx5QH8Q/gtutJqXDTMgWpOai66JUwnpn6AX6NnhFGc+s2cpp3V2+5I26OrFkaXTcS7flz32XJdKZmPgvjY1qoppmyzo=
+    - secure: u0cyLpY3LVF1gA8Sj4Q7X4Xv4bBT7m8IBDnm/AS412H0dM47dcFu8uxVFgWRu3WrM8T87Uc7+ftHkxKJezXgDPEVUixAnwLg2nEVEf6v3HC/HW+X9m98q1mELKXTLxc/f57rAIhhYPkjQh+leg6JmrhG1t0X7kh7d3CY0wwdSL0=
+    - secure: KlIjQVEWlr+H/PAKIAcKS6WO1EFBdXXvXLisEnferB1RWgGwuLRgtIZzI+BJdt/7BMSyWvRExqt6xNyfqpxKXl1kdJawc3rpeYufklHQgmB2qGBSrpMtNr0S3gPFePBdnETbdPHwA63QCrpRKcrHqJxmeIzAmstH736iRXuubFs=
+    - secure: ldwk79cqSgaEUZLt5rbNLRcNaVf/bx2zjBEDbvzAF9JCqVx/L5zCRTr5raHsxzBOzz25Qs3nFW81e1WLwxMAWshvI7EM/YG8GXqECvJGWpHBwcZI1SVP3zMhpH/jJE8vbMFaM2NOmhMT03z91vt0NlvR4DJMY0KV351awGSL2Do=
+    - secure: SyLCwwc+jjkdmNUkRdGRDR2lNrPCu1ZvPstvVWQke5uw3BlnVKXWK7V3yq9g11ZsCl/7aldBexjf7pqeXbJ5Wl5goiI3E+/Ooujd/EWkMn9K3YlG57p8Zdw/A/fUMJgAH3qrM//ihdO0KDJD8eCGLlm4qV0SnlWFPQ+Dy8BsAc8=
+    - secure: DaqjsZS60Y070Gw2lUNltzDltiYKB8IlYqsp0SyOjZAKlDGgp97+9YGEaIGcKF1qw3VGswg+7rrjWQ59iiwstTqgvx1mTTik0Qc0RCc8GtvIm+PS9TOhWxQginmhZmET9QKnGB7uj6K63qN8V8MZakZWIJxgUXx8jGiCTD22/eQ=
+    - secure: x4x3vHY6Wf4kxjAT8dbWRl8n4PxTGv8RtzfGIZYXvJgbnY2qW+cJ8Edp64V1LegvQbBQmKqAP9YSLHwZsuL3LxfVqt/seRs+DJMDVUd9jVYmym0rPqemJLezapalEg6qfLuoeNkDPWvIVccQCDEBPfaUdD0ZXYo44LS5jIV0+T8=
+    - secure: Pm2hyxdSLnY3ltrAva0FwNWWEQQcnf1JK2Fhjc3sWFpStMF7Obk93u4G5M6f2f28ZY6HFaMRYC1qEz/+yMIjsusIv8j0E6hgB/EnoM0dlxCc0aryH3X2IOYBVjRMjOFPmhYbNBoMmZWLluHWSyVSqr9k9nxowMfM3mi4fah11aQ=
+    - secure: WTZ238yAEfXRyll1n8yau3FUW9HTvq6scKIl9AmNZrnzTr9dktupWrBVV6CtvaufT1mSmDigZ7VGC6T71HkyRIyb2qfVTrnjnxE96Wtcci6PfkuQc2L2puuZYo8dXaBRoOgJKGHFo/uKVKWnp7t55dp3lBJJmclHhon+K2hMSJw=
+    - secure: LNsNoBvqY/jYDoBjWCE5cM+f1H8xOwSBc/tbWZo6E/jPRjUOLzXSicMMUMrlVto+bFzSUT8OVajV3XmoRx+Qntzv6bDSAGjdycvHd2YZQPn8BYrsFtR4So7SsJkF9FlxzbiOXaiSRpwGn7TP/DO7Neubrr4IS2ef4nWowGrnCE8=
+    - secure: PZivWbaCWFA2BFFY8n3UMxdEWjz7rBh568u9LF5LH3HgWADnfiwWzNriACqX9fhe7tSmDru5Bk978s+xPPAY9v24cfiDEX5a5MQ/XVr2rP48n3vlUDWERDhIodJ73F9F9GGZXToGdNz0MBUAHgiv7Lb0GYUfmOYzUJjWghngLBw=
+matrix:
+  include:
+    - compiler: clang
+      env: TASK="test"
+    - env: TASK="doc"
 before_install:
   - sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl -y
-  - sudo add-apt-repository ppa:nmi/vim-snapshots -y
-  - sudo add-apt-repository ppa:h-rayflood/llvm -y
+  - sudo add-apt-repository ppa:apokluda/boost1.53 -y
+  - sudo add-apt-repository ppa:yade-users/external -y
+  - sudo add-apt-repository ppa:libreoffice/ppa -y
   - sudo apt-get update -d
-  - sudo apt-get install cmake libvtk5-qt4-dev libflann-dev libeigen3-dev openni-dev libqhull-dev boost1.53 libusb-1.0-0-dev doxygen python-sphinx clang-3.2 -qq
-script: 
-  - mkdir build && cd build
-  - cmake -DPCL_ONLY_CORE_POINT_TYPES=ON .. && make -j3 && sudo make install && make test && make Tutorials && make doc
-branches:
-  only:
-    - master
-notifications:
-  recipients:
-    - [email protected]
-  email:
-    on_success: change
-    on_failure: always
+install:
+  - sudo apt-get install libvtk5-qt4-dev libflann-dev libeigen3-dev libopenni-dev libqhull-dev libboost-filesystem1.53-dev libboost-iostreams1.53-dev libboost-thread1.53-dev libboost-chrono1.53-dev libusb-1.0-0-dev libgtest-dev
+script:
+  - bash .travis.sh

2d/CMakeLists.txt

@@ -3,10 +3,10 @@ set(SUBSYS_DESC "Point cloud 2d")
 set(SUBSYS_DEPS common io filters)
 
 set(build TRUE)
-PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} ON)
-PCL_SUBSYS_DEPEND(build ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS vtk)
+PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
+PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS} OPT_DEPS vtk)
 
-PCL_ADD_DOC(${SUBSYS_NAME})
+PCL_ADD_DOC("${SUBSYS_NAME}")
 
 if(build)
 
@@ -15,35 +15,34 @@ if(build)
         )
 
     set(incs
-        include/pcl/${SUBSYS_NAME}/convolution.h
-        include/pcl/${SUBSYS_NAME}/kernel.h
-        include/pcl/${SUBSYS_NAME}/edge.h
-        include/pcl/${SUBSYS_NAME}/morphology.h
-        
+        "include/pcl/${SUBSYS_NAME}/convolution.h"
+        "include/pcl/${SUBSYS_NAME}/kernel.h"
+        "include/pcl/${SUBSYS_NAME}/edge.h"
+        "include/pcl/${SUBSYS_NAME}/morphology.h"
         )
 
     set(impl_incs
-        include/pcl/${SUBSYS_NAME}/impl/convolution.hpp
-        include/pcl/${SUBSYS_NAME}/impl/edge.hpp
-        include/pcl/${SUBSYS_NAME}/impl/morphology.hpp        
+        "include/pcl/${SUBSYS_NAME}/impl/convolution.hpp"
+        "include/pcl/${SUBSYS_NAME}/impl/edge.hpp"
+        "include/pcl/${SUBSYS_NAME}/impl/morphology.hpp"
         )
 
-    set(LIB_NAME pcl_${SUBSYS_NAME})
+    set(LIB_NAME "pcl_${SUBSYS_NAME}")
 
     if(${VTK_FOUND})
-        set(VTK_USE_FILE ${VTK_USE_FILE} CACHE INTERNAL "VTK_USE_FILE")
-        include(${VTK_USE_FILE})
+        set(VTK_USE_FILE "${VTK_USE_FILE}" CACHE INTERNAL "VTK_USE_FILE")
+        include("${VTK_USE_FILE}")
         set(VTK_IO_TARGET_LINK_LIBRARIES vtkCommon vtkWidgets vtkIO vtkImaging)
     endif(${VTK_FOUND})
 
-    include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include ${VTK_INCLUDE_DIRECTORIES} )
-    PCL_ADD_LIBRARY(${LIB_NAME} ${SUBSYS_NAME} ${srcs} ${incs} ${impl_incs})
+    include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include" ${VTK_INCLUDE_DIRECTORIES})
+    PCL_ADD_LIBRARY("${LIB_NAME}" "${SUBSYS_NAME}" ${srcs} ${incs} ${impl_incs})
     link_directories(${VTK_LINK_DIRECTORIES})
-    target_link_libraries(${LIB_NAME} ${VTK_IO_TARGET_LINK_LIBRARIES} pcl_io) 
-    PCL_MAKE_PKGCONFIG(${LIB_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}" "${SUBSYS_DEPS}" "" "" "" "")
+    target_link_libraries("${LIB_NAME}" ${VTK_LIBRARIES} pcl_io)
+    PCL_MAKE_PKGCONFIG("${LIB_NAME}" "${SUBSYS_NAME}" "${SUBSYS_DESC}" "${SUBSYS_DEPS}" "" "" "" "")
 
     #Install include files
-    PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME} ${incs})
-    PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME}/impl ${impl_incs})
+    PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}" ${incs})
+    PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl" ${impl_incs})
 
 endif(build)

2d/include/pcl/2d/edge.h

@@ -52,8 +52,8 @@ namespace pcl
       typedef typename PointCloudIn::Ptr PointCloudInPtr;
 
       PointCloudInPtr input_;
-      pcl::Convolution<PointInT> *convolution_;
-      kernel<PointInT>  *kernel_;
+      pcl::Convolution<PointInT> convolution_;
+      kernel<PointInT>  kernel_;
 
       /** \brief This function performs edge tracing for Canny Edge detector.
         *
@@ -132,8 +132,6 @@ namespace pcl
         non_max_suppression_radius_x_ (3),
         non_max_suppression_radius_y_ (3)
       {
-        convolution_ = new pcl::Convolution<PointInT> ();
-        kernel_ = new kernel<PointXYZI>();
       }
 
       /** \brief Set the output type.
@@ -288,10 +286,9 @@ namespace pcl
       computeDerivativeYBackward (pcl::PointCloud<PointOutT> &output);
 
       /** \brief Override function to implement the pcl::Filter interface
-        * \param output Output point cloud passed by reference
         */
       void 
-      applyFilter (pcl::PointCloud<PointOutT> &output) {}
+      applyFilter (pcl::PointCloud<PointOutT>& /*output*/) {}
 
       /** \brief Set the input point cloud pointer
         * \param[in] input pointer to input point cloud